Packing material upper cover buffering device

Abstract

The invention relates to a packing material upper cover temporary storage device. The packing material upper cover temporary storage device comprises a temporary storage frame, a bearing mechanism and a driving mechanism. The plurality of upper covers are respectively carried on the plurality of carriers, and when the upper covers are taken, the manipulator firstly grabs the upper cover on the uppermost carrier; then, the driving mechanism drives the annular supporting piece to move, and the second carrier is made to ascend to the position where the first carrier is located originally; and in the same way, the multiple carriers carrying the upper covers ascend in sequence till all the upper covers are taken away. The process of storing the upper covers is opposite to the process of taking the upper covers, and the driving mechanism drives the annular supporting piece to move reversely so that the carriers bearing the upper covers can sequentially descend. Therefore, the manipulator can be operated at the same height no matter whether the upper cover is taken or stored. Moreover, the upper covers supported on the plurality of carriers are not in contact, so that adhesion or insertion can be effectively avoided. Therefore, the packing material upper cover temporary storage device can enable the upper cover to be taken and placed more conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of battery production equipment, and in particular to a packaging material upper cover buffer device. Background Art

[0002] During the battery production process, the assembled batteries need to be placed in packaging materials for packaging. When packaging, it is usually necessary to frequently take and put the upper covers of the packaging materials. The traditional practice is to stack multiple upper covers into piles in advance, store them in a specific location, and then use them one by one by the retrieving robot. However, the stacked upper covers are prone to adhesion or plugging. When the robot grabs the upper cover, it may lift the lower cover, resulting in failure to retrieve the material or requiring additional intervention. In addition, the height of the stack of upper covers is always in dynamic change. Every time a cover is removed, the overall height of the stack will be reduced by the thickness of one cover. Therefore, the robot needs to readjust the grasping position after each material is retrieved. Otherwise, the height deviation may cause inaccurate grasping or collision. Summary of the Invention

[0003] Based on this, it is necessary to provide a packaging material upper cover caching device that facilitates access to the upper cover to address the above problems.

[0004] A packaging material upper cover caching device, comprising:

[0005] A buffer frame is arranged to form a receiving space, and a top of the buffer frame has an inlet and outlet communicating with the receiving space;

[0006] A carrying mechanism includes a support assembly and a plurality of carriers, wherein the support assembly includes an annular support member capable of running along an annular path, and the plurality of carriers are mounted on the annular support member and spaced apart along an extension direction of the annular support member; and

[0007] A driving mechanism is in transmission connection with the support assembly, and the driving mechanism can drive the annular support to move back and forth along the annular path to drive the carrier to switch between the side of the support assembly facing the receiving space and the side facing away from the receiving space.

[0008] In one embodiment, the annular support member is configured as a synchronous belt, and the support assembly further includes a first rotating shaft and a second rotating shaft spaced apart on the cache frame along the height direction of the cache frame, and the two ends of the synchronous belt are respectively sleeved on the first rotating shaft and the second rotating shaft.

[0009] In one embodiment, the support assembly is provided with a plurality of the synchronous belts, and the plurality of the synchronous belts are arranged at intervals along the extension direction of the first rotating shaft and the second rotating shaft, and the carrier is connected to the plurality of the synchronous belts.

[0010] In one of the embodiments, the support assembly further comprises reinforcing crossbars extending along the extension direction of the first rotating shaft and the second rotating shaft and connected with the plurality of synchronous belts.

[0011] In one of the embodiments, the plurality of reinforcing crossbars are spaced along the extension direction of the synchronous belts and arranged corresponding to the plurality of carriers, and the carriers are mounted on the synchronous belts through the corresponding reinforcing crossbars.

[0012] In one of the embodiments, a synchronous wheel is arranged on each of the first rotating shaft and the second rotating shaft, and the synchronous belt is sleeved on the synchronous wheel and engaged with the tooth trace on the surface of the synchronous wheel.

[0013] In one of the embodiments, two support assemblies are arranged on the opposite sides of the storage frame, each of the carriers comprises two rows of support blocks, and one row of the support blocks is mounted on the annular support member of one of the support assemblies, and the other row of the support blocks is mounted on the annular support member of the other support assembly.

[0014] In one of the embodiments, the driving mechanism comprises a driving motor, a T-shaped speed reducer and two L-shaped speed reducers, the driving motor is connected with the input end of the T-shaped speed reducer, the two output ends of the T-shaped speed reducer are respectively connected with the input ends of the two L-shaped speed reducers, and the output ends of the two L-shaped speed reducers are respectively connected with the first rotating shafts of the two support assemblies.

