Double-station battery laminating machine

Abstract

This invention belongs to the field of battery processing technology, and particularly relates to a dual-station battery stacking machine, including a machine base and two stacking devices, which are arranged opposite to each other on the machine base. Each stacking device includes a robotic arm, a stacking table, a positive electrode positioning table, a positive electrode box, a negative electrode positioning table, a negative electrode box, a separator conveying assembly, a separator folding mechanism, and a feeding mechanism. The stacking table, positive electrode positioning table, positive electrode box, negative electrode positioning table, and negative electrode box are arranged in a row on the machine base. The robotic arm includes a support base, a translation mechanism, a first adsorption mechanism, and a second adsorption mechanism. The support base is located on the machine base, and the translation mechanism is located on one side of the upper end of the support base. Two sets of first adsorption mechanisms, two sets of second adsorption mechanisms, and a separator folding mechanism are arranged on the translation mechanism, with the two second adsorption mechanisms located at both ends of the moving base. The separator folding mechanism has a separator channel. Two sets of pressing mechanisms are provided on both the front and rear sides of the stacking table. The feeding mechanism is located on the machine base and on one side of the stacking table.

Description

Technical Field

[0001] This invention belongs to the field of battery cell processing technology, and in particular relates to a dual-station battery stacking machine. Background Technology

[0002] In the manufacturing process of lithium batteries, lithium battery cells manufactured using the lamination process are formed by separating and stacking positive and negative electrode sheets using a separator. However, the electrode lamination process is often carried out manually or by manual machinery. This process involves too many human interference factors, unstable product quality, and difficulties in environmental control. Not only does it fail to meet the required precision, but it also results in a low product yield, increased costs, and makes large-scale mass production impossible.

[0003] To overcome the aforementioned technical deficiencies, Chinese patent document CN102646851B discloses a lithium battery cell stacking machine, including a stacking device and a separator unwinding device. The stacking device and the separator unwinding device fixed above it include a base and, fixed above the base, a cell-to-line lifting mechanism, a cell-taking mechanism, a cell-rotating mechanism for wrapping adhesive tape, a stacking mechanism, a negative electrode forming mechanism, a negative electrode transferring mechanism, a negative electrode gripping robot mechanism, a positive electrode forming mechanism, a positive electrode transferring mechanism, a positive electrode gripping robot mechanism, and an adhesive tape wrapping mechanism; The membrane unwinding device includes a base plate, with a first support frame below the base plate, fixed to a base. A first plate is fixed to the base plate, and on this first plate are fixed a membrane clamping mechanism, a membrane unwinding floating roller mechanism, a membrane cutting mechanism, a membrane automatic release mechanism, and an ultrasonic welding mechanism. A second plate is also fixed to the base plate, with a turntable mechanism and a membrane clamping mechanism fixed to it. A membrane rotation power mechanism is fixed to the first plate, and a turntable rotation power mechanism is fixed to the second plate, mounted on the second support frame, which is fixed to the base plate. A correction mechanism is also provided on one side of the base plate. This fully automated production method eliminates on-site human operation during production, improving the accuracy of the positive and negative electrode layering of lithium batteries, increasing the product qualification rate, facilitating automatic control of the production environment, and reducing costs while increasing production efficiency. It also offers advantages such as remote operation and monitoring.

[0004] The aforementioned patent documents achieved this, but due to the unreasonable positional layout caused by relying on the stacking stage to move the positive and negative electrodes, the stacking efficiency is still low. Summary of the Invention

[0005] The purpose of this invention is to provide a dual-station battery stacking machine to solve the problem that existing automated stacking machines still result in low cell stacking efficiency.

[0006] To achieve the above objectives, an embodiment of the present invention provides a dual-station battery stacking machine, comprising a machine base and two sets of stacking devices, wherein the two stacking devices are disposed opposite to each other on the machine base;

[0007] The stacking device includes a robotic arm, a stacking table, a positive electrode positioning table, a positive electrode box, a negative electrode positioning table, a negative electrode box, a diaphragm conveying assembly, a diaphragm folding mechanism, and a feeding mechanism;

[0008] The stacking stage, the positive electrode positioning stage, the positive electrode box, the negative electrode positioning stage, and the negative electrode box are arranged on the machine platform;

[0009] The robotic arm is mounted on the machine platform. The robotic arm includes a support base, a translation mechanism, a first adsorption mechanism, and a second adsorption mechanism. The support base is mounted on the machine platform, and the translation mechanism is located on one side of the upper end of the support base. Two sets of the first adsorption mechanisms, two sets of the second adsorption mechanisms, and the diaphragm folding mechanism are mounted on the movable seat of the translation mechanism, with the two second adsorption mechanisms located at both ends of the movable seat. The diaphragm folding mechanism has a diaphragm channel. Two sets of pressing mechanisms are provided on both the front and rear sides of the stacking table.

