Transfer device

Abstract

The utility model relates to the technical field of battery manufacturing, and provides a transfer device which comprises a fixing frame, a transferring assembly, a telescopic assembly and a grabbing assembly. The fixed end of the transferring assembly is arranged on the fixed frame; the fixed end of the telescopic assembly is connected to the movable end of the transferring assembly. The grabbing assembly comprises a grabbing fixing part, a plurality of grabbing parts connected to the grabbing fixing part in a sliding mode and a driving part used for driving the grabbing parts to slide on the grabbing fixing part, the driving part is arranged on the grabbing fixing part, and the grabbing parts are used for grabbing the cylindrical batteries; wherein the transferring assembly drives the telescopic assembly to move in the first direction, the telescopic assembly drives the grabbing fixing part to move in the second direction, all the grabbing parts move relative to the grabbing fixing part in the third direction, and every two of the first direction, the second direction and the third direction are perpendicular to each other. According to the transfer device, the time cost required by the device when different supplied materials are switched can be reduced, and the feeding and discharging speed of the cylindrical batteries is effectively increased.

Description

Technical Field

[0001] The utility model relates to the technical field of battery manufacturing, and in particular provides a transfer device. Background Art

[0002] In the field of new energy storage, the appearance inspection of cylindrical batteries before coating is an important link in the production and manufacturing process of cylindrical batteries. As the battery cell component of the current mainstream automotive power battery, the quality of a single cylindrical battery will directly affect the overall quality of the power battery. Therefore, a full inspection of the appearance of the cylindrical battery is performed to ensure that there are no foreign matter, dirt, pits and other appearance defects on the surface of the battery shell before entering the coating.

[0003] However, the inspection efficiency of existing appearance inspection equipment is difficult to keep up with production capacity, especially the transfer and loading and unloading processes are too time-consuming, resulting in low inspection efficiency. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a transfer device, which aims to improve the problem of low efficiency in loading and unloading of cylindrical battery materials during side inspection.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is: the present application provides a transfer device, including:

[0006] Fixed frame;

[0007] A transfer assembly, wherein a fixed end of the transfer assembly is arranged on the fixed frame;

[0008] A telescopic assembly, wherein a fixed end of the telescopic assembly is connected to a movable end of the transfer assembly;

[0009] A gripping assembly, the gripping assembly comprising a gripping fixing portion, a plurality of gripping portions slidably connected to the gripping fixing portion, and a driving portion for driving each of the gripping portions to slide on the gripping fixing portion, the driving portion being arranged on the gripping fixing portion, and the gripping portion being used to grip cylindrical batteries;

[0010] The transfer component drives the telescopic component to move along a first direction, the telescopic component drives the grabbing and fixing part along a second direction, and each grabbing part moves relative to the grabbing and fixing part along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

[0011] Beneficial effects of the present invention: the transfer device provided by the present invention, its grabbing assembly includes a grabbing fixing part, multiple grabbing parts and a driving part, wherein the driving part is used to drive each grabbing part to move along a third direction relative to the grabbing fixing part to meet the simultaneous grabbing of multiple cylindrical battery incoming materials. Here, each grabbing part can adapt to cylindrical battery incoming materials with different spacing sizes. At the same time, when there are multiple incoming materials, the grabbing assembly can also be driven to move in the second direction by the transfer assembly, and when the height of the incoming material is different from the height of the incoming material of the previous path, it can also be adjusted by the telescopic assembly. In this way, the transfer device of the present application can meet the use of loading and unloading of incoming cylindrical batteries in multiple scenarios, reduce the time cost required for the device to switch between different incoming materials, and effectively improve the rate of loading and unloading of cylindrical batteries.

[0012] In some embodiments, in the third direction, each of the grasping portions moves equidistantly;

[0013] And / or, each of the grasping parts moves at non-equidistant intervals.

