Multi-specification product self-adaptive grabbing and boxing system

Abstract

The invention relates to the technical field of grabbing and boxing systems, in particular to a multi-specification product self-adaptive grabbing and boxing system which comprises a support, a box conveying platform, a grabbing unit, a control unit, a lifting unit and a boxing unit, the top end of the support is fixedly connected with a frame beam, the lifting unit is installed on the frame beam, and a unit frame is installed at the output end of the lifting unit; the boxing unit is installed on the surface of the unit frame, the grabbing unit is installed on the surface of the unit frame, the lifting unit is used for driving the unit frame to drive the boxing unit to ascend and descend, the grabbing unit comprises two sets of positive clamping plates symmetrically arranged in the axial direction of the unit frame, and flexible contact modules are arranged at the ends, making contact with products, of the positive clamping plates. The flexible contact module is integrated with a pressure sensor. The product grabbing and boxing device aims at solving the problem that existing product grabbing and boxing equipment is generally of a single-specification adaptive type.

Description

Technical Field

[0001] The present invention relates to the technical field of grabbing and boxing systems, and specifically to an adaptive grabbing and boxing system for products of multiple specifications, which is suitable for scenarios where new energy battery products are placed upright in boxes, and realizes the automation of upright placement of products into boxes. Background Art

[0002] Placing new energy battery modules into boxes is a core process in the production of new energy vehicle battery packs. It mainly involves the whole process of loading pre-assembled complete battery modules into the battery pack box (the outer shell structure used to accommodate and protect the module). The quality of this process directly affects the structural stability, electrical safety and subsequent performance of the battery pack. Before placing the modules into the box, the modules and the box must be thoroughly cleaned to remove impurities that may affect assembly or cause safety hazards. At the same time, check whether the appearance and key structures of the two are intact to ensure that the installation benchmark is clear and identifiable. It is also necessary to debug the appropriate transfer and positioning equipment to ensure that the equipment can accurately identify the assembly benchmark of the module and the box.

[0003] Existing product grabbing and boxing equipment is usually adaptable to a single specification. When product specifications change, manual replacement of fixtures or major adjustments to the equipment structure are required. This leads to problems such as cumbersome operation, low production efficiency, and poor equipment versatility, which not only increases production costs but also prolongs the production cycle.

[0004] The current equipment used for product grasping and boxing operations is mostly designed to adapt to a single specification. That is, the equipment's structure, fixtures, and operating parameters are all preset around products of specific specifications. When the product specifications required for production change, the equipment cannot adapt and adjust autonomously, and must rely on manual replacement with dedicated fixtures corresponding to the new specifications. This process is not only cumbersome and involves multiple manual steps, but also requires a certain level of professionalism from the operator. It is also very easy to increase extra time due to problems with the connection of manual operations or debugging deviations. At the same time, the equipment needs to be shut down for a long time during the specification switch, completely out of the production operation state, resulting in the overall production rhythm being interrupted and production efficiency being significantly reduced. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-specification product adaptive grabbing and boxing system to solve the problem that existing product grabbing and boxing equipment is usually only adaptable to a single specification.

