Automatic boxing gripper for double-row independent modules

Abstract

The utility model relates to an automatic boxing gripper for double-row independent modules. A transfer machine flange is mounted on a main frame; a length outer side clamping air cylinder and a length inner side clamping air cylinder are installed on the main frame, the length outer side clamping air cylinder and the length inner side clamping air cylinder control a length outer side clamping jaw and a length inner side clamping jaw to clamp a module in the length direction of the module respectively, and a width clamping air cylinder is installed on the main frame. The width clamping air cylinder controls the width clamping jaw to clamp the module in the width direction of the module, an electric cylinder is installed on the main frame, and the electric cylinder controls the suction cup tool to move longitudinally, so that the suction cup tool is adsorbed to the upper surface of the module. The manipulator is mounted on the transplanter through the transplanter flange, the transplanter moves to enable the grippers to be located above the two rows of independent modules, the air cylinders drive the grippers to limit and fix the two rows of independent modules, then the electric cylinder drives the suction cup tool to descend, the suction cup tool adsorbs the modules, and the two rows of modules are grabbed and transferred at the same time. The production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to a battery production and processing equipment, and more particularly to a module loading gripper. Background Technology

[0002] Automated packer grippers play a crucial role in battery production. Currently, in battery pack production, the module shape is usually not fixed before being packed into the pack. This necessitates fixing the module's dimensions during the packing, handling, and automated packing process. The relative position of the module and the pack after packing is also critical. To improve production efficiency, manufacturers often weld two separate rows of modules using CCS (Computer-Assisted Separator) tooling before packing, connecting them into a single unit. Summary of the Invention

[0003] To address the technical problem of the lack of limiting and fixing for two separate and independent modules before they are placed into the box in the existing technology, this utility model provides an automatic box-feeding gripper for two independent modules.

[0004] The technical solution adopted by this utility model to achieve the above objectives is as follows:

[0005] A dual-row independent modular automatic box-feeding gripper includes a transfer machine flange mounted on the main frame; two outer-length clamping cylinders are mounted on the main frame along a straight line, and two outer-length linear guides are mounted on the bottom of the main frame corresponding to the outer-length clamping cylinders. The sliders of the outer-length linear guides are connected to the output ends of the outer-length clamping cylinders, and outer-length grippers are mounted on the sliders of the outer-length linear guides; two inner-length clamping cylinders are mounted on the main frame between the two outer-length clamping cylinders, and inner-length linear guides are mounted on the bottom of the main frame corresponding to the inner-length clamping cylinders, with two sliders on the inner-length linear guides. Each component is connected to one of the two inner length clamping cylinders. The inner length clamping jaws are installed on the sliders of the inner length linear guides. Width clamping cylinders are installed on both sides of the line where the two inner length clamping cylinders are located and perpendicular to the inner length clamping cylinders on the main frame. Width linear guides are installed on both sides of the bottom of the main frame and perpendicular to the inner length linear guides and the outer length linear guides. The sliders of the width linear guides are connected to the width clamping cylinders, and width clamping jaws are installed on the sliders of the width linear guides. Electric cylinders are installed on the main frame. The output end of the electric cylinders is connected to the lower pressure plate located below the main frame. A suction cup fixture is installed at the bottom of the lower pressure plate.

[0006] The main frame is equipped with cylinder seats, and cylinder mounting plates are mounted on the cylinder seats. The outer length clamping cylinder, the inner length clamping cylinder, and the width clamping cylinder are respectively mounted on their respective cylinder mounting plates. The output ends of the outer length clamping cylinder and the inner length clamping cylinder are each connected to one end of the outer length connecting plate and the inner length connecting plate via floating joints. The other end of the outer length connecting plate is connected to the slider of the corresponding outer length linear guide rail, and the other end of the inner length connecting plate is connected to the slider of the corresponding inner length linear guide rail. The main frame has outer length guide strip holes and inner length guide strip holes parallel to the outer length linear guide rail and the inner length linear guide rail, respectively. The outer length connecting plate is located within the outer length guide strip hole, and the inner length connecting plate is located within the inner length guide strip hole. The output end of the width clamping cylinder is connected to one end of the width connecting plate via a floating joint. The other end of the width connecting plate is connected to the slider of the corresponding width linear guide rail. The main frame has width guide strip holes parallel to the width linear guide rail, and the width connecting plate is located within the width guide strip holes.

[0007] The output end of the electric cylinder is connected to one end of the electric cylinder connector via a floating connector. The other end of the electric cylinder connector is connected to the lower pressure plate flange. The lower pressure plate flange is connected to the lower pressure plate. A dividing pin and a connecting screw are installed on the lower pressure plate. The suction cup fixture includes a transition plate, a suction cup mounting plate, and a sponge suction cup. The transition plate has a dividing pin positioning hole corresponding to the dividing pin. A self-tapping threaded sleeve is installed on the transition plate. The threaded part of the connecting screw is located inside the self-tapping threaded sleeve. A guide rod is vertically installed on the transition plate via an oil-free bushing. A blocking block is provided at the upper end of the guide rod above the transition plate. A suction cup mounting plate is installed at the lower end of the guide rod. The sponge suction cup is installed at the bottom of the suction cup mounting plate. A spring is installed on the guide rod between the suction cup mounting plate and the transition plate. Spring washers are installed on the guide rod between the spring and the transition plate and the suction cup mounting plate. A support block is installed at the bottom of the transition plate. Support block reinforcing ribs are installed on the transition plate on both sides of the support block. A reinforcing rib connecting plate is installed at the bottom of the support block reinforcing ribs and below the support block.