[0010] The feeding mechanism is located on the machine platform and on one side of the stacking platform, and is used to clamp the battery cells on the stacking platform.

[0011] Furthermore, the dual-station battery stacking machine also includes an adhesive applicator, which is located on the machine platform and between the two stacking devices;

[0012] The adhesive applicator includes a moving mechanism, a rotating worktable, and two sets of adhesive applicators. The moving mechanism is mounted on the machine platform, with its two ends located on one side of the feeding mechanism of each of the two sets of stacking devices. The rotating worktable is mounted on the moving mechanism, and the moving mechanism drives the rotating worktable to move between the two feeding mechanisms. The two adhesive applicators are located on both sides of the moving mechanism.

[0013] Furthermore, the dual-station battery stacking machine also includes a material handling mechanism and a stacking platform. The material handling mechanism is located on one side of the moving mechanism, and the stacking platform is located on one side of the material handling mechanism.

[0014] Furthermore, a reciprocating moving mechanism is provided on both sides of the stacking table. The reciprocating moving mechanism includes a reciprocating moving component, and the pressing mechanism is provided at both ends of the reciprocating moving component.

[0015] Furthermore, the pressing mechanism includes a connecting seat, a cylinder, and a pressing block; the connecting seat is connected to the reciprocating moving part, the cylinder is disposed on the connecting seat, and the pressing block is connected to the piston rod of the cylinder.

[0016] Furthermore, the positive electrode positioning platform includes a lifting mechanism and a positioning platform. The lifting mechanism is located on the bottom side of the machine platform, and the positioning platform is located on the top of the lifting mechanism.

[0017] Furthermore, the unloading mechanism includes a cross-shaped translation mechanism and clamping plates; the cross-shaped translation mechanism is disposed on the machine platform, and the two clamping plates are disposed on the moving end of the cross-shaped translation mechanism. The moving end of the cross-shaped translation mechanism is also provided with a driving component, which is used to drive the two clamping plates to open.

[0018] Furthermore, the diaphragm folding mechanism includes a connecting plate, guide rollers, and a guide seat; the connecting plate is connected to the movable seat, and multiple sets of guide rollers are arranged sequentially from top to bottom on the connecting plate; the guide seat is located at the bottom end of the connecting plate, the diaphragm channel is located on the guide seat, and the bottom end of the guide seat is also provided with two clamping rollers for clamping the diaphragm.

[0019] Furthermore, the first adsorption mechanism includes a lifting cylinder and an adsorption plate. The lifting cylinder is mounted on the movable seat, and the adsorption plate is located at the bottom of the lifting cylinder. The bottom of the adsorption plate is provided with adsorption holes, which are connected to a negative pressure system.

[0020] Furthermore, the second adsorption mechanism includes an electric lead screw module, a lifting cylinder, a base frame, a suction nozzle, and a spring; the electric lead screw module is mounted on the movable seat, the lifting cylinder is mounted at the bottom end of the electric lead screw module, the base frame is mounted at the bottom end of the lifting cylinder, the suction nozzle is slidably connected to the base frame, and the spring is sleeved on the suction nozzle.

[0021] The dual-station battery stacking machine of the present invention has the following beneficial effects:

[0022] 1. Two independent stacking devices are installed on the machine. Each independent stacking device can complete the stacking independently, which can improve the stacking efficiency.