[0014] In some embodiments, the grabbing and fixing part includes a bracket body and a rod body arranged on the bracket body, each grabbing part is slidably connected to the rod body, the driving part is arranged on the bracket body, and the output end of the driving part is connected to one or several of the grabbing parts.

[0015] In some embodiments, the driving part includes a cylinder, an output end of the cylinder is connected to the grabbing part at the starting position, and each of the grabbing parts at the subsequent positions is linked to the grabbing part at the starting position.

[0016] In some embodiments, a first buffer structure is provided on the bracket body, and the first buffer structure is used to abut against the output end of the driving part.

[0017] In some embodiments, the grabbing portion includes a sliding body slidably connected to the rod body and a limit block with one end arranged on the current sliding body, and the other end of the limit block is used to hang on another sliding body adjacent to the current sliding body to ensure that the distance between the two adjacent sliding bodies is a constant value.

[0018] In some embodiments, one end of the limit block is connected to the current sliding body, and a limit portion is formed on the other end of the limit block, and the limit portion is used for adaptive connection with adjacent sliding bodies.

[0019] In some embodiments, each of the sliding bodies has ends facing each other, and a second buffer structure is provided on the ends.

[0020] In some embodiments, a suction cup structure is provided on the sliding body.

[0021] In some embodiments, the fixed frame includes a first sub-frame and a second sub-frame that are spaced apart from each other, and the transfer assembly includes a linear motor disposed on the first sub-frame, an auxiliary guide rail disposed on the second sub-frame, and a transfer rack disposed on the linear motor and the auxiliary guide rail respectively;

[0022] The fixed end of the telescopic assembly is connected to the transfer rack, and the movable end of the telescopic assembly is connected to the grabbing and fixing part. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the structure of a transfer device provided in an embodiment of the utility model;

[0025] Figure 2 A schematic diagram of the structure of a grabbing assembly of a transfer device provided by an embodiment of the utility model in an unfolded state;

[0026] Figure 3 A schematic diagram of the structure of the grabbing assembly of the transfer device provided by the embodiment of the utility model in a retracted state;

[0027] Figure 4 A schematic diagram of the structure of the grabbing and fixing part and the grabbing part of the transfer device provided in an embodiment of the utility model;

[0028] Among them, the figure marks in the figure are: 10. fixed frame; 11. first sub-frame; 12. second sub-frame; 20. transfer assembly; 21. linear motor; 22. auxiliary guide rail; 23. transfer frame; 30. telescopic assembly; 40. grabbing assembly; 41. grabbing and fixing part; 42. grabbing part; 43. driving part; 411. bracket body; 412. rod body; 44. first buffer structure; 421. sliding body; 422. suction cup structure; 423. limit block; 45. second buffer structure; 100. cylindrical battery; Y. first direction; Z. second direction; X. third direction. DETAILED DESCRIPTION

[0029] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0030] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the field of new energy storage, it is necessary to capture images of defects on the side of cylindrical batteries to ensure the appearance qualification rate of each assembled cylindrical battery and to improve the assembly yield of each cylindrical battery.

[0034] At present, most of the side defect detection methods for cylindrical batteries are to rotate the entire cylindrical battery through a rotating mechanism so that all sides of the cylindrical battery can be captured by the image acquisition device. In addition to the detection method, the efficiency of image acquisition of the side of the cylindrical battery is restricted by the efficiency of loading and unloading of the incoming materials, that is, in order to meet the corresponding image acquisition and detection efficiency, the corresponding loading and unloading efficiency must also be met.

[0035] In view of this, the present application provides a transfer device, which grabs the incoming cylindrical batteries through a grabbing component. Specifically, each grabbing part moves along the third direction on the grabbing fixing part driven by the driving part to meet the incoming cylindrical batteries with different spacings; at the same time, the grabbing position of the grabbing component can be adjusted in the first direction and the second direction respectively through the transfer component and the telescopic component to meet the side image acquisition requirements of the incoming cylindrical batteries in different scenarios.

