Multi-degree-of-freedom boxing device for PACK

Abstract

The invention discloses a PACK multi-degree-of-freedom boxing device, and belongs to the technical field of new energy storage equipment. The PACK automatic boxing solution is provided, and the PACK automatic boxing operation efficiency is remarkably improved on the basis of the adjustable five-degree-of-freedom pushing mechanism to be in butt joint with an incoming material conveying line. Comprising a lifting mechanism, and the two sides in a main body frame of the lifting mechanism are each provided with a lifting frame capable of ascending and descending in the vertical direction; the two sides of the fine adjustment mechanism are connected to the lifting frames respectively, the rotating mechanism is connected to the fine adjustment mechanism, the conveying mechanism is connected to the rotating mechanism and the clamping mechanism, and the pushing mechanism is connected to the clamping mechanism. Under the transmission of the lifting mechanism, the conveying mechanism is in butt joint with the incoming material conveying line so as to transfer the PACK on the incoming material conveying line and forwards convey the PACK to a station to be put into a box right opposite to a feeding port of a cluster-entering frame box, and finally the PACK is completely pushed into the frame box by the pushing mechanism, so that the operation of putting the PACK into the box is completed.

Description

Technical Field

[0001] This application proposes a novel multi-degree-of-freedom pack loading device, which belongs to the field of new energy storage equipment. Background Technology

[0002] With the rapid development of the new energy industry, energy storage technology has been widely applied. Energy storage cabinets, as important energy storage devices, require the insertion of manufactured lithium battery packs into the storage unit during the production process. Lithium battery packs are generally composed of multiple battery modules, varying in size and weight. The installation, stacking, and replacement of packs inside the energy storage unit are complex and arduous tasks. Traditional manual operation is not only labor-intensive and inefficient, but also prone to damaging the batteries due to improper handling, posing a certain degree of danger. In response, existing technologies disclose automated storage devices with adjustable degrees of freedom.

[0003] The following prior published patent application, application number CN202411748586.X, entitled "An Intelligent Storage Device with Multi-Degree-of-Freedom Adjustment," includes a mounting frame, a lifting swing frame, and a horizontal swing frame. The lifting swing frame is mounted on the mounting frame, and a lifting swing mechanism is provided between the lifting swing frame and the mounting frame. The lifting swing mechanism is used to force the lifting swing frame to rise and fall and swing in the vertical direction. The horizontal swing frame is mounted on the lifting swing frame, and a horizontal swing mechanism is provided between the horizontal swing frame and the lifting swing frame. The horizontal swing mechanism is used to force the horizontal swing frame to translate in the horizontal direction and swing in the horizontal direction. The horizontal swing frame has a conveying channel, the outlet end of which is used to dock with the storage frame. The horizontal swing frame is provided with a pushing mechanism for pushing PACK packets to the storage frame. In the above scheme, on the one hand, the horizontal swing mechanism uses a ball joint connection. When rotating around the Z-axis, four sets of lead screws—the first translation member, the second translation member, the first push member, and the second push member—need to move simultaneously to coordinate with the ball joint for rotation. The displacement of the four sets of lead screws is not the same in different rotation directions. Any delay or incomplete displacement of one lead screw directly affects the accuracy of the horizontal swing mechanism's rotation angle, thus affecting the degree of freedom of horizontal swing in that direction. On the other hand, a fourth driving member is installed on the pusher seat to drive the rotating shaft to rotate, forcing the rotating arm to swing. When the rotating arm swings downwards, the pusher rod moves out of the conveying channel to allow the PACK package to enter the conveying channel; when the rotating arm swings upwards, the pusher rod moves into the conveying channel to push the PACK package. Therefore, the pushing mechanism in the above scheme is relatively complex. It requires the rotating arm to swing while the rotating shaft is rotating to adjust the direction of the pusher rod pushing the PACK package. This results in low adjustment and conveying efficiency and is not conducive to controlling the accuracy of the pushing direction.

[0004] In view of the above, this patent application is hereby filed. Summary of the Invention

[0005] The multi-degree-of-freedom pack loading device proposed in this application aims to solve the problems existing in the prior art by providing an automatic pack loading solution. Based on an adjustable five-degree-of-freedom pushing mechanism to connect with the incoming material conveyor line, it significantly improves the operational efficiency of automatic pack loading.

