Double-layer clamp carrying mechanism

Abstract

The utility model relates to the technical field of battery carrying, in particular to a double-layer clamp carrying mechanism which comprises a ground rail. The carrying device comprises a moving mechanism, a lifting mechanism and a taking and placing mechanism. The moving mechanism is installed on the ground rail and used for moving on the ground rail in the X-axis direction. The lifting mechanism is installed on the moving mechanism and used for driving the taking and placing mechanism to move in the Z-axis direction. The taking and placing mechanism comprises a first taking and placing module and a second taking and placing module which are symmetrically mounted on the lifting mechanism; each of the first taking and placing module and the second taking and placing module comprises a mounting frame, a first-stage moving plate, a first-stage guide rail, a first-stage driving motor, a transmission screw rod, a transmission nut, a second-stage guide rail, a first drag chain assembly, a first taking and placing assembly and a second taking and placing assembly; the first taking and placing assembly and the second taking and placing assembly each comprise a second-stage moving plate, a second-stage driving air cylinder, a third-stage driving motor, a driving belt, a pulley block, a third-stage moving plate, a hook claw and a third-stage guide rail.

Description

Technical Field

[0001] The utility model relates to the technical field of battery handling, in particular to a double-layer fixture handling mechanism. Background Art

[0002] During the production process of lithium-ion batteries, it is necessary to handle battery cells among various devices (such as ovens, cooling furnaces, loading devices, and unloading devices, etc.). However, it is extremely inconvenient to load and unload the battery cells during the handling process, which affects the work efficiency. At the same time, the number of battery cell fixtures to be handled is relatively large, which increases the labor intensity of workers. Summary of the Utility Model

[0003] Aiming at the deficiencies of the prior art, the utility model provides a double-layer fixture handling mechanism, aiming to solve the problem of low handling efficiency of battery cells among various devices.

[0004] To achieve the above object, the utility model adopts the following technical solutions:

[0005] A double-layer fixture handling mechanism includes:

[0006] A ground rail;

[0007] A handling device, including: a moving mechanism, a lifting mechanism, and a picking and placing mechanism;

[0008] The moving mechanism is installed on the ground rail, and the moving mechanism is used to move in the X-axis direction on the ground rail;

[0009] The lifting mechanism is installed on the moving mechanism, and the lifting mechanism is used to drive the picking and placing mechanism to move in the Z-axis direction;

[0010] The picking and placing mechanism includes a first picking and placing module and a second picking and placing module, and the first picking and placing module and the second picking and placing module are symmetrically installed on the lifting mechanism;

[0011] Both the first picking and placing module and the second picking and placing module include: a mounting frame, a first-stage moving plate, a first-stage guide rail, a first-stage driving motor, a transmission screw, a transmission nut, a second-stage guide rail, a first drag chain assembly, a first picking and placing assembly, and a second picking and placing assembly. The mounting frame is mounted on the lifting mechanism. The first-stage guide rail, the first-stage driving motor, and the transmission screw are mounted on the mounting frame. The first-stage guide rail extends along the Y-axis direction. The first-stage moving plate is slidably connected to the first-stage guide rail. The first-stage moving plate is connected to the transmission nut. The transmission nut is connected to the transmission screw. The first drag chain assembly includes: a first drag chain and a first support frame. The first support frame is mounted on the mounting frame. One end of the first drag chain is connected to the first support frame, and the other end of the first drag chain is connected to the first-stage moving plate. The second-stage guide rail is mounted on the first-stage moving plate and extends along the Z-axis direction. The first picking and placing assembly and the second picking and placing assembly are symmetrically mounted on the second-stage guide rail.

[0012] Both the first picking and placing assembly and the second picking and placing assembly include: a second-stage moving plate, a second-stage driving cylinder, a third-stage driving motor, a driving belt, a pulley group, a third-stage moving plate, a hook, and a third-stage guide rail. The second-stage moving plate is mounted on the second-stage guide rail. The second-stage driving cylinder is mounted on the first-stage moving plate and is in transmission connection with the second-stage moving plate. The third-stage driving motor, the pulley group, and the third-stage guide rail are mounted on the second-stage moving plate. The third-stage guide rail extends along the Y-axis direction. The driving belt is in transmission connection with the third-stage driving motor. The driving belt surrounds the pulley group. The third-stage moving plate is connected to the driving belt. The third-stage moving plate is slidably connected to the third-stage guide rail through a slider. A pair of hooks are respectively mounted at both ends of the third-stage moving plate.

[0013] Further, two claw grooves are respectively provided at both ends of the third-stage moving plate, and convex portions are provided on both sides of each claw groove.

[0014] The hook includes: a first clamping block, a second clamping block, and a third clamping block. The first clamping block and the second clamping block are provided with recesses. The recess of the first clamping block is connected to the convex portion of the claw groove through a first spring. The recess of the second clamping block is connected to the other convex portion of the claw groove through a second spring. The third clamping block is disposed between the first clamping block and the second clamping block, and the third clamping block is connected to the bottom of the claw groove through a third spring.

[0015] Further, a through hole is provided at the bottom of the claw groove, and a first detection portion is provided at the bottom of the third clamping block. The first detection portion passes through the through hole.

[0016] Both the first pick-and-place component and the second pick-and-place component further include two first detection members, which are respectively installed at both ends of the third-stage moving plate, and the first detection member is used to detect whether the first detection portion penetrates through the through hole.

[0017] Further, the second-stage moving plate includes a transverse portion and a longitudinal portion, the transverse portion and the longitudinal portion form a T-shaped structure, the third-stage guide rail is installed on the transverse portion, and the third-stage driving motor is installed on the longitudinal portion;

[0018] The pulley group includes 2 idler pulleys and 2 tension pulleys. The 2 idler pulleys are respectively installed at both ends of the transverse portion, and the 2 tension pulleys are installed on the longitudinal portion;

[0019] Second detection portions are provided on both sides of the third-stage moving plate, and second detection members are respectively provided at both ends of the transverse portion. The second detection member is used to cooperate with the second detection portion to detect whether the third-stage moving plate is in place.