[0008] A guide shaft seat is installed on the lower pressure plate, one end of a guide shaft is installed on the guide shaft seat, a guide sleeve is fitted on the guide shaft, a guide sleeve fixing seat is installed on the guide sleeve, the guide sleeve fixing seat is installed on the main frame, a limit ring is provided at the upper end of the guide sleeve fixing seat, a height sensing block is installed at the upper end of the guide shaft, a height proximity switch bracket is installed on the lower pressure plate, and height proximity switches corresponding to the height sensing blocks are installed at different heights along the vertical direction on the height proximity switch bracket.

[0009] A limiting plate is installed on the main frame, and a limiting screw is installed on the corresponding width connecting plate on the limiting plate; a connecting plate buffer block is installed on the corresponding length outer connecting plate, length inner connecting plate and width connecting plate on the main frame.

[0010] Bearing seats are installed on the main frame, and a rotating shaft is installed inside the bearing seats. Anti-fall grab bars are installed at both ends of the rotating shaft, and a grab bar connecting plate and an anti-fall tube are installed between the two anti-fall grab bars. An anti-fall cylinder is rotatably installed at the bottom of the main frame through a hinge support. The output end of the anti-fall cylinder is connected to the anti-fall hinge support, and the anti-fall hinge support is hinged to a rotating block. The rotating block is installed on the rotating shaft. A limit stop is installed at the bottom of the main frame, and an anti-fall buffer block is installed on the limit stop. A rotating shaft limit block is installed on the rotating shaft corresponding to the limit stop, and a buffer is installed on the rotating shaft limit block corresponding to the anti-fall buffer block.

[0011] Two barcode scanning and ranging mounting plates are installed diagonally on both sides of the main frame. A sensor mounting plate is installed on the barcode scanning and ranging mounting plate, and a ranging sensor is installed on the sensor mounting plate. A guide shaft clamp is installed on the barcode scanning and ranging mounting plate. One end of the first barcode scanner guide shaft is installed in the guide shaft clamp. A barcode scanner support clamp is installed on the first barcode scanner guide shaft. A second barcode scanner guide shaft is installed in the barcode scanner support clamp. A barcode scanner mounting block is installed at the end of the second barcode scanner guide shaft. A barcode scanner connecting plate is installed on the barcode scanner mounting block, and a barcode scanner is installed on the barcode scanner connecting plate.

[0012] Two camera connecting plates are installed diagonally on both sides of the main frame. A camera bracket is installed on the camera connecting plate, a camera mounting plate is installed on the camera bracket, a camera is installed on the camera mounting plate, a lens is installed on the camera, a light source mounting plate is installed on the lens, a light source is installed on the light source mounting plate facing the shooting direction of the lens, an adjustment block is installed on the light source mounting plate, the adjustment block has an adjustment slot, an adjustment bolt is installed on the camera connecting plate, the adjustment bolt is located in the adjustment slot, and a camera protective cover is installed on the camera connecting plate outside the camera.

[0013] The outer length gripper includes an outer gripper mounting plate and an outer gripper. The outer gripper mounting plate is mounted on the slider of the outer length linear guide. An outer length adjustment block is mounted on the outer gripper mounting plate. An outer length set screw is mounted on the outer length adjustment block corresponding to the slider of the outer length linear guide. The upper end of the outer gripper is mounted on the outer gripper mounting plate. An outer gripper reinforcing rib is connected between the outer gripper mounting plate and the outer gripper. An outer gripper wear-resistant strip is mounted on the side of the outer gripper facing the module to be clamped. The inner length gripper includes an inner gripper mounting plate and an inner gripper. The inner gripper mounting plate is mounted on the slider of the inner length linear guide. An inner length gripper connecting block is mounted on the inner length mounting plate. The inner length gripper connecting block is connected to the length... The outer connecting plate is connected, and the inner gripper is mounted on the inner gripper mounting plate. The inner gripper is connected to the inner gripper mounting plate with an inner gripper reinforcing rib. The inner gripper wear-resistant strip is installed on the side of the inner gripper facing the module to be clamped. The width gripper includes a width gripper mounting plate and a width connecting plate. The width gripper mounting plate is mounted on the slider of the width linear guide rail. The width connecting plate is mounted on the width gripper mounting plate. A width reinforcing rib is connected between the width connecting plate and the width gripper mounting plate. A transition block is installed on the width connecting plate. A laser slow reflection switch bracket is installed on the transition block. A laser slow reflection switch is installed on the laser slow reflection switch bracket. A clamping strip is installed on the width connecting plate. A width clamping block is installed on the width connecting plate and outside the clamping strip.

[0014] An R-axis sensor is installed on the flange of the transfer machine; a pressure sensor is installed between the electric cylinder connector and the lower pressure plate flange; a pressure sensor bracket is installed on the main frame; and a weighing instrument controller for controlling the electric cylinder thrust based on the measurement data of the pressure sensor is installed on the pressure sensor bracket.