[0006] To achieve the above design objectives, the multi-degree-of-freedom pack loading device includes a lifting mechanism, with a set of vertically movable lifting frames arranged on both sides inside the main frame of the lifting mechanism; a fine-tuning mechanism is connected to a set of lifting frames on both sides, a rotating mechanism is connected to the fine-tuning mechanism, a conveying mechanism is connected to the rotating mechanism and the clamping mechanism respectively, and a pushing mechanism is connected to the clamping mechanism; under the drive of the lifting mechanism, the conveying mechanism connects to the incoming material conveyor line to transfer the pack onto it and convey it forward to the loading station facing the pack loading rack inlet, and finally the pushing mechanism pushes the pack completely into the rack, completing the pack loading operation; the pushing mechanism includes a main body The mechanism frame includes at least one set of 3D cameras for identifying the spatial position and center coordinates of the feed inlet of the cluster box, mounted on the side of the main mechanism frame; a push servo motor and a driven pulley are mounted on the main mechanism frame, the output of the push servo motor drives and connects to the push drive pulley, and a push belt is wound in a closed loop between the push drive pulley and the driven pulley, and the push belt is fixedly connected to the slider connecting plate; a push guide rail is fixedly connected to the main mechanism frame, and a push guide rail slider assembly is slidably connected to the push guide rail and can move along its horizontal direction, and the push guide rail slider assembly is fixedly connected to the slider connecting plate; a push arm rotary cylinder is fixedly connected to the slider connecting plate, and its output drives and connects to the push arm to transmit its reciprocating rotation along the vertical direction.

[0007] Furthermore, the lifting mechanism has a main frame including a first frame column and a second frame column. Two sets of vertically extending lifting guide rails are symmetrically arranged on the inner sides of the first frame column and the second frame column. A lifting frame is slidably connected to each set of lifting guide rails. A set of lifting servo motors are respectively arranged on the sides of the first frame column and the second frame column. The output end of each set of lifting servo motors is driven to connect to the lifting frame through a set of lifting screws.

[0008] Furthermore, on one side of the first frame column, one end of the first hinge is fixed to the lifting frame, and the other end is hinged to one end of the second hinge, and the other end of the second hinge is fixed to the fine-tuning mechanism; on one side of the second frame column, one end of the universal hinge is fixed to the lifting frame, and the other end is fixed to the fine-tuning mechanism.

[0009] Furthermore, the fine-tuning mechanism includes a supporting base frame, with its two sides respectively connected to one end of the second hinge member and one end of the universal hinge member of the lifting mechanism; four sets of fine-tuning transmission mechanisms are arranged in a cross shape and symmetrically around the center on the supporting base frame, with any two adjacent sets of fine-tuning transmission mechanisms rotating in the same direction and having a 90° phase difference; each set of fine-tuning transmission mechanisms includes a second guide rail and a fine-tuning servo motor, the output end of which drives the adjusting screw to rotate axially, the adjusting screw nut is sleeved on the adjusting screw and can move linearly in the horizontal direction along with its rotation, the adjusting screw nut is fixedly connected to the first mounting plate; the second slider is slidably connected to the second guide rail and can move linearly in the horizontal direction, the first mounting plate is fixedly connected to the second slider; the first guide rail is fixedly connected to the first mounting plate, the first slider is slidably connected to the first guide rail and can move linearly in the horizontal direction, and the first slider is also fixedly connected to the rotating mechanism vertically.

[0010] Furthermore, the rotating mechanism includes a rotating base plate, which is simultaneously fixed to the four sets of first sliders of the aforementioned fine-tuning mechanism; a rotary servo motor and a rotary bearing are respectively fixed to the rotating base plate, the output end of the rotary servo motor is driven and connected to the drive gear, the drive gear and the rotary bearing are meshed, and the rotary bearing is fixed to the bearing base plate of the conveying mechanism; under the drive of the rotary servo motor, the rotary bearing drives the conveying mechanism to rotate on a fixed axis.

[0011] Furthermore, the conveying mechanism includes a set of supporting base plates, with a set of conveying sliders fixedly connected to the supporting base plates. Two sets of parallel conveying guide rail assemblies are slidably connected to the conveying sliders, and the two sets of conveying guide rail assemblies are respectively fixedly connected to the conveying frames, including a first conveying frame and a second conveying frame arranged parallel to each other. The output end of a first conveying servo motor mounted on the conveying frame is driven and connected to a conveying lead screw. The conveying lead screw is sleeved and connected to the conveying frame, and a lead screw nut sleeved on the conveying lead screw is fixedly connected to the supporting base plate. Under the drive of the first conveying servo motor, the lead screw nut remains stationary relative to the supporting base plate. As the lead screw rotates, it moves axially, driving two sets of conveyor guide rail assemblies to reciprocate horizontally, ultimately causing the entire conveyor frame to move linearly. The two ends of the conveyor drive shaft and the two sets of conveyor driven shafts are respectively mounted on the conveyor frame. The conveyor belt is wound in a closed loop between the synchronous pulleys on the conveyor drive shaft and each set of conveyor driven shafts, carrying the PACK package. The second conveyor servo motor is installed on the conveyor frame, and its output end is connected to the conveyor drive shaft through a set of sprocket and chain assemblies. Driven by the second conveyor servo motor, the conveyor belt carrying the PACK package moves back and forth in a linear direction.

