Multi-layer clamp carrying mechanism

Abstract

The invention relates to the technical field of battery carrying, in particular to a multi-layer clamp carrying mechanism which comprises a ground rail. The carrying device comprises a moving mechanism, a lifting mechanism and a taking and placing mechanism. The taking and placing mechanism comprises a supporting frame and a taking and placing module, the supporting frame is installed on the lifting mechanism, and the taking and placing module is installed on the supporting frame; the taking and placing module comprises a first-stage driving motor, a first-stage guide rail, a first-stage moving plate, a first-stage driving belt, a first-stage transmission screw rod, a first-stage transmission nut and a first-stage hooking assembly, and the first-stage hooking assembly comprises a second-stage driving motor, two second-stage guide rails, a wheel set, a second-stage driving belt and a second-stage hooking assembly; the second-stage hooking assembly comprises a first hooking module and a second hooking module, the first hooking module and the second hooking module are slidably connected to the two second-stage guide rails correspondingly and located at the two ends of the first-stage moving plate correspondingly, and a second-stage driving motor is connected with the first hooking module and the second hooking module through a second-stage driving belt.

Description

Technical Field

[0001] The invention relates to the technical field of battery handling, and in particular to a multi-layer fixture handling mechanism. Background Art

[0002] In the production process of lithium-ion batteries, the battery cells need to be loaded into fixtures, and multiple fixtures need to be stacked and transported between various equipment (such as ovens, cooling furnaces, loading and unloading equipment, etc.). However, the loading and unloading of the fixtures during the transportation process is extremely inconvenient, which affects the work efficiency. At the same time, a large number of fixtures need to be transported at one time, which increases the labor intensity of the manual labor. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a multi-layer fixture transport mechanism, which aims to solve the problem of low transport efficiency of multi-layer fixtures between various devices.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] A multi-layer fixture transport mechanism, comprising:

[0006] Ground rail;

[0007] The handling device includes: a moving mechanism, a lifting mechanism and a picking and placing mechanism;

[0008] The moving mechanism is installed on the ground rail, and the moving mechanism is used to move on the ground rail in the X-axis direction;

[0009] The lifting mechanism is installed on the moving mechanism, and the lifting mechanism is used to drive the pick-and-place mechanism to move in the Z-axis direction;

[0010] The pick-and-place mechanism comprises: a support frame and a pick-and-place module, the support frame is installed on the lifting mechanism, and the pick-and-place module is installed on the support frame;

[0011] The pick-and-place module comprises: a first-stage driving motor, a first-stage guide rail, a first-stage moving plate, a first-stage driving belt, a first-stage transmission screw, a first-stage transmission nut and a first-stage hooking component, wherein the first-stage driving motor is mounted on the supporting frame, the first-stage guide rail is mounted on the supporting frame, and the first-stage guide rail extends along the Y-axis direction, the first-stage moving plate is slidably connected to the first-stage guide rail, the first-stage driving motor is transmission-connected to the first-stage transmission screw through the first-stage driving belt, the first-stage moving plate is connected to the first-stage transmission screw through the first-stage transmission nut, and the first-stage hooking component is mounted on the first-stage moving plate;

[0012] The first-level hooking component includes: a second-level driving motor, two second-level guide rails, a wheel group, a second-level driving belt and a second-level hooking component, the second-level driving motor is installed on the first-level movable plate, the second-level guide rail is installed on the first-level movable plate, and the second-level guide rail extends along the Y-axis direction, the wheel group is installed on the first-level movable plate, and the second-level driving belt is wrapped around the wheel group, the second-level hooking component includes: a first hooking module and a second hooking module, the first hooking module and the second hooking module are respectively slidably connected to the two second-level guide rails, and the first hooking module and the second hooking module are respectively located at two ends of the first-level movable plate, and the second-level driving motor connects the first hooking module and the second hooking module through the second-level driving belt.

[0013] Furthermore, the first hook module and the second hook module both include: a driving belt fixing seat, a hook wheel lifting rack, a hook wheel lifting guide rail, a driving motor fixing seat, a hook wheel lifting driving motor, a hook wheel lifting member, a hook wheel rotation driving motor and a hook wheel assembly, the driving belt fixing seat includes: a first fixing member and a second fixing member, the first fixing member and the second fixing member are respectively fixed to the two sides of the second-stage driving belt, the hook wheel lifting rack and the hook wheel lifting guide rail are installed on the first fixing member, and the hook wheel lifting rack and the hook wheel lifting guide rail extend along the Z-axis direction, and the second fixing member is connected to the hook wheel through a slider and The second-level guide rail is slidably connected, the drive motor fixing seat is slidably connected to the hook wheel lifting guide rail through a slider, the hook wheel lifting drive motor is installed on the drive motor fixing seat, the output shaft of the hook wheel lifting drive motor is installed with a drive gear, the drive gear is meshed with the hook wheel lifting rack, the hook wheel lifting member is fixedly connected to the drive motor fixing seat, the hook wheel rotation drive motor is installed on the hook wheel lifting member, the hook wheel assembly includes: a hook wheel mounting member and two hook wheels, the hook wheel mounting seat is drivingly connected to the hook wheel rotation drive motor, and the two hook wheels are installed on the hook wheel mounting seat.