[0036] Please refer to Figures 1 to 3 The present application provides a transfer device, including a fixed frame 10, a transfer component 20, a telescopic component 30 and a grabbing component 40.

[0037] The fixed frame 10 serves as a bracket-like structure for fixing and supporting the transfer assembly 20, the telescopic assembly 30 and the grasping assembly 40. For example, the fixed frame 10 may be composed of a plurality of rows of frames, or the fixed frame 10 may also be a gantry frame or the like.

[0038] The transfer assembly 20 is used to drive the telescopic assembly 30 and the grabbing assembly 40 to move along the first direction Y. The first direction Y here can refer to the direction perpendicular to the transmission direction of the incoming cylindrical battery 100, and of course it can also be any direction in the horizontal plane. Specifically, the transfer assembly 20 includes but is not limited to a linear drive mechanism, a screw mechanism, a telescopic cylinder, etc. The moving assembly should be a movable part that has a fixed part and a relatively fixed part that moves relative to each other, similar to the motor and nut in the screw mechanism. The fixed end of the transfer assembly 20 is arranged on the fixed frame 10.

[0039] The telescopic assembly 30 is used to drive the grabbing assembly to move along the second direction Z. Here, the second direction Z can be the direction of gravity, or any direction perpendicular to the first direction Y. Specifically, the telescopic assembly 30 includes but is not limited to a telescopic cylinder, a lifting mechanism, and a screw mechanism. The telescopic assembly 30 should be a movable part with a fixed part and a relatively fixed part that moves relative to each other, similar to the cylinder body and the telescopic rod in the telescopic cylinder. The fixed end of the telescopic assembly 30 is connected to the movable end of the transfer assembly 20.

[0040] The grabbing assembly 40 is used to grab the incoming cylindrical battery 100, and the grabbing here can be sucked by a suction cup, or can be grabbed by a manipulator, etc. Specifically, the grabbing assembly 40 includes a grabbing fixing portion 41, a plurality of grabbing portions 42 slidably connected to the grabbing fixing portion 41, and a driving portion 43 for driving each grabbing portion 42 to slide on the grabbing fixing portion 41. The driving portion 43 is provided on the grabbing fixing portion 41, and the grabbing portion 42 is used to grab the cylindrical battery 100. The grabbing and fixing part 41 is used to fix and support the grabbing part 42 and the driving part 43. The grabbing and fixing part 41 is connected to the movable end of the telescopic component 30. There are multiple grabbing parts 42, all of which move relative to the grabbing and fixing part 41. The driving part 43 drives each grabbing part 42 to provide a corresponding power source for it. It can be understood that there is only one driving part 43, that is, a total power source provides driving force for all the grabbing parts 42, or the number of driving parts 43 is the same as the number of grabbing parts 42, that is, each driving part 43 drives the corresponding grabbing part 42 to move relative to each other.

[0041] Exemplarily, the grabbing and fixing part 41 may be a fixed slide rail, the grabbing part 42 is a slider with a suction cup, each slider is slidably connected to the fixed slide rail, and at the same time, the driving part 43 is a telescopic cylinder, the fixed end of the telescopic cylinder is arranged on the fixed slide rail, and the movable end of the telescopic cylinder is connected to the slider.

[0042] Exemplarily, the grabbing and fixing part 41 may be a fixing plate, the grabbing part 42 is a manipulator with claws, the manipulator is slidably connected to the fixing plate, and the driving part 43 is a screw mechanism, the nut of the screw mechanism is connected to the manipulator to drive the manipulator to slide on the fixing plate.

[0043] Among them, the transfer component 20 drives the telescopic component 30 to move along the first direction Y, the telescopic component 30 drives the grabbing and fixing part 41 along the second direction Z, and each grabbing part 42 moves relative to the grabbing and fixing part 41 along the third direction. The first direction Y, the second direction Z and the third direction X are perpendicular to each other.

