CN116588674A - Power module transportation and transfer device and transportation and transfer method - Google Patents

Power module transportation and transfer device and transportation and transfer method Download PDF

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Publication number
CN116588674A
CN116588674A CN202310795844.9A CN202310795844A CN116588674A CN 116588674 A CN116588674 A CN 116588674A CN 202310795844 A CN202310795844 A CN 202310795844A CN 116588674 A CN116588674 A CN 116588674A
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China
Prior art keywords
wheel
instruction
distance difference
grabbing
difference value
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CN202310795844.9A
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Chinese (zh)
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CN116588674B (en
Inventor
高晓斌
梁杰
王轶
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Saijing Asia Pacific Semiconductor Technology Zhejiang Co ltd
Saijing Asia Pacific Semiconductor Technology Beijing Co ltd
Original Assignee
Saijing Asia Pacific Semiconductor Technology Zhejiang Co ltd
Saijing Asia Pacific Semiconductor Technology Beijing Co ltd
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Priority to CN202310795844.9A priority Critical patent/CN116588674B/en
Publication of CN116588674A publication Critical patent/CN116588674A/en
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Publication of CN116588674B publication Critical patent/CN116588674B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
    • B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
    • B65G15/20—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts arranged side by side, e.g. for conveyance of flat articles in vertical position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/06—De-stacking from the bottom of the stack

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The invention relates to the technical field of power module preparation, in particular to a power module transportation and transfer device and a transportation and transfer method, wherein a plurality of carriers which are stacked in sequence are used for loading power modules; the input mechanism is used for conveying the carrier to the splitting mechanism; the splitting mechanism is used for separating each carrier; the output mechanism is used for conveying the single carrier detached from the splitting mechanism out of the splitting mechanism; the grabbing mechanism is used for grabbing the power modules on the single carrier transmitted by the output mechanism to the bearing mechanism; the bearing mechanism is used for storing the power modules grabbed by the grabbing mechanism; the invention further comprises a visual sensor arranged on the grabbing mechanism and a power module transporting and transferring method.