[0014] Furthermore, the wheel group includes: 4 idler wheels, 1 tensioning wheel, 1 driving wheel and 1 driven wheel, the two idler wheels are respectively located at the two ends of one second-level guide rail, the two idler wheels are respectively located at the two ends of another second-level guide rail, the tensioning wheel, the driving wheel and the driven wheel are located between the two second-level guide rails, the driving wheel is transmission-connected to the second-level drive motor, and the gear portion of the driven wheel is meshed with the gear portion of the driving wheel.

[0015] Furthermore, the support frame includes: a bottom frame, a first frame and a second frame, the pick-and-place module is installed on the bottom frame, and the first frame and the second frame are respectively installed on two ends of the bottom frame.

[0016] Furthermore, the support frame also includes: a roller group, the roller group includes: a plurality of transverse rollers and a plurality of longitudinal rollers, the plurality of transverse rollers are respectively evenly installed and arranged on the first frame and the second frame, and the plurality of longitudinal rollers are respectively evenly installed and arranged on the first frame and the second frame.

[0017] Furthermore, it also includes: a latch assembly, which is used to cooperate with the recessed portion of the sealed door of the oven, and the latch assembly includes: a latch mounting seat, a latch driving motor, a latch and a latch guide sleeve, the latch mounting seat is installed on the first frame, the latch driving motor is installed on the latch mounting seat, the latch is transmission-connected to the latch driving motor, the latch guide sleeve is installed on the first frame, and the latch passes through the latch guide sleeve.

[0018] Furthermore, it also includes: an unlocking mechanism, which is installed on the taking and placing mechanism and is used to release the locking structure between the oven and the clamp.

[0019] Furthermore, the unlocking mechanism includes: an unlocking mounting seat, an unlocking drive motor, a guide sleeve, a guide shaft and an inclined surface pressure block, the unlocking mounting seat is installed on the first-stage movable plate, the unlocking drive motor and the guide sleeve are installed on the unlocking mounting seat, the guide shaft is installed on the guide sleeve, the inclined surface pressure block is transmission-connected to the unlocking drive motor, and the guide shaft is connected to the inclined surface pressure block.

[0020] Further, the lifting mechanism includes: a top frame, a first lifting device and a second lifting device, the first lifting device and the second lifting device are symmetrically arranged, and the first lifting device and the second lifting device both include: a fixed frame, a lifting frame, a lifting drive motor, a lifting transmission screw, a lifting transmission nut, and a second lifting guide rail, the two ends of the top frame are respectively connected to the fixed frame of the first lifting device and the fixed frame of the second lifting device, the fixed frame is installed on the moving mechanism, the lifting drive motor, the second lifting guide rail and the lifting transmission screw are installed on the fixed frame, the lifting drive motor is drivingly connected to the lifting transmission screw, the lifting frame is connected to the lifting transmission screw through the lifting transmission nut, the lifting frame is slidably connected to the second lifting guide rail through a slider, and the two ends of the support frame are respectively connected to the lifting frame of the first lifting device and the lifting frame of the second lifting device.

[0021] Further, the ground rail includes: two linear rails, a plurality of fixed plates, a busbar, four limiters and a first communication module, the two linear rails extend along the X-axis direction, the plurality of fixed plates are used to fix the two linear rails, the busbar is arranged between the two linear rails, the four limiters are respectively arranged at both ends of the two linear rails, the first communication module is arranged at one end of the linear rail, and the linear rail is an I-shaped rail;

[0022] The mobile mechanism includes: a ground rail moving frame, and a ground rail driving motor installed on the ground rail moving frame, a pair of ground rail driving wheels, a pair of ground rail driven wheels, a guide roller assembly, an anti-dumping roller assembly, a cleaning brush assembly, an anti-collision detection sensor and a second communication module, the ground rail driving wheel is drivingly connected to the ground rail driving motor, the ground rail driving wheel and the ground rail driven wheel roll on the linear track, the guide roller assembly includes two pairs of guide rollers, any pair of guide rollers are located on both sides of the middle vertical plate of the I-shaped linear track, the anti-dumping roller assembly includes four anti-dumping rollers, the four anti-dumping rollers are located at the four corners of the ground rail moving frame, and the anti-dumping rollers are abutted against the bottom of the top plate of the I-shaped linear track.

[0023] The multi-layer fixture transport mechanism described in the present invention has the following beneficial effects:

