Equipment for automatically boxing modules

Abstract

The invention relates to equipment for automatic boxing of a module, and belongs to the technical field of module boxing, the equipment comprises a truss assembly, a jacking positioning mechanism and a gripper assembly, the jacking positioning mechanism is used for jacking a PACK box, the gripper assembly comprises a gripper base plate, a first lifting mechanism and a second lifting mechanism, the gripper base plate is arranged on the truss assembly in a sliding mode, and the first lifting mechanism is used for lifting the PACK box; the first lifting mechanism is arranged on the gripper base plate, moves along the Z axis and rotates relative to the truss assembly, the first lifting mechanism comprises a transfer beam, an end clamping assembly and a side clamping assembly, the end clamping assembly is slidably connected to the transfer beam along the Y axis, the side clamping assembly is slidably connected to the transfer beam along the X axis, and the end clamping assembly and the side clamping assembly clamp the periphery of a module. And the second lifting mechanism lifts and moves along the Z axis and comprises an adsorption assembly, and the adsorption assembly is used for adsorbing and grabbing on the large face side of the module. According to the device, the boxing process is full-automatic, the accuracy of the grabbing angle or position in the module boxing process is improved, and the automatic close-fitting boxing effect of the module is achieved.

Description

Technical Field

[0001] This application relates to the technical field of module boxing, and in particular to a device for automatically boxing modules. Background Art

[0002] In the production process of new energy batteries, there are two production lines including battery modules and PACK. After the battery modules are integrated, a gripper device is needed to grab and place them into the PACK box. The gripper can be compatible with battery modules of different sizes, meet the boxing quality and can accurately fall into the PACK box, while ensuring the adhesion between the module and the PACK box.

[0003] In the current related technologies, the module boxing device includes a boxing base, a box body, a gripper and a positioning seat. The box body is arranged on the boxing base, and the positioning seat is arranged on one side of the box body. The AGV transport cart carries the battery cells and moves until it moves into the positioning seat. After the AGV transport cart is stable, the battery cells are grabbed by the gripper or taken manually, and then the battery cells are placed into the box body to complete the boxing.

[0004] However, since the battery cells and the box body are mostly tightly assembled, if there are deviations in the grasping angle or position of the gripper during the boxing installation, it will lead to boxing failure or damage to the assembly quality, not only increasing the defective rate of the assembly and boxing production, but also greatly reducing the production efficiency. Summary of the Invention

[0005] In order to improve the problem of boxing failure caused by deviations in the grasping angle or position of the gripper during the battery cell boxing, which in turn leads to an increase in the defective rate of the assembly and boxing production and a significant reduction in the production efficiency, this application provides a device for automatically boxing modules.

[0006] A device for automatically boxing modules provided by this application adopts the following technical solutions: A device for automatically boxing modules includes: a truss assembly, a lifting and positioning mechanism and a gripper assembly. The lifting mechanism is arranged inside the truss assembly and at the bottom. The lifting mechanism is used to lift the PACK box. The gripper assembly includes a gripper substrate, a first lifting mechanism and a second lifting mechanism. The gripper substrate is slidably arranged on the truss assembly. The first lifting mechanism is arranged on the gripper substrate. The first lifting mechanism moves along the Z-axis and rotates relative to the truss assembly. The first lifting mechanism includes a transfer beam, an end clamping component and a side clamping component. The end clamping component is slidably connected to the transfer beam along the Y-axis. The side clamping component is slidably connected to the transfer beam along the X-axis. The end clamping component and the side clamping component clamp the module around. The second lifting mechanism moves up and down along the Z-axis. The second lifting mechanism includes an adsorption component. The adsorption component is used to adsorb and grab on the large surface side of the module.

[0007] By adopting the above technical solution, the first lifting mechanism and the second lifting mechanism cooperate to achieve lifting movement in the Z-axis direction. The end clamping assembly and the side clamping assembly cooperate with the adsorption assembly to clamp and fix the module. During in-box assembly, the end clamping assembly and the side clamping assembly are released first to make way for the movement of the module. The adsorption assembly adsorbs and fixes the module to maintain the position stability and accuracy of the module. Then, driven by the downward pressure of the second lifting mechanism, the module is driven into the PACK box. The in-box process is fully automated, improving the accuracy of the grasping angle or position during the module in-box process, achieving tight-fitting in-box of the module, and reducing the defective rate of in-box assembly production.

[0008] Preferably, the first lifting mechanism further includes a first connecting frame, a first lifting drive, and a first lifting lead screw. The first connecting frame is arranged on the gripper substrate. The first lifting drive is arranged on the first connecting frame. The first lifting lead screw is connected to the output end of the first lifting drive. A first lifting frame is spirally arranged on the first lifting lead screw. The transfer beam is arranged at one end of the first lifting frame away from the first lifting drive.

[0009] Preferably, the first lifting mechanism further includes a rotating assembly. The rotating assembly includes a rotating drive, a rotating gear ring, and a rotating clamping ring. The rotating drive is arranged on the gripper substrate. The rotating clamping ring is arranged at the output end of the rotating drive. The rotating gear ring is rotatably connected inside the gripper substrate. The first connecting frame is arranged on the rotating gear ring. The rotating clamping ring meshes with the rotating gear ring circumferentially.

[0010] Preferably, the end clamping assembly includes an end clamping connecting frame, an end clamping drive, and an end clamping plate. The end clamping drive is arranged on the transfer beam. The end clamping connecting frame is slidably connected to the transfer beam. The end clamping plate is arranged on the side of the end clamping connecting frame facing the module. The end clamping drive controls the end clamping plate to clamp the end face side of the module.

[0011] Preferably, the adsorption assembly includes a negative pressure drive, an adsorption plate, and a flexible suction cup. The flexible suction cup is arranged on the side of the adsorption plate facing the module. The negative pressure drive, the adsorption plate, and the flexible suction cup are all connected. The flexible suction cup adsorbs on the large surface side of the module.