[0015] The advantages of this utility model compared with the prior art are:

[0016] This utility model is installed on the transfer machine via the transfer machine flange. The transfer machine moves so that each gripper is positioned above two independent modules. The two independent modules are limited and fixed by the cylinder-driven outer length gripper, inner length gripper, and width gripper. Then, the electric cylinder drives the lower pressure plate to descend, and the modules are adsorbed by the suction cup fixture, realizing the simultaneous gripping and transfer of the two modules, thereby improving production efficiency. Attached Figure Description

[0017] Figure 1 This is a front view of a double-row independent module automatic box-feeding gripper according to this utility model.

[0018] Figure 2 This is a top view of a double-row independent module automatic box-feeding gripper according to this utility model.

[0019] Figure 3 This is a bottom view of a double-row independent module automatic box-feeding gripper according to this utility model.

[0020] Figure 4 This utility model relates to a double-row independent module automatic box-feeding gripper. Figure 2 AA sectional view.

[0021] Figure 5 This is a top view of the installation of the width clamping cylinder of a double-row independent module automatic box-feeding gripper according to this utility model.

[0022] Figure 6 This is a bottom view of the main frame of a double-row independent module automatic box-feeding gripper according to this utility model.

[0023] Figure 7 This is a side view of a double-row independent module automatic box-feeding gripper according to this utility model.

[0024] Figure 8 This is a structural diagram of the outer and inner grippers of a double-row independent module automatic box-feeding gripper according to this utility model.

[0025] Figure 9 This is a structural diagram of the gripper along the length direction of a double-row independent module automatic box-feeding gripper according to this utility model.

[0026] Figure 10 This is a front view of the width gripper of a double-row independent module automatic box-feeding gripper according to this utility model.

[0027] Figure 11 This is a top view of the width gripper of a double-row independent module automatic box-feeding gripper according to this utility model.

[0028] Figure 12 This is a side view of the width gripper of a double-row independent module automatic box-feeding gripper according to the present invention.

[0029] Figure 13 This is a structural diagram of the pressing component of a double-row independent module automatic box-feeding gripper according to this utility model.

[0030] Figure 14 This is a structural diagram of a suction cup fixture for a double-row independent module automatic box-feeding gripper according to this utility model.

[0031] Figure 15 This is a side view of a suction cup fixture for a double-row independent module automatic box-feeding gripper according to the present invention.

[0032] Figure 16 This utility model relates to a double-row independent module automatic box-feeding gripper. Figure 15 Sectional view at point B.

[0033] Figure 17 This is a front view of the anti-drop gripper of a double-row independent module automatic box-feeding gripper according to this utility model.

[0034] Figure 18 This is a structural diagram of the anti-drop gripper of a double-row independent module automatic box-feeding gripper according to this utility model.

[0035] Figure 19 This is a structural diagram of a barcode scanning and detection component for a dual-row independent module automatic box-loading gripper according to this utility model.

[0036] Figure 20 This is a structural diagram of the camera assembly of a dual-row independent module automatic box-loading gripper according to this utility model.

[0037] In the diagram: 1. Main frame; 101. Transfer machine flange; 102. Outer length clamping cylinder; 103. Outer length linear guide rail; 104. Inner length clamping cylinder; 105. Inner length linear guide rail; 106. Width clamping cylinder; 107. Width linear guide rail; 108. Cylinder seat; 109. Cylinder mounting plate; 110. Floating joint; 111. Outer length connecting plate; 112. Inner length connecting plate; 113. Outer length guide strip hole; 114. Inner length guide strip hole; 115. Width connecting plate; 116. Width guide strip hole; 117. Connecting plate buffer block; 118. 119. R-axis sensor; 120. Pressure sensor bracket; 121. Weighing instrument controller; 122. Height proximity switch bracket; 123. Height proximity switch; 124. Limit screw; 125. Limit plate; 126. Limit stop; 127. Anti-fall buffer block; 201. Length outer jaw; 2011. Outer jaw mounting plate; 2012. Outer jaw; 2013. Length outer adjusting block; 2014. Length outer set screw; 2015. Outer jaw reinforcing rib; 2016. Outer jaw wear-resistant strip; 202. Length inner jaw; 2021. Inner jaw mounting plate. Mounting plate; 2022, Inner gripper; 2023, Length inner gripper connecting block; 2024, Inner gripper reinforcing rib; 2025, Inner gripper wear-resistant strip; 3, Width gripper; 301, Width gripper mounting plate; 302, Width connecting upright plate; 303, Width reinforcing rib; 304, Transition block; 305, Laser slow-reverse switch bracket; 306, Laser slow-reverse switch; 307, Clamping strip; 308, Width clamping block; 401, Electric cylinder; 402, Lower pressure plate; 403, Electric cylinder floating joint; 404, Electric cylinder connecting piece; 405, Lower pressure plate flange; 406, Indexing pin. 407. Connecting screw; 408. Guide shaft seat; 409. Guide shaft; 410. Guide sleeve; 411. Guide sleeve fixing seat; 412. Limiting ring; 413. Height sensing block; 414. Pressure sensor; 5. Suction cup fixture; 501. Transition plate; 502. Suction cup mounting plate; 503. Sponge suction cup; 504. Indexing pin positioning hole; 505. Self-tapping threaded sleeve; 506. Guide rod; 507. Blocking block; 508. Spring; 509. Spring washer; 510. Support block; 511. Support block reinforcing rib; 512. Reinforcing rib connecting plate; 513. None Oil bushing; 601, bearing housing; 602, rotating shaft; 603, anti-fall grab bar; 604, anti-fall round tube; 605, grab bar connecting plate; 606, hinge support; 607, anti-fall cylinder; 608, anti-fall hinge support; 609, rotating block; 610, rotating shaft limit block; 611, buffer; 701, barcode scanner distance measuring mounting plate; 702, sensor mounting plate; 703, distance measuring sensor; 704, guide shaft clamp seat; 705, first barcode scanner guide shaft; 706, barcode scanner support fixing clamp; 707, second barcode scanner guide shaft; 708, barcode scanner mounting block;708. Barcode scanner connection plate; 710. Barcode scanner; 801. Camera connection plate; 802. Camera bracket; 803. Camera mounting plate; 804. Camera protective cover; 805. Light source mounting plate; 806. Adjustment block; 807. Camera; 808. Light source; 809. Lens; 810. Adjustment strip hole; 811. Adjustment bolt. Detailed Implementation

