Taking-in module and taking-in method for realizing double strokes by using same power source

Abstract

The invention discloses a shooting module for realizing double strokes by using the same power source, which comprises a power source, a transverse opening and closing clamping jaw mechanism and a vertical displacement moving mechanism assembled between the power source and the transverse opening and closing clamping jaw mechanism, the power source drives the vertical displacement moving mechanism to move in the vertical direction and drives the transverse opening and closing clamping jaw mechanism to be opened and closed in the horizontal direction. The vertical displacement moving mechanism comprises a middle moving connecting block connected between the power source and the transverse opening and closing clamping jaw mechanism, the middle moving connecting block is provided with a middle power node assembly for assembling the power source and connecting the transverse opening and closing clamping jaw mechanism, and an elastic assembly is further assembled between the middle moving connecting block and the power source in an abutting mode. According to the technology, vertical and transverse double-stroke operation is driven by the same power source, the mechanism design is simplified, the occupied space is effectively reduced, the whole intake process is more compact due to the design, the working efficiency can be improved, and interference and energy loss of moving parts can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine gripper, in particular to a double-stroke taking module and a taking method using the same power source. BACKGROUND

[0002] The machine gripper is also commonly known as a mechanical clamp or a mechanical gripper, which is a mechanical device for grabbing, clamping or operating objects, widely used in automatic production lines, robot arms, handling systems and other fields. It is usually installed at the end of the robot arm to precisely grab and operate objects.

[0003] For a simple mechanical gripper, the opening and closing of the gripper group are mainly realized by a power source. In addition to opening and closing, the mechanical gripper is generally connected to other displacement driving components for coordinated use, such as equipment in the vertical direction driving the mechanical gripper to move up and down, and corresponding to the work station. The existing up-down taking mode is composed of two parts: up-down stroke (z-axis) mechanism and taking mechanism. In the prior art, two power sources are needed to manage the up-down stroke and clamping action respectively. In the existing design, two sets of mechanisms occupy the use space and have large load. The action connection between the two sets of mechanisms is complex, and the program response speed is slow. SUMMARY

[0004] The purpose of the present application is to provide a double-stroke taking module and a taking method using the same power source, aiming to solve the technical problems of large space occupation, heavy load, complex system and slow program response in the prior art.

[0005] The present application is realized by using a double-stroke taking module with the same power source, which includes a power source, a horizontal opening and closing gripper mechanism, and a vertical displacement moving mechanism assembled between the power source and the horizontal opening and closing gripper mechanism. The power source drives the vertical displacement moving mechanism to move in the vertical direction and drives the horizontal opening and closing gripper mechanism to open and close in the horizontal direction. The vertical displacement moving mechanism includes an intermediate moving connecting block connected between the power source and the horizontal opening and closing gripper mechanism. The intermediate moving connecting block is provided with an intermediate power node assembly connecting the power source and the horizontal opening and closing gripper mechanism. The intermediate moving connecting block and the power source are further abutted and assembled with an elastic assembly.

[0006] Further, the power source includes a telescopic main machine, and the lower end shaft of the telescopic main machine is provided with an output shaft for telescopic movement.

[0007] Further, the vertical displacement moving mechanism includes a housing in the shape of a frame body with openings at the upper and lower ends. The intermediate moving connecting block is arranged inside the housing and can move up and down in the housing. The lower side of the side surface of the telescopic main machine is fixedly arranged at the upper position of the inner side of the housing.

[0008] Further, the intermediate moving connecting block is provided with a vertical slot on the outer surface, the upper end of the slot is provided with a stopper, the outer surface of the shell is provided with a threaded notch, the threaded notch is close to the slot and in the same plane with the slot, the end of the screw passes through the threaded notch and can extend into the slot.

[0009] Further, the intermediate moving connecting block is provided with a vertical guide rail, a horizontal guide rail is arranged at the lower end of the vertical guide rail, and the output shaft at the lower end of the telescopic main machine is connected with the intermediate power node assembly through the interior of the intermediate moving connecting block.