[0012] Furthermore, at least one set of photoelectric sensors is provided on the side of the conveyor frame to detect the real-time position of the PAC package during its operation.

[0013] Furthermore, at least one set of braking components is provided on the side of the conveyor frame to prevent the PACK from continuing to move forward and to prevent the PACK from slipping off the conveyor belt when necessary.

[0014] Furthermore, the clamping mechanism includes a clamping frame, which is fixedly connected to the conveying frame of the conveying mechanism and the main frame of the pushing mechanism respectively; the clamping slider assembly is slidably connected to the clamping guide rail mounted on the clamping frame and can move linearly along its horizontal direction; two sets of clamping arms and two sets of clamping cylinders are respectively mounted on the clamping slider assembly, and the output end of each set of clamping cylinders is driven and connected to the clamping arms; under the drive of the clamping cylinders, the clamping arms move linearly along the horizontal direction of the clamping guide rail; the two sets of clamping cylinders and clamping arms are symmetrically arranged for moving in opposite directions to clamp the PACK package, or moving in opposite directions to release the PACK package.

[0015] Furthermore, one end of each of the two sets of adjusting screws is connected to the clamping frame, and the other end is connected to the clamping cylinder. The relative distance between the two sets of clamping cylinders on the clamping guide rail can be adjusted by manually rotating the adjusting screws. After adjustment, the adjusting screws are locked with nuts to fix the initial position of the two sets of clamping cylinders.

[0016] As stated above, this application has the following advantages and beneficial effects: 1. This application achieves a five-degree-of-freedom adjustable push-in box capability, which maximizes the efficiency of automatic box loading of PACK packages while having the performance of docking with incoming material conveyor lines.

[0017] 2. This application fully considers the spatial conditions of the PACK placement rack and the impact of the PACK's own weight on the structural strength and operational timeliness of the pushing mechanism, which can significantly reduce the space occupied by the drive components, reduce maintenance costs, and correspondingly improve the overall operational stability and smoothness of the equipment.

[0018] 3. This application has a visual guidance function, which uses a 3D camera to quickly take pictures and locate the placement coordinates of each PACK pack on the cluster rack, thereby meeting the needs of automated PACK packing operations. Attached Figure Description

[0019] The present invention will now be further described with reference to the following figures.

[0020] Figure 1 This is a schematic diagram of the multi-degree-of-freedom packing device for PACKs described in this application; Figure 2-1 and Figure 2-2 These are isometric drawings of the lifting mechanism from different perspectives; Figure 3-1 This is a side view of the conveyor mechanism; Figure 3-2 This is a top view of the conveyor mechanism; Figure 4-1 This is a top view of the pushing mechanism; Figure 4-2 and Figure 4-3 These are side views from different perspectives of the push mechanism; Figure 5-1 This is a side view of the clamping mechanism; Figure 5-2 This is a top view of the clamping mechanism; Figure 6-1 This is a top view of the fine-tuning mechanism; Figure 6-2 It is an isometric drawing of the fine-tuning transmission mechanism; Figure 7 This is a top view of the rotating mechanism; In the above figures, 1 is the lifting mechanism; 2 is the conveying mechanism; 3 is the pushing mechanism; and 4 is the clamping mechanism. 5. Safety net; 6. Lifting counterweight assembly; 7. First hinge; 8. Universal hinge; 9. Lifting frame; 10. Second hinge; 11. Lifting screw; 12. Lifting servo motor; 13. Lifting guide rail; 14. Ground fixing component; 15. First frame column; 16. Frame cross brace; 17. Second frame column; 18. Support base plate; 19. Conveyor guide rail assembly; 20. First conveyor frame; 21. Second conveyor frame; 22. Front connecting cross brace; 23. Rear connecting cross brace; 24. Motor mounting plate; 25. Conveyor screw; 26. Conveyor belt; 27. Braking assembly; 28. Conveyor drive shaft; 29. ​​First conveyor servo motor; 30. Driven conveyor shaft; 31. First photoelectric sensor; 32. Second photoelectric sensor; 33. Third photoelectric sensor; 34. Fourth photoelectric sensor; 35. Second conveyor servo motor; 69. Conveyor slider; 70. Screw nut; 36. Guide rail mounting plate; 37. Short connecting square tube; 38. Long connecting square tube; 39. Connecting cross brace; 40. Slider connecting plate; 41. Push motor mounting plate; 42. Push servo motor; 43. Push arm; 44. Driven wheel mounting plate; 45. Push guide rail slider assembly; 46. 3D camera; 47. Push belt; 48. Push arm rotary cylinder; 49. Push driven pulley; 50. Push drive pulley; 51. Long mounting plate; 71. Push guide rail; 52. Clamping frame; 53. Clamping arm; 54. Clamping arm connecting plate; 55. Clamping cylinder mounting plate; 56. Clamping cylinder; 57. Clamping slider assembly; 58. Adjusting screw; 72. Clamping guide rail; 59. Support base; 60. Left-right slider assembly; 61. Front-back slider assembly; 62. Fine-tuning servo motor; 73. Second slider; 74. First slider; 75. Adjusting screw; 76. Adjusting screw nut; 77. First mounting plate; 78. Second mounting plate; 79. Fine-tuning transmission mechanism; 80. Fine-tuning mechanism; 63. Rotating base plate; 64. Motor adjustment mounting plate; 65. Slewing bearing; 66. Universal ball adjustment; 67. Drive gear; 68. Rotary servo motor; 81. Rotation mechanism. Detailed Implementation