[0024] The moving mechanism can move along the X-axis direction on the ground rail to move the handling device to the corresponding equipment position, and the lifting mechanism can lift the pick-and-place mechanism along the Z-axis direction to the height of the position of the fixture to be picked up and placed, and the first-stage driving motor drives the first-stage driving belt to drive the first-stage transmission screw to rotate, so that the first-stage moving plate connected to the first-stage transmission screw through the first-stage transmission nut moves along the first-stage guide rail to the position of the fixture to be picked up and placed; if the handling device is to place multi-layer fixtures, a second hooking module away from the position of the fixture to be picked up and placed is connected to the hook groove at the bottom of the multi-layer fixture, and the second-stage driving motor drives the second-stage driving belt to drive the second hooking module to move along the second-stage guide rail to the position of the fixture to be picked up and placed, thereby placing the multi-layer fixture on the oven support frame. After placement, the second hooking module is disengaged from the hook groove at the bottom of the multi-layer fixture, and the first-stage driving motor drives the first The first-stage driving belt is used to drive the first-stage driving screw to rotate, so that the first-stage movable plate connected to the first-stage driving screw through the first-stage driving nut moves along the first-stage guide rail away from the position of the fixture to be picked up and placed; if the handling device is to pick up multi-layer fixtures, the first hook module close to the position of the fixture to be picked up and placed is connected to the hook groove at the bottom of the multi-layer fixture, and the second-stage driving motor drives the second-stage driving belt to drive the first hook module to move along the second-stage guide rail away from the position of the fixture to be picked up and placed, thereby placing the multi-layer fixture on the support frame, and the first-stage driving motor drives the first-stage driving belt to drive the first-stage driving screw to rotate, so that the first-stage movable plate connected to the first-stage driving screw through the first-stage driving nut moves along the first-stage guide rail away from the position of the fixture to be picked up and placed, so that the multi-layer fixture is completely placed on the support frame, thereby improving the handling efficiency of the multi-layer fixture between various devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of the overall structure of a multi-layer fixture transport mechanism according to an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of the assembly of the ground rail and the moving mechanism of an embodiment of the present invention;

[0027] Figure 3 is a structural schematic diagram of a moving mechanism of an embodiment of the present invention from one perspective;

[0028] Figure 4 is a structural schematic diagram of the moving mechanism of an embodiment of the present invention from another perspective;

[0029] Figure 5 is a structural schematic diagram of a lifting mechanism according to an embodiment of the present invention;

[0030] Figure 6 is a structural schematic diagram of a pick-and-place mechanism according to an embodiment of the present invention;

[0031] Figure 7 yes Figure 6Schematic diagram of structural disassembly;

[0032] Figure 8 is a schematic structural diagram of a support frame of a pick-and-place mechanism according to an embodiment of the present invention;

[0033] Fig. 9 is a structural schematic diagram of a pick-and-place module of a pick-and-place mechanism according to an embodiment of the present invention from one perspective;

[0034] Fig.10 is a structural schematic diagram of a pick-and-place module of a pick-and-place mechanism according to an embodiment of the present invention from another perspective;

[0035] Fig.11 is a structural schematic diagram of a first viewing angle of a first hooking module in an embodiment of the present invention;

[0036] Fig.12 is a schematic structural diagram of a second viewing angle of a first hooking module according to an embodiment of the present invention;

[0037] Fig.13 is a schematic structural diagram of a first hooking module from a third viewing angle according to an embodiment of the present invention;

[0038] Fig.14 Schematic diagram of the structure of the unlocking mechanism of the embodiment of the present invention.

[0039] Description of reference numerals:

[0040] 1. Ground rail; 11. Linear rail; 12. Fixed plate; 13. Busbar; 14. Stopper; 15. First communication module; 2. Handling device; 3. Moving mechanism; 31. Ground rail moving frame; 32. Ground rail driving motor; 33. Ground rail driving wheel; 34. Ground rail driven wheel; 35. Guide roller assembly; 351. Guide roller; 36. Anti-dumping roller assembly; 361. Anti-dumping roller; 37. Cleaning brush assembly; 38. Anti-collision detection sensor; 39. Second communication module; 4. Lifting mechanism; 41. Top frame; 42. First lifting mechanism device; 43, second lifting device; 431, fixed frame; 432, lifting frame; 433, lifting drive motor; 434, lifting drive screw; 435, lifting drive nut; 436, second lifting guide rail; 5, pick-and-place mechanism; 51, support frame; 511, bottom frame; 512, first frame; 513, second frame; 514, horizontal roller; 515, longitudinal roller; 52, pick-and-place module; 521, first-stage drive motor; 522, first-stage guide rail; 523, first-stage moving plate; 524, first-stage drive belt; 525, first First-stage transmission screw; 526, first-stage transmission nut; 527, first-stage hook assembly; 5271, second-stage drive motor; 5272, second-stage guide rail; 5273, wheel set; 52731, tension wheel; 52732, idler wheel; 52733, driving wheel; 52734, driven wheel; 5274, second-stage drive belt; 5275, second-stage hook assembly; 52751, first hook module; 52752, second hook module; 61, drive belt fixing seat; 611, first fixing piece; 612, second fixing piece; 62, hook wheel lifting Lowering rack; 63, hook wheel lifting guide rail; 64, driving motor fixing seat; 65, hook wheel lifting driving motor; 66, hook wheel lifting member; 67, hook wheel rotation driving motor; 68, hook wheel assembly; 681, hook wheel mounting member; 682, hook wheel; 7, latch assembly; 71, latch mounting seat; 72, latch driving motor; 73, latch; 74, latch guide sleeve; 8, unlocking mechanism; 81, unlocking mounting seat; 82, unlocking driving motor; 83, guide sleeve; 84, guide shaft; 85, inclined surface pressure block; 9, control box; 10, CCD camera. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0042] like Figures 1 to 14 As shown, an embodiment of the present invention provides a multi-layer fixture transport mechanism, comprising:

[0043] Ground track 1;

[0044] The transport device 2 comprises: a moving mechanism 3, a lifting mechanism 4 and a picking and placing mechanism 5;