[0012] Preferably, the second lifting mechanism includes a second lifting drive, a second lifting lead screw, and a second lifting frame. The second lifting drive is arranged inside the first lifting frame. The second lifting lead screw is connected to the output end of the second lifting drive. The second lifting frame is connected to the second lifting lead screw. The second lifting drive is used to drive the second lifting frame to lift and move relative to the first lifting frame. The adsorption assembly is arranged on the second lifting frame.

[0013] Preferably, the truss assembly includes a work station frame and a movable truss. A first sliding rack is provided on the work station frame along the X-axis. A truss drive is provided on the movable truss. A first mating gear ring is provided at the output end of the truss drive. The first mating gear ring meshes with the first sliding rack; A second sliding rack is provided on the movable truss along the Y-axis direction. A movable drive is provided on the gripper substrate. A second mating gear ring is provided at the output end of the movable drive. The second mating gear ring meshes with the second sliding rack.

[0014] Preferably, the gripper assembly further includes a bottom supporting mechanism. The bottom supporting mechanism includes a bottom supporting component and a lifting component. The bottom supporting component includes a bottom supporting connecting plate and a bottom supporting cylinder. There are two bottom supporting connecting plates. The two bottom supporting connecting plates are symmetrically arranged at two ends of the transfer beam. The two bottom supporting connecting plates are connected by a connecting beam. Two bottom supporting cylinders are oppositely arranged along the length direction of each single bottom supporting connecting plate. And the extending directions of the piston rods of the two bottom supporting cylinders are arranged towards each other; The lifting component includes a bottom supporting base frame, a lifting cylinder and a lifting slide rail. The bottom supporting base frame is slidably connected to the bottom supporting connecting plate. A lifting slider is provided on the bottom supporting connecting plate. A lifting fixing frame is connected to the cylinder body of the lifting cylinder. The lifting fixing frame is connected to the lifting slider. The lifting slide rail passes through the middle of the lifting fixing frame. And the piston rod of the lifting cylinder is connected to the lifting slide rail. The lifting slider is clamped on the side of the lifting slide rail away from the lifting cylinder. An anti-falling support rod is connected to the end of the lifting slide rail.

[0015] Preferably, the lifting and positioning mechanism includes a lifting base and a lifting component. The lifting component includes a lifting cylinder and a lifting frame. The lifting cylinder is arranged in the lifting base. A wedge block is connected to the piston rod of the lifting cylinder. The lifting frame is slidably connected to the lifting base along the Z-axis. A lifting roller is rotatably connected to the side of the lifting frame facing the wedge block. The lifting roller abuts against the wedge surface of the wedge block.

[0016] Preferably, the lifting and positioning mechanism further includes a clamping component. There are at least two groups of clamping components. The clamping component includes a clamping cylinder and a clamping block. The clamping cylinder is arranged at the end of the lifting base. The clamping block is arranged on the piston rod of the clamping cylinder. The piston rod of the clamping cylinder moves along the X-axis. At least two clamping blocks cooperate to clamp and position the PACK box body.

[0017] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through the cooperation of the first lifting mechanism and the second lifting mechanism, during the process of the grasping module being assembled into the box, the first lifting mechanism, namely the end clamping component and the side clamping component, clamps and drives the module to perform a large-range lifting movement along the Z-axis. When the module moves above the PACK box, the second lifting mechanism, namely the adsorption component, performs a small-range lifting and lowering. In order to adapt to the tight-fitting process, the end clamping component and the side clamping component are released first. At this time, the adsorption force of the adsorption component keeps the position of the module stable, facilitating driving the module into the PCAK box body, realizing the automatic box loading of the module, and being beneficial to improving the positioning accuracy when the module is loaded into the box. 2. Through the setting of the rotating component, according to different production processes, the gripper assembly can automatically adjust the angle during the process of grasping the module, so as to facilitate the module to perform the box loading and assembling actions at the preset position and angle. 3. Through the setting of the jacking and positioning mechanism, when the PACK box body moves to the workstation, it is jacked up by the jacking component, facilitating the gripper assembly to detect and the module to be aligned. Then, the PACK box body is clamped and fixed by the clamping component, providing the position accuracy of the PACK box body, further improving the alignment accuracy between the module and the PACK box, being beneficial to reducing the box loading deviation and improving the box loading beat. Brief Description of the Drawings

[0018] Figure 1 It is a schematic diagram showing the overall structural layout of the box loading workstation in the embodiment of the present application.

[0019] Figure 2 It is a schematic diagram showing the structure of the gripper assembly in the embodiment of the present application.

[0020] Figure 3 It is a schematic diagram showing the structure of the first lifting mechanism in the embodiment of the present application.

[0021] Figure 4 It is a schematic diagram showing the structure of the scapegoat mechanism in the embodiment of the present application.

[0022] Figure 5 It is a schematic diagram showing the structure of the anti-falling mechanism in the embodiment of the present application.

[0023] Figure 6 It is a schematic diagram showing the structure of the end clamping component and the side clamping component in the embodiment of the present application.

[0024] Figure 7 It is a schematic diagram showing the structure of the end clamp quick-change component and the side clamp quick-change component in the embodiment of the present application.

[0025] Figure 8 It is a schematic diagram showing the structure of the second lifting mechanism and the floating mechanism in the embodiment of the present application.

[0026] Figure 9It is a schematic structural diagram of the floating mechanism used in the embodiments of the present application.

[0027] Figure 10 It is a schematic structural diagram of the bottom support mechanism used in the embodiments of the present application.

[0028] Figure 11 It is a schematic structural diagram of the bottom support mechanism used in the embodiments of the present application.

[0029] Figure 12 It is a schematic overall structural diagram of the jacking and positioning mechanism used in the embodiments of the present application.

[0030] Figure 13 It is a schematic structural diagram of the jacking assembly used in the embodiments of the present application.

[0031] Figure 14 It is a schematic structural diagram of the limiting device used in the embodiments of the present application.