[0015] In one of the embodiments, a centering positioning mechanism arranged on the edge of the inlet / outlet port is further included.

[0016] In one of the embodiments, the centering positioning mechanism comprises a positioning cylinder and a positioning push plate, the positioning cylinder is fixed on the storage frame, and the positioning push plate is mounted on the driving end of the positioning cylinder and arranged towards the accommodation space.

[0017] The above-mentioned package upper cover storage device, a plurality of upper covers are respectively carried on a plurality of carriers. When the upper covers are taken, the robot first grabs the upper cover on the uppermost carrier. Then, the driving mechanism drives the annular support member to move, and the second carrier is lifted to the position originally occupied by the first carrier. In this way, the carriers carrying the upper covers are lifted in turn until all the upper covers are taken away. The process of storing the upper covers is opposite to the process of taking the upper covers. The driving mechanism drives the annular support member to move reversely, so that the carriers carrying the upper covers are lowered in turn. It can be seen that, whether the upper covers are taken or stored, the robot can operate at the same height. Moreover, the upper covers carried on the plurality of carriers do not contact, so that the adhesion or insertion can be effectively avoided. Therefore, the above-mentioned package upper cover storage device can make the taking and placing of the upper covers more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 This is a schematic structural diagram of a packaging material cover buffer device according to an embodiment of the present invention;

[0020] Figure 2 Insert the cover Figure 1 Schematic diagram of the scenario of the packaging material cover caching device shown;

[0021] Figure 3 for Figure 1 The front view of the packaging material cover buffer device shown;

[0022] Figure 4 for Figure 1 A top view of the packaging material cover buffer device is shown. DETAILED DESCRIPTION

[0023] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0026] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0027] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0028] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0029] See also Figure 1 and Figure 2 In one embodiment of the present invention, a packaging material cover caching device 10 includes a caching frame 100 , a supporting mechanism 200 and a driving mechanism 300 .

[0030] The buffer frame 100 surrounds to form a receiving space 101 for accommodating the upper cover 20. The top of the buffer frame 100 has an access opening which communicates with the receiving space 101, so that the upper cover can be taken out or placed through the access opening. The bottom of the buffer frame 100 opposite to the access opening is generally provided with a plurality of supporting legs 110 for supporting, and each supporting leg 110 can be adjusted in extension and retraction individually, so as to facilitate the leveling of the buffer frame 100.

[0031] The buffer frame 100 can be spliced by bars, and the specific shape thereof can be designed according to the contour of the upper cover 20 to be buffered. Specifically, the buffer frame 100 in the embodiment is generally in the shape of a cube, and the access opening thereof is in the shape of a rectangle, so that the receiving space 101 can be used for buffering the square upper cover 20.

[0032] Please refer to Figure 3 and Figure 4 together, the carrying mechanism 200 includes a supporting assembly 210 and a plurality of carriers 220. The supporting assembly 210 is generally located on the side of the buffer frame 100 facing the receiving space 101. The supporting assembly 210 includes an annular support 211 which can run along an annular path. The annular support 211 can be in the form of a synchronous belt, a transmission chain, a transmission chain plate, etc., and can run along an annular path.

[0033] Specifically in the embodiment, the annular support 211 is provided as a synchronous belt, and the supporting assembly 210 further includes a first rotating shaft 212 and a second rotating shaft 213 which are arranged at intervals along the height direction of the buffer frame 100 and are arranged on the buffer frame 100. The two ends of the synchronous belt are respectively sleeved on the first rotating shaft 212 and the second rotating shaft 213. The first rotating shaft 212 and the second rotating shaft 213 rotate around their own axes, so as to drive the synchronous belt, i.e. the annular support 211, to run along the annular path.

[0034] Each carrier 220 can carry one upper cover 20. The plurality of carriers 220 are mounted on the annular support 211 and are arranged at intervals along the extension direction of the annular support 211. In the receiving space 101, the plurality of carriers 200 are arranged at intervals along the height direction of the buffer frame 100, so that the upper covers 20 carried by the plurality of carriers 220 can be stacked along the height direction without contacting each other, so as to effectively avoid the adhesion or insertion between the upper covers 20 buffered in the receiving space.