[0020] Further, the mounting bracket includes: a middle fixed vertical plate, two fixed horizontal plates, two fixed vertical plates, and two reinforced fixed vertical plates. Both ends of the middle fixed vertical plate are respectively connected to the two fixed horizontal plates. Both ends of the fixed vertical plate are respectively connected to the two fixed horizontal plates. Both ends of the reinforced fixed vertical plate are respectively connected to the two fixed horizontal plates. The first-stage driving motor is installed on the reinforced fixed vertical plate. Both ends of the transmission screw are respectively connected to the two reinforced fixed vertical plates. The two first-stage guide rails are respectively installed on the two fixed horizontal plates. The middle fixed vertical plate is installed on the lifting mechanism.

[0021] Further, both the first pick-and-place component and the second pick-and-place component further include: a slide rail and a fixture positioning component. The slide rail and the fixture positioning component are installed on the fixed horizontal plate, and the slide rail extends along the Y-axis direction;

[0022] The fixture positioning component includes: a mounting seat and two positioning modules. The mounting seat is installed on the fixed horizontal plate, and the two positioning modules are symmetrically installed on the mounting seat. The positioning module is used to define the position of the fixture placed on the slide rail;

[0023] The positioning module includes: a positioning cylinder, a fixing member, a hinge member, and a positioning member. The positioning cylinder is installed on the mounting seat, the fixing member is installed on the positioning cylinder, one end of the positioning member is hinged to the transmission shaft of the positioning cylinder, the middle section of the positioning member is hinged to one end of the hinge member, and the other end of the hinge member is hinged to the fixing member.

[0024] Further, both the first picking and placing module and the second picking and placing module further include: a lifting and scanning device, which includes: a second drag chain assembly, a lifting module, a support frame, and a scanner. The two ends of the lifting module are respectively installed on the two fixed cross plates. The support frame is installed on the movable plate of the lifting module, and the scanner is installed on the support frame. The second drag chain assembly includes: a second drag chain and a second support frame. The two ends of the second support frame are respectively installed on the two fixed cross plates. One end of the second drag chain is connected to the second support frame, and the other end of the second drag chain is connected to the support frame.

[0025] Further, the lifting mechanism includes: a top frame, a first lifting device, and a second lifting device. The first lifting device and the second lifting device are symmetrically arranged. Both the first lifting device and the second lifting device include: a lifting frame, a lifting drive motor, a drive wheel, a drive belt, a lifting transmission screw, a second lifting guide rail, and a third drag chain assembly. The two ends of the top frame are respectively connected to the lifting frame of the first lifting device and the lifting frame of the second lifting device. The lifting frame is installed on the moving mechanism. The lifting drive motor, the drive wheel, and the lifting transmission screw are installed on the lifting frame. The lifting drive motor is in transmission connection with the drive wheel through the drive belt. The drive wheel is connected to the transmission screw. The intermediate fixed vertical plate is connected to the lifting transmission screw through a lifting transmission nut. The second lifting guide rail is installed on the lifting frame. The fixed vertical plate is slidably connected to the second lifting guide rail through a slider. The third drag chain assembly includes: a third drag chain and a third support frame. The third support frame is installed on the lifting frame. One end of the third drag chain is connected to the third support frame, and the other end of the third drag chain is connected to the mounting frame.

[0026] Further, the moving mechanism includes: a moving bottom plate, a moving drive motor, a gear, a foreign object detection device, a lubricating oil pump, and a felt gear. The moving bottom plate is installed on the ground rail. The moving drive motor, the foreign object detection device, the lubricating oil pump, and the felt gear are all installed on the moving bottom plate. The drive motor is in transmission connection with the gear.

[0027] Further, the ground rail includes: a ground rail frame, two linear guide rails, a rack, a plurality of rollers, and a fourth drag chain. The two linear guide rails are respectively installed on both sides of the ground rail frame. The moving bottom plate is slidably connected to the linear guide rails through sliders. The rack is parallel to the linear guide rails and installed on the ground rail frame. Both the gear and the felt gear are engaged with the rack. The plurality of rollers are arranged and installed on the ground rail frame. The bottom of the fourth drag chain contacts the rollers. One end of the fourth drag chain is installed on the ground rail frame, and the other end of the fourth drag chain is installed on the moving bottom plate.

[0028] A double-layer fixture handling mechanism described by the present utility model has the beneficial effects as follows:

[0029] When grasping the fixture, the moving mechanism can move along the X-axis on the ground rail, so that the lifting mechanism and the picking and placing mechanism move to the X-axis position of the equipment where the fixture needs to be grasped. After the lifting mechanism reaches the position of the equipment where the fixture needs to be grasped, it moves along the Z-axis, so that the picking and placing mechanism can be lifted to the Z-axis position where the fixture needs to be grasped. The picking and placing mechanism takes the two ends of the fixture through the first picking and placing module and the second picking and placing module respectively. The first-stage driving motor drives the transmission screw to rotate, so that the first-stage moving plate connected to the transmission screw through the transmission nut moves along the first-stage guide rail, so that the first picking and placing component and the second picking and placing component move along the Y-axis. The third-stage driving motor drives the driving belt to make the third-stage moving energy plate move along the third-stage guide rail towards the fixture. The second-stage driving cylinder drives the second-stage moving plate to move along the second-stage guide rail, so that the claw of the third-stage moving plate rises to connect with the grasping position of the fixture. The third-stage driving motor drives the third-stage moving plate to reset, and the second-stage driving cylinder drives the second-stage moving plate to reset, completing the grasping and handling of the fixture.