[0032] Description of reference numerals in the drawings: 1. Truss assembly; 10. Workstation frame; 101. First sliding rack; 102. First sliding guide rail; 11. Movable truss; 110. Second sliding rack; 111. Truss drive; 112. First sliding guide block; 114. Movable drive; 115. Second sliding guide rail; 2. Gripper assembly; 21. Gripper base plate; 30. First lifting mechanism; 301. First connecting frame; 302. First lifting drive; 303. First lifting lead screw; 304. First lifting frame; 305. First lifting slide rail; 306. First lifting slider; 31. Rotating assembly; 311. Rotating drive; 312. Rotating clamping ring; 3121. Rotating shaft; 3122. Rotating clamping plate; 3123. Rotating clamping post; 313. Connecting plate; 314. Reference plate; 315. Anti-tangling drag chain; 32. First rotating bearing; 321. Rotating toothed ring; 33. Matching base plate; 331. Anti-falling fixing block; 34. Stable column; 35. Second rotating bearing; 36. Matching connecting frame; 37. Scapegoat mechanism; 38. Detection sensor; 39. Anti-falling mechanism; 391. Anti-falling cylinder; 392. Anti-falling clamping block; 393. Anti-falling clamping tooth; 40. End clamping assembly; 401. End clamping connecting frame; 402. End clamping drive; 403. End clamping plate; 404. Through-beam detector; 41. End clamping quick-change assembly; 412. Quick-change cylinder; 413. Quick-change clamping block; 42. Side clamping assembly; 421. Side clamping connecting frame; 422. Side clamping drive; 423. Side clamping plate; 43. Side clamping quick-change assembly; 431. Quick-change plate; 432. Quick-change pin; 44. Second lifting mechanism; 441. Lifting fixing frame; 45. Second lifting drive; 46. Transmission mechanism; 47. Lifting electric cylinder; 49. Second lifting frame; 491. Zero-point positioning plate; 4911. Positioning joint; 4912. Pneumatic circuit joint; 50. Adsorption assembly; 501. Adsorption plate; 502. Flexible suction cup; 503. Insulating layer; 51. Floating mechanism; 511. Side push cylinder; 512. Floating plate; 513. Floating part; 52. Floating positioning assembly; 521. Floating positioning frame; 522. Floating positioning cylinder; 60. Bottom support assembly; 601. Bottom support connecting plate; 602. Bottom support cylinder; 603. Connecting beam; 604. Proximity mounting frame; 605. Proximity switch; 61. Lifting and lowering assembly; 611. Bottom support base frame; 612. Lifting and lowering cylinder; 613. Lifting and lowering slide rail; 614. Lifting and lowering slider; 615. Lifting and lowering fixing frame; 616. Anti-detachment support rod; 617. Oil buffer; 618. Floating joint; 70. Jacking and positioning mechanism; 701. Jacking base; 71. Jacking assembly; 711. Jacking cylinder; 712. Jacking frame; 713. Wedge block; 714. Jacking roller; 72. Limiting device; 721. Limiting seat; 722. Limit switch; 723. Abutting block; 73. Clamping assembly; 731. Clamping cylinder; 732. Clamping block; 80. Transfer beam; 90. In-box detection mechanism. Detailed implementation manners

[0033] The following will further describe this application in detail with reference to the accompanying Figure 1-14 drawings.

[0034] An embodiment of this application discloses a device for automatically loading modules into a box. Referring to Figure 1 , a device for automatically loading modules into a box includes a truss assembly 1, a lifting and positioning mechanism 70, and a gripper assembly 2. An AGV cart (not shown in the figure) carries the module and moves it along the X-axis direction to the box loading station, and the AGV cart is positioned and locked according to a preset position. The gripper assembly 2 is arranged on the truss assembly 1, and the lifting and positioning mechanism 70 is arranged inside the truss assembly 1 and at the bottom. The PACK box comes in along the Y-axis and is locked by the lifting and positioning mechanism 70. The gripper assembly 2 moves to grab the module from the AGV cart and move it into the PACK box, realizing full-automatic box loading.

[0035] Referring to Figure 1 , the truss assembly 1 includes a station frame 10 and a movable truss 11. An identification and detection mechanism is provided on the side frame of the station frame 10 close to the incoming material direction of the AGV cart. The identification and detection mechanism (not shown in the figure) is used to detect and judge the code, positive and negative poles, and the external dimensions of the module. A first sliding rack 101 is fixedly connected to the inner side surface of the station frame 10 along the X-axis. A truss drive 111 is fixedly connected to the movable truss 11. The output end of the truss drive 111 is connected with a first mating gear ring, and the first mating gear ring meshes with the first sliding rack 101. A first sliding guide rail 102 is fixedly connected to the upper surface of the station frame 10. A first sliding guide block 112 is fixedly connected to the end of the movable truss 11, and the first sliding guide block 112 is clamped with the first sliding guide rail 102. When the truss drive 111 operates, it drives the first mating gear ring to rotate. The first mating gear ring rotates and moves relative to the first sliding rack 101, thereby driving the movable truss 11 to move along the X-axis direction. The first sliding guide block 112 moves along the first sliding guide rail 102, which is beneficial to improving the movement stability of the movable truss 11, and thus beneficial to ensuring the movement accuracy in the X-axis direction.

[0036] Referring to Figure 1 and 2, the gripper assembly 2 includes a gripper base plate 21, a first lifting mechanism 30 and a second lifting mechanism 44. Second sliding racks 110 are fixedly connected to the opposite outer sides of the movable truss 11 along the Y-axis direction. An active drive 114 is fixedly connected to the gripper base plate 21. A second mating gear ring is provided at the output end of the active drive 114, and the second mating gear ring meshes with the second sliding racks 110. A second sliding guide rail 115 is fixedly connected to the upper surface of the movable truss 11, and a second sliding guide block is fixedly connected to the gripper base plate 21. The second sliding guide block is clamped to the second sliding guide rail 115. The first lifting mechanism 30 and the second lifting mechanism 44 are both provided on the gripper base plate 21. When the active drive 114 operates, it drives the second mating gear ring to rotate. The second mating gear ring rotates and moves along the second sliding racks 110, causing the gripper base plate 21 to drive the first lifting mechanism 30 and the second lifting mechanism 44 to move along the length direction of the movable truss 11, i.e., the Y-axis direction. This realizes driving the gripper assembly 2 to move freely in the X and Y directions, which is conducive to realizing the gripper assembly 2 carrying the module for in-box assembly.