[0035] The specific form of the carrier 220 can be designed according to the surface structure of the upper cover 20 without limitation. Specifically in the present embodiment, two support assemblies 210 are provided, and the two support assemblies 210 are respectively provided on opposite sides of the cache frame 110. Taking the figure as an example, the two support assemblies 210 are respectively provided on the left and right sides. Moreover, each carrier 220 includes two rows of support blocks 221, and one row of support blocks 221 is installed on the annular support member 211 of one support assembly 210, and the other row of support blocks 221 is installed on the annular support member 211 of the other support assembly 210.

[0036] Each row of support blocks 211 can be a single unit or comprise multiple spaced-apart support blocks 211. Two rows of support blocks 221 can each support the two edges of a single upper cover 20, thereby allowing the center of the upper cover 20, supported by the carrier 20, to remain suspended in the air. Due to the small size of the support blocks 221, interference with other structures during the movement of the carrier 220 is avoided. Furthermore, the small contact area between the support blocks 221 and the upper cover 20 also prevents adhesion between the carrier 220 and the upper cover 20.

[0037] Furthermore, in this embodiment, the driving mechanism 300 includes a driving motor 310, a T-type reducer 320 and two L-type reducers 330. The driving motor 310 is connected to the input end of the T-type reducer 320, and the two output ends of the T-type reducer 320 are respectively connected to the input ends of the two L-type reducers 330, and the output ends of the two L-type reducers 330 are respectively connected to the first rotating shafts 212 of the two support components 210.

[0038] The T-type reducer 320 has an input and two outputs, the two outputs being coaxially arranged, with the input perpendicular to and centered between the two outputs. The L-type reducer 330 has an input and an output, with the input and output being perpendicular to each other. The drive motor 310 first transmits torque to the two L-type reducers 330 via the T-type reducer 320, which then drives the first rotating shafts 212 of the two support assemblies 210, respectively. This allows the two support assemblies 210 to remain synchronized, ensuring that there is no height or speed difference between the two rows of support blocks 221 of the carrier 220.

[0039] Moreover, the drive mechanism 300 with the above structure can be arranged between the two support assemblies 210 and close to the edge of the inlet and outlet. In this way, the drive mechanism 300 can reasonably utilize space, making the structure of the packaging material cover buffer device 10 more compact.

[0040] The drive mechanism 300 is in transmission connection with the support assembly 210, and the drive mechanism 300 is capable of driving the annular support member 211 to reciprocate along an annular path. Specifically, the drive mechanism 300 is in transmission connection with at least one of the first rotating shaft 212 and the second rotating shaft 213. By driving the first rotating shaft 212 and the second rotating shaft 213 to rotate, it can drive the synchronous belt, that is, the annular support member 211 to reciprocate along the annular path. Driven by the annular support member 211, the multiple carriers 220 can also achieve reciprocating movement along the annular path. In this way, the carriers 220 can move to the side of the support assembly 210 facing the receiving space 101, and can also move to the side of the support assembly 210 facing away from the receiving space 101.

[0041] by Figure 3 As shown in the example, when the driving mechanism 300 drives the annular support member 211 of the left support assembly 210 to rotate counterclockwise, multiple carriers 220 from top to bottom can be moved in sequence to the side of the support assembly 210 facing away from the receiving space 101, that is, the left side; then, when the driving mechanism 300 drives the annular support member 211 to rotate clockwise, it can drive multiple carriers 220 to return in sequence to the side of the support assembly 210 facing the receiving space 101.

[0042] When taking the top cover, the manipulator first grabs the top cover 20 on the topmost carrier 220; then, the drive mechanism 300 drives the annular support 211 to move and causes the second carrier 220 to rise to the position where the first carrier 220 was originally located. Similarly, multiple carriers 220 carrying top covers 20 rise in sequence until all top covers are taken away. The process of storing the top cover 20 is the opposite of the process of taking the top cover 20. The drive mechanism 300 drives the annular support 211 to move in the opposite direction so that the carriers 220 carrying the top covers 20 descend in sequence. It can be seen that whether taking the top cover 20 or storing the top cover 30, the manipulator can operate at the same height every time without having to readjust the grabbing position.