[0023] 2. During cell stacking, positive electrode sheets are stacked in the positive electrode sheet box, and negative electrode sheets are stacked in the negative electrode sheet box. The separator roll is placed on the separator conveying assembly, and the free end of the separator passes through the separator channel of the separator folding mechanism, where it is adsorbed or clamped on the stacking table. The robotic arm's translation mechanism simultaneously drives two sets of first adsorption mechanisms, two sets of second adsorption mechanisms, and the separator folding mechanism to reciprocate. When the translation mechanism moves to the left, the second adsorption mechanism on the left adsorbs the positive electrode sheets in the positive electrode sheet box, while the first adsorption mechanism on the left adsorbs the positive electrode sheets on the positive electrode sheet positioning table. Simultaneously, the first adsorption mechanism on the right stacks the negative electrode sheets on the stack, and the second adsorption mechanism on the right places the negative electrode sheets on the negative electrode sheet positioning table. When the separator folding mechanism moves left and right, it drives the separator to fold back. This cycle continues until the cell stacking process is completed. Once stacking is complete, the unloading mechanism removes the cell from the stacking table. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a structural diagram of a dual-station battery stacking machine provided in an embodiment of the present invention.

[0026] Figure 2 This is a top view of a dual-station battery stacking machine provided in an embodiment of the present invention.

[0027] Figure 3 This is a front view of a dual-station battery stacking machine provided in an embodiment of the present invention.

[0028] Figure 4 This is a structural diagram of the machine base of the dual-station battery stacking machine provided in an embodiment of the present invention.

[0029] Figure 5 This is a structural diagram of the robotic arm of the dual-station battery stacking machine provided in an embodiment of the present invention.

[0030] Figure 6 This is a structural diagram of the first adsorption mechanism of the dual-station battery stacking machine provided in an embodiment of the present invention.

[0031] Figure 7 This is a structural diagram of the second adsorption mechanism of the dual-station battery stacking machine provided in an embodiment of the present invention.

[0032] Figure 8 This is a structural diagram of the positive electrode positioning stage of the dual-station battery stacking machine provided in an embodiment of the present invention.

[0033] Figure 9 This is a structural diagram of the stacking stage of a dual-station battery stacking machine provided in an embodiment of the present invention.

[0034] Figure 10 This is a structural diagram of the separator conveying assembly of a dual-station battery stacking machine provided in an embodiment of the present invention.

[0035] Figure 11 This is a structural diagram of the feeding mechanism of a dual-station battery stacking machine provided in an embodiment of the present invention.

[0036] Figure 12 This is a structural diagram of the rotary table of a dual-station battery stacking machine provided in an embodiment of the present invention.

[0037] Figure 13 This is a structural diagram of the unloading mechanism of the dual-station battery stacking machine provided in an embodiment of the present invention, in state 1.

[0038] Figure 14 This is a structural diagram of the unloading mechanism of the dual-station battery stacking machine provided in an embodiment of the present invention, in state 2.

[0039] Figure 15 This is a structural diagram of the unloading mechanism of the dual-station battery stacking machine provided in an embodiment of the present invention, in state 3. Detailed Implementation

[0040] The following detailed embodiments will be further explained in conjunction with the above-mentioned accompanying drawings.

[0041] Several specific details are set forth below to provide a thorough understanding of the concepts underlying the described embodiments. However, it will be apparent to those skilled in the art that the described embodiments can be practiced without some or all of these specific details. In other instances, well-known processing steps are not specifically described.

[0042] In one embodiment of the dual-station battery stacking machine of the present invention, please refer to... Figures 1 to 4 The dual-station battery stacking machine includes a machine base 10 and two sets of stacking devices 20, which are arranged opposite to each other on the machine base 10. Therefore, each independent stacking device 20 can complete the stacking independently, which can improve the stacking efficiency.

[0043] Reference Figures 1 to 4 The stacking device 20 includes a robot arm 100, a stacking table 200, a positive electrode positioning table 300, a positive electrode box 400, a negative electrode positioning table 500, a negative electrode box 600, a diaphragm conveying assembly 700, a diaphragm folding mechanism 800, and a feeding mechanism 900.

[0044] Reference Figures 1 to 4The stacking stage 200, the positive electrode positioning stage 300, the positive electrode box 400, the negative electrode positioning stage 300, and the negative electrode box 600 are arranged on the machine base 10. Specifically, the positive electrode box 400 and the negative electrode box 600 have the same structure and are used to stack the positive and negative electrode sheets, respectively. The positive electrode box 400 and the negative electrode positioning stage 500 have the same structure and are used to correct the position of the positive and negative electrode sheets, achieving a secondary positioning function. The positive electrode box 400 and the negative electrode positioning stage 500 include a support platform, on which a correction plate is provided. The correction plate can be pushed by a cylinder or the like.