[0021] Example 1, as Figure 1 As shown, a novel PACK multi-degree-of-freedom box loading device includes a lifting mechanism 1, and a set of lifting frames 9 that can be vertically raised and lowered are respectively arranged on both sides inside the main frame of the lifting mechanism 1. The two sides of the fine-tuning mechanism 80 are respectively connected to a set of lifting frames 9, the rotating mechanism 81 is connected to the fine-tuning mechanism 80, the conveying mechanism 2 is respectively connected to the rotating mechanism 81 and the clamping mechanism 4, and the pushing mechanism 3 is connected to the clamping mechanism 4. Driven by the lifting mechanism 1, the conveying mechanism 2 connects to the incoming material conveying line to transfer the PACK package onto it and convey it forward to the waiting box station opposite the inlet of the inlet rack. Finally, the pushing mechanism 3 pushes the PACK package completely into the rack, completing the PACK package boxing operation.

[0022] like Figure 2-1 and Figure 2-2 As shown, the lifting mechanism 1 has a ground fixing component 14, on which a main frame consisting of a first frame column 15, a second frame column 17, and a frame cross brace 16 connecting the first frame column 15 and the second frame column 17 is installed. Two sets of vertically extending lifting guide rails 13 are symmetrically arranged on the inner sides of the first frame column 15 and the second frame column 17, and a set of lifting frames 9 are slidably connected on each set of lifting guide rails 13. A safety net 5 and a lifting counterweight assembly 6 that connects two sets of lifting frames 9 are installed on one side of the main frame. A set of lifting servo motors 12 are respectively installed on the side of the first frame column 15 and the second frame column 17. The output end of each set of lifting servo motors 12 is connected to the lifting frame 9 through a set of lifting screws 11. Driven by the servo motor 12, the two sets of lifting screws 11 drive the fine-tuning mechanism from both sides through a set of lifting frames 9 to achieve reciprocating lifting and lowering, thereby ultimately providing lifting power for the conveying mechanism 2 that carries and transports the PACK package. In actual use, the two sets of lifting servo motors 12 can drive the two sets of lifting screws 11 to achieve different lifting strokes of the two sets of lifting frames 9. Then, the fine adjustment mechanism drives the conveying mechanism 2 to swing left and right on both sides in the horizontal direction. This horizontal left and right swing can adapt to the local deformation or offset that may occur at the feed port of the cluster frame box, so that the PACK can be pushed into the feed port directly and avoid collision or obstruction.

[0023] To prevent the "stuck" problem caused by the vertical height difference between the two sets of lifting frames 9, which could lead to jamming or other devices such as the fine-tuning mechanism connected to them becoming unable to move, on one side of the first frame column 15, one end of a set of first hinge members 7 is fixed to the lifting frame 9, and the other end is hinged to one end of a second hinge member 10. The other end of the second hinge member 10 is fixed to the fine-tuning mechanism 80. On one side of the second frame column 17, a set of universal joints 8 are fixed at one end to the lifting frame 9, and at the other end to the fine-tuning mechanism 80. Therefore, by utilizing the flexible adjustment capability of the hinge between the first hinge 7 and the second hinge 10, and the hinge between the universal hinge 8, the second hinge 10 and the fine-tuning mechanism, the conveying mechanism 2 that carries and transports the PACK can smoothly swing within a certain angle range in the horizontal direction during the lifting process, provided that there is a relative vertical height difference.