[0043] Still Figure 3 The following example illustrates the process of taking and placing the upper cover 20:

[0044] Before storing the upper cover 20, the annular support member 211 of the left support assembly 210 rotates counterclockwise, while the annular support member 211 of the right support assembly 210 rotates clockwise until the lowest carrier 220 moves to the top layer, and the remaining carriers 220 move to the side of the support assembly 210 facing away from the storage space 101. The robot places the first upper cover 20 on the carrier 220 on the current top layer; then, the annular support member 211 of the left support assembly 210 rotates clockwise, while the annular support member 211 of the right support assembly 210 rotates counterclockwise, so that the carrier 220 carrying the upper cover 20 is lowered by about the thickness of the upper cover 20, and at the same time, the next carrier 220 is transferred from the side facing away from the receiving space 101 to the side facing the receiving space 101 and is at the top layer, and then the robot places the second upper cover 20 on the carrier 220; and so on, the remaining carriers 220 are also transferred from the side facing away from the receiving space 101 to the side facing the receiving space 101 and receive the upper cover 20, until all carriers 220 are carrying upper covers 20 and are stacked in sequence in the receiving space 101.

[0045] When taking the upper cover 20, the robot first grabs the upper cover 20 on the topmost carrier 220; then, the annular support 211 of the left support assembly 210 rotates counterclockwise, while the annular support 211 of the right support assembly 210 rotates clockwise, and the second carrier 220 rises to a height of approximately the thickness of the upper cover 20 and comes to the original position of the first carrier 220. Similarly, multiple carriers 220 carrying upper covers 20 rise in sequence until all upper covers 20 are taken away. When all upper covers 20 are taken away, the state of the packaging material upper cover caching device 10 is just ready for the next caching. In this way, the caching and taking of the upper covers 20 can be carried out alternately.

[0046] Please refer again Figure 1 and Figure 4 In this embodiment, the support assembly 210 is equipped with multiple synchronous belts, which are spaced apart along the extending direction of the first rotating shaft 212 and the second rotating shaft 213. The carrier 220 is connected to each of the multiple synchronous belts. The multiple synchronous belts provide better support for the carrier 220, thereby improving the stability of the carrier 220 during movement and preventing the upper cover 20 from shifting.

[0047] Further, in the embodiment, the support assembly 210 further comprises reinforcing crossbars 214 extending along the extension direction of the first rotating shaft 212 and the second rotating shaft 213 and connected with the plurality of synchronous belts. The reinforcing crossbars 214 can be long strip-shaped metal bars and fixedly connected with the plurality of synchronous belts through threaded fasteners. The reinforcing crossbars 214 can connect the plurality of synchronous belts into a whole, thereby significantly reducing the shaking degree of the synchronous belts during operation and further improving the stability of the carrier 220 during movement.

[0048] Further, in the embodiment, the plurality of reinforcing crossbars 214 are arranged along the extension direction of the synchronous belts and correspond to the plurality of carriers 220, and the carriers 220 are mounted on the synchronous belts through the corresponding reinforcing crossbars 214. The plurality of reinforcing crossbars 214 can sequentially reinforce the synchronous belts along the extension direction of the synchronous belts, thereby further improving the stability between the synchronous belts. Moreover, the reinforcing crossbars 214 can provide larger mounting areas for the carriers 220, thereby facilitating the connection between the carriers 220 and the synchronous belts.

[0049] In the embodiment, the first rotating shaft 212 and the second rotating shaft 213 are both provided with synchronous wheels 215, and the synchronous belts are sleeved on the synchronous wheels 215 and engaged with the tooth traces on the surfaces of the synchronous wheels 215. The inner surfaces of the synchronous belts are provided with tooth traces matched with the tooth traces on the surfaces of the synchronous wheels 215. In this way, the synchronous belts can be effectively prevented from slipping on the surfaces of the synchronous wheels 215, thereby improving the operation precision of the synchronous belts.

[0050] In addition, in the embodiment, the package upper cover buffering device 10 further comprises a centering positioning mechanism 400 arranged at the edge of the feeding and discharging opening. Specifically, the centering positioning mechanism 400 can be arranged only at one side edge of the feeding and discharging opening or at the edges of opposite sides. The upper cover 20 can be offset during buffering or lifting with the carrier 220, and the centering positioning mechanism 400 can center and position the upper cover 20 before the upper cover 20 is taken away, thereby correcting the upper cover 20 and facilitating the smooth grabbing of the upper cover 20 by the mechanical hand.

[0051] Further, in the embodiment, the centering positioning mechanism 400 comprises a positioning cylinder 410 and a positioning push plate 420. The positioning cylinder 410 is fixed to the buffering frame 100, and the positioning push plate 420 is installed at the driving end of the positioning cylinder 410 and faces the receiving space 101. When the carrier 220 moves the carried upper cover 20 to the feeding and discharging opening, the positioning cylinder 410 can drive the positioning push plate 420 to push out, thereby pushing the upper cover 20 against the positioning push plate 420 on the other side or the edge of the feeding and discharging opening, so as to center and position the upper cover 20.