[0030] When placing the grasped fixture on other equipment, the moving mechanism can move along the X-axis on the ground rail, so that the lifting mechanism and the picking and placing mechanism move to the X-axis position of the equipment where the fixture needs to be placed. After the lifting mechanism reaches the position of the equipment where the fixture needs to be placed, it moves along the Z-axis, so that the picking and placing mechanism can be lifted to the Z-axis position where the fixture needs to be placed. If the equipment where the fixture needs to be placed is on the same side of the double-layer fixture handling mechanism as the previous equipment that needs to pick up the fixture, it is connected by the previously grasped claw. If the equipment where the fixture needs to be placed is on different sides of the double-layer fixture handling mechanism from the previous equipment that needs to pick up the fixture, it is connected by the claw at the other end of the third-stage moving plate. The third-stage driving motor drives the driving belt to drive the claw at the other end of the third-stage moving plate to move to the grasping position of the fixture. The second-stage driving cylinder drives the second-stage moving plate to rise so that the claw is connected to the fixture. The first-stage driving motor drives the transmission screw, so that the first-stage moving plate moves towards the equipment end where the fixture needs to be placed. The third-stage driving motor drives the third-stage moving plate towards the equipment end where the fixture needs to be placed. After the fixture is placed, the second-stage driving cylinder drives the second-stage moving plate to move so that the claw is separated from the fixture. The third-stage driving motor drives the third-stage moving plate to reset, and the first-stage driving motor drives the first-stage moving plate to reset, completing the placement of the fixture.

[0031] At the same time, since the picking and placing mechanism has the first picking and placing component and the second picking and placing component, it can complete the picking, placing and handling of two fixtures at the same time, improving the handling efficiency of the fixture. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the double-layer fixture handling mechanism according to an embodiment of the present utility model;

[0033] Figure 2 It is a schematic diagram of the overall structure of the ground rail according to an embodiment of the present utility model;

[0034] Figure 3 It is a schematic diagram of the overall structure of a perspective of the moving mechanism according to an embodiment of the present utility model;

[0035] Figure 4 It is a schematic diagram of the overall structure of another perspective of the moving mechanism according to an embodiment of the present utility model;

[0036] Figure 5 It is a schematic diagram of the assembly structure of the lifting mechanism and the picking and placing mechanism according to an embodiment of the present utility model;

[0037] Figure 6 It is a schematic diagram of the assembly structure of the first lifting device and the first picking and placing module according to an embodiment of the present utility model;

[0038] Figure 7 It is a schematic diagram of the overall structure of a perspective of the first picking and placing module according to an embodiment of the present utility model;

[0039] Figure 8 It is a schematic diagram of the overall structure of another perspective of the first picking and placing module according to an embodiment of the present utility model;

[0040] Figure 9 It is a schematic diagram of the overall structure of the first picking and placing assembly according to an embodiment of the present utility model;

[0041] Figure 10 It is a schematic diagram of the assembly of the third-level moving plate and the claw according to an embodiment of the present utility model;

[0042] Figure 11 It is a bottom view of the assembly of the third-level moving plate and the claw according to an embodiment of the present utility model;

[0043] Figure 12 It is a schematic diagram of the overall structure of the fixture positioning component according to an embodiment of the present utility model.

[0044] Explanation of reference numerals:

[0045] 1. Floor rail; 11. Floor rail frame; 12. Linear guide rail; 13. Rack; 14. Roller; 15. Fourth drag chain; 2. Handling device; 21. Moving mechanism; 22. Lifting mechanism; 23. Pick-and-place mechanism; 31. Moving bottom plate; 32. Moving drive motor; 33. Gear; 34. Foreign object detection device; 35. Lubricating oil pump; 36. Felt gear; 41. Top frame; 42. First lifting device; 43. Second lifting device; 421. Lifting frame; 422. Lifting drive motor; 423. Driving wheel; 424. Driving belt; 425. Lifting transmission screw; 426. Second lifting guide rail; 427. Third drag chain assembly; 4271. Third drag chain; 4272. Third support frame; 51. First pick-and-place module; 52. Second pick-and-place module; 511. Mounting frame; 5111. Intermediate fixed vertical plate; 5112. Fixed horizontal plate; 5113. Fixed vertical plate; 5114. Reinforced fixed vertical plate; 512. First-stage moving plate; 513. First-stage guide rail; 514. First-stage drive motor; 515. Transmission screw; 516. Transmission nut; 517. Second-stage guide rail; 518. First drag chain assembly; 5181. First drag chain; 5182. First support frame; 519. First pick-and-place assembly; 5110. Second pick-and-place assembly; 5191. Second-stage moving plate; 51911. Horizontal part; 51912. Longitudinal part; 5192. Second-stage drive cylinder; 5193. Third-stage drive motor; 5194. Driving belt; 5195. Pulley group; 51951. Tensioning wheel; 51952. Idler wheel; 5196. Third-stage moving plate; 51961. Claw groove; 51962. Second detection part; 5197. Hook claw; 51971. First clamping block; 51972. Second clamping block; 51973. Third clamping block; 51974. First detection part; 5198. Third-stage guide rail; 5199. First detection piece; 51910. Second detection piece; 51913. Slide rail; 51914. Fixture positioning assembly; 519141. Mounting seat; 519142. Positioning module; 5191421. Positioning cylinder; 5191422. Fixed part; 5191423. Hinge part; 5191424. Positioning part; 53. Lifting code scanning device; 531. Second drag chain assembly; 5311. Second drag chain; 5312. Second support frame; 532. Lifting module; 533. Support frame; 6. Control cabinet. Detailed implementation manners

[0046] The following further describes the present utility model in conjunction with the accompanying drawings and specific embodiments.