[0024] like Figure 3-1 and Figure 3-2 As shown, the conveying mechanism 2 includes a set of bearing base plates 18, the bearing base plates 18 are fixedly connected to a set of conveying sliders 69, and two sets of parallel conveying guide rail assemblies 19 are slidably connected to the conveying sliders 69 respectively. At the same time, the two sets of conveying guide rail assemblies 19 are respectively fixed to the first conveying frame 20 and the second conveying frame 21, which are parallel to each other, by bolts. To ensure a stable distance between the first conveying frame 20 and the second conveying frame 21, a front connecting cross brace 22, a rear connecting cross brace 23, and a motor mounting plate 24 are fixedly connected between the first conveying frame 20 and the second conveying frame 21; the conveying frame composed of the first conveying frame 20, the second conveying frame 21, the front connecting cross brace 22, the rear connecting cross brace 23, and the motor mounting plate 24 is simultaneously fixed to two sets of conveying guide rail assemblies 19 by bolts; The output end of the first servo motor 29, mounted on the motor mounting plate 24, is driven and connected to the lead screw 25. The lead screw 25 is sequentially connected to the front connecting cross brace 22 and the motor mounting plate 24. The lead screw nut 70, which is sleeved on the lead screw 25, is fixed to the support base plate 18. Under the drive of the first servo motor 29, the lead screw nut 70 remains stationary relative to the support base plate 18. While the lead screw 25 rotates, it moves axially, thereby driving the two sets of conveying guide rail assemblies 19 to reciprocate in the horizontal direction, and finally driving the entire conveying frame to make linear motion. The two ends of the conveying drive shaft 28 are respectively mounted between the first conveying frame 20 and the second conveying frame 21 of the conveying frame via rolling bearings. Two sets of conveying driven shafts 30 are respectively mounted between the first conveying frame 20 and the second conveying frame 21 of the conveying frame via rolling bearings. Synchronous pulleys are installed on each set of conveying drive shaft 28 and conveying driven shaft 30. The conveying belt 26 is wound in a closed loop around the synchronous pulleys on the conveying drive shaft 28 and each set of conveying driven shaft 30, and carries the PACK package on the conveying belt 26. The second servo motor 35 is mounted on the front connecting cross brace 22 of the conveyor frame. Its output end is connected to the conveyor drive shaft 28 through a set of sprocket and chain assemblies. Driven by the second servo motor 35, the conveyor belt 26 carries the PACK and moves back and forth in a linear direction.

[0025] The first photoelectric sensor 31, the second photoelectric sensor 32, the third photoelectric sensor 33 and the fourth photoelectric sensor 34 are sequentially fixedly connected to the side of the second conveying frame 21 to detect the real-time position of the PAC package during its operation.

[0026] The braking assembly 27, via a front connecting cross brace 22 fixedly mounted to the conveyor frame, can stop the PACK from moving forward when necessary and prevent the PACK from slipping off the conveyor belt 26.

[0027] like Figures 4-1 to 4-3 As shown, the pushing mechanism 3 includes a main frame consisting of a set of long mounting plates 51, two sets of parallel guide rail mounting plates 36, short connecting square tubes 37 and long connecting square tubes 38 connected in series along the length direction, and then connected laterally by connecting cross braces 39. At least one set of three-dimensional cameras 46 is installed on the side of the guide rail mounting plates 36 of the main frame. The three-dimensional cameras 46 are used to identify the spatial position and center coordinates of the feed inlet of the cluster frame box. The push servo motor 42 is mounted on the long mounting plate 51 of the main frame via the push motor mounting plate 41 and the driven pulley 49 via the driven pulley mounting plate 44; the output end of the push servo motor 42 drives the push drive pulley 50, and the push belt 47 is wound in a closed loop between the push drive pulley 50 and the driven pulley 49, and the push belt 47 is connected and fixed to the slider connecting plate 40. The push guide rail 71 is fixedly connected to the guide rail mounting plate 36 of the main mechanism frame, the push guide rail slider assembly 45 is slidably connected to the push guide rail 71 and can move along its horizontal direction, and the push guide rail slider assembly 45 is fixedly connected to the slider connecting plate 40. The rotating cylinder 48 of the push arm is fixedly connected to the slider connecting plate 40, and its output end drives the push arm 43 to drive it to rotate reciprocally in the vertical direction. Driven by the push servo motor 42, the push belt 47 drives the slider connecting plate 40, along with the push arm 43 and the push arm rotary cylinder 48, to move synchronously in the horizontal direction. When the slider connecting plate 40 moves to the side of the PACK, the push arm rotary cylinder 48 rotates the push arm 43 vertically to contact the bottom of the PACK. Then, the push servo motor 42 drives the push arm 43 to move horizontally, finally pushing the PACK into the feed port of the cluster rack box.