[0044] Here, the first direction Y may be the Y direction in the spatial orientation, the second direction Z may be the Z direction in the spatial direction, and the third direction X may be the X direction in the spatial orientation.

[0045] The transfer device provided by the present invention has a grabbing component 40 including a grabbing fixing portion 41, a plurality of grabbing portions 42 and a driving portion 43, wherein the driving portion 43 is used to drive each grabbing portion 42 to move relative to the grabbing fixing portion 41 along a third direction X to meet the simultaneous grabbing of multiple cylindrical battery 100 incoming materials. Here, each grabbing portion 42 can adapt to incoming cylindrical battery 100 materials of different spacing sizes. At the same time, when there are multiple incoming materials, the grabbing component 40 can also be driven to move in the second direction Z by the transfer component 20, and when the height of the incoming material is different from the height of the incoming material of the previous path, it can also be adjusted by the telescopic component 30. In this way, the transfer device of the present application can meet the loading and unloading of incoming cylindrical batteries 100 in multiple scenarios, reduce the time cost required for the device to switch between different incoming materials, and effectively improve the loading and unloading rate of cylindrical batteries 100.

[0046] In some embodiments, in the third direction X, each gripping portion 42 moves at equal intervals; and / or each gripping portion 42 moves at non-equidistant intervals.

[0047] It can be understood that the equidistant movement of each grasping part 42 means that the spacing between each grasping part 42 is equal when the grasping parts 42 move relative to each other. Of course, the equidistant movement here should refer to the equidistant movement of each grasping part 42 during the relative movement, or it can also refer to the position state of each grasping part 42 after completing the relative movement is equal.

[0048] Exemplarily, each grasping portion 42 has a corresponding driving portion 43 to drive the movement, that is, each driving portion 43 can synchronously drive the corresponding grasping portion 42 to meet the requirement that each grasping portion 42 moves at equal intervals during the relative movement process.

[0049] Exemplarily, each grasping portion 42 is driven to move by a driving portion 43, and a hook is provided on each grasping portion 42, that is, the current grasping portion 42 is hooked on the adjacent grasping portion 42 to adjust the distance between the two. When the length of each hook is selected to be the same, the position state of each grasping portion 42 after completing the movement can be equidistant.

[0050] The non-equidistant movement of the grasping parts 42 means that the spacing between at least two groups of grasping parts 42 is not equal. Of course, the non-equidistant movement here should refer to the non-equidistant movement of the grasping parts 42 during the relative movement, or it can also refer to the unequal spacing of the position states of the grasping parts 42 after completing the relative movement.

[0051] Exemplarily, each grasping portion 42 has a corresponding driving portion 43 to drive the movement, that is, each driving portion 43 can asynchronously drive the corresponding grasping portion 42 to meet the requirement that each grasping portion 42 moves at non-equidistant intervals during the relative movement process.

[0052] Exemplarily, each grasping portion 42 is driven to move by a driving portion 43, and a hook is provided on each grasping portion 42, that is, the current grasping portion 42 is hooked on the adjacent grasping portion 42 to adjust the distance between the two. When the length of each hook is selected to be different, the position state of each grasping portion 42 after completing the movement can be non-equidistant.

[0053] Please refer to Figures 2 to 4 In some embodiments, the grabbing and fixing portion 41 includes a bracket body 411 and a rod body 412 disposed on the bracket body 411, each grabbing portion 42 is slidably connected to the rod body 412, and the driving portion 43 is disposed on the bracket body 411, and the output end of the driving portion 43 is connected to one or several grabbing portions 42.

[0054] It can be understood that the bracket body 411 should be connected to the telescopic assembly 30 and move with the telescopic assembly 30 along the second direction Z. The rod body 412 is used for each grabbing portion 42 to pass through to meet the relative sliding movement, and the extension direction of the rod body 412 is the same as the second direction Z. Then, driven by the driving part 43, each grabbing portion 42 slides on the rod body 412 along the third direction X.