[0037] Refer to Figure 2 and 3 , the first lifting mechanism 30 includes a first connecting frame 301, a first lifting drive 302 and a first lifting screw rod 303. The first connecting frame 301 is connected to the gripper base plate 21. The first lifting drive 302 is provided on the first connecting frame 301. The first lifting screw rod 303 is rotatably connected to the first connecting frame 301. The first lifting screw rod 303 is connected to the output end of the first lifting drive 302. A first lifting frame 304 is helically connected to the first lifting screw rod 303. First lifting slide rails 305 are fixedly connected to the opposite sides of the first lifting frame 304. First lifting sliders 306 are fixedly connected to the inner wall of the first connecting frame 301 in corresponding cooperation. The first lifting sliders 306 are clamped and matched with the first lifting slide rails 305. When the first lifting drive 302 operates, it drives the first lifting screw rod 303 to rotate. The first lifting screw rod 303 drives the first lifting frame 304 to move up and down. The first lifting sliders 306 move along the first lifting slide rails 305 following the first lifting frame 304.

[0038] Refer to Figure 2 and 3, the first lifting mechanism 30 further includes a rotating assembly 31. The rotating assembly 31 includes a rotation drive 311, a rotating snap ring 312, and a rotating gear ring 321. The rotation drive 311 is fixedly connected to the gripper base plate 21. The rotating snap ring 312 includes a rotating shaft 3121, two rotating clamping plates 3122, and a plurality of rotating clamping columns 3123. The rotating shaft 3121 is connected to the output end of the rotation drive 311. The two rotating clamping plates 3122 are both coaxially connected to the rotating shaft 3121, and the plate surfaces of the two rotating clamping plates 3122 are arranged relatively parallel. A plurality of rotating clamping columns 3123 are connected between the two rotating clamping plates 3122 and are evenly arranged along the circumference of the rotating clamping plates 3122. The rotating snap ring 312 rotates relative to the gripper base plate 21. A first rotating bearing 32 is provided inside the gripper base plate 21, and the rotating gear ring 321 is rotatably connected to the inside of the first rotating bearing 32. The rotating gear ring 321 is a backlash-free gear ring. The first connecting frame 301 is fixedly connected to the rotating gear ring 321, and the rotating gear ring 321 meshes with the rotating snap ring 312 in a circumferential manner.

[0039] Referring to Figure 2 and 3 , the rotating assembly 31 further includes a connecting plate 313, a reference plate 314, and an anti-tangle drag chain 315. The connecting plate 313 is fixedly connected to the first connecting frame 301, the reference plate 314 is fixedly connected to the gripper base plate 21, one end of the anti-tangle drag chain 315 is fixedly connected to the reference plate 314, the other end is fixedly connected to the connecting plate 313, and the middle part of the anti-tangle drag chain 315 is fixedly connected to the rotating shaft 3121.

[0040] This gripper assembly 2 can satisfy any angle rotation within 180 degrees in the forward direction and 90 degrees in the reverse direction. The rotation drive 311 drives the rotating snap ring 312 to rotate, and the rotating snap ring 312 drives the rotating gear ring to rotate, realizing the rotation of the first lifting mechanism 30 relative to the truss assembly 1. Synchronously, the rotating shaft 3121 can drive the anti-tangle drag chain 315 to rotate and move along with the first connecting frame 301. The wires of the power supply system are arranged on the anti-tangle drag chain 315, which can not only achieve flexible follow-up to make the equipment more flexible, but also reduce the mutual entanglement of the wires of the power supply system, thereby avoiding dangerous situations such as wear and leakage. It is also possible to use a wire harness end frame to centrally organize the wires and reduce the setting of the anti-tangle drag chain 315, which can be specifically selected according to the required operating space of the equipment.

[0041] Referring to Figure 1 , according to the different module-in-box processes, the relative position and angle between the module and the PACK box during module in-box are different. The required rotation angle of the gripper assembly 2 can be set and adjusted before operation. By setting the original point and using the preset PLC program to set the detection of the sensor, the gripper assembly 2 can adaptively rotate according to the in-box position during the process of grasping and moving the module, realizing angle adjustment.

[0042] Reference Figure 3 and 4 To improve the rotational stability of the first lifting mechanism 30, a stabilizing column 34 is fixed to the side of the gripper substrate 21 facing away from the first lifting drive 302. One end of the stabilizing column 34 away from the gripper substrate 21 is fixedly connected to a mating substrate 33. A second rotating bearing 35 is provided inside the mating substrate 33. The first lifting frame 304 passes through the second rotating bearing 35. When driving the first lifting frame 304 to rotate, the first rotating bearing 32 cooperates with the second rotating bearing 35, which is beneficial to maintaining the stability of the first lifting frame 304 during rotation.

[0043] Reference Figure 4 A mating connection frame 36 is fixedly connected to the mating substrate 33. A scapegoat mechanism 37 is provided on the mating connection frame 36. If the first lifting mechanism 30 needs to be repaired or maintained, the scapegoat mechanism 37 is inserted into the jacks on the mating connection frame 36 and the first lifting frame 304 to limit the first lifting frame 304. A detection sensor 38 is provided on the mating connection frame 36. Whether the scapegoat mechanism 37 is in place is monitored by the detection sensor 38. If it is monitored that the scapegoat mechanism 37 has a displacement or a change in state, a signal is sent in time to remind the operator to repair, so that the equipment can operate safely and stably.