[0028] like Figure 5-1 and Figure 5-2 As shown, the clamping mechanism 4 includes a clamping frame 52, which is fixedly connected to the conveying frame of the conveying mechanism 2 (specifically, to the first conveying frame 20 and the second conveying frame 21) and the main mechanism frame of the pushing mechanism 3 (specifically, to the short connecting square tube 37 and the long connecting square tube 38). The clamping slider assembly 57 is slidably connected to the clamping guide rail 72 mounted on the clamping frame 52, and can move linearly along its horizontal direction; Two sets of clamping arms 53 are respectively mounted on the clamping slider assembly 57 via a clamping arm connecting plate 54, and two sets of clamping cylinders 56 are respectively mounted on the clamping cylinder mounting plate 55. The output end of each set of clamping cylinders 56 is driven to the clamping arm 53. Under the drive of the clamping cylinder 56, the clamping arm 53 moves linearly in the horizontal direction along the clamping guide rail 72. The two sets of clamping cylinders 56 and clamping arms 53 are symmetrically arranged for moving in opposite directions to clamp the PACK package, or moving in opposite directions to release the PACK package. One end of each of the two sets of adjusting screws 58 is connected to the clamping frame 52, and the other end is screwed to the clamping cylinder mounting plate 55. The relative distance between the two sets of clamping cylinders 56 on the clamping guide rail 72 can be adjusted by manually rotating the adjusting screws 58. After adjustment, the adjusting screws 58 are locked with nuts to fix the initial position of the two sets of clamping cylinders 56.

[0029] like Figure 6-1 and Figure 6-2 As shown, the fine-tuning mechanism 80 includes a support base 59, with both sides of the support base 59 connected to one end of the second hinge member 10 and one end of the universal hinge member 8 of the lifting mechanism 1, respectively. Four sets of fine-tuning transmission mechanisms 79 are arranged in a cross shape and symmetrically along the center on the support frame 59. Any two adjacent sets of fine-tuning transmission mechanisms 79 are in the same rotation direction and have a phase difference of 90°. like Figure 6-2 As shown, each fine-tuning transmission mechanism 79 includes a second guide rail 61 mounted on the support base 59 via a second mounting plate 78 and a fine-tuning servo motor 62. The output end of the fine-tuning servo motor 62 drives the adjustment screw 75 to rotate axially. The adjustment screw nut 76 is sleeved on the adjustment screw 75 and can move linearly in the horizontal direction along with its rotation. The adjustment screw nut 76 is fixedly connected to the first mounting plate 77. The second slider 73 is slidably connected to the second guide rail 61 and can move linearly along its horizontal direction. The first mounting plate 77 is fixedly connected to the second slider 73. The first guide rail 60 is fixedly connected to the first mounting plate 77, the first slider 74 is slidably connected to the first guide rail 60 and can move linearly along its horizontal direction, while the first slider 74 is fixedly connected to the rotating mechanism 81 in the vertical direction. Driven by the fine-tuning servo motor 62, the adjusting screw 75 drives the first mounting plate 77 to move linearly in the horizontal direction through the second slider 73; like Figure 6-1 The two sets of fine-tuning transmission mechanisms 79 located on the upper left and lower right of the support base 59 (the two have a 180° phase difference, and the two sets of fine-tuning servo motors 62 on the lower left and upper right are not started) start simultaneously. The first mounting plate 77 of the fine-tuning transmission mechanism 79 located on the upper left moves back and forth in the horizontal direction. Similarly, the first mounting plate 77 of the fine-tuning transmission mechanism 79 located on the lower right moves back and forth in the horizontal direction. Since all four sets of first sliders 74 are vertically fixed to the rotating mechanism 81, when the first mounting plate 77 located at the upper left moves back and forth in the horizontal direction, it drives the first slider 74 located at the lower left to move back and forth in the horizontal direction simultaneously; when the first mounting plate 77 located at the lower right moves back and forth in the horizontal direction, it drives the first slider 74 located at the upper right to move back and forth in the horizontal direction simultaneously; therefore, the rotating mechanism 81 as a whole makes a slight adjustment movement back and forth in the horizontal direction. Based on the same control principle, the fine-tuning servo motors 62 of the two sets of fine-tuning transmission mechanisms 79 located on the lower left and upper right of the support base 59 (the two also have a 180° phase difference, and the two sets of fine-tuning servo motors 62 on the upper left and lower right are not started) start simultaneously, and the entire driveable rotating mechanism 81 moves left and right in a horizontal direction for fine-tuning.

[0030] like Figure 7As shown, the rotating mechanism 81 includes a rotating base plate 63, which is simultaneously fixed to a first slider 74 on the four sets of first guide rails 60 of the fine-tuning mechanism 80.