[0010] Further, the intermediate power node assembly comprises two sets of crank assemblies, the two sets of crank assemblies are symmetrically arranged around the axis of the vertical guide rail, the upper ends of the two sets of crank assemblies are connected with the output shaft through a vertical moving block, the vertical moving block is arranged in the vertical guide rail, each crank assembly comprises two crank connecting blocks which are movably connected, the upper end of each crank connecting block is connected with the vertical moving block, the lower end of each crank connecting block is provided with a positioning node which is positioned on the intermediate moving connecting block, a rotatable rotating connecting piece is arranged at the positioning node, the lower end of the rotating connecting piece is movably provided with an opening and closing block, the opening and closing block is arranged in the horizontal guide rail, the lower end of the opening and closing block is provided with a clamping jaw for clamping products, and the opening and closing block and the clamping jaw are synchronously movable.

[0011] Further, a support column is arranged at a position below the horizontal guide rail on the vertical guide rail.

[0012] Further, the upper surface of the intermediate moving connecting block and the lower surface of the telescopic main machine are provided with opposite assembly grooves, the assembly grooves are two sets of vertical springs which are arranged along the axis of the output shaft.

[0013] Further, a horizontal spring is arranged between the left and right opening and closing blocks.

[0014] The taking method realized by the taking module comprises the following steps: When the initial position is reached, the output shaft of the telescopic main machine is retracted at the upper limit position, the elastic assembly between the intermediate moving connecting block and the telescopic main machine is in a compressed state, and the left and right opening and closing blocks are in an open state; First stroke: the telescopic main machine is driven, the output shaft at the lower end of the telescopic main machine is moved downward, the lower end of the output shaft is moved downward to apply force to the intermediate moving connecting block through the elastic assembly, the intermediate moving connecting block is synchronously moved downward with the output shaft, and the two are relatively static until the intermediate moving connecting block is limited and stopped by abutting against the end of the screw assembled with the shell through the stopper at the upper end of the side slot; The second stroke: after the intermediate moving connecting block is lowered and stopped, the telescopic main machine is continuously driven, at this time, the vertical moving block at the lower end of the output shaft moves downward in the vertical guide rail, when the vertical moving block moves downward, the crank set connected below the vertical moving block and symmetrically left and right moves gradually to draw the left and right opening and closing blocks close to each other, and the clamping jaws below the left and right opening and closing blocks are synchronously close to complete clamping of the product; The third stroke: the third stroke is in a reverse state with the second stroke, the telescopic main machine is driven, at this time, the vertical moving block at the lower end of the output shaft moves upward in the vertical guide rail first, the crank set is driven to open the left and right opening and closing blocks through linkage and with the positioning node as the linkage node, and the clamping jaws below the left and right opening and closing blocks are synchronously loosened to clamp the product; The fourth stroke: after the left and right opening and closing blocks are opened, since the upper surface of the opening and closing block and the inner wall of the horizontal guide rail are in abutting state, that is, when the horizontal spring between the left and right opening and closing blocks is in a reset state, the output shaft at the lower end of the telescopic main machine is continuously driven to move upward, the opening and closing block exerts force on the intermediate moving connecting block through the abutting inner wall of the horizontal guide rail, finally drives the intermediate moving connecting block to move upward, until reset to the initial position to prepare for the next process.

[0015] Compared with the prior art, the beneficial effects of the present application are: The double-stroke taking module using the same power source realizes double-stroke operation of the vertical and horizontal directions through the same power source, simplifies the mechanism design and effectively reduces the space occupation, this design makes the whole taking process more compact, improves the work efficiency, and reduces the interference and energy loss of the moving parts.