[0047] As Figure 1 、 Figures 5 - 10 shown, an embodiment of the present utility model provides a double-layer fixture handling mechanism, including:

[0048] Floor rail 1;

[0049] The handling device 2 includes: a moving mechanism 21, a lifting mechanism 22 and a picking and placing mechanism 23;

[0050] The moving mechanism 21 is installed on the ground rail 1, and the moving mechanism 21 is used to move in the X-axis direction on the ground rail 1;

[0051] The lifting mechanism 22 is installed on the moving mechanism 21, and the lifting mechanism 22 is used to drive the picking and placing mechanism 23 to move in the Z-axis direction;

[0052] The picking and placing mechanism 23 includes a first picking and placing module 51 and a second picking and placing module 52, and the first picking and placing module 51 and the second picking and placing module 52 are symmetrically installed on the lifting mechanism 22;

[0053] Both the first picking and placing module 51 and the second picking and placing module 52 include: a mounting frame 511, a first-stage moving plate 512, a first-stage guide rail 513, a first-stage driving motor 514, a transmission screw 515, a transmission nut 516, a second-stage guide rail 517, a first drag chain assembly 518, a first picking and placing assembly 519 and a second picking and placing assembly 5110. The mounting frame 511 is installed on the lifting mechanism 22, the first-stage guide rail 513, the first-stage driving motor 514 and the transmission screw 515 are installed on the mounting frame 511, the first-stage guide rail 513 extends along the Y-axis direction, the first-stage moving plate 512 is slidably connected to the first-stage guide rail 513, the first-stage moving plate 512 is connected to the transmission nut 516, the transmission nut 516 is connected to the transmission screw 515, the first drag chain assembly 518 includes: a first drag chain 5181 and a first support frame 5182, the first support frame 5182 is installed on the mounting frame 511, one end of the first drag chain 5181 is connected to the first support frame 5182, the other end of the first drag chain 5181 is connected to the first-stage moving plate 512, the second-stage guide rail 517 is installed on the first-stage moving plate 512, and the second-stage guide rail 517 extends along the Z-axis direction; the first picking and placing assembly 519 and the second picking and placing assembly 5110 are symmetrically installed on the second-stage guide rail 517;

[0054] Both the first pick-and-place component 519 and the second pick-and-place component 5110 include: a second-stage moving plate 5191, a second-stage driving cylinder 5192, a third-stage driving motor 5193, a driving belt 5194, a pulley set 5195, a third-stage moving plate 5196, a claw 5197, and a third-stage guide rail 5198. The second-stage moving plate 5191 is installed on the second-stage guide rail 517. The second-stage driving cylinder 5192 is installed on the first-stage moving plate 512. The second-stage driving cylinder 5192 is in transmission connection with the second-stage moving plate 5191. The third-stage driving motor 5193, the pulley set 5195, and the third-stage guide rail 5198 are installed on the second-stage moving plate 5191. The third-stage guide rail 5198 extends along the Y-axis direction. The driving belt 5194 is in transmission connection with the third-stage driving motor 5193. The driving belt 5194 surrounds the pulley set 5195. The third-stage moving plate 5196 is connected to the driving belt 5194. The third-stage moving plate 5196 is slidably connected to the third-stage guide rail 5198 through a slider. A pair of claws 5197 are respectively installed at both ends of the third-stage moving plate 5196.

[0055] When grasping the fixture, the moving mechanism 21 can move along the X-axis direction on the ground rail 1, so that the lifting mechanism 22 and the pick-and-place mechanism 23 move to the X-axis position of the equipment where the fixture needs to be grasped. After reaching the position of the equipment where the fixture needs to be grasped, the lifting mechanism 22 moves along the Z-axis direction, so that the pick-and-place mechanism 23 can be lifted to the Z-axis position where the fixture needs to be grasped. The pick-and-place mechanism 23 respectively picks up both ends of the fixture through the first pick-and-place module 51 and the second pick-and-place module 52. The first-stage driving motor 514 drives the transmission screw 515 to rotate, so that the first-stage moving plate 512 connected to the transmission screw 515 through the transmission nut 516 moves along the first-stage guide rail 513, so that the first pick-and-place component 519 and the second pick-and-place component 5110 move along the Y-axis direction. The third-stage driving motor 5193 drives the driving belt 5194 to make the third-stage moving plate move towards the fixture along the third-stage guide rail 5198. The second-stage driving cylinder 5192 drives the second-stage moving plate 5191 to move along the second-stage guide rail 517, so that the claw 5197 of the third-stage moving plate 5196 rises and connects to the grasping position of the fixture. The third-stage driving motor 5193 drives the third-stage moving plate 5196 to reset. The second-stage driving cylinder 5192 drives the second-stage moving plate 5191 to reset, completing the grasping and handling of the fixture.

[0056] When placing the grabbed fixture on other equipment, the moving mechanism 21 can move along the X-axis on the ground rail 1, so that the lifting mechanism 22 and the picking and placing mechanism 23 move to the X-axis position of the equipment where the fixture needs to be placed. After the lifting mechanism 22 reaches the position of the equipment where the fixture needs to be placed, it moves along the Z-axis, so that the picking and placing mechanism 23 can be lifted to the Z-axis position where the fixture needs to be placed. If the equipment where the fixture needs to be placed and the previous equipment that needs to pick up the fixture are on the same side of the double-layer fixture handling mechanism, they are connected by the previously grabbed claw 5197. If the equipment where the fixture needs to be placed and the previous equipment that needs to pick up the fixture are on different sides of the double-layer fixture handling mechanism, they are connected by the claw 5197 at the other end of the third-level moving plate 5196. The third-level driving motor 5193 drives the driving belt 5194 to drive the claw 5197 at the other end of the third-level moving plate 5196 to move to the grabbing position of the fixture. The second-level driving cylinder 5192 drives the second-level moving plate 5191 to rise so that the claw 5197 is connected to the fixture. The first-level driving motor 514 drives the transmission screw 515, so that the first-level moving plate 512 moves towards the equipment end where the fixture needs to be placed. The third-level driving motor 5193 drives the third-level moving plate 5196 towards the equipment end where the fixture needs to be placed. After the fixture is placed, the second-level driving cylinder 5192 drives the second-level moving plate 5191 to move so that the claw 5197 is separated from the fixture. The third-level driving motor 5193 drives the third-level moving plate 5196 to reset, and the first-level driving motor 514 drives the first-level moving plate 512 to reset, completing the placement of the fixture.