[0031] The rotary servo motor 68 is fixedly connected to the rotating base plate 63 via the motor adjustment mounting plate 64, the rotary bearing 65, and the universal ball adjustment 66. The output end of the rotary servo motor 68 is driven and connected to the drive gear 67. The drive gear 67 and the rotary bearing 65 are meshed. The rotary bearing 65 is fixed to the carrier base plate 18 of the conveying mechanism 2. Driven by the rotary servo motor 68, the slewing bearing 65 drives the conveying mechanism 2 to rotate as a whole on a fixed axis.

[0032] Based on the above-mentioned multi-degree-of-freedom pack loading device, the pack loading operation is carried out according to the following steps: First, the lifting mechanism 1 moves the conveying mechanism 2 to the designated position after adjustment by the lifting screw 11 and the lifting guide rail 13 to connect the PACK package; if the first photoelectric sensor 31 senses that the PACK package is in place, the conveyor belt 26 is connected and drives the PACK package to move towards the cluster rack box. Secondly, after the PACK is moved to the adjusted position, the clamping mechanism 4 starts to work to center and clamp the PACK; Then, the conveying mechanism 2 carries the PACK package and moves it towards the cluster rack box. At the same time, the three-dimensional camera 46 starts working, takes a frontal picture of the target cluster rack to obtain the center coordinates (X, Y, Z) of the cluster rack, and calculates the corresponding conveying posture that the conveying mechanism 2 should take afterward, that is, the PACK package should be aligned with the feed port of the cluster rack box along the axial direction. Finally, after the PACK packet moves to the adjusted position towards the clustering rack, the pushing mechanism 3 pushes the PACK packet completely into the rack using the pushing arm 43, completing the clustering operation of a single PACK packet.

[0033] As described above, the embodiments given in conjunction with the accompanying drawings are merely preferred solutions for achieving the objectives of this invention. Those skilled in the art can draw inspiration from this and directly derive other alternative structures that conform to the design concept of this invention. Other structural features derived therefrom should also fall within the scope of the solutions described in this invention.

Claims

1. A multi-degree-of-freedom packing device for PACK packages, characterized in that: It includes a lifting mechanism, with a set of lifting frames that can be raised and lowered vertically on both sides inside the main frame of the lifting mechanism; the two sides of the fine-tuning mechanism are respectively connected to a set of lifting frames; the rotating mechanism is connected to the fine-tuning mechanism; the conveying mechanism is respectively connected to the rotating mechanism and the clamping mechanism; and the pushing mechanism is connected to the clamping mechanism. Driven by the lifting mechanism, the conveying mechanism connects to the incoming material conveying line to transfer the PACK package onto it and convey it forward to the waiting box station opposite the inlet of the inlet rack box. Finally, the pushing mechanism pushes the PACK package completely into the rack box, completing the PACK package boxing operation. The pushing mechanism includes a main frame, at least one set of three-dimensional cameras for identifying the spatial position and center coordinates of the feed inlet of the cluster box are mounted on the side of the main frame; a pushing servo motor and a driven pulley are mounted on the main frame, the output of the pushing servo motor drives and connects to the pushing drive pulley, the pushing belt is wound in a closed loop between the pushing drive pulley and the driven pulley, and the pushing belt is fixedly connected to the slider connecting plate; a pushing guide rail is fixedly connected to the main frame, the pushing guide rail slider assembly is slidably connected to the pushing guide rail and can move along its horizontal direction, the pushing guide rail slider assembly is fixedly connected to the slider connecting plate; a pushing arm rotary cylinder is fixedly connected to the slider connecting plate, and its output drives and connects to the pushing arm to transmit its reciprocating rotation along the vertical direction.

2. The PACK multi-degree-of-freedom box-loading device according to claim 1, characterized in that: The lifting mechanism has a main frame including a first frame column and a second frame column. Two sets of vertically extending lifting guide rails are symmetrically arranged on the inner side of the first frame column and the second frame column. A lifting frame is slidably connected to each set of lifting guide rails. A set of lifting servo motors is installed on the side of the first frame column and the second frame column respectively. The output end of each set of lifting servo motors is connected to the lifting frame through a set of lifting screws.

3. The PACK multi-degree-of-freedom box-loading device according to claim 2, characterized in that: On one side of the first frame column, one end of the first hinge is fixed to the lifting frame, and the other end is hinged to one end of the second hinge, and the other end of the second hinge is fixed to the fine-tuning mechanism. On one side of the second frame column, one end of the universal joint is fixed to the lifting frame, and the other end is fixed to the fine-tuning mechanism.