[0006] To achieve the above object, the present invention provides the following technical solutions: A multi-specification product adaptive grabbing and boxing system includes a bracket, a box conveying platform, a grabbing unit, a control unit, a lifting unit, and a boxing unit. The top of the bracket is fixedly connected to a frame beam, the lifting unit is installed on the frame beam, the output end of the lifting unit is installed with a unit frame, the boxing unit is installed on the surface of the unit frame, the grabbing unit is installed on the surface of the unit frame, the lifting unit is used to drive the unit frame to drive the boxing unit to rise and fall, the grabbing unit includes two groups of positive clamping plates arranged symmetrically along the axis of the unit frame, the positive clamping plates are provided with flexible contact modules at the contact ends with the products, the flexible contact modules are integrated with pressure sensors, the pressure sensors of the flexible contact modules detect contact mechanical characteristics and input the information to the control unit, the control unit identifies the product material according to the detection results, and outputs information instructions to the servo motor to adjust the grabbing force; The driving mechanism of the grabbing unit includes a servo motor and a ball screw transmission assembly. The driving mechanism drives one set of the positive clamping plates to slide axially along the unit frame, and the other set of the positive clamping plates is fixed to the surface of the unit frame. The grabbing unit detects the pressure difference between the positive clamping plates on both sides through a pressure sensor. When the difference is greater than N, an alarm signal is sent to the control unit and the grabbing operation is suspended. It also includes a box positioning unit, the box positioning unit including a scanning component and a positioning mechanism, the scanning component is installed at the lower end of the frame beam, the positioning mechanism is composed of four groups of symmetrically arranged side clamps, the four groups of side clamps are connected for radial sliding along the unit frame, the side clamps are integrated with width detection sensors, the box width signal of the width detection sensor is input to the control unit, and the control unit outputs a sliding drive instruction to the side clamps; The lifting unit includes a servo motor, a screw-nut mechanism and a displacement sensor. The servo motor drives the screw-nut mechanism to drive the unit rack and the box-entry unit and the grabbing unit on the rack to move up and down. The displacement sensor feeds back the lifting height to the control unit, and the control unit outputs a lifting drive instruction to the servo motor of the lifting unit to form a closed-loop control. The box-entering unit includes a servo electric cylinder, a box-entering plate and a vacuum adsorption module. The output end of the servo electric cylinder is rigidly fixed to the box-entering plate. The scanning component of the box positioning unit processes the collected data on the top and interior of the box to generate a three-dimensional unit model, and inputs the information into the control unit. The control unit outputs a box-entering depth drive instruction to the servo electric cylinder of the box-entering unit to drive the box-entering plate to translate in the direction perpendicular to the box, and send the product into the preset depth in the box.

[0007] Preferably, the vacuum adsorption module is integrated into the bottom of the box entry plate, and the vacuum adsorption module includes four vacuum suction cups distributed in a rectangular array, and each of the vacuum suction cups is equipped with a pressure sensor.

[0008] Preferably, it further comprises a bottom protection unit, and the bottom protection unit comprises two radially symmetrical supporting plates.

[0009] Preferably, the conveying surface of the box conveying platform is equipped with limit bars along the conveying direction, and the limit bars are used to limit the box during the conveying process.

[0010] Compared with the prior art, the present invention has the following beneficial effects: 1. Through adaptive design, it can adapt to various specifications of products and boxes without manual replacement of fixtures or adjustment of mechanical structure, significantly reducing production change time and costs. It also automates the grasping, conveying and boxing processes, reducing manual intervention and improving production efficiency and precision.

[0011] 2. The vacuum adsorption module adopts graded negative pressure adjustment. During the grasping stage, -0.06MPa is combined with the splint clamping to achieve double fixation. During the boxing stage, it is increased to -0.08MPa to ensure that the product does not shake after the splint is withdrawn. During the release stage, the negative pressure is linearly reduced to -0.01MPa to prevent the product from bouncing. If the pressure difference between any two vacuum suction cups is greater than 0.005MPa, the system will immediately suspend the action to prevent the product from tilting and colliding with the box wall, which is safe.

[0012] 3. For soft products, a low gripping force of 3-5N is used to avoid deformation caused by excessive clamping. For hard products, a stable gripping force of 8-12N is used to prevent slipping and achieve differentiated protection for different materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a flowchart of the present invention for grabbing and boxing; Figure 2 It is a schematic structural diagram of the present invention as a whole; Figure 3 A front view of the present invention as a whole; Figure 4 A side view of the present invention as a whole; Figure 5 It is a structural schematic diagram of the unit frame of the present invention; Figure 6 It is a structural schematic diagram of the box positioning unit of the present invention; Figure 7 It is a structural diagram of the bottom protection unit of the present invention.