[0057] At the same time, since the picking and placing mechanism 23 has a first picking and placing component 519 and a second picking and placing component 5110, it can simultaneously complete the picking, placing and handling of two fixtures, improving the handling efficiency of the fixtures.

[0058] It should be noted that the double-layer fixture handling mechanism further includes a control cabinet 6. A controller is provided in the control cabinet 6, and the controller is electrically connected to the moving mechanism 21, the lifting mechanism 22 and the picking and placing mechanism 23, and controls the operation of the moving mechanism 21, the lifting mechanism 22 and the picking and placing mechanism 23 through the controller.

[0059] As Figure 10 shown, in some embodiments, two claw grooves 51961 are respectively provided at both ends of the third-level moving plate 5196, and convex parts are provided on both sides of the two claw grooves 51961;

[0060] The claw 5197 includes: a first clamping block 51971, a second clamping block 51972, and a third clamping block 51973. The first clamping block 51971 and the second clamping block 51972 are provided with recesses. The recess of the first clamping block 51971 is connected to the convex part of the claw groove 51961 through a first spring, and the recess of the second clamping block 51972 is connected to another convex part of the claw groove 51961 through a second spring. The third clamping block 51973 is arranged between the first clamping block 51971 and the second clamping block 51972, and the third clamping block 51973 is connected to the bottom of the claw groove 51961 through a third spring.

[0061] In order to enable the claw 5197 to be better connected to the fixture and prevent the claw 5197 from being unable to connect to the fixture when there is an error, when there is an error in the grasping position between the claw 5197 and the fixture, since the recess of the first clamping block 51971 is connected to the convex part of the claw groove 51961 through the first spring, and the recess of the second clamping block 51972 is connected to another convex part of the claw groove 51961 through the second spring, the compression of the first spring or the second spring can overcome the error. At the same time, the settings of the first spring and the second spring can also buffer the collision during the connection between the fixture and the claw 5197, and the third spring can reset the first detection part 51974.

[0062] As Figure 10 shown in Figure 11 In some embodiments, as shown in the figure, a through hole is provided at the bottom of the claw groove 51961, and a first detection part 51974 is provided at the bottom of the third clamping block 51973, and the first detection part 51974 passes through the through hole.

[0063] Both the first picking and placing assembly 519 and the second picking and placing assembly 5110 further include two first detection members 5199, and the two first detection members 5199 are respectively installed at both ends of the third-stage moving plate 5196. The first detection member 5199 is used to detect whether the first detection part 51974 penetrates the through hole.

[0064] In order to detect whether the fixture is picked up or put down by the claw 5197, a through hole is provided at the bottom of the claw groove 51961. When the claw 5197 picks up the fixture, the third spring of the third clamping block 51973 is compressed, so that the first detection part 51974 at the bottom of the third clamping block 51973 penetrates the through hole. Thus, the first detection member 5199 detects the first detection part 51974 and transmits a signal to the controller, so that the controller controls the picking and placing mechanism 23 to complete the picking up of the fixture. When the controller controls the picking and placing mechanism 23 to complete the putting down of the fixture, the third spring resets, so that the first detection part 51974 retracts into the through hole, and the first detection member 5199 cannot detect the first detection part 51974 and transmits a signal to the controller to indicate that the putting down of the fixture is completed.

[0065] AsFigure 9 As shown, in some embodiments, the second-stage moving plate 5191 includes a transverse portion 51911 and a longitudinal portion 51912 , the transverse portion 51911 and the longitudinal portion 51912 forming a T-shaped structure, the third-stage guide rail 5198 is mounted on the transverse portion 51911 , and the third-stage drive motor 5193 is mounted on the longitudinal portion 51912 ;

[0066] The pulley assembly 5195 includes two tensioning pulleys 51951 and two idler pulleys 51952. The two idler pulleys 51952 are respectively installed at both ends of the transverse portion 51911, and the two tensioning pulleys 51951 are installed on the longitudinal portion 51912.

[0067] Second detection parts 51962 are provided on both sides of the third-stage movable plate 5196, and second detection members 51910 are provided at both ends of the horizontal part 51911. The second detection members 51910 are used to cooperate with the second detection parts 51962 to detect whether the third-stage movable plate 5196 is in place.

[0068] like Figure 7 and Figure 8 As shown, in some embodiments, the mounting frame 511 includes: an intermediate fixed vertical plate 5111, two fixed horizontal plates 5112, two fixed vertical plates 5113, and two reinforced fixed vertical plates 5114. The two ends of the intermediate fixed vertical plate 5111 are respectively connected to the two fixed horizontal plates 5112, the two ends of the fixed vertical plate 5113 are respectively connected to the two fixed horizontal plates 5112, the two ends of the reinforced fixed vertical plate 5114 are respectively connected to the two fixed horizontal plates 5112, the first-stage driving motor 514 is installed on the reinforced fixed vertical plate 5114, the two ends of the transmission screw 515 are respectively connected to the two reinforced fixed vertical plates 5114, the two first-stage guide rails 513 are respectively installed on the two fixed horizontal plates 5112, and the intermediate fixed vertical plate 5111 is installed on the lifting mechanism 22.