[0016] The double-stroke taking module using the same power source is mainly applied to the end part of the power line in a suspended state, through clamping, and after the end of the power line is inserted into the connector port by the external device, the clamping can be loosened and reset in time, and through automation, the work efficiency can be effectively improved and the error can be reduced compared with the manual mode. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the assembly structure schematic diagram of the present application; Figure 2 is the first exploded structure schematic diagram of the present application; Figure 3 is the second exploded structure schematic diagram of the present application; Figure 4 is the internal structure schematic diagram of the intermediate moving connecting block; Figure 5 is based on Figure 3 the local structure schematic diagram.

[0018] The figure identification in the drawing is respectively: Power source-1 Telescopic main body-11, output shaft-12, assembly slot-13 Transverse opening and closing gripper mechanism-2 Opening and closing block-21, gripper-22 Vertical displacement moving mechanism-3 Intermediate moving connecting block-31, shell-32, strip-shaped slot-33, resisting part-34, threaded notch-35, vertical guide rail-36, transverse guide rail-37, support column-38 Intermediate power node assembly-4 Crank group-41, vertical moving block-42, crank connecting block-43, positioning node-44, rotating connecting piece-45 Vertical spring-5 Transverse spring-6 DETAILED DESCRIPTION

[0019] In this application, unless otherwise clearly indicated and limited, the terms "mounting", "connecting", "connecting", "fixing" and other terms should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the specification of the present application herein is only for the purpose of describing specific embodiments and is not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0021] The following will be further described in combination with the accompanying drawings and specific embodiments: Figure 1 to the accompanying drawings Figure 5 and specific embodiments: Reference is made to the accompanying drawings Figure 1 , the accompanying drawings Figure 2 , the accompanying drawings Figure 3 As shown in the drawings, the same power source 1 is used to realize the double stroke of the taking module, which comprises a power source 1, a transverse opening and closing claw mechanism 2, and a vertical displacement moving mechanism 3 assembled between the power source 1 and the transverse opening and closing claw mechanism 2. The power source 1 drives the vertical displacement moving mechanism 3 to displace in the vertical direction and drives the transverse opening and closing claw mechanism 2 to open and close in the horizontal direction. Wherein, the vertical displacement moving mechanism 3 comprises an intermediate moving connecting block 31 connected between the power source 1 and the transverse opening and closing claw mechanism 2, and an intermediate power node assembly 4 is arranged on the intermediate moving connecting block 31 to connect the power source 1 and the transverse opening and closing claw mechanism 2. The intermediate moving connecting block 31 and the power source 1 are further abutted and assembled with an elastic assembly.

[0022] The technical scheme is mainly designed by a power source 1 as driving force, which drives the vertical displacement moving mechanism 3 to displace in the vertical direction and drives the transverse opening and closing claw mechanism 2 to open and close in the horizontal direction, so as to realize the design scheme of the same power source 1 driving the vertical and transverse double stroke operation. The specific structure assembly of the three is, Reference is made to the accompanying drawings Figure 2As shown, for the structural composition of the power source 1, mainly includes a telescopic main engine 11, and the output shaft 12 for telescopic movement is arranged at the lower end shaft of the telescopic main engine 11, and the telescopic cylinder for realizing the telescopic movement of the output shaft 12 is arranged on the telescopic main engine 11. The purpose is to provide linear telescopic movement by the power source 1, and drive the whole taking module to work.

[0023] Reference is made to the accompanying drawings Figure 2 , the accompanying drawings Figure 4 As shown, for the composition of the vertical displacement moving mechanism 3, mainly includes a frame-shaped shell 32, and the upper and lower ends of the shell 32 are designed as openings. In the shell 32, a middle moving connecting block 31 which can move up and down is installed. The outer surface layer of the middle moving connecting block 31 is provided with a vertical strip-shaped groove 33, and the upper end of the strip-shaped groove 33 is provided with a resisting part 34. The surface of the shell 32 is provided with a threaded notch 35 which is in the same plane with the strip-shaped groove 33 and close to the strip-shaped groove 33. The end of the screw passes through the threaded notch 35 and can extend into the strip-shaped groove 33. The design principle is that when the middle moving connecting block 31 moves downward, the resisting part 34 on the strip-shaped groove 33 contacts the end of the screw at the threaded notch 35. The extension of the end of the screw collides with the resisting part 34 to form a physical limiting point, thereby preventing the middle moving connecting block 31 from continuing to move downward, and ensuring that it smoothly completes the movement within the predetermined stroke range.