[0014] In the figure: 1. Bracket; 2. Frame beam; 3. Lifting unit; 4. Box entry unit; 5. Unit frame; 6. Grabbing unit; 7. First mounting frame; 8. Box positioning unit; 9. Control unit; 10. Second mounting frame; 11. Box conveying platform; 12. Bottom protection unit; 13. Box entry board. DETAILED DESCRIPTION

[0015] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0016] See also Figures 1 to 7 , the present invention provides a technical solution.

[0017] A multi-specification product adaptive grabbing and boxing system includes a bracket 1, a box conveying platform 11, a grabbing unit 6, a box positioning unit 8, a control unit 9, a lifting unit 3, a boxing unit 4, and a bottom protection unit 12. Each unit works together through the control unit 9 to achieve adaptive grabbing and boxing of multi-specification products. The bracket 1 provides basic support for the system, and a frame beam 2 is fixedly connected to the top of the bracket 1. A lifting unit 3 is installed on the frame beam 2. A unit frame 5 is installed at the output end of the lifting unit 3. The boxing unit 4 is installed on the surface of the unit frame 5. The lifting unit 3 can drive the unit frame 5 to drive the boxing unit 4 to achieve lifting and lowering to adapt to boxing requirements of different heights.

[0018] The box conveying platform 11 is used to convey the boxes to be loaded to the designated box loading station. In order to ensure that the boxes do not deviate during the conveying process and to ensure the subsequent box loading accuracy, its conveying surface is equipped with limit strips along the conveying direction to limit the boxes.

[0019] The gripping unit 6 is mounted on the unit frame 5 and uses two sets of positive clamping plates arranged symmetrically along the axial direction of the unit frame 5. Its drive system adopts a C3-level precision ball screw transmission. A servo motor with an integrated encoder drives one set of positive clamping plates to slide axially, while the other set of positive clamping plates is fixed. The displacement adjustment of the sliding positive clamping plates enables adaptive gripping of products of different lengths. The encoder collects the displacement data of the sliding positive clamping plates in real time and cooperates with the control unit 9 to form a closed-loop control mechanism for the gripping force. To achieve adaptive gripping of products made of multiple materials, the contact end between the positive splint and the product is equipped with a flexible contact module, including a 1mm thick silicone buffer layer with a Shore hardness of 30A and a micro pressure sensor with a range of 0-20N and an accuracy of ±0.2N. The module identifies the hardness of the product shell, such as aluminum alloy and plastic, by detecting the mechanical properties of the contact process, and automatically matches the gripping force to 8-12N for hard shells, 5-8N for medium-hard shells, and 3-5N for soft shells. The specific identification process is as follows: The servo motor drives the sliding positive clamping plate to move toward the product at a speed of 0.5mm / s. The micro pressure sensor collects the pressure value F in real time, and the encoder synchronously records the displacement S of the clamping plate and the contact time t when the pressure rises from 0 to 5N. The above data are used to calculate the unit displacement pressure change rate ΔF / ΔS (unit N / mm) and the pressure rise rate ΔF / Δt (unit N / s). The specific standards for determining the material hardness grade based on the preset threshold are as follows:

[0020] During the grasping process, the system simultaneously detects the product posture: if the pressure difference between the two positive clamps ΔFleft-ΔFright>1N, it is determined that the product has a posture deviation deflection angle ≤5°. At this time, the grasping needs to be suspended. After the product posture is manually adjusted to a pressure difference of ≤0.5N, the above material recognition process is re-executed to avoid misjudgment due to uneven force.

[0021] In addition, the system has an abnormal protection function. If an abnormal pressure surge is detected, such as a foreign object being clamped, the trigger force value will return to a safe range. At the same time, an alarm signal will be sent to the control unit 9 and the grasping operation will be suspended to ensure the safety of the equipment and products.