[0069] like Figure 7 and Figure 12 As shown, in some embodiments, the first pick-and-place assembly 519 and the second pick-and-place assembly 5110 further include: a slide rail 51913 and a fixture positioning assembly 51914, the slide rail 51913 and the fixture positioning assembly 51914 are installed on the fixed horizontal plate 5112, and the slide rail 51913 is extended along the Y-axis direction;

[0070] The fixture positioning assembly 51914 includes a mounting base 519141 and two positioning modules 519142. The mounting base 519141 is mounted on the fixed horizontal plate 5112. The two positioning modules 519142 are symmetrically mounted on the mounting base 519141. The positioning modules 519142 are used to define the position of the fixture placed on the slide rail 51913.

[0071] The positioning module 519142 includes: a positioning cylinder 5191421, a fixing member 5191422, a hinged member 5191423 and a positioning member 5191424. The positioning cylinder 5191421 is installed on the mounting base 519141, the fixing member 5191422 is installed on the positioning cylinder 5191421. One end of the positioning member 5191424 is hinged to the transmission shaft of the positioning cylinder 5191421. The middle section of the positioning member 5191424 is hinged to one end of the hinged member 5191423, and the other end of the hinged member 5191423 is hinged to the fixing member 5191422.

[0072] During the process of picking up the fixture, the third-stage drive motor 5193 drives the drive belt 5194 to rotate, thereby driving the claw 5197 to move along the Y-axis direction, cooperating with the second-stage drive cylinder 5192 to drive the second-stage moving plate 5191 to lift and lower along the Z-axis direction. After the claw 5197 is connected to the fixture, after the connection between the claw 5197 and the fixture is completed, the third-stage drive motor 5193 drives the drive belt 5194 to rotate in the reverse direction, thereby driving the claw 5197 to move along the Y-axis direction, moving the fixture from the slide rail of other equipment to the slide rail 51913 of the handling mechanism. After the fixture is picked up, the fixture moves to the middle position of the slide rail 51913. At the same time, in order to prevent the fixture from falling off the slide rail 51913, the fixture is positioned by the positioning module 519142.

[0073] After the fixture is placed at the preset position on the slide rail 51913, the positioning cylinder 5191421 drives the positioning member 5191424 to rotate, so that the positioning member 5191424 rotates to be stuck with the support block of the fixture. Since the two positioning modules 519142 are symmetrically arranged, the two positioning modules 519142 can respectively abut against the two opposite faces of the adjacent two support blocks, thereby restricting the movement of the fixture.

[0074] As Figure 8 shown, in some embodiments, the first picking and placing module 51 and the second picking and placing module 52 also both include: a lifting and scanning device 53. The lifting and scanning device 53 includes: a second drag chain assembly 531, a lifting module 532, a support frame 533 and a scanner. Both ends of the lifting module 532 are installed on two fixed cross plates 5112. The support frame 533 is installed on the movable plate of the lifting module 532. The scanner is installed on the support frame 533. The second drag chain assembly 531 includes: a second drag chain 5311 and a second support frame 5312. Both ends of the second support frame 5312 are installed on two fixed cross plates 5112. One end of the second drag chain 5311 is connected to the second support frame 5312, and the other end of the second drag chain 5311 is connected to the support frame 533.

[0075] The barcode scanner slides on the lifting module 532 through the support frame 533 to change the height, thereby identifying the QR code numbers of the upper and lower layers of the clamps being transported, and then moving the clamps to the designated position according to the task instructions issued by the controller.

[0076] like Figure 5 As shown, in some embodiments, the lifting mechanism 22 includes: a top frame 41, a first lifting device 42 and a second lifting device 43, the first lifting device 42 and the second lifting device 43 are symmetrically arranged, and the first lifting device 42 and the second lifting device 43 both include: a lifting frame 421, a lifting drive motor 422, a driving wheel 423, a driving belt 5194, a lifting transmission screw 425, a second lifting guide rail 426 and a third drag chain assembly 427, and the two ends of the top frame 41 are respectively connected to the lifting frame 421 of the first lifting device 42 and the lifting frame 421 of the second lifting device 43, the lifting frame 421 is installed on the moving mechanism 21, the lifting drive motor 422, the driving wheel 423 and the lifting transmission screw 425 is installed on the lifting frame 421, the lifting drive motor 422 is connected to the driving wheel 423 through the driving belt 5194, the driving wheel 423 is connected to the transmission screw 515, the middle fixed vertical plate 5111 is connected to the lifting transmission screw 425 through the lifting transmission nut 516, the second lifting guide rail 426 is installed on the lifting frame 421, the fixed vertical plate 5113 is slidably connected to the second lifting guide rail 426 through a slider, the third drag chain assembly 427 includes: a third drag chain 4271 and a third support frame 4272, the third support frame 4272 is installed on the lifting frame 421, one end of the third drag chain 4271 is connected to the third support frame 4272, and the other end of the third drag chain 4271 is connected to the mounting frame 511.

[0077] The lifting drive motor 422 can drive the driving belt 5194 to rotate. When the driving belt 5194 rotates, it can drive the driving wheel 423 to rotate. When the driving wheel 423 rotates, it can drive the lifting transmission screw 425 to rotate. Since the lifting transmission screw 425 rotates, the mounting frame 511 can be lifted and lowered in the Z-axis direction along the second lifting guide rail 426, and the mounting frame 511 can be lifted and lowered to a suitable height so that the pick-and-place mechanism 23 can pick up and place the fixture.