[0024] Reference is made to the accompanying drawings Figure 2 , the accompanying drawings Figure 3 , the accompanying drawings Figure 4As shown, the assembly connection of the power source 1 and the vertical displacement moving mechanism 3 is completed in the following way: first, the lower side of the surface layer of the telescopic main machine 11 is fixed to the upper position of the inner side of the shell 32, thereby completing the first part of the assembly. Through this design, the stable connection between the shell 32 and the telescopic main machine 11 is ensured, so that they can be firmly fixed together during the assembly process, ensuring the stability and reliability of the overall structure. The assembly of the shell 32 and the telescopic main machine 11 ensures the stability and reliability of the overall structure. The shell 32 mainly hides the middle moving connecting block 31 and plays a role in improving the coordination of the overall appearance. And when not working, it can effectively hide the middle moving connecting block 31 and the internal mechanical components assembled on the middle moving connecting block 31, avoiding the pollution, dust and other external factors to the internal structure. The assembly method of the telescopic main machine 11 and the middle moving connecting block 31 is realized by the elastic assembly. The specific assembly method is that the upper surface layer of the middle moving connecting block 31 and the lower surface layer of the telescopic main machine 11 are respectively provided with opposite assembly grooves 13. These assembly grooves 13 are arranged in two groups along the axis direction of the output shaft 12. In order to ensure the stable assembly of the connecting block, the elastic assembly is correspondingly provided with two vertical springs 5, which are respectively installed in the assembly grooves 13. Through this design, the vertical spring 5 plays a supporting role between the telescopic main machine 11 and the middle moving connecting block 31. At the same time, it should be noted that the assembly of the two has the effect of elastic force connection. When the middle moving connecting block 31 is moved close to the telescopic main machine 11 by applying force, the spring is in a compressed state. When the force is released, the telescopic main machine 11 and the middle moving connecting block 31 can be directly separated by the elastic force.

[0025] Further, a vertical guide rail 36 is arranged inside the middle moving connecting block 31, and a vertical connecting block is connected to the output shaft 12 below the telescopic main machine 11, which is installed in the vertical guide rail 36. In this way, when the telescopic main machine 11 starts and drives the output shaft 12 to move, the vertical connecting block can move up and down stably in the vertical guide rail 36, thereby effectively driving the middle moving connecting block 31 to move accurately in the vertical direction.

[0026] First of all, it needs to be explained that the composition of the intermediate power node assembly 4 mainly includes two parts of vertical connecting block and crank group 41. Through the connection between the output shaft 12 below the telescopic host 11, the vertical connecting block and the crank group 41, the telescopic host 11 can transmit power to the vertical connecting block, and then transmit power to the crank group 41 through the vertical connecting block. After receiving power, the crank group 41 converts rotary motion into linear motion and further transmits power to the connected horizontal opening and closing jaw mechanism 2 below. This power transmission process ensures the cooperation between each component in the system and can accurately control the action of the horizontal opening and closing jaw 22. Through the effective transmission of the crank group 41, the jaw 22 mechanism can realize efficient opening and closing operation and quickly grasp or release the target object when needed.