[0044] Reference Figure 4 and 5 The gripper assembly 2 further includes an anti-falling mechanism 39. The anti-falling mechanism 39 includes an anti-falling cylinder 391 and anti-falling teeth 393. An anti-falling fixing block 331 is fixedly connected to the mating substrate 33. The anti-falling cylinder 391 is fixedly connected to the anti-falling fixing block 331. An anti-falling block 392 is fixedly connected to the output end of the anti-falling cylinder 391. The length direction of the anti-falling teeth 393 is arranged along the Z-axis. The anti-falling teeth 393 are fixedly connected to the side surface of the first lifting frame 304. When the first lifting drive 302 fails, the anti-falling cylinder 391 reacts quickly, driving the piston rod to drive the anti-falling block 392 to extend. The anti-falling block 392 is engaged with the anti-falling teeth 393 to prevent the first lifting frame 304 from falling and ensure the safety of the equipment operation.

[0045] Reference Figure 6 The first lifting mechanism 30 further includes two sets of end clamping assemblies 40, which are symmetrically arranged on the opposite two end faces of the module. The end clamping assembly 40 includes an end clamping connection frame 401, an end clamping drive 402 and an end clamping plate 403. The end clamping drive 402 is fixedly connected to the end of the transfer beam 80. The end clamping connection frame 401 is slidably connected to the transfer beam 80. The end clamping plate 403 is connected to the side of the end clamping connection frame 401 facing the module. When the end clamping drive 402 is started, it drives the end clamping connection frame 401 to move along the transfer beam 80, and then drives the end clamping plate 403 to move synchronously. The two end clamping plates 403 cooperate with each other and clamp the two end faces of the module.

[0046] Referring to Figure 6 , a transmissive detector 404 is provided on the end clamp connecting frame 401. The two transmissive detectors 404 detect by cross-emitting detection signals to detect whether the module can be loaded into the PACK box, and at the same time detect whether the position of the module corresponds accurately to the PACK box.

[0047] Referring to Figure 6 and 7 , in order to facilitate the quick adjustment of the adaptation size of the end clamping plate 403, the gripper assembly 2 further includes an end clamp quick-change assembly 41. The end clamp quick-change assembly 41 includes a quick-change cylinder 412 and a quick-change block 413. The quick-change cylinder 412 is fixedly connected inside the end clamp connecting frame 401, and the quick-change block 413 is connected to the end of the piston rod of the quick-change cylinder 412. The quick-change block 413 is clamped inside the end clamping plate 403. When a model change is required, the quick-change cylinder 412 quickly contracts, driving the quick-change block 413 to disengage from the end clamping plate 403. Then, the required model of the end clamping plate 403 is placed at the position to be assembled. The piston rod of the quick-change cylinder 412 drives the quick-change block 413 to extend and clamp inside the new model of the end clamping plate 403, realizing the quick model change of the end clamp to improve the applicability of the equipment.

[0048] Referring to Figure 6 and 7 , the first lifting mechanism 30 further includes a side clamp assembly 42. There are two groups of side clamp assemblies 42, symmetrically arranged on the opposite two sides of the module. The side clamp assembly 42 includes a side clamp connecting frame 421, a side clamp drive 422 and a side clamping plate 423. The side clamp connecting frame 421 is fixedly connected to the transfer beam 80, the side clamp drive 422 is fixedly connected to the side clamp connecting frame 421, the side clamping plate 423 is fixedly connected to the output end of the side clamp drive 422. When the side clamp drive 422 operates, it drives the side clamping plate 423 to move telescopically, and the two side clamping plates 423 cooperate to clamp and fix the module on the opposite two sides. A pressure sensor is also provided on the side clamp connecting frame 421, which can be used to continuously detect and feedback the pressure of the side clamp, so as to facilitate the operator to monitor and understand the operation state of the equipment at any time.

[0049] Referring to Figure 6 and 7 , in order to facilitate the quick adjustment of the adaptation size of the side clamping plate 423, the first lifting mechanism 30 further includes a side clamp quick-change assembly 43. The side clamp quick-change assembly 43 includes a quick-change plate 431 and a quick-change pin 432. The quick-change plate 431 is fixedly connected to the side clamp connecting frame 421. A plurality of quick-change pin holes are provided on the quick-change plate 431, and a locking pin hole is provided on the side clamping plate 423. The quick-change pin 432 is inserted into different quick-change pin holes and locking pin holes, which can realize the adjustment of the relative position between the side clamping plate 423 and the quick-change plate 431, so as to facilitate the adjustment of the relative distance between the two side clamping plates 423, making the side clamp assembly 42 applicable to a variety of different model sizes of modules.

[0050] Refer to Figure 6 、 8 and 9, the second lifting mechanism 44 includes a second lifting drive 45, a transmission mechanism 46, a lifting electric cylinder 47 and a second lifting lead screw. A lifting fixed frame 441 is fixedly connected inside the first lifting frame 304. The second lifting drive 45 is fixedly connected to the lifting fixed frame 441. The second lifting electric cylinder 47 is connected to the second lifting drive 45 through the transmission mechanism 46. A second lifting lead screw is provided inside the second lifting electric cylinder 47. Through the control of the second lifting drive 45, the lifting movement of the second lifting lead screw is realized. A second lifting frame 49 is connected below the second lifting lead screw. A zero-point positioning plate 491 is detachably connected below the second lifting frame 49. A positioning joint 4911 and a gas circuit joint 4912 are provided on the zero-point positioning plate 491. The positioning joint 4911 and the gas circuit joint 4912 are arranged at two relatively independent positions. During quick change, it is necessary to first perform positioning and docking of the positioning joint 4911, and then perform docking and positioning of the gas circuit joint 4912. The zero-point positioning plate 491 can be adjusted to an adaptable model according to the requirements of the grasping module model. The positioning joint 4911 and the gas circuit joint 4912 can also be set as a whole on the zero-point positioning plate 491. During quick change, the positioning joint 4911 and the gas circuit joint 4912 can be aligned synchronously, further improving the quick change efficiency.

[0051] Refer to Figure 8 , a suction assembly 50 is provided below the zero-point positioning plate 491. The suction assembly 50 includes a negative pressure drive, a suction plate 501 and a flexible suction cup 502. The negative pressure drive is not shown in the figure. The suction plate 501 is connected to the second lifting frame 49. The flexible suction cup 502 directly sucks on the large surface side of the module. An insulating layer 503 is provided between the suction plate 501 and the flexible suction cup 502. The flexible suction cup 502 is a sponge suction cup.