[0038] This utility model provides a double-row independent module automatic box-feeding gripper, such as... Figure 4 As shown, a transfer machine flange 101 is installed on the main frame 1. The transfer machine flange 101 is installed on the transfer machine to realize the position movement of the device of this application. An R-axis sensor 118 is installed on the transfer machine flange to detect whether the rotation direction of the gripper is in place.

[0039] like Figure 1-7 As shown, two outer clamping cylinders 102 are installed on the main frame 1 along the same straight line. Two outer linear guides 103 are installed at the bottom of the main frame 1 corresponding to the outer clamping cylinders 102. The sliders of the outer linear guides 103 are connected to the output ends of the outer clamping cylinders 102. Outer grippers 201 are installed on the sliders of the outer linear guides 103. Two inner clamping cylinders 104 are installed on the main frame 1 between the two outer clamping cylinders 102. Inner linear guides 105 are installed at the bottom of the main frame 1 corresponding to the inner clamping cylinders 104. Two sliders on the inner linear guides 105 are connected to the two inner clamping cylinders 104 respectively. An inner length clamp 202 is installed on the slider of the inner length linear guide 105; a width clamping cylinder 106 is installed on the main frame 1 on both sides of the line where the two inner length clamping cylinders 104 are located and perpendicular to the inner length clamping cylinders 104; a width linear guide 107 is installed on both sides of the bottom of the main frame 1 and perpendicular to the inner length linear guide 105 and the outer length linear guide 103; the slider of the width linear guide 107 is connected to the width clamping cylinder 106; a width clamp 3 is installed on the slider of the width linear guide 107; an electric cylinder 401 is installed on the main frame 1; the output end of the electric cylinder 401 is connected to the lower pressure plate 402 located below the main frame 1; a suction cup fixture 5 is installed at the bottom of the lower pressure plate 402.

[0040] Cylinder seat 108 is mounted on main frame 1, and cylinder mounting plate 109 is mounted on cylinder seat 108. Outer length clamping cylinder 102, inner length clamping cylinder 104, and width clamping cylinder 106 are respectively mounted on their corresponding cylinder mounting plates 109. The output ends of outer length clamping cylinder 102 and inner length clamping cylinder 104 are each connected to one end of outer length connecting plate 111 and inner length connecting plate 112 respectively via floating joints 110. The other end of outer length connecting plate 111 is connected to the slider of the corresponding outer length linear guide 103, and the other end of inner length connecting plate 112 is connected to the slider of the corresponding inner length linear guide 105. Parallel to the outer linear guide rail 103 and the inner linear guide rail 105, there are outer guide strip holes 113 and inner guide strip holes 114. The outer connecting plate 111 is located inside the outer guide strip hole 113, and the inner connecting plate 112 is located inside the inner guide strip hole 114. The output end of the width clamping cylinder 106 is connected to one end of the width connecting plate 115 through a floating joint 110. The other end of the width connecting plate 115 is connected to the slider of the corresponding width linear guide rail 107. The main frame 1 has a width guide strip hole 116 parallel to the width linear guide rail 107, and the width connecting plate 115 is located inside the width guide strip hole 116. A limiting plate 124 is installed on the main frame 1, and a limiting screw 123 is installed on the limiting plate corresponding to the width connecting plate 115. Connecting plate buffer blocks 117 are installed on the main frame 1 corresponding to the outer connecting plate 111, the inner connecting plate 112, and the width connecting plate 115.