[0045] The moving mechanism 3 is installed on the ground rail 1, and the moving mechanism 3 is used to move in the X-axis direction on the ground rail 1;

[0046] The lifting mechanism 4 is installed on the moving mechanism 3, and the lifting mechanism 4 is used to drive the pick-and-place mechanism 5 to move in the Z-axis direction;

[0047] The pick-and-place mechanism 5 includes: a support frame 51 and a pick-and-place module 52, the support frame 51 is installed on the lifting mechanism 4, and the pick-and-place module 52 is installed on the support frame 51;

[0048] The pick-and-place module 52 includes: a first-stage driving motor 521, a first-stage guide rail 522, a first-stage moving plate 523, a first-stage driving belt 524, a first-stage transmission screw 525, a first-stage transmission nut 526 and a first-stage hooking component 527. The first-stage driving motor 521 is installed on the support frame 51, the first-stage guide rail 522 is installed on the support frame 51, and the first-stage guide rail 522 extends along the Y-axis direction, the first-stage moving plate 523 is slidably connected to the first-stage guide rail 522, the first-stage driving motor 521 is transmission-connected to the first-stage transmission screw 525 through the first-stage driving belt 524, the first-stage moving plate 523 is connected to the first-stage transmission screw 525 through the first-stage transmission nut 526, and the first-stage hooking component 527 is installed on the first-stage moving plate 523;

[0049] The first-stage hooking assembly 527 includes: a second-stage driving motor 5271, two second-stage guide rails 5272, a wheel set 5273, a second-stage driving belt 5274 and a second-stage hooking assembly 5275. The second-stage driving motor 5271 is installed on the first-stage moving plate 523, the second-stage guide rail 5272 is installed on the first-stage moving plate 523, and the second-stage guide rail 5272 extends along the Y-axis direction. The wheel set 5273 is installed on the first-stage moving plate 523, and the second-stage driving belt 5274 surrounds the wheel set 5273. The second-stage hooking assembly 5275 includes: a first hooking module 52751 and a second hooking module 52752. The first hooking module 52751 and the second hooking module 52752 are respectively slidably connected to the two second-stage guide rails 5272, and the first hooking module 52751 and the second hooking module 52752 are respectively located at the two ends of the first-stage moving plate 523, and the second-stage driving motor 5271 connects the first hooking module 52751 and the second hooking module 52752 through the second-stage driving belt 5274.

[0050] The moving mechanism 3 can move along the X-axis direction on the ground rail 1 to move the transport device 2 to the corresponding equipment position, and the lifting mechanism 4 can lift the pick-and-place mechanism 5 along the Z-axis direction to the height of the position of the fixture to be picked up and placed. The first-stage driving motor 521 drives the first-stage driving belt 524 to drive the first-stage driving screw 525 to rotate, so that the first-stage moving plate 523 connected to the first-stage driving screw 525 through the first-stage driving nut 526 moves along the first-stage guide rail 522 to the position of the fixture to be picked up and placed; if the transport device 2 is to be placed To place a multi-layer fixture, the second hook module 52752 away from the fixture position to be placed is connected to the hook groove at the bottom of the multi-layer fixture, and the second-stage driving motor 5271 drives the second-stage driving belt 5274 to drive the second hook module 52752 to move along the second-stage guide rail 5272 to the fixture position to be placed, so that the multi-layer fixture is placed on the oven support frame 51. After the placement is completed, the second hook module 52752 is separated from the hook groove at the bottom of the multi-layer fixture, and the first-stage driving motor 521 drives the first-stage driving The belt 524 is used to drive the first-stage transmission screw 525 to rotate, so that the first-stage moving plate 523 connected to the first-stage transmission screw 525 through the first-stage transmission nut 526 moves along the first-stage guide rail 522 away from the position of the fixture to be picked up and placed; if the handling device 2 is used to pick up a multi-layer fixture, the first hooking module 52751 close to the position of the fixture to be picked up and placed is connected to the hook groove at the bottom of the multi-layer fixture, and the second-stage driving motor 5271 drives the second-stage driving belt 5274 to drive the first hooking module 5275 The first-stage driving motor 521 drives the first-stage driving belt 524 to drive the first-stage driving screw 525 to rotate, so that the first-stage moving plate 523 connected to the first-stage driving screw 525 through the first-stage driving nut 526 moves along the first-stage guide rail 522 away from the position of the fixture to be picked up and placed, so that the multi-layer fixture is completely placed on the support frame 51, thereby improving the transportation efficiency of the multi-layer fixture between various devices.