Description

Power module transportation and transfer device and transportation and transfer method
Technical Field
The invention relates to the technical field of photovoltaic preparation, in particular to a power module transportation and transfer device and a transportation and transfer method.
Background
In the packaging and transportation process of IGBT modules (fully called power modules), a heat dissipation bottom plate and the modules are required to be placed on a carrier and are matched with an automatic line for packaging production; in the operation process of the automatic equipment, the radiating bottom plate or the module is taken out and put back, and in the putting back process, the bottom plate contacts with the metal surface of the carrier, so that scratches or scratches can be caused, and the degree of automation is low.
CN112659024a proposes a universal fixture for an automatic production line, which comprises a fixture bottom plate, a mounting hole, a clamping mechanism, and a positioning mechanism, wherein the clamping mechanism comprises a first clamping block and a second clamping block. The extending direction of the first clamping block is perpendicular to the extending direction of the second clamping block. The first clamping blocks comprise a first clamping block main body, a first placing table and a second placing table. The second placing table is flush with the end face of the third placing table, the second clamping block main body is flush with the end face of the first placing table, so that a plurality of table tops for accommodating the modules are formed on the first clamping block and the second clamping block, modules of different specifications can be assembled, products of other specifications can be produced only by switching the modules, and the purpose of replacing the line without replacing the clamp is achieved. The universal fixture for the automatic production line is simple in structure, convenient to assemble and disassemble, good in universality, low in production cost and high in grafting rate of the production line. However, it is not proposed how to implement an automated transport transfer of power modules
Therefore, in order to solve the above-mentioned problems, the present invention is highly required to provide a power module transporting and transferring device and a transporting and transferring method.
Disclosure of Invention
The invention aims to provide a power module transportation and transfer device and a transportation and transfer method, and solves the problems of poor automation degree and the like by designing the structure of the power module transportation and transfer device.
The invention provides a power module transportation and transfer device, which comprises
A plurality of carriers stacked in sequence for loading the power modules;
the input mechanism is used for conveying the carrier to the splitting mechanism;
the splitting mechanism is used for separating each carrier;
the output mechanism is used for conveying the single carrier detached from the splitting mechanism out of the splitting mechanism;
the grabbing mechanism is used for grabbing the power modules on the single carrier transmitted by the output mechanism to the bearing mechanism;
the bearing mechanism is used for storing the power modules grabbed by the grabbing mechanism;
the device also comprises a visual sensor arranged on the grabbing mechanism and used for monitoring the position between the carrier and the bearing mechanism in real time.
Preferably, the grabbing mechanism comprises an upright post, a linear motion mechanism is arranged at the top of the upright post, a moving plate of the linear motion mechanism is connected with a moving rod, the grabbing mechanism further comprises a lifting rod, the top of the lifting rod is connected with the moving rod through a lifting cylinder, and a mechanical clamping jaw is connected at the bottom of the lifting rod;
The device also comprises a first marker post, a second marker post and a third marker post and an infrared sensor arranged on the upright post, wherein the first marker post, the second marker post and the third marker post are arranged along the length direction of the carrier, and the infrared sensor is used for acquiring a first distance difference value, a second distance difference value and a third distance difference value between the first marker post, the second marker post and the third marker post and the upright post;
the timing module is used for setting the time difference between two adjacent grabbing times;
the controller is used for receiving the first distance difference value, the second distance difference value and the third distance difference value sent by the infrared sensor and comparing the first distance difference value, the second distance difference value and the third distance difference value with a preset first threshold value, a preset second threshold value and a preset third threshold value;
when the first distance difference value is equal to a first threshold value, a first instruction is sent to the output mechanism, the mechanical clamping jaw, the lifting cylinder and the linear motion mechanism;
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism;
when the second distance difference value is equal to a second threshold value, a first instruction is sent to the output mechanism, the mechanical clamping jaw, the lifting cylinder and the linear motion mechanism;
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism;
when the third distance difference value is equal to a third threshold value, a first instruction is sent to the output mechanism, the mechanical clamping jaw, the lifting cylinder and the linear motion mechanism;
According to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism;
the output mechanism is used for executing the first instruction and the second instruction respectively;
a mechanical jaw for executing a first instruction
The linear motion mechanism is used for executing a first instruction;
the lifting cylinder is used for executing a first instruction;
the first instruction is that the output mechanism stops moving in sequence, the lifting rod is lowered to a first set height through the lifting cylinder, the mechanical clamping jaw grabbing power module lifting rod is reset, the linear motion mechanism moves the moving plate to a set position, the lifting cylinder is lowered to a set second height, the mechanical clamping jaw loosening module, the lifting cylinder is reset, and the linear motion mechanism is reset;
the second instruction is that the output mechanism (4) continues to move;
the first and second time of capture time differences satisfy:
；
the second and third time of capture time differences satisfy:
；
s is the time difference between the first grabbing and the second grabbing; />S is the time difference between the second grabbing and the third grabbing; b is the distance from the first marker post to the bearing mechanism, cm; />The first distance difference value is cm between the first marker post and the upright post; />The second distance difference value is cm between the second marker post and the upright post; />The distance is cm, which is the third distance difference between the third marker post and the upright post; v is the set movement speed of the mechanical jaw, cm/s.
Preferably, the grabbing mechanism further comprises a vacuum chuck arranged on the mechanical clamping jaw, the vacuum chuck is arranged on the upper portion of one end of the output mechanism far away from the box body, the vacuum chuck is connected with the air compressor through a pipeline, the other end of the mechanical clamping jaw is connected with an adjusting rod used for lifting and rotating, and the adjusting rod is electrically connected with the controller.