[0052] A downward pressure sensor is provided below the second lifting lead screw and on the second lifting frame 49. The downward pressure sensor is used to detect the downward pressure of the second lifting mechanism 44, so as to monitor and continuously maintain a stable downward pressure, drive the module to be pressed into the box, make the module and the bottom surface of the PACK box body fit tightly, and then make the rubber material at the bottom of the box fully extend, improving the stability of the module after being put into the box.

[0053] Refer to Figure 8, the second lifting mechanism 44 further includes a floating mechanism 51. The floating mechanism 51 includes a side-pushing cylinder 511, a floating plate 512, and a floating member 513. The side-pushing cylinder 511 is fixedly connected to the transfer beam 80. The end of the piston rod of the side-pushing cylinder 511 is connected to a side-pushing rod 5111. The floating plate 512 is connected to the side-pushing rod 5111. The floating member 513 is fixedly connected to the transfer beam 80. The floating member 513 and the floating plate 512 are relatively movable. There are two floating mechanisms 51, symmetrically arranged on the opposite sides of the first lifting frame 304. The two floating mechanisms 51 form a group and are automatically addressed and positioned according to the feedback signal of the detector when entering the box according to the model requirements of the module. The side-pushing cylinders 511 on both sides cooperate with each other to drive the floating plate 512 to move. If the module is displaced in the X-axis direction, the rotating assembly 31 needs to drive the module to rotate 180 degrees first, and then through the cooperation of the floating mechanism, the displacement of the module is controlled to enter the box.

[0054] Refer to Figure 9 , two groups of floating mechanisms 51 can also be set. There are two side-pushing cylinders 511 on each side. The two side-pushing cylinders 511 share a side-pushing rod 5111. The four side-pushing cylinders 511 cooperate to achieve displacement in multiple directions of the X and Y axes, without the need for the rotating assembly 31 to rotate, thereby reducing the wear of the anti-twist drag chain 315 and improving the overall service life of the equipment.

[0055] Refer to Figure 8 , the floating mechanism 51 further includes a floating positioning component 52. The floating positioning component 52 includes a floating positioning frame 521 and a floating positioning cylinder 522. The floating positioning frame 521 is fixedly connected to the floating plate 512. The piston rod of the floating positioning cylinder 522 extends out and is inserted into the floating plate 512 and the transfer beam 80 to limit the floating plate 512. During operation, when the floating plate 512 needs to be adjusted, the floating positioning cylinder 522 contracts, so that the floating positioning plate can move relative to the transfer beam 80. An automatic detection sensor is provided on the gripper assembly 2 to detect the accurate position of the inlet of the PACK box and the model specifications of the PACK box. The detection signal can be fed back to the side-pushing cylinder 511. When a module with a steel belt enters the box, the side-pushing cylinder 511 is activated to drive the floating plate 512 to move laterally. The floating plate 512 drives the module to move, so that the module is accurately aligned with the inlet of the PACK box, facilitating the module to smoothly enter the PACK box body. It realizes full-automatic deviation correction adjustment and facilitates the assembly of the module into the box.

[0056] Refer to Figure 10The bottom support mechanism includes a bottom support component 60 and a lifting component 61. The bottom support component 60 includes a bottom support connecting plate 601 and a bottom support cylinder 602. Two bottom support connecting plates 601 are provided. The two bottom support connecting plates 601 are symmetrically fixedly connected to the two ends of the transfer beam 80. The two bottom support connecting plates 601 are relatively fixedly connected through a connecting beam 603. Two bottom support cylinders 602 are relatively arranged on each single bottom support connecting plate 601 along its own length direction, and the extension directions of the piston rods of the two bottom support cylinders 602 are arranged facing each other. A proximity mounting frame 604 is fixedly connected to the bottom support connecting plate 601, and at least two proximity switches 605 are arranged on the proximity mounting frame 604 along the length direction of the bottom support connecting plate 601.

[0057] Reference Figure 10 and 11 The lifting assembly 61 includes a bottom support frame 611, a lifting cylinder 612 and a lifting slide rail 613. The bottom support frame 611 is slidably connected to the bottom support connecting plate 601. The bottom support connecting plate 601 is fixedly connected with a lifting slider 614. The cylinder body of the lifting cylinder 612 is fixedly connected with a lifting fixed frame 615. The lifting fixed frame 615 is fixedly connected with the lifting slider 614. The lifting slide rail 613 is arranged in the middle of the lifting fixed frame 615, and the piston rod of the lifting cylinder 612 is connected to the lifting slide rail 613. The lifting slider 614 is clamped on the side of the lifting slide rail 613 away from the lifting cylinder 612. The end of the lifting slide rail 613 is connected with an anti-drop support rod 616. The lifting cylinder 612 drives the lifting slide rail 613 to move up and down relative to the bottom support frame 611, thereby realizing the adjustment of the height of the anti-drop support rod 616. The bottom support cylinder 602 drives the bottom support frame 611 and the anti-falling support rod 616 to slide along the length direction of the bottom support connecting plate 601, which is used to adjust the anti-falling support rod 616 in the width direction. The bottom support frame 611 cooperates with the two proximity switches 605 to limit the sliding distance of the anti-falling support rod 616 in the width direction.

[0058] Reference Figure 10 The bottom connecting plate 601 is also fixedly connected to a hydraulic buffer 617. When the two anti-falling support rods 616 move closer to each other, the anti-falling support rods 616 abut against the hydraulic buffer 617 to reduce surface damage caused by collision between the bottom parts.

[0059] Reference Figure 11 In order to automatically compensate for installation errors, buffer impacts and ensure stable operation of the cylinder, a floating joint 618 is fixedly connected to the end of the lifting rail 613, and the end of the piston rod of the lifting cylinder 612 is connected to the floating joint 618. Each lifting cylinder 612 and bottom-covering cylinder 602 in the bottom-covering mechanism is correspondingly provided with a floating joint 618.