[0022] The box positioning unit 8 consists of a scanning component and a positioning mechanism, which work together to achieve precise positioning and status identification of the box. The scanning component uses two linear laser radars with a scanning frequency of 100Hz and a point cloud density of 200 points / mm². They are uniformly installed at the lower end of the frame beam 2, corresponding to the top of the box entry station, with a vertical distance of 1.5m from the box opening. They can collect data on the top and interior of the box in real time and generate a three-dimensional point cloud model, which is conducive to identifying the position of the card slot in the box with an accuracy of ±0.2mm. It provides a coordinate reference for the subsequent alignment of products into the box and automatically detects obstacles in the box, such as residual foreign matter, to avoid collisions between products and obstacles during the entry process. The positioning mechanism is composed of four groups of side splints, which are fixed to the unit frame 5 through the first mounting frame 7, and the four groups of side splints are arranged symmetrically along the radial direction of the unit frame 5. The side splints are integrated with laser ranging width detection sensors, which first collect the width dimensions of the box conveyed to the box entry station. The sensor transmits the detection data to the control unit 9. The control unit 9 calls the built-in database of the side splint spacing matching numbers corresponding to the box specifications to pre-store the optimal limit spacing corresponding to different box specifications. The control unit 9 drives the servo motor on the first mounting frame 7, and drives the four groups of side splints to move back and forth synchronously through the ball screw transmission until the side splint spacing is completely matched with the current box specification, forming dynamic box positive positioning, that is, by adjusting the limit spacing in real time, adapting to boxes of different specifications, ensuring that the box center coincides with the alignment center of the box entry unit 4, and avoiding box entry deviation caused by box offset.

[0023] The control unit 9 serves as the center of the system and undertakes the core functions of signal reception, logical operation, and instruction issuance. It uniformly controls the action timing of the lifting unit 3, the box entering unit 4, the grabbing unit 6, the box positioning unit 8, and the bottom protection unit 12, and receives the sensor feedback signals of each unit in real time, such as the pressure and displacement signals of the grabbing unit 6, the box specifications of the box positioning unit 8, the safety detection signal of the bottom protection unit 12, etc. It dynamically judges the current operation status and adjusts the action parameters according to the preset program and remote instructions.

[0024] The control unit 9 has a built-in database of multi-specification product and box matching parameters that pre-stores the optimal parameters corresponding to different product lengths, materials, different box heights, and inner diameters. When the product and box specifications detected by the sensor are received, the adaptation parameters such as the side splint spacing of the box positioning unit 8, the lifting height of the lifting unit 3, the box entry depth of the box entry unit 4, etc. are automatically called from the database, and parameter switching can be completed without human intervention.

[0025] The lifting unit 3 is mainly powered by a servo motor, a screw nut mechanism that converts rotational motion into linear lifting motion, and a displacement sensor, i.e., a height detection sensor, which provides real-time feedback on the lifting height. It automatically adjusts the product position height when entering the box according to the box height, and is suitable for boxes of different heights. The lifting unit 3 serves as an actuator for adjusting the box height, and its action is completely driven by the instructions of the control unit 9. The laser radar of the box positioning unit 8 first scans the box height and transmits the data to the control unit 9. The control unit 9 combines the initial height and product length of the box entering unit 4, calculates the optimal lifting height when entering the box from the parameter database, and issues a lifting instruction to the lifting unit 3. The servo motor drives the screw nut mechanism to drive the unit frame 5 and the box entering unit 4 and the grabbing unit 6 on the frame to lift and lower. The displacement sensor feeds back the actual lifting height to the control unit 9 in real time, forming a closed-loop control to ensure that the final height error is ≤0.2mm, and is suitable for boxes of different height specifications such as 100mm-500mm height boxes.

[0026] The core of the box-entering unit 4 is responsible for adjusting the product box-entering depth. It is mainly composed of a servo electric cylinder, a box-entering plate 13 and a vacuum adsorption module. The output end of the servo electric cylinder is rigidly fixed to the box-entering plate 13. The box-entering unit 4 receives the parameter instruction issued by the control unit 9. The instruction is calculated based on the box depth and product length scanned by the box positioning unit. The servo electric cylinder drives the box-entering plate 13 to move the product in the direction perpendicular to the box to adjust the box-entering depth to adapt to the box-entering requirements of boxes of different specifications.