[0055] Please refer to Figure 2 and Figure 3 In some embodiments, the driving unit 43 includes a cylinder, an output end of the cylinder is connected to the grabbing unit 42 at the starting position, and each grabbing unit 42 at the subsequent position is linked to the grabbing unit 42 at the starting position.

[0056] It can be understood that the cylinder body fixing part of the cylinder is connected to the bracket body 411, and the output end of the cylinder is also the telescopic rod that moves telescopically with the cylinder body fixing part of the cylinder, and the telescopic direction of the telescopic rod relative to the cylinder body is the same as the third direction X, and the telescopic rod is connected to the grabbing part 42 at the starting position.

[0057] For example, in the third direction X, a plurality of gripping parts 42 are arranged in an array, and the output end of the cylinder is connected to the gripping part 42 farthest from the cylinder body fixing part of the cylinder, that is, the gripping part 42 at the starting position refers to the gripping part 42 farthest from the cylinder body fixing part of the cylinder. Driven by the output end of the cylinder, the gripping part 42 at the starting position moves with the output end, and the gripping parts 42 at the rear positions also move together to reach the preset position to grip the incoming cylindrical battery 100.

[0058] Please refer to Figure 2 and Figure 3 In some embodiments, a first buffer structure 44 is provided on the bracket body 411 , and the first buffer structure 44 is used to abut against the output end of the driving part 43 .

[0059] It can be understood that the first buffer structure 44 is used to mitigate the impact of the output end of the driving part 43 so that each grabbing part 42 can stop moving quickly.

[0060] Here, the first buffer structure 44 includes but is not limited to a buffer pad, a buffer block, a buffer spring, and the like.

[0061] Please refer to Figures 2 to 4 In some embodiments, the grabbing portion 42 includes a sliding body 421 slidably connected to the rod body 412 and a limit block 423 with one end arranged on the current sliding body 421, and the other end of the limit block 423 is used to hang another sliding body 421 adjacent to the current sliding body 421 to ensure that the distance between the two adjacent sliding bodies 421 is a constant value.

[0062] It can be understood that the sliding body 421 can slide and move on the rod body 412. Specifically, the friction between the two can be reduced to meet the corresponding sliding requirements. Alternatively, a linear bearing is provided on the sliding body 421 to reduce the friction between the two.

[0063] The limit block 423 slides with the current sliding body 421. When the other end of the limit block 423 is hooked on the adjacent sliding body 421, it can drive the adjacent sliding body 421 to slide along the third direction X. In addition, the length of the limit block 423 can also be used to limit the two sliding bodies 421 to meet the corresponding spacing requirements.

[0064] Specifically, in some embodiments, one end of the limiting block 423 is connected to the current sliding body 421 , and a limiting portion is formed on the other end of the limiting block 423 , and the limiting portion is used for adaptive connection of adjacent sliding bodies 421 .

[0065] It can be understood that one end of the limiting block 423 can be integrally formed with the sliding body 421 , or one end of the limiting block 423 can also be detachable from the sliding body 421 .

[0066] The limiting part is a structure matched with the sliding body 421 . For example, the limiting part can be a hook, a convex block, a buckle, etc., which directly or indirectly acts on the sliding body 421 to form a relative force.

[0067] Please refer to Figure 4 In some embodiments, each sliding body 421 has ends facing each other, and a second buffer structure 45 is provided on the ends.

[0068] It can be understood that in order to prevent two adjacent sliding bodies 421 from colliding, a second buffer structure 45 is provided on the end of the sliding body 421 . The second buffer structure 45 includes but is not limited to a buffer pad, a buffer block, a buffer spring, and the like.

[0069] Please refer to Figure 4 In some embodiments, a suction cup structure 422 is provided on the sliding body 421 .

[0070] It can be understood that, for the cylindrical battery 100 , adsorption by the suction cup structure 422 can reduce secondary damage to the side wall of the cylindrical battery 100 .