[0051] like Figures 9 to 13As shown, in some embodiments, the first hook module 52751 and the second hook module 52752 both include: a drive belt fixing seat 61, a hook wheel lifting rack 62, a hook wheel lifting guide rail 63, a drive motor fixing seat 64, a hook wheel lifting drive motor 65, a hook wheel lifting member 66, a hook wheel rotation drive motor 67 and a hook wheel assembly 68, the drive belt fixing seat 61 includes: a first fixing member 611 and a second fixing member 612, the first fixing member 611 and the second fixing member 612 are respectively fixed on both sides of the second-stage drive belt 5274, the hook wheel lifting rack 62 and the hook wheel lifting guide rail 63 are installed on the first fixing member 611, and the hook wheel lifting rack 62 and the hook wheel lifting guide rail 63 are arranged along the Z-axis direction. Extension, the second fixing member 612 is slidably connected to the second-level guide rail 5272 through a slider, the drive motor fixing seat 64 is slidably connected to the hook wheel lifting guide rail 63 through a slider, the hook wheel lifting drive motor 65 is installed on the drive motor fixing seat 64, the output shaft of the hook wheel lifting drive motor 65 is installed with a driving gear, the driving gear is engaged with the hook wheel lifting rack 62, the hook wheel lifting member 66 is fixedly connected to the drive motor fixing seat 64, the hook wheel rotation drive motor 67 is installed on the hook wheel lifting member 66, the hook wheel assembly 68 includes: a hook wheel mounting member 681 and two hook wheels 682, the hook wheel 682 mounting seat is transmission-connected to the hook wheel rotation drive motor 67, and the two hook wheels 682 are installed on the hook wheel 682 mounting seat.

[0052] The hook wheel lifting drive motor 65 drives the driving gear to rotate, so that the driving gear cooperates with the hook wheel lifting rack 62, so that the driving motor fixing seat 64 is lifted and lowered. When the driving motor fixing seat 64 is lifted and lowered along the hook wheel lifting guide rail 63, the hook wheel lifting member 66 is also lifted and lowered synchronously, so that the hook wheel rotation driving motor 67 is lifted and lowered. When the hook wheel 682 needs to be connected to the hook groove at the bottom of the clamp, the hook wheel rotation driving motor 67 is raised; when the hook wheel 682 needs to be disengaged from the hook groove at the bottom of the clamp, the hook wheel rotation driving motor 67 is lowered; when the hook wheel 682 is connected to the hook groove at the bottom of the clamp, in order to ensure that the hook wheel 682 is abutted against the inner wall of the hook groove in the Y-axis direction, the hook wheel rotation driving motor 67 is rotated, so that the two hook wheels 682 are rotated from the X-axis direction to the Y-axis direction, so that the two hook wheels 682 are respectively abutted against the two inner walls of the hook groove in the Y-axis direction. The initial distribution of the two hook wheels 682 is set to be arranged in the X-axis direction so that the hook wheels 682 can enter the hook groove even if there is an error after reaching the preset position. After the hook wheels 682 are connected to the hook groove, the second-stage driving belt 5274 is driven by the second-stage driving motor 5271, so that the clamp can be driven to move in the Y-axis direction.

[0053] like Fig. 9As shown, in some embodiments, the wheel group 5273 includes: 4 idler wheels 52732, 1 tensioning wheel 52731, 1 driving wheel 52733 and 1 driven wheel 52734, the two idler wheels 52732 are respectively located at the two ends of one second-stage guide rail 5272, the two idler wheels 52732 are respectively located at the two ends of another second-stage guide rail 5272, the tensioning wheel 52731, the driving wheel 52733 and the driven wheel 52734 are located between the two second-stage guide rails 5272, the driving wheel 52733 is transmission-connected to the second-stage drive motor 5271, and the gear portion of the driven wheel 52734 is meshed with the gear portion of the driving wheel 52733. The second-stage driving belt 5274 passes through the driven wheel 52734, the two idle wheels 52732 located at the two ends of the second-stage guide rail 5272 on one side, the tensioning wheel 52731, the two idle wheels 52732 located at the two ends of the second-stage guide rail 5272 on the other side, and finally passes around the driven wheel 52734. The second-stage driving motor 5271 drives the driving wheel 52733 to rotate, and the driving wheel 52733 drives the meshing driven wheel 52734 to rotate, thereby driving the second-stage driving belt 5274 to transmit around the wheel group 5273, thereby moving the first hooking module 52751 and the second hooking module 52752.

[0054] like Figure 8 As shown, in some embodiments, the support frame 51 includes: a bottom frame 511, a first frame 512 and a second frame 513, the pick-and-place module 52 is installed on the bottom frame 511, and the first frame 512 and the second frame 513 are respectively installed at two ends of the bottom frame 511.

[0055] like Figure 8 As shown, in some embodiments, the support frame 51 also includes: a roller group, the roller group includes: a plurality of transverse rollers 514 and a plurality of longitudinal rollers 515, the plurality of transverse rollers 514 are respectively evenly installed and arranged on the first frame 512 and the second frame 513, and the plurality of longitudinal rollers 515 are respectively evenly installed and arranged on the first frame 512 and the second frame 513.

[0056] During the process of taking and placing the clamp, the transverse rollers 514 of the first frame 512 and the second frame 513 can respectively abut against the side surfaces of the clamp to limit the moving direction of the clamp. The longitudinal rollers 515 can support the bottom surface of the clamp and roll as the clamp moves, thereby reducing the friction between the clamp and the support frame 51.

[0057] like Figure 8As shown, in some embodiments, it also includes: a latch assembly 7, the latch assembly 7 is used to cooperate with the recessed portion of the sealing door of the oven, the latch assembly 7 includes: a latch mounting seat 71, a latch driving motor 72, a latch 73 and a latch guide sleeve 74, the latch mounting seat 71 is installed on the first frame 512, the latch driving motor 72 is installed on the latch mounting seat 71, the latch 73 is transmission-connected to the latch driving motor 72, the latch guide sleeve 74 is installed on the first frame 512, and the latch 73 passes through the latch guide sleeve 74.