[0027] The vacuum suction module is integrated at the bottom of the in-box plate 13, including four vacuum suction cups with a diameter of 30 mm made of nitrile rubber and arranged in a rectangular array. Each suction cup is connected to a negative pressure source through a flexible bellows, and a pressure sensor is independently configured. The pressure sensor monitors the suction pressure of each suction cup in real time. If the pressure difference between any two suction cups is greater than 0.005 MPa, it is determined that the suction is uneven, and the feedback control unit 9 is immediately suspended to avoid product tilting. The vacuum suction module adopts a hierarchical negative pressure regulation design. In the grabbing stage, a basic negative pressure of-0.06 MPa is provided to realize double fixation with the clamping unit 6. In the in-box stage, the negative pressure is increased to-0.08 MPa to increase the holding force by 30%, ensuring that the product does not shake after the clamping unit 6 is removed. In the release stage, the negative pressure is linearly reduced to-0.01 MPa within 0.5 seconds through an electromagnetic valve to avoid product bounce due to instantaneous air pressure change. The positive clamping plate of the clamping unit 6 clamps the two sides of the product, and the vacuum suction cup of the in-box plate 13 suctions the top center area of the product. There is no overlap between the two in the vertical direction. The clamping and suction actions are started synchronously to avoid structural conflicts.

[0028] The lifting unit 3 drives the in-box unit 4, the unit frame 5, the clamping unit 6, the first mounting frame 7, the box positioning unit 8, the control unit 9, the second mounting frame 10, the bottom protection unit 12, the in-box plate 13, and all related components to move up and down as a whole. The core purpose is to adjust the related components as a whole to the initial height flush with the box opening according to the height of the box scanned by the box positioning unit 8, laying the foundation for subsequent accurate in-boxing. The in-box unit 4 is responsible for moving the in-box plate 13 and the suctioned product locally up and down. After the lifting unit completes the overall height alignment, the clamping of the clamping unit 6 is released, and the servo electric cylinder of the in-box unit 4 is started to drive the in-box plate 13 with the product to move downward along the vertical direction of the box until the product reaches the preset in-boxing depth.

[0029] The bottom protection unit 12 provides safety redundancy for the product grabbing stage. The bottom protection unit 12 includes two radially symmetrically arranged supporting plates. The movement of the supporting plates is driven by two independent servo motors on the second mounting frame 10. Both use ball screw transmission. The first group of servo motors controls the forward and backward movement of the two supporting plates to approach or move away from the product, and the second group of servo motors controls the upward and downward movement of the two supporting plates to adjust the support height. At the same time when the positive clamping plate of the clamping unit 6 starts to contact the product and the clamping action is started, the bottom protection unit 12 responds synchronously to control the supporting plates to move to the lower end of the product synchronously, which is beneficial to supporting the product from the bottom during the grabbing process. This design can prevent accidental falling of the product when grabbing or the product is heavy, improving the safety of grabbing.

[0030] Specific method: start the box conveying platform 11 to convey the box to be loaded. When the box approaches the in-box station, the conveying platform slows down until the box triggers the station in-place sensor, and the platform stops running.

[0031] The line laser radar of the box positioning unit 8 is started to collect data on the top and inside of the box in real time, generate a three-dimensional point cloud model, provide a coordinate reference for the box positioning, and detect whether there are obstacles in the box. If an obstacle is found, the control unit 9 immediately sends an alarm signal, suspends subsequent operations, and rescans after manual cleaning.