[0045] Reference Figures 5 to 12 The robotic arm 100 is mounted on the machine base 100. The robotic arm 100 includes a support base 110, a translation mechanism 120, a first adsorption mechanism 130, and a second adsorption mechanism 140. The support base 110 is mounted on the machine base 100, and the translation mechanism 120 is located on one side of the upper end of the support base 110. Two sets of the first adsorption mechanisms 130, two sets of the second adsorption mechanisms 140, and the diaphragm folding mechanism 800 are mounted on the movable seat of the translation mechanism 120, with the two second adsorption mechanisms 140 located at both ends of the movable seat. The diaphragm folding mechanism 800 has a diaphragm channel. Two sets of pressing mechanisms 210 are provided on both the front and rear sides of the stacking table 200, and the two sets of pressing mechanisms 210 alternately press the diaphragm onto the stacking table 200. Specifically, the translation mechanism 120 can be an electric linear module. During stacking, the positive electrode sheet is stacked in the positive electrode sheet box 400, and the negative electrode sheet is stacked in the negative electrode sheet box 600. The diaphragm roll is placed on the diaphragm conveying assembly 700, and the free end of the diaphragm passes through the diaphragm channel of the diaphragm folding mechanism 800 and is adsorbed or clamped on the stacking stage 200. The translation mechanism 120 of the robot arm 100 simultaneously drives two sets of first adsorption mechanisms 130, two sets of second adsorption mechanisms 140, and the diaphragm folding mechanism 800 to reciprocate. When the translation mechanism 120 moves to the left, the second adsorption mechanism 140 on the left adsorbs the positive electrode sheet in the positive electrode sheet box 400, while the first adsorption mechanism 130 on the left adsorbs the positive electrode sheet on the positive electrode sheet positioning stage 300. At the same time, the first adsorption mechanism 130 on the right stacks the negative electrode sheet on the stacking stage 200, and the second adsorption mechanism 140 on the right places the negative electrode sheet on the negative electrode sheet positioning stage 500. As the diaphragm folding mechanism 800 moves approximately, it causes the diaphragm to fold back. During this folding process, the pressing mechanism 210 alternately presses the battery cells on the stacking table 200. This cycle continues until the battery cells are stacked. The unloading mechanism 900 is located on the machine base 10 and on one side of the stacking table 200, used to clamp the battery cells on the stacking table 200. Once stacking is complete, the unloading mechanism removes the battery cells from the stacking table 200.

[0046] Furthermore, refer to Figure 2 , Figure 4 and Figure 12 The dual-station battery stacking machine also includes an adhesive applicator 30, which is mounted on the machine base 10 and located between the two stacking devices 20. After the battery cells are stacked, the unloading mechanism 900 can place the battery cells onto the adhesive applicator to apply adhesive around the battery cells, thus fixing the stacked battery cells.

[0047] Reference Figure 2 , Figure 4 and Figure 12 The adhesive application device 30 includes a moving mechanism 31, a rotating worktable 32, and two sets of adhesive application mechanisms 33. The moving mechanism 31 is a linear module mounted on the machine base 10. Both ends of the moving mechanism 31 are located on one side of the unloading mechanism 900 of the two sets of stacking devices 20. The rotating worktable 32 is mounted on the moving mechanism 31, and the moving mechanism 31 drives the rotating worktable 32 to move between the two unloading mechanisms 900. The two adhesive application mechanisms 33 are located on both sides of the moving mechanism 31. The adhesive application mechanism 33 is used to apply adhesive to the sides of the battery cell; its structure is prior art and will not be described in detail in this embodiment.

[0048] In this embodiment, refer to Figure 12 The unloading mechanism 900 places the stacked battery cells on the rotary worktable 32. The moving mechanism 31 drives the rotary worktable 32 to move to the adhesive application mechanism 33 to apply adhesive. After each side of the battery cell is coated with adhesive, the rotary worktable 32 rotates the battery cell 90°.