[0071] Please refer to Figure 1 In some embodiments, the fixed frame 10 includes a first sub-frame 11 and a second sub-frame 12 that are spaced apart from each other, and the transfer assembly 20 includes a linear motor 21 disposed on the first sub-frame 11, an auxiliary guide rail 22 disposed on the second sub-frame 12, and a transfer rack 23 disposed on the linear motor 21 and the auxiliary guide rail 22 respectively;

[0072] The fixed end of the telescopic assembly 30 is connected to the transfer rack 23 , and the movable end of the telescopic assembly 30 is connected to the grabbing and fixing portion 41 .

[0073] It can be understood that the linear motor 21 drives the transfer rack 23 to slide in the first direction Y, that is, the transfer rack 23 slides on the first sub-frame 11 and the second sub-frame 12 .

[0074] The auxiliary guide rail 22 is used to improve the stability of the movement of the transfer rack 23 on the fixed rack 10 .

[0075] The telescopic assembly 30 moves along the first direction Y along with the moving carriage 23 .

[0076] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A transfer device, characterized in that: include: Fixed frame; A transfer assembly, wherein a fixed end of the transfer assembly is arranged on the fixed frame; A telescopic assembly, wherein a fixed end of the telescopic assembly is connected to a movable end of the transfer assembly; A gripping assembly, the gripping assembly comprising a gripping fixing portion, a plurality of gripping portions slidably connected to the gripping fixing portion, and a driving portion for driving each of the gripping portions to slide on the gripping fixing portion, the driving portion being arranged on the gripping fixing portion, and the gripping portion being used to grip cylindrical batteries; The transfer component drives the telescopic component to move along a first direction, the telescopic component drives the grabbing and fixing part along a second direction, and each grabbing part moves relative to the grabbing and fixing part along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

2. The transfer device according to claim 1, characterized in that: In the third direction, each of the grasping portions moves equidistantly; and / or, Each of the grabbing parts moves at non-equidistant intervals.

3. The transfer device according to claim 1, characterized in that: The grabbing and fixing part includes a bracket body and a rod body arranged on the bracket body, each grabbing part is slidably connected to the rod body, the driving part is arranged on the bracket body, and the output end of the driving part is connected to one or several grabbing parts.

4. The transfer device according to claim 3, characterized in that: The driving part comprises a cylinder, the output end of the cylinder is connected to the grabbing part at the starting position, and the grabbing parts at the subsequent positions are linked to the grabbing part at the starting position.

5. The transfer device according to claim 3, characterized in that: The bracket body is provided with a first buffer structure, and the first buffer structure is used to abut against the output end of the driving part.

6. The transfer device according to claim 3, characterized in that: The grabbing portion includes a sliding body slidably connected to the rod body and a limit block with one end arranged on the current sliding body, and the other end of the limit block is used to hang on another sliding body adjacent to the current sliding body to ensure that the distance between the two adjacent sliding bodies is a constant value.

7. The transfer device according to claim 6, characterized in that: One end of the limit block is connected to the current sliding body, and a limit portion is formed on the other end of the limit block, and the limit portion is used for adaptive connection with adjacent sliding bodies.

8. The transfer device according to claim 6, characterized in that: Each of the sliding bodies has ends facing each other, and a second buffer structure is provided on the end.

9. The transfer device according to claim 6, characterized in that: A suction cup structure is arranged on the sliding body.

10. The transfer device according to any one of claims 1 to 9, characterized in that: The fixed frame includes a first sub-frame and a second sub-frame that are spaced apart from each other, and the transfer assembly includes a linear motor disposed on the first sub-frame, an auxiliary guide rail disposed on the second sub-frame, and a transfer rack disposed on the linear motor and the auxiliary guide rail respectively; The fixed end of the telescopic assembly is connected to the transfer rack, and the movable end of the telescopic assembly is connected to the grabbing and fixing part.

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