[0052] In the packaging material upper cover cache device 10, multiple upper covers 20 are respectively carried on multiple carriers 220. When taking the upper cover 20, the robot first grabs the upper cover 20 on the topmost carrier 220; then, the driving mechanism 300 drives the annular support 211 to move and causes the second carrier 220 to rise to the position originally located by the first carrier 220. Similarly, multiple carriers 220 carrying upper covers 20 rise in sequence until all upper covers 20 are taken away. The process of storing the upper cover 20 is the opposite of the process of taking the upper cover 20. The driving mechanism 300 drives the annular support 211 to move in the opposite direction so that the carriers 220 carrying the upper covers 20 descend in sequence. It can be seen that whether taking or storing the upper cover 20, the robot can operate at the same height. Moreover, the upper covers 20 carried on multiple carriers 220 do not touch each other, so it can also effectively avoid adhesion or plugging. Therefore, the packaging material upper cover buffer device 10 can make it more convenient to take and place the upper cover 20.

[0053] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A packaging material cover buffer device, characterized in that: include: A buffer frame is arranged to form a receiving space, and a top of the buffer frame has an inlet and outlet communicating with the receiving space; The carrying mechanism includes a support assembly and a plurality of carriers, wherein the support assembly includes an annular support member capable of running along an annular path, and the plurality of carriers are mounted on the annular support member and spaced apart along an extension direction of the annular support member; and A driving mechanism is in transmission connection with the support assembly, and the driving mechanism can drive the annular support to move back and forth along the annular path to drive the carrier to switch between the side of the support assembly facing the receiving space and the side facing away from the receiving space.

2. The packaging material cover buffer device according to claim 1, characterized in that: The annular support member is configured as a synchronous belt, and the support assembly further includes a first rotating shaft and a second rotating shaft spaced apart on the cache frame along the height direction of the cache frame, and both ends of the synchronous belt are respectively sleeved on the first rotating shaft and the second rotating shaft.

3. The packaging material cover buffer device according to claim 2, characterized in that: The supporting assembly is provided with a plurality of the synchronous belts, and the plurality of the synchronous belts are arranged at intervals along the extending direction of the first rotating shaft and the second rotating shaft, and the carrier is connected to the plurality of the synchronous belts.

4. The packaging material cover buffer device according to claim 3, characterized in that: The support assembly further includes a reinforcing cross bar, which extends along the extending direction of the first rotating shaft and the second rotating shaft and is connected to the plurality of synchronous belts.

5. The packaging material cover buffer device according to claim 4, characterized in that: The plurality of reinforcing cross bars are spaced apart along the extending direction of the synchronous belt and are arranged corresponding to the plurality of carriers, and the carriers are mounted on the synchronous belt through the corresponding reinforcing cross bars.

6. The packaging material cover buffer device according to claim 2, characterized in that: The first rotating shaft and the second rotating shaft are both provided with synchronous wheels, and the synchronous belt is sleeved on the synchronous wheels and meshes with the tooth marks on the surface of the synchronous wheels.

7. The packaging material cover buffer device according to claim 2, characterized in that: The two support assemblies are respectively arranged on opposite sides of the cache frame, and each carrier includes two rows of support blocks, and one row of support blocks is installed on the annular support member of one support assembly, and the other row of support blocks is installed on the annular support member of the other support assembly.

8. The packaging material cover buffer device according to claim 7, characterized in that: The driving mechanism includes a driving motor, a T-type reducer and two L-type reducers. The driving motor is connected to the input end of the T-type reducer, the two output ends of the T-type reducer are respectively connected to the input ends of the two L-type reducers, and the output ends of the two L-type reducers are respectively connected to the first rotating shafts of the two supporting components.

9. The packaging material cover buffer device according to claim 1, characterized in that: It also includes a centering and positioning mechanism arranged on the edge of the inlet and outlet.

10. The packaging material cover buffer device according to claim 9, characterized in that: The centering and positioning mechanism includes a positioning cylinder and a positioning push plate. The positioning cylinder is fixed to the buffer frame, and the positioning push plate is installed at the driving end of the positioning cylinder and is arranged toward the receiving space.

Images