[0078] like Figure 3 and Figure 4 As shown, in some embodiments, the moving mechanism 21 includes: a moving base plate 31, a moving drive motor 32, a gear 33, a foreign object detection device 34, a lubricating oil pump 35 and a felt gear 3633. The moving base plate 31 is installed on the ground rail 1, and the moving drive motor 32, the foreign object detection device 34, the lubricating oil pump 35 and the felt gear 3633 are all installed on the moving base plate 31, and the drive motor is connected to the gear 33 through transmission.

[0079] The foreign object detection device 34 can detect whether there is a foreign object blocking the running path of the moving mechanism 21. When there is a foreign object, the foreign object detection device 34 can send a signal to the controller, and the controller controls the moving drive motor 32 to stop working, so as to avoid the moving mechanism 21 contacting the foreign object, resulting in damage to the double-layer fixture handling mechanism or causing injury to the staff when the foreign object is a staff member.

[0080] As Figure 2 shown, in some embodiments, the ground rail 1 includes: a ground rail frame 11, two linear guide rails 12, a rack 13, a plurality of rollers 14 and a fourth drag chain 15. The two linear guide rails 12 are respectively installed on both sides of the ground rail frame 11. The moving bottom plate 31 is slidably connected to the linear guide rails 12 through sliders. The rack 13 is parallel to the linear guide rails 12 and installed on the ground rail frame 11. The gear 33 and the felt gear 3633 are both engaged with the rack 13. The plurality of rollers 14 are arranged and installed on the ground rail frame 11. The bottom of the fourth drag chain 15 contacts the rollers 14. One end of the fourth drag chain 15 is installed on the ground rail frame 11, and the other end of the fourth drag chain 15 is installed on the moving bottom plate 31.

[0081] The moving drive motor 32 drives the gear 33 to rotate. The rotating gear 33 cooperates with the rack 13 to realize the movement of the moving bottom plate 31 on the linear guide rails 12, so that the double-layer fixture handling mechanism moves to the equipment (such as an oven, a cooling furnace, a loading device, an unloading device, etc.) where the fixture is to be picked up and placed, for the lifting mechanism 22 and the picking and placing mechanism 23 to cooperate to pick up and place the fixture. At the same time, in order to reduce the friction between the fourth drag chain 15 and the ground rail 1, a plurality of rollers 14 are provided, and the rollers 14 cooperate with the fourth drag chain 15 to roll.

[0082] The lubricating oil pump 35 guides the lubricating oil to the felt gear 3633, and the felt gear 3633 coats the lubricating oil on the rack 13, so that the meshing between the rack 13 and the gear 33 is smoother.

[0083] The above is only a preferred embodiment of the present invention, and does not impose any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A double-layer fixture handling mechanism, characterized in that, Comprising: Ground rail; Handling device, comprising: a moving mechanism, a lifting mechanism and a picking and placing mechanism; The moving mechanism is installed on the ground rail, and the moving mechanism is used for moving in the X-axis direction on the ground rail; The lifting mechanism is installed on the moving mechanism, and the lifting mechanism is used for driving the picking and placing mechanism to move in the Z-axis direction; The picking and placing mechanism includes a first picking and placing module and a second picking and placing module, and the first picking and placing module and the second picking and placing module are symmetrically installed on the lifting mechanism; Both the first picking and placing module and the second picking and placing module include: a mounting frame, a first-stage moving plate, a first-stage guide rail, a first-stage driving motor, a transmission screw, a transmission nut, a second-stage guide rail, a first drag chain assembly, a first picking and placing assembly and a second picking and placing assembly. The mounting frame is installed on the lifting mechanism, the first-stage guide rail, the first-stage driving motor and the transmission screw are installed on the mounting frame, the first-stage guide rail extends along the Y-axis direction, the first-stage moving plate is slidably connected to the first-stage guide rail, the first-stage moving plate is connected to the transmission nut, the transmission nut is connected to the transmission screw, the first drag chain assembly includes: a first drag chain and a first support frame, the first support frame is installed on the mounting frame, one end of the first drag chain is connected to the first support frame, the other end of the first drag chain is connected to the first-stage moving plate, the second-stage guide rail is installed on the first-stage moving plate, and the second-stage guide rail extends along the Z-axis direction; the first picking and placing assembly and the second picking and placing assembly are symmetrically installed on the second-stage guide rail; Both the first picking and placing assembly and the second picking and placing assembly include: a second-stage moving plate, a second-stage driving cylinder, a third-stage driving motor, a driving belt, a pulley group, a third-stage moving plate, a hook and a third-stage guide rail. The second-stage moving plate is installed on the second-stage guide rail, the second-stage driving cylinder is installed on the first-stage moving plate, the second-stage driving cylinder is in transmission connection with the second-stage moving plate, the third-stage driving motor, the pulley group and the third-stage guide rail are installed on the second-stage moving plate, the third-stage guide rail extends along the Y-axis direction, the driving belt is in transmission connection with the third-stage driving motor, the driving belt surrounds the pulley group, the third-stage moving plate is connected to the driving belt, the third-stage moving plate is slidably connected to the third-stage guide rail through a slider, and a pair of hooks are respectively installed at both ends of the third-stage moving plate.

2. The double-layer fixture handling mechanism according to claim 1, wherein Two claw grooves are respectively arranged at both ends of the third-stage moving plate, and convex parts are arranged on both sides of each claw groove; The hook includes: a first clamping block, a second clamping block and a third clamping block. The first clamping block and the second clamping block are provided with concave parts. The concave part of the first clamping block is connected to the convex part of the claw groove through a first spring, the concave part of the second clamping block is connected to the other convex part of the claw groove through a second spring, the third clamping block is arranged between the first clamping block and the second clamping block, and the third clamping block is connected to the bottom of the claw groove through a third spring.