[0041] like Figure 8-9As shown, the outer length gripper 201 includes an outer gripper mounting plate 2011 and an outer gripper 2012. The outer length gripper mounting plate 2011 is mounted on the slider of the outer length linear guide 103. An outer length adjustment block 2013 is mounted on the outer length mounting plate 2011. An outer length set screw 2014 is mounted on the outer length adjustment block 2013 corresponding to the slider of the outer length linear guide 103. The upper end of the outer gripper 2012 is mounted on the outer length gripper mounting plate 2011. An outer length gripper reinforcing rib 2015 connects the outer length gripper mounting plate 2011 and the outer length gripper 2012. The outer length gripper is mounted on the side of the outer length gripper 2012 facing the module to be clamped. Wear-resistant strip 2016; The inner length gripper 202 includes an inner gripper mounting plate 2021 and an inner gripper 2022. The inner gripper mounting plate 2021 is mounted on the slider of the inner length linear guide rail 105. An inner length gripper connecting block 2023 is mounted on the inner length gripper mounting plate 2021. The inner length gripper connecting block 2023 is connected to the outer length connecting plate 111. The inner gripper 2022 is mounted on the inner length gripper mounting plate 2021. An inner length gripper reinforcing rib 2024 is connected between the inner length gripper 2022 and the inner length gripper mounting plate 2021. An inner length gripper wear-resistant strip 2025 is mounted on the side of the inner gripper 2022 facing the module to be clamped. Figure 10-12 As shown, the width gripper 3 includes a width gripper mounting plate 301 and a width connecting plate 302. The width gripper mounting plate 301 is mounted on the slider of the width linear guide rail 107. The width connecting plate 302 is mounted on the width gripper mounting plate 301. A width reinforcing rib 303 connects the width connecting plate 302 and the width gripper mounting plate 301. A transition block 304 is mounted on the width connecting plate 302. A laser slow reflection switch bracket 305 is mounted on the transition block 304. A laser slow reflection switch 306 is mounted on the laser slow reflection switch bracket 305. A clamping bar 307 is mounted on the width connecting plate 302. A width clamping block 308 is mounted on the width connecting plate 302 and located outside the clamping bar 307.

[0042] like Figure 13-16 As shown, a pressure sensor 414 is installed between the electric cylinder connector 404 and the lower pressure plate flange 405. A pressure sensor bracket 119 is installed on the main frame 1. A weighing instrument controller 120 for controlling the thrust of the electric cylinder 401 based on the measurement data of the pressure sensor 414 is installed on the pressure sensor bracket 119.

[0043] The output end of the electric cylinder 401 is connected to one end of the electric cylinder connector 404 via the electric cylinder floating joint 403. The other end of the electric cylinder connector 404 is connected to the lower pressure plate flange 405. The lower pressure plate flange 405 is connected to the lower pressure plate 402. The lower pressure plate 402 is equipped with an indexing pin 406 and a connecting screw 407. The suction cup fixture 5 includes a transition plate 501, a suction cup mounting plate 502, and a sponge suction cup 503. The transition plate 501 is provided with an indexing pin positioning hole 504 corresponding to the indexing pin 406. A self-tapping threaded sleeve 505 is installed on the transition plate 501. The threaded part of the connecting screw 407 is located inside the self-tapping threaded sleeve 505. A guide rod 506 is vertically installed on the transition plate 501 via an oil-free bushing 513. A blocking block 507 is provided at the upper end of guide rod 506 and above transition plate 501. A suction cup mounting plate 502 is installed at the lower end of guide rod 506. A sponge suction cup 503 is installed at the bottom of suction cup mounting plate 502. A spring 508 is installed on guide rod 506 and between suction cup mounting plate 502 and transition plate 501. Spring washers 509 are installed on guide rod 506 and between spring 508 and transition plate 501 and suction cup mounting plate 502. A support block 510 is installed at the bottom of transition plate 501. Support block reinforcing ribs 511 are installed on transition plate 501 and on both sides of support block 510. A reinforcing rib connecting plate 512 is installed at the bottom of support block reinforcing rib 511 and below support block 510.

[0044] A guide shaft seat 408 is installed on the lower pressure plate 402. One end of a guide shaft 409 is installed on the guide shaft seat 408. A guide sleeve 410 is fitted on the guide shaft 409. A guide sleeve fixing seat 411 is installed on the guide sleeve 410. The guide sleeve fixing seat 411 is installed on the main frame 1. A limit ring 412 is provided at the upper end of the guide sleeve fixing seat 411. A height sensing block 413 is installed at the upper end of the guide shaft 409. A height proximity switch bracket 121 is installed on the lower pressure plate 402. A height proximity switch 122 corresponding to the height sensing block 413 is installed at different heights along the vertical direction on the height proximity switch bracket 121, which can be used to detect the current position of the suction cup fixture 5.

[0045] like Figure 1-3As shown in Figures 17-18, a bearing seat 601 is installed on the main frame 1, and a rotating shaft 602 is installed inside the bearing seat 601. Anti-fall grab bars 603 are installed at both ends of the rotating shaft 602, and a grab bar connecting plate 605 and an anti-fall round tube 604 are installed between the two anti-fall grab bars 603. An anti-fall cylinder 607 is rotatably installed at the bottom of the main frame 1 through a hinge support 606. The output end of the anti-fall cylinder 607 is connected to an anti-fall hinge support 608, and the anti-fall hinge support 608 is hinged to a rotating block 609. The rotating block 609 is installed on the rotating shaft 602. A limit stop 125 is installed at the bottom of the main frame 1, and an anti-fall buffer block 126 is installed on the limit stop 125. A rotating shaft limit block 610 is installed on the rotating shaft 602 corresponding to the limit stop 125, and a buffer 611 is installed on the rotating shaft limit block 610 corresponding to the anti-fall buffer block 126.