[0027] Reference is made to the accompanying drawings Figure 5 As shown, the composition of the opening and closing jaw 22 mechanism and the assembly method with the intermediate power node assembly 4 are as follows: first, the opening and closing jaw 22 mechanism includes an opening and closing block 21 and a jaw 22, and the specific assembly method is that the intermediate power node assembly 4 contains two crank groups 41, and the two crank groups 41 are symmetrically distributed along the axis of the vertical guide rail 36. At the upper end of each crank group 41, the vertical moving block 42 is connected with the output shaft 12 by being arranged in the vertical guide rail 36. The crank group 41 is composed of two movable connecting crank connecting blocks 43. The upper end of the crank connecting block 43 is connected with the vertical moving block 42, and the lower end is provided with a positioning node 44, which is positioned on the intermediate moving connecting block 31 and is equipped with a rotatable rotating connecting piece 45. The lower end of the rotating connecting piece 45 is movably connected with the opening and closing block 21, which is placed in the horizontal guide rail 37 and can smoothly slide in the guide rail. The lower end of the opening and closing block 21 is provided with a jaw 22 for clamping products.

[0028] The above description is the overall assembly, and the working principle of the connected components is described as follows, The specific principle of driving the horizontal opening and closing jaw mechanism 2 to open and close left and right by the power source 1 is that in the downward movement of the output shaft 12, the vertical moving block 42 moves up and down, thereby driving the crank connecting block 43 at the lower end side of the vertical moving block 42 to rotate around the positioning node 44, and the rotating connecting piece 45 transmits power to drive the opening and closing block 21 placed in the horizontal guide rail 37 to approach or separate, and finally drive the opening and closing of the jaw 22.

[0029] The specific principle of driving the intermediate moving connecting block 31 to move upward by the power source 1 is that the output shaft 12 of the telescopic main machine 11 is connected with the opening and closing block 21 through the vertical moving block 42, the crank connecting block 43 and the rotating connecting piece 45 in sequence, and the upper end surface of the opening and closing block 21 is in abutment with the upper inner side of the horizontal guide rail 37 in the intermediate moving connecting block 31, so that when the output shaft 12 moves upward, the opening and closing block 21 is forced by the horizontal guide rail 37, and finally drives the intermediate moving connecting block 31 to move upward to complete the action.

[0030] The specific principle of driving the intermediate moving connecting block 31 to move upward by the power source 1 is that the output shaft 12 of the telescopic main machine 11 is connected with the opening and closing block 21 through the vertical moving block 42, the crank connecting block 43 and the rotating connecting piece 45 in sequence, and the upper end surface of the opening and closing block 21 is in abutment with the upper inner side of the horizontal guide rail 37 in the intermediate moving connecting block 31, so that when the output shaft 12 moves upward, the opening and closing block 21 is forced by the horizontal guide rail 37, and finally drives the intermediate moving connecting block 31 to move upward to complete the action.

[0031] Further, in order to keep a stable opening and closing degree between the left and right opening and closing blocks 21, the horizontal spring 6 is installed between them. The horizontal spring 6 mainly provides appropriate elastic force to ensure that the opening and closing degree between the left and right opening and closing blocks 21 remains consistent and can be smoothly controlled during the opening and closing process. Through the elastic action of the horizontal spring 6, the left and right opening and closing blocks 21 can cooperate with each other during movement to avoid excessive opening and closing or jamming, ensuring the synchronization and accuracy of the clamping jaws 22. At the same time, the horizontal spring 6 forms a balanced force to effectively prevent the opening and closing block 21 from shaking during vertical movement, thereby avoiding changes in the opening and closing degree caused by shaking.

[0032] The support column 38 is arranged at the lower position of the vertical guide rail 36 close to the horizontal guide rail 37 to provide additional support and stability, which can effectively share the load pressure generated during vertical movement and reduce the working load of other key components, thereby improving the durability of the mechanical system.