[0049] Furthermore, refer to Figure 2 and Figure 4 The dual-station battery stacking machine also includes a material handling mechanism 40 and a stacking platform 50. The material handling mechanism 40 is located on one side of the moving mechanism 31, and the stacking platform 50 is located on one side of the material handling mechanism 40. In this embodiment, after the battery cell is coated with adhesive, it can be removed from the rotating worktable 32 and placed on the stacking platform 50 by the material handling mechanism.

[0050] Furthermore, refer to Figure 9 The stacking table 200 has reciprocating moving mechanisms 220 on both sides. Each reciprocating moving mechanism 220 includes a reciprocating moving component 221, and the pressing mechanism 210 is provided at both ends of the reciprocating moving component 221. Specifically, the reciprocating moving component 221 is a synchronous belt drive mechanism. The pressing mechanism 210 is located at both ends of the synchronous belt.

[0051] Furthermore, refer to Figure 9The pressing mechanism 210 includes a connecting seat 211, a cylinder 212, and a pressing block 213; the connecting seat 211 is connected to the reciprocating moving part 221, the cylinder 212 is disposed on the connecting seat 211, and the pressing block 213 is connected to the piston rod of the cylinder 212.

[0052] Furthermore, refer to Figure 8 , Figures 13 to 15 The positive electrode positioning stage 300 includes a lifting mechanism 310 and a positioning platform 320. The lifting mechanism 320 is located on the bottom side of the machine base 10, and the positioning platform 320 is located on the top of the lifting mechanism 310. The lifting mechanism 310 is a lifting cylinder. In this embodiment, when the unloading mechanism 900 picks up the battery cell on the stacking stage 200, the lifting mechanism 310 drives the positioning platform 320 to descend and avoid the unloading mechanism 900, thus making the structure of the dual-station battery stacking machine more compact and saving space.

[0053] Furthermore, refer to Figure 11 , Figures 13 to 15 The unloading mechanism 900 includes a cross-shaped translation mechanism 910 and clamping plates 920. The cross-shaped translation mechanism 910 is mounted on the machine base 10, and the two clamping plates 920 are mounted on the moving end of the cross-shaped translation mechanism 910. The moving end of the cross-shaped translation mechanism 910 is also provided with a driving member 930, which is used to drive the two clamping plates 920 to open.

[0054] Furthermore, refer to Figure 10 The diaphragm folding mechanism 800 includes a connecting plate 810, guide rollers 820, and a guide seat 830. The connecting plate 810 is connected to the movable seat of the translation mechanism 120. Multiple sets of guide rollers 820 are sequentially arranged on the connecting plate 810 from top to bottom. The guide seat 830 is located at the bottom end of the connecting plate 810, and the diaphragm channel is located on the guide seat 830. The bottom end of the guide seat 830 is also provided with two clamping rollers 840 for clamping the diaphragm. The free end of the diaphragm passes through the guide rollers 820 and then through the two clamping rollers 840, thereby limiting the diaphragm's position and driving it to fold back.

[0055] Furthermore, refer to Figure 6 The first adsorption mechanism 130 includes a lifting cylinder 131 and an adsorption plate 132. The lifting cylinder 131 is mounted on the movable seat of the translation mechanism 120, and the adsorption plate 132 is located at the bottom of the lifting cylinder 131. The bottom of the adsorption plate 132 is provided with an adsorption hole, which is connected to a negative pressure system.

[0056] Furthermore, refer to Figure 7The second adsorption mechanism 140 includes an electric lead screw module 141, a lifting cylinder 142, a base frame 143, a suction nozzle 144, and a spring 145. The electric lead screw module 141 is mounted on the movable seat, the lifting cylinder 142 is located at the bottom end of the electric lead screw module 141, the base frame 143 is located at the bottom end of the lifting cylinder 142, the suction nozzle 144 is slidably connected to the base frame 143, and the spring 145 is sleeved on the suction nozzle 144. In this embodiment, when the number of electrodes in the negative electrode box 600 and the positive electrode box 400 decreases, it can be adjusted by the electric lead screw module 141, and simultaneously replenished by the spring 145, ensuring that the electrodes can be adsorbed.