4. The PACK multi-degree-of-freedom box-loading device according to claim 3, characterized in that: The fine-tuning mechanism includes a support base, with its two sides respectively connected to one end of the second hinge of the lifting mechanism and one end of the universal hinge. Four sets of fine-tuning transmission mechanisms are arranged in a cross shape and symmetrically around the center on the supporting base frame. Any two adjacent sets of fine-tuning transmission mechanisms are in the same direction of rotation and have a 90° phase difference. Each fine-tuning transmission mechanism includes a second guide rail and a fine-tuning servo motor. The output end of the fine-tuning servo motor drives the adjusting screw to rotate axially. The adjusting screw nut is sleeved on the adjusting screw and can move linearly in the horizontal direction along with its rotation. The adjusting screw nut is fixedly connected to the first mounting plate. The second slider is slidably connected to the second guide rail and can move linearly in the horizontal direction. The first mounting plate is fixedly connected to the second slider. The first guide rail is fixedly connected to the first mounting plate. The first slider is slidably connected to the first guide rail and can move linearly in the horizontal direction. At the same time, the first slider is fixedly connected to the rotating mechanism in the vertical direction.

5. The PACK multi-degree-of-freedom box-loading device according to claim 4, characterized in that: The rotating mechanism includes a rotating base plate, which is simultaneously fixed to the four sets of first sliders of the fine-tuning mechanism. The rotary servo motor and the rotary bearing are fixedly connected to the rotating base plate. The output end of the rotary servo motor is driven and connected to the drive gear. The drive gear and the rotary bearing are meshed. The rotary bearing is fixedly connected to the bearing base plate of the conveying mechanism. Under the drive of the rotary servo motor, the rotary bearing drives the conveying mechanism to rotate on a fixed axis.

6. The PACK multi-degree-of-freedom box-loading device according to claim 5, characterized in that: The conveying mechanism includes a set of supporting base plates, an array of conveying sliders fixedly connected to the supporting base plates, and two sets of parallel conveying guide rail assemblies slidably connected to the conveying sliders. At the same time, the two sets of conveying guide rail assemblies are fixedly connected to the conveying frame, which includes a first conveying frame and a second conveying frame arranged in parallel with each other. The output end of the first servo motor installed on the conveying frame is driven and connected to the conveying lead screw. The conveying lead screw is sleeved and connected to the conveying frame. The lead screw nut sleeved on the conveying lead screw is fixed to the bearing base plate. Under the drive of the first servo motor, the lead screw nut is stationary relative to the bearing base plate. While the conveying lead screw rotates, it moves axially and drives the two sets of conveying guide rail assemblies to move back and forth in the horizontal direction, and finally drives the entire conveying frame to make linear motion. The two ends of the conveyor drive shaft and the two sets of conveyor driven shafts are respectively mounted on the conveyor frame. The conveyor belt is wound in a closed loop between the synchronous pulleys on the conveyor drive shaft and each set of conveyor driven shafts, and carries the PACK package on the conveyor belt. The second servo motor is mounted on the conveyor frame, and its output end is connected to the conveyor drive shaft through a set of sprocket and chain assemblies. Driven by the second servo motor, the conveyor belt carries the PACK and moves back and forth in a linear direction.

7. The PACK multi-degree-of-freedom box-loading device according to claim 6, characterized in that: At least one set of photoelectric sensors is installed on the side of the conveyor frame to detect the real-time position of the PAC package during its operation.

8. The PACK multi-degree-of-freedom box-loading device according to claim 6, characterized in that: At least one set of braking components is provided on the side of the conveyor frame to stop the PACK from moving forward when necessary and to prevent the PACK from slipping off the conveyor belt.

9. The PACK multi-degree-of-freedom box-loading device according to claim 6, characterized in that: The clamping mechanism includes a clamping frame, which is fixedly connected to the conveying frame of the conveying mechanism and the main frame of the pushing mechanism. The clamping slider assembly is slidably connected to the clamping guide rail mounted on the clamping frame and can move linearly along its horizontal direction; Two sets of clamping arms and two sets of clamping cylinders are respectively installed on the clamping slider assembly. The output end of each set of clamping cylinders is connected to the clamping arms. Under the drive of the clamping cylinders, the clamping arms move linearly along the horizontal direction of the clamping guide rail. Two sets of clamping cylinders and clamping arms are symmetrically arranged for opposite movements to clamp the PACK or opposite movements to release the PACK.

10. The PACK multi-degree-of-freedom box-loading device according to claim 9, characterized in that: One end of each of the two sets of adjusting screws is connected to the clamping frame, and the other end is connected to the clamping cylinder. The relative distance between the two sets of clamping cylinders on the clamping guide rail can be adjusted by manually rotating the adjusting screws. After adjustment, the adjusting screws are locked with nuts to fix the initial position of the two sets of clamping cylinders.

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