[0033] According to the above specific structure and the principle of connection of each part, the intake method steps realized by the intake module are as follows: Initial position: the output shaft 12 of the telescopic main machine 11 is retracted at the upper limit position, the elastic assembly between the intermediate moving connecting block 31 and the telescopic main machine 11 is in a compressed state, and the left and right opening and closing blocks 21 are in an open state. The first stroke: drive the telescopic host 11, the output shaft 12 at the lower end of the telescopic host 11 moves down, the elastic assembly exerts force on the intermediate moving connecting block 31 when the lower end of the output shaft 12 moves down, the intermediate moving connecting block 31 moves down synchronously with the output shaft 12, both are relatively static, until the intermediate moving connecting block 31 is limited and stopped by abutting against the end of the screw part assembled with the shell 32 through the upper end of the side strip-shaped slot 33; The second stroke: after the intermediate moving connecting block 31 moves down and stops, continue to drive the telescopic host 11, at this time, the vertical moving block 42 at the lower end of the output shaft 12 moves down at the relative position in the vertical guide rail 36, when the vertical moving block 42 moves down, the crank set 41 connected below the vertical moving block 42 and symmetrically left and right drives the gradually closing left and right opening and closing blocks 21 through linkage with the linkage node 44, the clamping jaws 22 below the left and right opening and closing blocks 21 synchronously close to complete clamping of the product; The third stroke: the third stroke and the second stroke are in reverse state, drive the telescopic host 11, at this time, the vertical moving block 42 at the lower end of the output shaft 12 moves up in the vertical guide rail 36 first, the crank set 41 drives the left and right opening and closing blocks 21 to open through linkage with the linkage node 44, the clamping jaws 22 below the left and right opening and closing blocks 21 synchronously loosen the clamping of the product; The fourth stroke: after the left and right opening and closing blocks 21 open, since the upper surface layer of the opening and closing block 21 and the inner wall of the horizontal guide rail 37 are in abutting state, that is, when the horizontal springs 6 between the left and right opening and closing blocks 21 are in reset state, the output shaft 12 at the lower end of the telescopic host 11 continues to move up, the opening and closing block 21 exerts force on the intermediate moving connecting block 31 through the abutting inner wall of the horizontal guide rail 37, finally drives the intermediate moving connecting block 31 to move up, until reset to the initial position to prepare for the next process.

[0034] It should be noted that the application of the design scheme can be used for cables or other products that need to be clamped, for example, the connection between the wire terminal and the connector port, through cooperation with other mechanical persons, the module can be used for clamping the wire terminal head (a clamping module for clamping the wire itself can be provided behind), after the end of the power cord is inserted into the connector port, the clamping can be released in time and reset, and then the next process is performed.

[0035] The above is only a preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A dual-stroke acquisition module utilizing the same power source, characterized in that, It includes a power source, a lateral opening and closing gripper mechanism, and a vertical displacement mechanism assembled between the power source and the lateral opening and closing gripper mechanism. The power source drives the vertical displacement mechanism to move vertically and drives the lateral opening and closing gripper mechanism to open and close horizontally. The vertical displacement mechanism includes an intermediate moving connecting block connected between a power source and a lateral opening and closing gripper mechanism. The intermediate moving connecting block is provided with an intermediate power node assembly that connects the power source and the lateral opening and closing gripper mechanism. An elastic component is also assembled between the intermediate moving connecting block and the power source.

2. The acquisition module for dual-stroke operation using the same power source as described in claim 1, characterized in that, The power source includes a telescopic host, and an output shaft for telescopic movement is provided at the lower end of the telescopic host shaft.

3. The acquisition module for dual-stroke operation using the same power source as described in claim 1, characterized in that, The vertical displacement mechanism includes a frame-shaped outer shell with openings at both the top and bottom. The middle moving connecting block is located inside the outer shell and can move up and down within the outer shell. The telescopic main unit is fixedly located on the upper part of the inner side of the outer casing, below the side surface.

4. The acquisition module and acquisition method for realizing dual-stroke using the same power source according to claim 1, characterized in that, The outer surface of the intermediate movable connecting block is provided with a vertical strip groove, and a stop part is provided at the upper end of the strip groove. The outer surface of the outer shell is provided with a threaded notch, which is close to the strip groove and is on the same plane as the strip groove. The end of the screw passes through the threaded notch and can be inserted into the strip groove.