[0057] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A dual-station battery stacking machine, characterized in that, It includes a machine base and two sets of stacking devices, with the two stacking devices arranged opposite to each other on the machine base; The stacking device includes a robotic arm, a stacking table, a positive electrode positioning table, a positive electrode box, a negative electrode positioning table, a negative electrode box, a diaphragm conveying assembly, a diaphragm folding mechanism, and a feeding mechanism; The stacking stage, the positive electrode positioning stage, the positive electrode box, the negative electrode positioning stage, and the negative electrode box are arranged on the machine platform; The robotic arm is mounted on the machine platform. The robotic arm includes a support base, a translation mechanism, a first adsorption mechanism, and a second adsorption mechanism. The support base is mounted on the machine platform, and the translation mechanism is located on one side of the upper end of the support base. Two sets of the first adsorption mechanisms, two sets of the second adsorption mechanisms, and the diaphragm folding mechanism are mounted on the movable seat of the translation mechanism, with the two second adsorption mechanisms located at both ends of the movable seat. The diaphragm folding mechanism has a diaphragm channel. Two sets of pressing mechanisms are provided on both the front and rear sides of the stacking table. The feeding mechanism is located on the machine platform and on one side of the stacking platform, and is used to clamp the battery cells on the stacking platform.

2. The dual-station battery stacking machine according to claim 1, characterized in that: It also includes an adhesive applicator, which is mounted on the machine base and located between the two stacking devices; The adhesive applicator includes a moving mechanism, a rotating worktable, and two sets of adhesive applicators. The moving mechanism is mounted on the machine platform, with its two ends located on one side of the feeding mechanism of each of the two sets of stacking devices. The rotating worktable is mounted on the moving mechanism, and the moving mechanism drives the rotating worktable to move between the two feeding mechanisms. The two adhesive applicators are located on both sides of the moving mechanism.

3. The dual-station battery stacking machine according to claim 2, characterized in that: It also includes a material picking mechanism and a stacking platform, wherein the material picking mechanism is located on one side of the moving mechanism and the stacking platform is located on one side of the material picking mechanism.

4. The dual-station battery stacking machine according to any one of claims 1 to 3, characterized in that: Both sides of the stacking table are provided with reciprocating moving mechanisms, each reciprocating moving mechanism including a reciprocating moving component, and the pressing mechanism is provided at both ends of the reciprocating moving component.

5. The dual-station battery stacking machine according to claim 4, characterized in that: The pressing mechanism includes a connecting seat, a cylinder, and a pressing block; the connecting seat is connected to the reciprocating moving part, the cylinder is mounted on the connecting seat, and the pressing block is connected to the piston rod of the cylinder.

6. The dual-station battery stacking machine according to claim 1, characterized in that: The positive electrode positioning platform includes a lifting mechanism and a positioning platform. The lifting mechanism is located on the bottom side of the platform, and the positioning platform is located on the top of the lifting mechanism.

7. The dual-station battery stacking machine according to claim 6, characterized in that: The feeding mechanism includes a cross-shaped translation mechanism and clamping plates; the cross-shaped translation mechanism is located on the machine platform, and the two clamping plates are located at the moving end of the cross-shaped translation mechanism. The moving end of the cross-shaped translation mechanism is also provided with a driving component, which is used to drive the two clamping plates to open.

8. The dual-station battery stacking machine according to claim 1, characterized in that: The diaphragm folding mechanism includes a connecting plate, guide rollers, and a guide seat; the connecting plate is connected to the movable seat, and multiple sets of guide rollers are arranged sequentially from top to bottom on the connecting plate; the guide seat is located at the bottom end of the connecting plate, the diaphragm channel is located on the guide seat, and the bottom end of the guide seat is also provided with two clamping rollers for clamping the diaphragm.

9. The dual-station battery stacking machine according to claim 1, characterized in that: The first adsorption mechanism includes a lifting cylinder and an adsorption plate. The lifting cylinder is mounted on the movable seat, and the adsorption plate is located at the bottom of the lifting cylinder. The bottom of the adsorption plate is provided with adsorption holes, which are connected to a negative pressure system.

10. The dual-station battery stacking machine according to claim 1 or 9, characterized in that: The second adsorption mechanism includes an electric lead screw module, a lifting cylinder, a base frame, a suction nozzle, and a spring; the electric lead screw module is mounted on the movable seat, the lifting cylinder is mounted at the bottom end of the electric lead screw module, the base frame is mounted at the bottom end of the lifting cylinder, the suction nozzle is slidably connected to the base frame, and the spring is sleeved on the suction nozzle.

Images