3. The double-layer fixture handling mechanism according to claim 2, wherein, A through hole is provided at the bottom of the claw groove, and a first detection part is provided at the bottom of the third clamping block. The first detection part passes through the through hole; Both the first picking and placing assembly and the second picking and placing assembly further include two first detection elements, which are respectively installed at both ends of the third-stage moving plate. The first detection element is used to detect whether the first detection part passes out of the through hole.

4. The double-layer fixture handling mechanism according to claim 1, wherein The second-stage moving plate includes a transverse part and a longitudinal part. The transverse part and the longitudinal part form a T-shaped structure. The third-stage guide rail is installed on the transverse part, and the third-stage driving motor is installed on the longitudinal part; The pulley group includes 2 idler pulleys and 2 tensioning pulleys. The 2 idler pulleys are respectively installed at both ends of the transverse part, and the 2 tensioning pulleys are installed on the longitudinal part; Second detection parts are provided on both sides of the third-stage moving plate, and second detection elements are respectively provided at both ends of the transverse part. The second detection element is used to cooperate with the second detection part to detect whether the third-stage moving plate is in place.

5. The double-layer fixture handling mechanism according to claim 1, characterized in that, The mounting bracket includes: a middle fixed vertical plate, two fixed horizontal plates, two fixed vertical plates, and two strengthened fixed vertical plates. Both ends of the middle fixed vertical plate are respectively connected to the two fixed horizontal plates. Both ends of the fixed vertical plate are respectively connected to the two fixed horizontal plates. Both ends of the strengthened fixed vertical plate are respectively connected to the two fixed horizontal plates. The first-stage driving motor is installed on the strengthened fixed vertical plate. Both ends of the transmission screw are respectively connected to the two strengthened fixed vertical plates. The two first-stage guide rails are respectively installed on the two fixed horizontal plates. The middle fixed vertical plate is installed on the lifting mechanism.

6. The double-layer fixture handling mechanism according to claim 5, characterized in that Both the first picking and placing module and the second picking and placing module further include: a slide rail and a fixture positioning assembly. The slide rail and the fixture positioning assembly are installed on the fixed horizontal plate, and the slide rail extends along the Y-axis direction; The fixture positioning assembly includes: a mounting seat and two positioning modules. The mounting seat is installed on the fixed horizontal plate, and the two positioning modules are symmetrically installed on the mounting seat. The positioning module is used to define the position of the fixture placed on the slide rail; The positioning module includes: a positioning cylinder, a fixing member, a hinge member, and a positioning member. The positioning cylinder is installed on the mounting seat, the fixing member is installed on the positioning cylinder, one end of the positioning member is hinged to the transmission shaft of the positioning cylinder, the middle section of the positioning member is hinged to one end of the hinge member, and the other end of the hinge member is hinged to the fixing member.

7. The double-layer fixture handling mechanism according to claim 5, characterized in that, Both the first picking and placing module and the second picking and placing module further include: a lifting code scanning device. The lifting code scanning device includes: a second drag chain assembly, a lifting module, a support frame, and a code scanner. Both ends of the lifting module are respectively installed on the two fixed horizontal plates. The support frame is installed on the movable plate of the lifting module, and the code scanner is installed on the support frame. The second drag chain assembly includes: a second drag chain and a second support frame. Both ends of the second support frame are respectively installed on the two fixed horizontal plates. One end of the second drag chain is connected to the second support frame, and the other end of the second drag chain is connected to the support frame.

8. The double-layer fixture handling mechanism according to claim 5, characterized in that, The lifting mechanism includes: a top frame, a first lifting device and a second lifting device. The first lifting device and the second lifting device are symmetrically arranged. Each of the first lifting device and the second lifting device includes: a lifting frame, a lifting drive motor, a drive wheel, a drive belt, a lifting transmission screw, a second lifting guide rail and a third drag chain assembly. The two ends of the top frame are respectively connected to the lifting frame of the first lifting device and the lifting frame of the second lifting device. The lifting frame is mounted on the moving mechanism. The lifting drive motor, the drive wheel and the lifting transmission screw are mounted on the lifting frame. The lifting drive motor is in transmission connection with the drive wheel through the drive belt. The drive wheel is connected to the transmission screw. The intermediate fixed vertical plate is connected to the lifting transmission screw through a lifting transmission nut. The second lifting guide rail is mounted on the lifting frame. The fixed vertical plate is slidably connected to the second lifting guide rail through a slider. The third drag chain assembly includes: a third drag chain and a third support frame. The third support frame is mounted on the lifting frame. One end of the third drag chain is connected to the third support frame, and the other end of the third drag chain is connected to the mounting frame.

9. The double-layer fixture handling mechanism according to claim 1, wherein The moving mechanism includes: a moving bottom plate, a moving drive motor, a gear, a foreign object detection device, a lubricating oil pump and a felt gear. The moving bottom plate is mounted on the ground rail. The moving drive motor, the foreign object detection device, the lubricating oil pump and the felt gear are all mounted on the moving bottom plate. The drive motor is in transmission connection with the gear.

10. The double-layer fixture handling mechanism according to claim 9, characterized in that, The ground rail includes: a ground rail frame, two linear guide rails, a rack, a plurality of rollers and a fourth drag chain. The two linear guide rails are respectively mounted on both sides of the ground rail frame. The moving bottom plate is slidably connected to the linear guide rails through sliders. The rack is parallel to the linear guide rails and is mounted on the ground rail frame. Both the gear and the felt gear are engaged with the rack. The plurality of rollers are arranged and mounted on the ground rail frame. The bottom of the fourth drag chain contacts the rollers. One end of the fourth drag chain is mounted on the ground rail frame, and the other end of the fourth drag chain is mounted on the moving bottom plate.

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