5. The dual-stroke acquisition module utilizing the same power source as described in claim 2, characterized in that, The intermediate moving connecting block has a vertical guide rail inside, and a horizontal guide rail is provided at the lower end of the vertical guide rail. The output shaft at the lower end of the telescopic host passes through the interior of the intermediate moving connecting block and connects to the intermediate power node assembly.

6. The acquisition module for dual-stroke operation using the same power source according to claim 1, characterized in that, The intermediate power node assembly includes two sets of cranks, which are symmetrically distributed about the axis of the vertical guide rail. The upper ends of the two sets of cranks are connected to the output shaft through a vertical moving block, which is placed in the vertical guide rail. The crank assembly includes two movably connected crank connecting blocks, the upper ends of which are connected to a vertically moving block. The lower end of the crank connecting block is provided with a positioning node positioned on the intermediate movable connecting block, and a rotatable rotating connecting part is provided at the positioning node. The lower end of the rotating connecting part is movably provided with an opening and closing block, which is placed in the transverse guide rail. The lower end of the opening and closing block is equipped with a gripper for gripping the product, and the opening and closing block and the gripper move synchronously.

7. The acquisition module and acquisition method for realizing dual-stroke using the same power source according to claim 2, characterized in that, A support column is provided on the vertical guide rail near the lower part of the horizontal guide rail.

8. The acquisition module and acquisition method for realizing dual-stroke using the same power source according to claim 1, characterized in that, The upper surface of the intermediate moving connecting block and the lower surface of the telescopic host are both provided with corresponding assembly slots. There are two sets of assembly slots distributed along the output shaft axis, and the elastic components are two sets of vertical springs installed in the assembly slots.

9. The acquisition module for dual-stroke operation using the same power source according to claim 6, characterized in that, A transverse spring is assembled between the left and right opening blocks.

10. The ingestion method implemented by the ingestion module according to any one of claims 1 to 9 is as follows: In the initial position: the output shaft of the telescopic host is retracted to the upper limit position, the elastic component between the middle moving connecting block and the telescopic host is in a compressed state, and the left and right opening blocks are in the open state; First stage of travel: Drive the telescopic host, the output shaft at the lower end of the telescopic host moves down, the elastic component at the lower end of the output shaft moves down and applies force to the middle moving connecting block, the middle moving connecting block moves down synchronously with the output shaft, the two remain relatively stationary until the middle moving connecting block stops after the abutting part at the upper end of the side strip groove abuts against the end of the screw part assembled on the outer shell. Second stroke: After the middle moving connecting block stops moving down, the telescopic host continues to be driven. At this time, the vertical moving block at the lower end of the output shaft begins to move down from its stationary position relative to the vertical guide rail. When the vertical moving block moves down, the crank group connected to the lower part of the vertical moving block and symmetrical to the left and right is linked together, with the positioning node as the linkage node, to drive the opening and closing blocks on the left and right in the horizontal guide rail to gradually move closer. The grippers below the left and right opening and closing blocks move closer synchronously to complete the gripping of the product. The third stroke is the opposite of the second stroke, driving the telescopic host. At this time, the vertical moving block at the lower end of the output shaft moves upward in the vertical guide rail first. The crank group drives the left and right opening blocks to open through linkage and with the positioning node as the linkage node. The grippers below the left and right opening blocks release synchronously to grip the product. Fourth stage of the stroke: After the left and right opening blocks open, since the upper surface of the opening blocks is in contact with the inner wall of the transverse guide rail, that is, when the left and right opening blocks open to the point where the transverse spring between them is in the reset state, the output shaft at the lower end of the drive telescopic host continues to move upward. The opening blocks apply force to the middle moving connecting block by abutting against the inner wall of the transverse guide rail, and finally drive the middle moving connecting block to move upward until it is reset to the initial position to prepare for the next process.

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