[0058] When the moving mechanism 3 moves the transport device 2 to the corresponding position of the oven, the latch driving motor 72 drives the latch 73 to move along the Y-axis direction, so that the latch 73 cooperates with the recessed portion of the oven sealing door. At this time, the moving mechanism 3 moves to push the oven sealing door open, and at the same time, the latch 73 passes through the latch guide sleeve 74 to ensure that the latch 73 will not deviate in direction during the movement.

[0059] like Figure 6 and Figure 7 As shown, in some embodiments, it also includes: an unlocking mechanism 8, which is installed on the pick-and-place mechanism 5, and is used to release the locking structure between the oven and the clamp.

[0060] A locking structure is provided on the support frame of the oven to prevent the multi-layer clamp from sliding off. The locking structure may include a baffle, a pulley, a guide rail and a return spring. The baffle is slidably connected to the guide rail through a slider, the guide rail is installed on the oven support frame, the pulley is installed on the baffle, one end of the return spring is connected to the baffle, and the other end is connected to the oven support frame.

[0061] like Fig.14 As shown, in some embodiments, the unlocking mechanism 8 includes: an unlocking mounting seat 81, an unlocking drive motor 82, a guide sleeve 83, a guide shaft 84 and a ramp pressure block 85. The unlocking mounting seat 81 is installed on the first-stage movable plate 523, the unlocking drive motor 82 and the guide sleeve 83 are installed on the unlocking mounting seat 81, the guide shaft 84 is installed on the guide sleeve 83, the ramp pressure block 85 is transmission-connected to the unlocking drive motor 82, and the guide shaft 84 is connected to the ramp pressure block 85.

[0062] When the moving mechanism 3 moves to the corresponding position of the oven, the unlocking drive motor 82 can drive the inclined surface pressing block 85 to move along the Y-axis direction, so that the inclined surface push block abuts against the anti-slip device set on the oven support frame 51, and as the inclined surface push block moves, the baffle of the locking structure gradually descends, thereby completing the unlocking of the locking structure, so that the pick-and-place mechanism 5 can take out or place the multi-layer fixture, and the running direction of the inclined surface pressing block 85 will not deviate through the cooperation of the guide sleeve 83 and the guide shaft 84. When the unlocking drive motor 82 drives the inclined surface pressing block 85 to reset, the reset spring also provides a reset force for the baffle.

[0063] like Figure 5 As shown, in some embodiments, the lifting mechanism 4 includes: a top frame 41, a first lifting device 42 and a second lifting device 43, the first lifting device 42 and the second lifting device 43 are symmetrically arranged, and the first lifting device 42 and the second lifting device 43 both include: a fixed frame 431, a lifting frame 432, a lifting drive motor 433, a lifting transmission screw 434, a lifting transmission nut 435, and a second lifting guide rail 436, and the two ends of the top frame 41 are respectively connected to the fixed frame 431 of the first lifting device 42 and the fixed frame 432 of the second lifting device 43. 31, the fixed frame 431 is installed on the moving mechanism 3, the lifting drive motor 433, the second lifting guide rail 436 and the lifting transmission screw 434 are installed on the fixed frame 431, the lifting drive motor 433 is transmission-connected with the lifting transmission screw 434, the lifting frame 432 is connected with the lifting transmission screw 434 through the lifting transmission nut 435, the lifting frame 432 is slidingly connected with the second lifting guide rail 436 through a slider, and the two ends of the support frame 51 are respectively connected to the lifting frame 432 of the first lifting device 42 and the lifting frame 432 of the second lifting device 43.

[0064] The lifting drive motor 433 can drive the lifting transmission screw 434 to rotate, so that the lifting transmission nut 435 can rise or fall, so that the lifting frame 432 can slide up and down along the second lifting guide rail 436. Since the two ends of the support frame 51 are respectively connected to the lifting frame 432 of the first lifting device 42 and the lifting frame 432 of the second lifting device 43, the support frame 51 can be lifted and lowered, and the lifting speed and lifting height of the first lifting device 42 and the second lifting device 43 are synchronized, which can prevent the support frame 51 from tilting.

[0065] like Figures 2 to 4 As shown, in some embodiments, the ground rail 1 includes: two linear rails 11, a plurality of fixed plates 12, a busbar 13, four stoppers 14 and a first communication module 15, the two linear rails 11 extend along the X-axis direction, the plurality of fixed plates 12 are used to fix the two linear rails 11, the busbar 13 is arranged between the two linear rails 11, the four stoppers 14 are respectively arranged at both ends of the two linear rails 11, the first communication module 15 is arranged at one end of the linear rail 11, and the linear rail 11 is an I-shaped;

[0066] The moving mechanism 3 includes: a ground rail moving frame 31, and a ground rail driving motor 32 installed on the ground rail moving frame 31, a pair of ground rail driving wheels 33, a pair of ground rail driven wheels 34, a guide roller assembly 35, an anti-dumping roller assembly 36, a cleaning brush assembly 37, an anti-collision detection sensor 38 and a second communication module 39, the ground rail driving wheel 33 is transmission-connected to the ground rail driving motor 32, the ground rail driving wheel 33 and the ground rail driven wheel 34 roll on the linear track, the guide roller assembly 35 includes two pairs of guide rollers 351, any pair of guide rollers 351 are located on both sides of the middle vertical plate of the I-shaped linear track 11, the anti-dumping roller assembly 36 includes four anti-dumping rollers 361, the four anti-dumping rollers 361 are located at the four corners of the ground rail moving frame 31, and the anti-dumping rollers 361 are abutted against the bottom of the top plate of the I-shaped linear track 11.