[0046] like Figure 1-3 As shown in Figure 19, two barcode scanning and ranging mounting plates 701 are installed diagonally on both sides of the main frame 1. A sensor mounting plate 702 is installed on the barcode scanning and ranging mounting plate 701, and a ranging sensor 703 is installed on the sensor mounting plate 702. A guide shaft clamp 704 is installed on the barcode scanning and ranging mounting plate 701. One end of the first barcode scanner guide shaft 705 is installed inside the guide shaft clamp 704. A barcode scanner support fixing clamp 706 is installed on the first barcode scanner guide shaft 705. A second barcode scanner guide shaft 707 is installed inside the barcode scanner support fixing clamp 706. A barcode scanner mounting block 708 is installed at the end of the second barcode scanner guide shaft 707. A barcode scanner connecting plate 709 is installed on the barcode scanner mounting block 708, and a barcode scanner 710 is installed on the barcode scanner connecting plate 709. When the guide shaft clamp 704 and the barcode scanner support bracket 706 are released, the first barcode scanner guide shaft 705 and the second barcode scanner guide shaft 707 can be rotated. At the same time, the second barcode scanner guide shaft 707 can also move axially along the first barcode scanner guide shaft 705, so as to realize multi-directional adjustment of the position of the barcode scanner 710. After adjusting to the appropriate position, the guide shaft clamp 704 and the barcode scanner support bracket 706 are clamped to fix the position of the barcode scanner 710.

[0047] like Figure 1-3 As shown in Figure 20, two camera connecting plates 801 are installed diagonally on both sides of the main frame 1. A camera bracket 802 is installed on the camera connecting plate 801. A camera mounting plate 803 is installed on the camera bracket 802. A camera 807 is installed on the camera mounting plate 803. A lens 809 is installed on the camera 807. A light source mounting plate 805 is installed on the lens 809. A light source 808 is installed on the light source mounting plate 805 facing the shooting direction of the lens 809. An adjustment block 806 is installed on the light source mounting plate 805. The adjustment block 806 has an adjustment slot 810. An adjustment bolt 811 is installed on the camera connecting plate 801. The adjustment bolt 811 is located in the adjustment slot 810 and can realize the adjustment of the camera position. A camera protective cover 804 is installed on the camera connecting plate 801 outside the camera.

[0048] Working principle: The conveyor line transports the pallet carrying the module into the workstation. After reaching the designated position, the lifting device on the workstation lifts and positions the pallet. The AGV trolley then drives the PACK box into the workstation. After reaching the position, the trolley falls down, and the positioning device on the workstation positions the trolley, completing the preliminary preparation work.

[0049] Camera 807 captures mark 1 on the tray. The transfer machine moves the transfer machine flange 101, causing camera 807 to capture mark 2 on the tray. Then, the transfer machine moves the transfer machine flange 101, causing barcode scanner 710 to scan and read module information and upload the work information of this station. At the same time, distance sensor 703 measures the height of the upper surface of the module.

[0050] Based on the photographed and measured results, the transfer machine moves each gripper to the module grabbing position. The laser slow-reflection switch 306 determines whether the module is present. If the module is present, each gripper begins to grab the module. If the module is absent, the system alarms.

[0051] During gripping, the inner length clamping cylinder 104 controls the inner length gripper 202 to move outward, and the outer length clamping cylinder 102 controls the outer length gripper 201 to move inward. The outer length gripper 201 and the inner length gripper 202 work together to clamp the module in the length direction. The width clamping cylinder 106 controls the width gripper 3 to move inward to clamp the module in the width direction, thus achieving simultaneous clamping of two independent modules.

[0052] After the module is clamped, the electric cylinder 401 drives the lower pressure plate 402 to move downward, so that the sponge suction cup 503 sticks to the upper surface of the module. The sponge suction cup 503 draws a vacuum to adsorb the module. Then the gripper rises and picks up the double-row module. The anti-drop cylinder 607 pushes the rotating block 609, which in turn causes the anti-drop gripping rod 603 to rotate around the rotating shaft 602, so that the anti-drop round tube 604 locks the module and prevents the module from falling accidentally.

[0053] The gripper moves the module above the PACK box. Camera 807 takes pictures of mark points 1 and 2 on the PACK box. The gripper moves and the distance sensor 703 measures the height of the box. Based on the shooting and distance measurement results, the gripper moves to directly above the box entry position. Anti-fall cylinder 607 drives anti-fall gripper 603 to open. After the gripper descends to the box entry position, the width gripper 3 moves outward. Electric cylinder 401 drives the pressure plate 402 to move downward to push the module into the box. When the pressure sensor 414 shows that the pressure has reached the set value, electric cylinder 401 stops pressing down, sponge suction cup 503 stops adsorbing the module, and the inner length gripper 202 and outer length gripper 201 open. Then, all mechanisms reset, ready for the next work cycle.