[0032] The control unit 9 controls the movement of the grabbing and boxing system so that the two groups of positive clamps of the grabbing unit 6 are aligned with the product to be grabbed. The servo motor of the grabbing unit 6 is started to drive one group of sliding positive clamps to move toward the product, and the other group of positive clamps is fixed; the micro pressure sensor collects the contact pressure F in real time, the encoder synchronously records the clamp displacement S, and records the contact time t when the pressure rises from 0 to 5N. The control unit 9 calculates the unit displacement pressure change rate ΔF / ΔS and the pressure rise rate ΔF / Δt, and determines the hardness level of the product material according to the preset threshold. The control unit 9 adjusts the servo motor according to the determination result. The machine outputs torque, so that the sliding positive clamping plate applies a matching gripping force to complete the clamping of both sides of the product. During the clamping process, the control unit 9 compares the pressure difference of the positive clamping plates on both sides in real time. If the difference is greater than 1N, it is determined that the product posture is offset, and the system immediately suspends gripping. The human-machine interface prompts the posture offset. After the operator manually adjusts the product posture, the material identification process is restarted until the pressure difference is ≤0.5N. It is confirmed that the product posture is normal and the next operation is carried out. At the same time, the bottom protection unit 12 responds synchronously, controlling the pallet to move up and down close to the lower end of the product to form a bottom support to prevent the product from falling.

[0033] The vacuum adsorption module at the bottom of the box entry plate 13 is started, and the four nitrile rubber suction cups generate a basic negative pressure of -0.06MPa to adsorb the top center area of ​​the product. At the same time, the independent pressure sensor of the suction cup monitors the pressure in real time. If the pressure difference between any two suction cups is greater than 0.005MPa, it is determined that the adsorption is uneven, the system pauses and alarms, and re-adsorption is carried out after checking the suction cup or the product surface to ensure that the product is doubly fixed and stable.

[0034] The linear laser radar of the box positioning unit 8 transmits the detected box height data to the control unit 9. The control unit 9 calculates the optimal lifting height when entering and exiting the box. The control unit 9 issues a lifting instruction to the lifting unit 3. The servo motor of the lifting unit 3 drives the screw nut mechanism to drive the unit frame 5 and the box entering unit 4, grabbing unit 6, box positioning unit 8 and other components on the frame to rise and fall as a whole. The displacement sensor feeds back the actual lifting height to the control unit 9 in real time, forming a closed-loop control, adapting to the current box height, and completing the height alignment before entering the box.

[0035] The four sets of side clamps of the box positioning mechanism collect the box width dimensions through the laser ranging sensor, and the data is transmitted to the control unit 9 in real time. The control unit 9 calls the database matching parameters to drive the servo motor on the first mounting frame 7, and drives the four sets of side clamps to move back and forth synchronously through the ball screw transmission until the spacing between the side clamps completely matches the current box specifications. After the positioning is completed, the side clamps remain in a clamping state to fix the position of the box.

[0036] The control unit 9 instructs the grabbing unit 6 to release the grip on the product. At the same time, the negative pressure of the vacuum adsorption module is increased to -0.08MPa. The box-entering unit 4 receives the instruction from the control unit 9, and the servo electric cylinder drives the box-entering plate 13 to move downward with the product in the direction perpendicular to the box body, gradually going deeper into the box.

[0037] When the box-entry plate 13 drives the product to the preset box-entry depth, the control unit 9 instructs the solenoid valve of the vacuum adsorption module to start, and the negative pressure drops linearly to -0.01MPa within 0.5 seconds to prevent the product from bouncing due to instantaneous air pressure changes. After confirming that the product is stably placed in the card slot in the box, the servo electric cylinder drives the box-entry plate 13 to reset upward, detach from the box body, and complete a single box-entry.

[0038] The lifting unit 3 drives the relevant components to reset to the initial height, the side clamps of the positioning mechanism of the box positioning unit 8 are loosened, the box conveying platform 11 is started, and the loaded box is conveyed to the next process, the pallet of the bottom protection unit 12 is reset to the initial position, the positive clamp of the grasping unit 6 is reset, the vacuum adsorption module is depressurized, and ready for the next grasping, the box conveying platform 11 conveys the next box to be loaded to the box entry station, and the system repeats the process to realize continuous adaptive grasping and box entry operations.