[0060] When the module is assembled into the box, it is a tight fit assembly. First, the end clamp assembly 40 is released, releasing a distance of 2 - 3 mm. Then the side clamp assembly 42 is released. At this time, the module is maintained by the adsorption force of the adsorption assembly 50. Then the second lifting mechanism 44 carries the module down and maintains the pressing pressure until the module moves to a predetermined position inside the box and is assembled with the box. The adsorption assembly 50 releases the adsorption force and disengages from the module. Then the second lifting mechanism 44 lifts and resets, and the first lifting mechanism 30 lifts and resets. In the technical solution described herein, the driving is composed of a servo motor and a reducer. Specifically, the models of the servo motor and the reducer are selected according to different production requirements. After calculation, the models that meet the bearing capacity can be selected.

[0061] Refer to Figure 12 , the jacking and positioning mechanism 70 includes a jacking base 701, a jacking assembly 71 and a clamping assembly 73. The jacking base 701 is arranged under the truss assembly 1. The PACK box moves to the truss assembly 1 and enters the jacking base 701. The jacking assembly 71 and the clamping assembly 73 are both arranged on the jacking base 701. Then the jacking assembly 71 and the clamping assembly 73 cooperate to jack and position the PACK box.

[0062] Refer to Figure 12 , 13 and 14, the jacking assembly 71 includes a positioning jacking cylinder 711, a jacking frame 712 and a limiting device 72. The jacking cylinder 711 is fixedly connected inside the jacking base 701. The end of the piston rod of the jacking cylinder 711 is fixedly connected with a wedge block 713. A jacking roller 714 is rotatably connected to one side of the jacking frame 712 facing the wedge block 713. The jacking roller 714 abuts against the wedge surface of the wedge block 713 by the self - weight of the jacking frame 712. The jacking frame 712 is slidably connected to the jacking base 701 along the Z - axis direction. When the jacking cylinder 711 operates to drive the piston rod to extend, it drives the wedge block 713 to slide relative to the jacking base 701. Since the jacking roller 714 abuts against the wedge surface of the wedge block 713, when the wedge block 713 moves, it drives the jacking roller 714 to drive the jacking frame 712 to rise, realizing the jacking of the PACK box body.

[0063] Refer to Figure 13 and 14, the limiting device 72 includes an abutting block 723, a limiting seat 721 and a limit switch 722. The abutting block 723 is fixedly connected to the side of the wedge block 713 facing the PACK box. The limiting seat 721 is fixedly connected to the lifting base 701, and the limit switch 722 is arranged on the limiting seat 721. There are two groups of the limiting seat 721 and the limit switch 722, and the abutting block 723 is arranged between the two limiting seats 721. The wedge block 713 is driven by the lifting cylinder 711, and the abutting block 723 synchronously slides relative to the lifting base 701. When the abutting block 723 abuts against the limit switch 722, it stops moving. A scapegoat locking mechanism is also arranged on the lifting base 701 to ensure the safety of the lifting positioning mechanism 70 in the maintenance state.

[0064] Referring to Figure 12 and 14 , four groups of clamping assemblies 73 are provided. Every two groups of clamping assemblies 73 are symmetrically arranged on the opposite sides of the lifting base 701, and both ends of the lifting base 701 are provided. The clamping assembly 73 includes a clamping cylinder 731 and a clamping block 732. The clamping cylinder 731 is fixedly connected to the lifting base 701, and the clamping block 732 is fixedly connected to the end of the piston rod of the clamping cylinder 731. When the clamping cylinder 731 operates to drive the piston rod to extend, the two clamping blocks 732 cooperate to clamp and position the PACK box body.

[0065] The gripper assembly 2 further includes a box-in detection mechanism 90. The box-in detection mechanism 90 includes a detection motor, a detection lead screw and a vision camera. The detection motor drives the detection lead screw to drive the vision camera to move forward and backward for position adjustment. The vision camera captures to perform vision point-taking on the module and the box body, automatically performs position addressing compensation on the product, and realizes full-automatic box-in.

[0066] The implementation principle of the device for automatic module box-in in the embodiment of the present application is as follows: The PACK box moves to the lifting positioning mechanism 70, and the position of the PACK box body is positioned through the cooperation of the lifting assembly 71 and the clamping assembly 73. Then the AGV cart carries the module into the station. After the module is positioned, the end clamping assembly 40 and the side clamping assembly 42 cooperate to grab the module. The adsorption assembly 50 adsorbs negatively on one side of the large surface of the module and moves to carry the module to align with the PACK box.

[0067] The first lifting mechanism 30 carries the module down into the box. At this time, only a part of the module enters the box, and the end clamping plate 403 and the side clamping plate 423 are released, and the flexible suction cup 502 adsorbs to maintain the stable position of the module. Then the second lifting mechanism 44 drives the flexible suction cup 502 to drive the module to press down, so that the module realizes automatic box-in. When the module is completely in the box, the negative pressure drive stops, and the flexible suction cup 502 releases the adsorption force and separates from the module.

[0068] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. An apparatus for automatically loading modules into a box, characterized in that Including: A truss assembly (1), a jacking and positioning mechanism (70), and a gripper assembly (2). The jacking and positioning mechanism (70) is arranged inside the truss assembly (1) and at the bottom. The jacking and positioning mechanism (70) is used to jack up the PACK box. The gripper assembly (2) includes a gripper base plate (21), a first lifting mechanism (30), and a second lifting mechanism (44). The gripper base plate (21) is slidably arranged on the truss assembly (1). The first lifting mechanism (30) is arranged on the gripper base plate (21). The first lifting mechanism (30) moves along the Z-axis and rotates relative to the truss assembly (1). The first lifting mechanism (30) includes a transfer beam (80), an end clamping assembly (40), and a side clamping assembly (42). The end clamping assembly (40) is slidably connected to the transfer beam (80) along the Y-axis. The side clamping assembly (42) is slidably connected to the transfer beam (80) along the X-axis. The end clamping assembly (40) and the side clamping assembly (42) clamp around the module. The second lifting mechanism (44) moves up and down along the Z-axis. The second lifting mechanism (44) includes an adsorption assembly (50). The adsorption assembly (50) is used to adsorb and grab on the large surface side of the module.