[0067] Since the four anti-dump rollers 361 are located at the four corners of the ground rail moving frame 31, and the anti-dump rollers 361 abut against the bottom of the top plate of the I-shaped linear track 11, the anti-dump rollers 361 can limit the moving mechanism 3 from derailing and tipping over when the ground rail 1 moves. At the same time, since any pair of guide rollers 351 are located on both sides of the middle vertical plate of the I-shaped linear track 11, and the guide rollers 351 abut against the middle vertical plate of the I-shaped linear track 11, the shaking of the moving mechanism 3 when the ground rail 1 moves can be limited, so that the moving mechanism 3 can move smoothly along a straight line.

[0068] It should be noted that the two pairs of guide rollers 351 can be installed on the same side of the ground rail moving frame 31 , or can be installed on different sides of the ground rail moving frame 31 .

[0069] Information is transmitted through the first communication module 15 and the second communication module 39, so that the staff can directly understand the transport status of the multi-layer fixture transport mechanism in the background.

[0070] The busbar 13 can supply power to the transport device 2, so that the transport device 2 can complete movement and transport. The anti-collision detection sensor 38 can detect whether there are foreign objects in the moving direction of the mobile mechanism 3. When there are foreign objects, it can promptly feedback to the controller, so that the controller controls the mobile mechanism 3 to stop moving, thereby avoiding harm to the staff and the transport device 2.

[0071] It should be noted that the handling device 2 further includes a control box 9, which is installed on the lifting mechanism 4. A controller is provided in the control box 9, and the moving mechanism 3, the lifting mechanism 4 and the pick-and-place mechanism 5 are controlled by the controller. At the same time, a CCD camera 10 is provided on the pick-and-place mechanism 5, and the CCD camera 10 is used to determine whether the moving mechanism 3 and the lifting mechanism 4 move the pick-and-place mechanism 5 to the position where the multi-layer fixture is to be picked up and placed.

[0072] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A multi-layer fixture transport mechanism, characterized in that: include: Ground rail; The handling device includes: a moving mechanism, a lifting mechanism and a picking and placing mechanism; The moving mechanism is installed on the ground rail, and the moving mechanism is used to move on the ground rail in the X-axis direction; The lifting mechanism is installed on the moving mechanism, and the lifting mechanism is used to drive the pick-and-place mechanism to move in the Z-axis direction; The pick-and-place mechanism comprises: a support frame and a pick-and-place module, the support frame is installed on the lifting mechanism, and the pick-and-place module is installed on the support frame; The pick-and-place module comprises: a first-stage driving motor, a first-stage guide rail, a first-stage moving plate, a first-stage driving belt, a first-stage transmission screw, a first-stage transmission nut and a first-stage hooking component, wherein the first-stage driving motor is mounted on the supporting frame, the first-stage guide rail is mounted on the supporting frame, and the first-stage guide rail extends along the Y-axis direction, the first-stage moving plate is slidably connected to the first-stage guide rail, the first-stage driving motor is transmission-connected to the first-stage transmission screw through the first-stage driving belt, the first-stage moving plate is connected to the first-stage transmission screw through the first-stage transmission nut, and the first-stage hooking component is mounted on the first-stage moving plate; The first-level hooking component includes: a second-level driving motor, two second-level guide rails, a wheel group, a second-level driving belt and a second-level hooking component, the second-level driving motor is installed on the first-level movable plate, the second-level guide rail is installed on the first-level movable plate, and the second-level guide rail extends along the Y-axis direction, the wheel group is installed on the first-level movable plate, and the second-level driving belt is wrapped around the wheel group, the second-level hooking component includes: a first hooking module and a second hooking module, the first hooking module and the second hooking module are respectively slidably connected to the two second-level guide rails, and the first hooking module and the second hooking module are respectively located at two ends of the first-level movable plate, and the second-level driving motor connects the first hooking module and the second hooking module through the second-level driving belt.

2. The multi-layer fixture transport mechanism according to claim 1, characterized in that: The first hook module and the second hook module both include: a driving belt fixing seat, a hook wheel lifting rack, a hook wheel lifting guide rail, a driving motor fixing seat, a hook wheel lifting driving motor, a hook wheel lifting member, a hook wheel rotation driving motor and a hook wheel assembly, the driving belt fixing seat includes: a first fixing member and a second fixing member, the first fixing member and the second fixing member are respectively fixed on both sides of the second-stage driving belt, the hook wheel lifting rack and the hook wheel lifting guide rail are installed on the first fixing member, and the hook wheel lifting rack and the hook wheel lifting guide rail extend along the Z-axis direction, and the second fixing member is connected to the hook wheel through a slider. The second-level guide rail is slidably connected, the drive motor fixing seat is slidably connected to the hook wheel lifting guide rail through a slider, the hook wheel lifting drive motor is installed on the drive motor fixing seat, the output shaft of the hook wheel lifting drive motor is installed with a drive gear, the drive gear is meshed with the hook wheel lifting rack, the hook wheel lifting member is fixedly connected to the drive motor fixing seat, the hook wheel rotation drive motor is installed on the hook wheel lifting member, the hook wheel assembly includes: a hook wheel mounting member and two hook wheels, the hook wheel mounting seat is drivingly connected to the hook wheel rotation drive motor, and the two hook wheels are installed on the hook wheel mounting seat.