Claims

1. A double-row independent module automatic box-feeding gripper, characterized in that, A transfer machine flange (101) is installed on the main frame (1); two long outer clamping cylinders (102) are installed on the main frame (1) along the same straight line, and two long outer linear guides (103) are installed at the bottom of the main frame (1) corresponding to the long outer clamping cylinders (102). The sliders of the long outer linear guides (103) are connected to the output ends of the long outer clamping cylinders (102), and long outer grippers (201) are installed on the sliders of the long outer linear guides (103); two long inner clamping cylinders (104) are installed on the main frame (1) between the two long outer clamping cylinders (102), and long inner linear guides (105) are installed at the bottom of the main frame (1) corresponding to the long inner clamping cylinders (104). The two sliders on the long inner linear guides (105) are respectively connected to the two long inner clamping cylinders (104). The inner length clamping jaw (202) is installed on the slider of the inner length linear guide (105); the width clamping cylinder (106) is installed on both sides of the line where the two inner length clamping cylinders (104) are located and perpendicular to the inner length clamping cylinders (104) on the main frame (1); the width linear guide (107) is installed on both sides of the bottom of the main frame (1) and perpendicular to the inner length linear guide (105) and the outer length linear guide (103); the slider of the width linear guide (107) is connected to the width clamping cylinder (106); the width clamping jaw (3) is installed on the slider of the width linear guide (107); the electric cylinder (401) is installed on the main frame (1); the output end of the electric cylinder (401) is connected to the lower pressure plate (402) located below the main frame (1); the suction cup fixture (5) is installed at the bottom of the lower pressure plate (402).

2. The automatic box-feeding gripper with dual-row independent modules according to claim 1, characterized in that, A cylinder seat (108) is installed on the main frame (1), and a cylinder mounting plate (109) is installed on the cylinder seat (108). An outer length clamping cylinder (102), an inner length clamping cylinder (104), and a width clamping cylinder (106) are respectively mounted on their corresponding cylinder mounting plates (109). The output ends of the outer length clamping cylinder (102) and the inner length clamping cylinder (104) are each connected to one end of the outer length connecting plate (111) and the inner length connecting plate (112) respectively via floating joints (110). The other end of the outer length connecting plate (111) is connected to the slider of the corresponding outer length linear guide (103), and the other end of the inner length connecting plate (112) is connected to the slider of the corresponding inner length linear guide (105). The main frame (1) is divided into... Parallel to the outer linear guide rail (103) and the inner linear guide rail (105), there are outer guide strip holes (113) and inner guide strip holes (114). The outer connecting plate (111) is located in the outer guide strip hole (113), and the inner connecting plate (112) is located in the inner guide strip hole (114). The output end of the width clamping cylinder (106) is connected to one end of the width connecting plate (115) through the floating joint (110). The other end of the width connecting plate (115) is connected to the slider of the corresponding width linear guide rail (107). The main frame (1) is provided with a width guide strip hole (116) parallel to the width linear guide rail (107), and the width connecting plate (115) is located in the width guide strip hole (116).

3. The automatic box-feeding gripper with dual-row independent modules according to claim 1, characterized in that, The output end of the electric cylinder (401) is connected to one end of the electric cylinder connector (404) through the electric cylinder floating joint (403). The other end of the electric cylinder connector (404) is connected to the lower pressure plate flange (405). The lower pressure plate flange (405) is connected to the lower pressure plate (402). The lower pressure plate (402) is equipped with an indexing pin (406) and a connecting screw (407). The suction cup fixture (5) includes a transition plate (501), a suction cup mounting plate (502), and a sponge suction cup (503). The transition plate (501) is provided with an indexing pin positioning hole (504) corresponding to the indexing pin (406). A self-tapping threaded sleeve (505) is installed on the transition plate (501). The threaded part of the connecting screw (407) is located inside the self-tapping threaded sleeve (505). A guide rod (506) is vertically installed on the transition plate (501) through an oil-free bushing (513). A blocking block (507) is provided at the upper end of the rod (506) and above the transition plate (501). A suction cup mounting plate (502) is installed at the lower end of the guide rod (506). A sponge suction cup (503) is installed at the bottom of the suction cup mounting plate (502). A spring (508) is installed on the guide rod (506) and between the suction cup mounting plate (502) and the transition plate (501). Spring washers (509) are installed on the guide rod (506) and between the spring (508) and the transition plate (501) and the suction cup mounting plate (502). A support block (510) is installed at the bottom of the transition plate (501). Support block reinforcing ribs (511) are installed on the transition plate (501) and on both sides of the support block (510). A reinforcing rib connecting plate (512) is installed at the bottom of the support block reinforcing rib (511) and below the support block (510).

4. The automatic box-feeding gripper with dual-row independent modules according to claim 3, characterized in that, The lower pressure plate (402) is equipped with a guide shaft seat (408), one end of a guide shaft (409) is installed on the guide shaft seat (408), a guide sleeve (410) is fitted on the guide shaft (409), a guide sleeve fixing seat (411) is installed on the guide sleeve (410), the guide sleeve fixing seat (411) is installed on the main frame (1), a limit ring (412) is provided at the upper end of the guide sleeve fixing seat (411), a height sensing block (413) is installed at the upper end of the guide shaft (409), a height proximity switch bracket (121) is installed on the lower pressure plate (402), and a height proximity switch (122) corresponding to the height sensing block (413) is installed at different heights along the vertical direction on the height proximity switch bracket (121).

5. The automatic box-feeding gripper with dual-row independent modules according to claim 2, characterized in that, A limiting plate (124) is installed on the main frame (1), and a limiting screw (123) is installed on the corresponding width connecting plate (115) on the limiting plate; a connecting plate buffer block (117) is installed on the main frame (1) corresponding to the outer length connecting plate (111), the inner length connecting plate (112) and the width connecting plate (115).