2. The device for automatically loading modules into a box according to claim 1, wherein, The first lifting mechanism (30) further includes a first connecting frame (301), a first lifting drive (302), and a first lifting lead screw (303). The first connecting frame (301) is arranged on the gripper base plate (21). The first lifting drive (302) is arranged on the first connecting frame (301). The first lifting lead screw (303) is connected to the output end of the first lifting drive (302). A first lifting frame (304) is spirally arranged on the first lifting lead screw (303). The transfer beam (80) is arranged at one end of the first lifting frame (304) away from the first lifting drive (302).

3. The device for automatically loading modules into a box according to claim 2, characterized in that, The first lifting mechanism (30) further includes a rotating assembly (31). The rotating assembly (31) includes a rotating drive (311), a rotating gear ring (321), and a rotating clamping ring (312). The rotating drive (311) is arranged on the gripper base plate (21). The rotating clamping ring (312) is arranged at the output end of the rotating drive (311). The rotating gear ring (321) is rotatably connected inside the gripper base plate (21). The first connecting frame (301) is arranged on the rotating gear ring (321). The rotating clamping ring (312) is circumferentially engaged with the rotating gear ring (321).

4. A device for automatically loading modules into a box according to claim 1, characterized in that, The end clamping assembly (40) includes an end clamping connecting frame (401), an end clamping drive (402), and an end clamping plate (403). The end clamping drive (402) is arranged on the transfer beam (80). The end clamping connecting frame (401) is slidably connected to the transfer beam (80). The end clamping plate (403) is arranged on the side of the end clamping connecting frame (401) facing the module. The end clamping drive (402) controls the end clamping plate (403) to clamp the end face side of the module.

5. A device for automatically loading modules into a box according to claim 1, characterized in that, The adsorption assembly (50) includes a negative pressure drive, an adsorption plate (501), and a flexible suction cup (502). The flexible suction cup (502) is disposed on the side of the adsorption plate (501) facing the module. The negative pressure drive, the adsorption plate (501), and the flexible suction cup (502) are all connected. The flexible suction cup (502) adsorbs to the large surface side of the module.

6. The device for automatically loading modules into a box according to claim 5, characterized in that, The second lifting mechanism (44) includes a second lifting drive (45), a second lifting lead screw, and a second lifting frame (49). The second lifting drive (45) is disposed within the first lifting frame (304). The second lifting lead screw is connected to the output end of the second lifting drive (45). The second lifting frame (49) is connected to the second lifting lead screw. The second lifting drive (45) is used to drive the second lifting frame (49) to lift and move relative to the first lifting frame (304). The adsorption assembly (50) is disposed on the second lifting frame (49).

7. A device for automatically loading modules into a box according to claim 1, characterized in that, The truss assembly (1) includes a work station frame (10) and a movable truss (11). A first sliding rack (101) is provided on the work station frame (10) along the X-axis. A truss drive (111) is provided on the movable truss (11). A first mating gear ring is provided at the output end of the truss drive (111). The first mating gear ring meshes with the first sliding rack (101). A second sliding rack (110) is provided on the movable truss (11) along the Y-axis direction. A movable drive (114) is provided on the gripper substrate (21). A second mating gear ring is provided at the output end of the movable drive (114). The second mating gear ring meshes with the second sliding rack (110).

8. The device for automatically loading modules into a box according to claim 5, characterized in that, The gripper assembly (2) further includes a bottom support mechanism. The bottom support mechanism includes a bottom support assembly (60) and a lifting assembly (61). The bottom support assembly (60) includes a bottom support connecting plate (601) and a bottom support cylinder (602). There are two bottom support connecting plates (601). The two bottom support connecting plates (601) are symmetrically disposed at two ends of the transfer beam (80). The two bottom support connecting plates (601) are connected by a connecting beam (603). Two bottom support cylinders (602) are oppositely disposed along the length direction of each single bottom support connecting plate (601). And the extending directions of the piston rods of the two bottom support cylinders (602) are opposite to each other. The lifting assembly (61) includes a bottom support frame (611), a lifting cylinder (612) and a lifting slide rail (613). The bottom support frame (611) is slidably connected to the bottom connecting plate (601). A lifting slider (614) is provided on the bottom connecting plate (601). A lifting fixed frame (615) is connected to the cylinder body of the lifting cylinder (612). The lifting fixed frame (615) is connected to the lifting slider (614). The lifting slide rail (613) passes through the middle of the lifting fixed frame (615), and the piston rod of the lifting cylinder (612) is connected to the lifting slide rail (613). The lifting slider (614) is clamped to the side of the lifting slide rail (613) away from the lifting cylinder (612). An anti-drop support rod (616) is connected to the end of the lifting slide rail (613).

9. The device for automatically loading modules into a box according to claim 1, characterized in that, The jacking and positioning mechanism (70) includes a jacking base (701) and a jacking assembly (71). The jacking assembly (71) includes a jacking cylinder (711) and a jacking frame (712). The jacking cylinder (711) is arranged in the jacking base (701). A wedge block (713) is connected to the piston rod of the jacking cylinder (711). The jacking frame (712) is slidably connected to the jacking base (701) along the Z axis. A jacking roller (714) is rotatably connected to the side of the jacking frame (712) facing the wedge block (713). The jacking roller (714) abuts against the wedge surface of the wedge block (713).

10. The device for automatically loading modules into a box according to claim 9, characterized in that, The jacking and positioning mechanism (70) further includes a clamping assembly (73). At least two groups of clamping assemblies (73) are provided. The clamping assembly (73) includes a clamping cylinder (731) and a clamping block (732). The clamping cylinder (731) is arranged at the end of the jacking base (701). The clamping block (732) is arranged on the piston rod of the clamping cylinder (731). The piston rod of the clamping cylinder (731) moves along the X axis. At least two of the clamping blocks (732) cooperate to clamp and position the PACK box body.

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