[0039] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive grabbing and boxing system for products of various specifications, characterized by: The invention comprises a bracket (1), a box conveying platform (11), a grabbing unit (6), a control unit (9), a lifting unit (3), and a box-entering unit (4); the top of the bracket (1) is fixedly connected to the frame beam (2); the lifting unit (3) is installed on the frame beam (2); the output end of the lifting unit (3) is installed with a unit frame (5); the surface of the unit frame (5) is installed with the box-entering unit (4); the grabbing unit (6) is installed on the surface of the unit frame (5); the lifting unit (3) is used to drive the unit frame (5) to drive the box-entering unit (4) to rise and fall; the grabbing unit (6) comprises two groups of positive clamps arranged symmetrically along the axis of the unit frame (5); the positive clamps are provided with a flexible contact module at the end in contact with the product; the flexible contact module is integrated with a pressure sensor; the pressure sensor of the flexible contact module detects the contact mechanical characteristics and inputs the information to the control unit (9); the control unit (9) identifies the material of the product according to the detection result, and outputs information instructions to the servo motor to adjust the grabbing force; The driving mechanism of the grabbing unit (6) includes a servo motor and a ball screw transmission assembly. The driving mechanism drives one group of the positive clamping plates to slide axially along the unit frame (5), and the other group of the positive clamping plates is fixed to the surface of the unit frame (5). The grabbing unit (6) detects the pressure difference between the positive clamping plates on both sides through a pressure sensor, and when the difference is greater than 1N, an alarm signal is sent to the control unit (9) and the grabbing operation is suspended. It also includes a box positioning unit (8), the box positioning unit (8) includes a scanning component and a positioning mechanism, the scanning component is installed at the lower end of the frame beam (2), the positioning mechanism is composed of four groups of symmetrically arranged side clamps, the four groups of side clamps are radially slidably connected along the unit frame (5), the side clamps are integrated with width detection sensors, the box width signal of the width detection sensor is input to the control unit (9), and the control unit (9) outputs a sliding drive instruction to the side clamps; The lifting unit (3) includes a servo motor, a screw-nut mechanism and a displacement sensor. The servo motor drives the screw-nut mechanism to drive the unit frame (5) and the box-entering unit (4) and the grabbing unit (6) on the frame to move up and down. The displacement sensor feeds back the lifting height to the control unit (9). The control unit (9) outputs a lifting drive instruction to the servo motor of the lifting unit (3) to form a closed-loop control. The box-entering unit (4) includes a servo electric cylinder, a box-entering plate (13) and a vacuum adsorption module. The output end of the servo electric cylinder is rigidly fixed to the box-entering plate (13). The scanning component of the box positioning unit (8) processes the collected box top and internal data to generate a three-dimensional unit model and inputs the information to the control unit (9). The control unit (9) outputs a box-entering depth driving instruction to the servo electric cylinder of the box-entering unit (4) to drive the box-entering plate (13) to move horizontally in the direction perpendicular to the box, so as to send the product into the box to a preset depth.

2. The adaptive grabbing and boxing system for products of multiple specifications according to claim 1 is characterized in that: The vacuum adsorption module is integrated into the bottom of the box entry plate (13), and the vacuum adsorption module contains four vacuum suction cups distributed in a rectangular array, and each of the vacuum suction cups is equipped with a pressure sensor.

3. The adaptive grabbing and boxing system for products of multiple specifications according to claim 1 is characterized in that: It also includes a bottom protection unit (12), which includes two radially symmetrical supporting plates.

4. The adaptive grabbing and boxing system for products of multiple specifications according to claim 1 is characterized in that: The conveying surface of the box conveying platform (11) is equipped with a limiting strip along the conveying direction, and the limiting strip is used to limit the box during the conveying process.

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