6. The automatic box-feeding gripper with dual-row independent modules according to claim 1, characterized in that, A bearing seat (601) is installed on the main frame (1). A rotating shaft (602) is installed inside the bearing seat (601). Anti-fall grab bars (603) are installed at both ends of the rotating shaft (602). A grab bar connecting plate (605) and an anti-fall round tube (604) are installed between the two anti-fall grab bars (603). An anti-fall cylinder (607) is rotatably installed at the bottom of the main frame (1) through a hinge support (606). The output end of the anti-fall cylinder (607) is connected to the anti-fall hinge support (608). The anti-fall hinge support (608) is hinged to the rotating block (609), and the rotating block (609) is installed on the rotating shaft (602); the bottom of the main frame (1) is equipped with a limit block (125), and the anti-fall buffer block (126) is installed on the limit block (125); the rotating shaft (602) is equipped with a rotating shaft limit block (610) corresponding to the limit block (125), and the rotating shaft limit block (610) is equipped with a buffer (611) corresponding to the anti-fall buffer block (126).

7. The automatic box-feeding gripper with dual-row independent modules according to claim 1, characterized in that, Two barcode measuring and ranging mounting plates (701) are installed on both sides of the main frame (1) along the diagonal direction. A sensor mounting plate (702) is installed on the barcode measuring and ranging mounting plate (701). A ranging sensor (703) is installed on the sensor mounting plate (702). A guide shaft clamp seat (704) is installed on the barcode measuring and ranging mounting plate (701). One end of the first barcode scanner guide shaft (705) is installed in the guide shaft clamp seat (704). A barcode scanner support fixing clamp (706) is installed on the first barcode scanner guide shaft (705). A second barcode scanner guide shaft (707) is installed in the barcode scanner support fixing clamp (706). A barcode scanner mounting block (708) is installed at the end of the second barcode scanner guide shaft (707). A barcode scanner connecting plate (709) is installed on the barcode scanner mounting block (708). A barcode scanner (710) is installed on the barcode scanner connecting plate (709).

8. The automatic box-feeding gripper with dual-row independent modules according to claim 1, characterized in that, Two camera connecting plates (801) are installed on both sides of the main frame (1) along the diagonal direction. A camera bracket (802) is installed on the camera connecting plate (801). A camera mounting plate (803) is installed on the camera bracket (802). A camera (807) is installed on the camera mounting plate (803). A lens (809) is installed on the camera (807). A light source mounting plate (805) is installed on the lens (809). A light source (808) is installed on the light source mounting plate (805) facing the shooting direction of the lens (809). An adjustment block (806) is installed on the mounting plate (805). An adjustment strip hole (810) is provided on the adjustment block (806). An adjustment bolt (811) is installed on the camera connecting plate (801). The adjustment bolt (811) is located inside the adjustment strip hole (810). A camera protective cover (804) is installed on the camera connecting plate (801) outside the camera.

9. The automatic box-feeding gripper with dual-row independent modules according to claim 1, characterized in that, The outer length gripper (201) includes an outer gripper mounting plate (2011) and an outer gripper (2012). The outer length gripper mounting plate (2011) is mounted on the slider of the outer length linear guide (103). An outer length adjustment block (2013) is mounted on the outer length mounting plate (2011). An outer length set screw (2014) is mounted on the slider of the outer length linear guide (103) corresponding to the outer length adjustment block (2013). The upper end of the outer gripper (2012) is mounted on the outer length gripper mounting plate (2011). An outer length gripper reinforcing rib (2015) is connected between the outer length gripper mounting plate (2011) and the outer length gripper (2012). An outer length gripper wear-resistant strip (2016) is mounted on the side of the outer length gripper (2012) facing the module to be clamped. The inner gripper (202) includes an inner gripper mounting plate (2021) and an inner gripper (2022). The inner gripper mounting plate (2021) is mounted on the slider of the inner linear guide rail (105). An inner gripper connecting block (2023) is mounted on the inner gripper mounting plate (2021). The inner gripper connecting block (2023) is connected to the outer connecting plate (111). The inner gripper (2022) is mounted on the inner gripper mounting plate (2021). An inner gripper reinforcing rib (2024) is connected between the inner gripper (2022) and the inner gripper mounting plate (2021). An inner gripper wear-resistant strip (2025) is mounted on the side of the inner gripper (2022) facing the module to be clamped. The width gripper (3) includes a width gripper mounting plate (301) and a width connecting plate (302). The width gripper mounting plate (301) is mounted on the slider of the width linear guide (107). The width connecting plate (302) is mounted on the width gripper mounting plate (301). A width reinforcing rib (303) is connected between the width connecting plate (302) and the width gripper mounting plate (301). A transition block (304) is mounted on the width connecting plate (302). A laser slow reflection switch bracket (305) is mounted on the transition block (304). A laser slow reflection switch (306) is mounted on the laser slow reflection switch bracket (305). A clamping bar (307) is mounted on the width connecting plate (302). A width clamping block (308) is mounted on the width connecting plate (302) and located outside the clamping bar (307).

10. A double-row independent module automatic box-feeding gripper according to claim 3, characterized in that, An R-axis sensor (118) is installed on the transfer machine flange (101); a pressure sensor (414) is installed between the electric cylinder connector (404) and the lower pressure plate flange (405); a pressure sensor bracket (119) is installed on the main frame (1); and a weighing instrument controller (120) for controlling the thrust of the electric cylinder (401) based on the measurement data of the pressure sensor (414) is installed on the pressure sensor bracket (119).

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