3. The multi-layer fixture transport mechanism according to claim 1, characterized in that: The wheel set includes: 4 idler wheels, 1 tensioning wheel, 1 driving wheel and 1 driven wheel, the two idler wheels are respectively located at the two ends of one second-level guide rail, the two idler wheels are respectively located at the two ends of the other second-level guide rail, the tensioning wheel, the driving wheel and the driven wheel are located between the two second-level guide rails, the driving wheel is transmission-connected to the second-level drive motor, and the gear portion of the driven wheel is meshed with the gear portion of the driving wheel.

4. The multi-layer fixture transport mechanism according to claim 1, characterized in that: The support frame comprises: a bottom frame, a first frame and a second frame. The pick-and-place module is installed on the bottom frame. The first frame and the second frame are respectively installed on two ends of the bottom frame.

5. The multi-layer fixture transport mechanism according to claim 4, characterized in that: The support frame also includes: a roller group, which includes: a plurality of transverse rollers and a plurality of longitudinal rollers, wherein the plurality of transverse rollers are evenly installed and arranged on the first frame and the second frame, and the plurality of longitudinal rollers are evenly installed and arranged on the first frame and the second frame.

6. The multi-layer fixture transport mechanism according to claim 4, characterized in that: Also includes: A latch assembly, the latch assembly is used to cooperate with the recessed portion of the sealed door of the oven, the latch assembly comprises: a latch mounting seat, a latch driving motor, a latch and a latch guide sleeve, the latch mounting seat is mounted on the first frame, the latch driving motor is mounted on the latch mounting seat, the latch is transmission-connected to the latch driving motor, the latch guide sleeve is mounted on the first frame, and the latch passes through the latch guide sleeve.

7. The multi-layer fixture transport mechanism according to claim 1, characterized in that: Also includes: An unlocking mechanism is installed on the pick-and-place mechanism and is used to release the locking structure between the oven and the clamp.

8. The multi-layer fixture transport mechanism according to claim 7, characterized in that: The unlocking mechanism includes: an unlocking mounting seat, an unlocking drive motor, a guide sleeve, a guide shaft and an inclined surface pressure block, the unlocking mounting seat is installed on the first-stage movable plate, the unlocking drive motor and the guide sleeve are installed on the unlocking mounting seat, the guide shaft is installed on the guide sleeve, the inclined surface pressure block is transmission-connected to the unlocking drive motor, and the guide shaft is connected to the inclined surface pressure block.

9. The multi-layer fixture transport mechanism according to claim 1, characterized in that: The lifting mechanism includes: a top frame, a first lifting device and a second lifting device, the first lifting device and the second lifting device are symmetrically arranged, and the first lifting device and the second lifting device both include: a fixed frame, a lifting frame, a lifting drive motor, a lifting transmission screw, a lifting transmission nut, and a second lifting guide rail. The two ends of the top frame are respectively connected to the fixed frame of the first lifting device and the fixed frame of the second lifting device, the fixed frame is installed on the moving mechanism, the lifting drive motor, the second lifting guide rail and the lifting transmission screw are installed on the fixed frame, the lifting drive motor is drivingly connected to the lifting transmission screw, the lifting frame is connected to the lifting transmission screw through the lifting transmission nut, the lifting frame is slidably connected to the second lifting guide rail through a slider, and the two ends of the support frame are respectively connected to the lifting frame of the first lifting device and the lifting frame of the second lifting device.

10. The multi-layer fixture transport mechanism according to claim 1, characterized in that: The ground rail includes: two linear rails, a plurality of fixed plates, a busbar, four limiters and a first communication module, the two linear rails extend along the X-axis direction, the plurality of fixed plates are used to fix the two linear rails, the busbar is arranged between the two linear rails, the four limiters are respectively arranged at both ends of the two linear rails, the first communication module is arranged at one end of the linear rail, and the linear rail is an I-shaped rail; The mobile mechanism includes: a ground rail moving frame, and a ground rail driving motor installed on the ground rail moving frame, a pair of ground rail driving wheels, a pair of ground rail driven wheels, a guide roller assembly, an anti-dumping roller assembly, a cleaning brush assembly, an anti-collision detection sensor and a second communication module. The ground rail driving wheel is connected to the ground rail driving motor in a driving manner, and the ground rail driving wheel and the ground rail driven wheel roll on the linear track. The guide roller assembly includes two pairs of guide rollers, and any pair of guide rollers is located on both sides of the middle vertical plate of the I-shaped linear track. The anti-dumping roller assembly includes four anti-dumping rollers, and the four anti-dumping rollers are located at the four corners of the ground rail moving frame, and the anti-dumping rollers are abutted against the bottom of the top plate of the I-shaped linear track.

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