Preferably, the carrier comprises a carrier plate, wherein a copper layer is electroplated on the surface of the carrier plate, and the thickness of the copper layer is 4-10 microns; the carrier plate is provided with carrier holes, placing tables for carrying the power modules are distributed at intervals along the circumferential direction of the carrier holes, and the placing tables are provided with anti-slip pads; a plurality of screw holes are uniformly formed in the carrier plate at intervals, and telescopic screws are arranged in each screw hole; a plurality of support rods are uniformly distributed on the support plate at intervals, and the support rods extend upwards to form bolts; the bottom of the carrier plate is provided with a jack corresponding to the bolt.
Preferably, the input mechanism comprises a first motor, the first motor is connected with a first driving wheel through a shaft, the first driving wheel is connected with a first driving wheel through a first driving belt, a first driving shaft is sleeved on the first driving wheel, a first left main wheel and a first right main wheel which are positioned at two sides of the first driving wheel are sleeved at two ends of the first driving shaft respectively, a first left guard plate is connected after the first driving shaft penetrates out of the first left main wheel, a first left wheel is installed on the first left guard plate far away from the first left main wheel, a plurality of first left supporting wheels are installed on the first left guard plate at intervals, each first left supporting wheel is positioned between the first left main wheel and the first left wheel, and a first left conveying belt is sleeved on the first left main wheel and the first left wheel; the first transmission shaft penetrates out of the first right main wheel and then is connected with a first right guard plate which is arranged corresponding to the first left guard plate, a first right wheel corresponding to the first left wheel is arranged on the first right guard plate far away from the first right main wheel, a plurality of first right supporting wheels are arranged on the first right guard plate at intervals, each first right supporting wheel is located between the first right main wheel and the first right wheel, and a first right conveying belt corresponding to the first left conveying belt is sleeved on each first right main wheel and each first right wheel.
Preferably, the splitting mechanism comprises a box body with an opening at the bottom, an input port corresponding to the output ends of the first conveying belt and the second conveying belt is opened at one end of the box body, lifting components corresponding to the input port are arranged in the box body, the splitting mechanism further comprises separating components which are arranged on the inner wall of the box body and are used for separating a plurality of carriers which are stacked in sequence, a gap is formed between each separating component and the bottom of the box body, and a telescopic fixed rod is arranged on each separating component; a stop table is arranged on the inner wall of the box body far away from the input port, and an infrared measuring instrument for measuring the height of the lifting assembly is arranged on the stop table; the infrared measuring instrument is electrically connected with the controller, and the controller is electrically connected with the telescopic fixed rod; the box body is also provided with an output port.
Preferably, the output mechanism comprises a second motor arranged outside the box body, the second motor is connected with a second driving wheel through a shaft, the second driving wheel is connected with a second driving wheel through a second driving belt, a second driving shaft is sleeved on the second driving wheel, two ends of the second driving shaft are respectively sleeved with a second left main wheel and a second right main wheel which are positioned at two sides of the second driving wheel, the second driving shaft penetrates out of the second left main wheel and then is connected with a second left guard plate, the second left guard plate penetrates through a gap at the bottom of the box body and then is connected with a side wall far away from the gap of the box body, a second left wheel is mounted on the second left guard plate far away from the second left main wheel, a plurality of second left supporting wheels are mounted on the second left guard plate at intervals, each second left supporting wheel is respectively positioned between the second left main wheel and the second left wheel, and a second left conveying belt is sleeved on the second left wheel; the second transmission shaft penetrates out of the second right main wheel and then is connected with a second right guard plate which is arranged corresponding to the second left guard plate, a second right wheel corresponding to the second left wheel is arranged on the second right guard plate far away from the second right main wheel, a plurality of second right supporting wheels are arranged on the second right guard plate at intervals, each second right supporting wheel is respectively positioned between the second right main wheel and the second right wheel, and a second right conveying belt corresponding to the second left conveying belt is sleeved on the second right main wheel and the second right wheel.
Preferably, the bearing mechanism comprises a supporting frame arranged on one side of the output mechanism, and a bearing plate is arranged on the supporting frame.
The transport and reloading method of the power module transport and reloading device is characterized by comprising the following steps of:
a) Placing power modules on each carrier, and stacking the carriers up and down in sequence to form a carrier stacking mechanism;
b) Setting the input speed of the input mechanism, the lifting height and lifting frequency of the splitting mechanism, the telescopic distance of the telescopic fixed rod and the output speed of the output mechanism; the infrared measuring instrument measures the height of the lifting assembly; the controller controls the lifting speed and the start-stop lifting state of the splitting mechanism and the telescopic state of the fixed rod according to the received height value;
c) The infrared sensor monitors position information between the carrier and the bearing mechanism in real time and sends the position information to the controller, and the controller controls the lifting height and the moving speed of the mechanical clamping jaw of the grabbing mechanism according to the received position information;
d) And (c) alternately carrying out the steps a, b and c to finish the transportation and transfer of the power module.
Preferably, the infrared sensor is used for acquiring a first distance difference value, a second distance difference value and a third distance difference value among the first marker post, the second marker post and the third marker post and the upright post;
The timing module is used for setting the time difference between two adjacent grabbing times;
the controller receives the first distance difference value, the second distance difference value and the third distance difference value sent by the infrared sensor, and compares the first distance difference value, the second distance difference value and the third distance difference value with a preset first threshold value, a preset second threshold value and a preset third threshold value;
when the first distance difference value is equal to a first threshold value, a first instruction is sent to the output mechanism, the mechanical clamping jaw, the lifting cylinder and the linear motion mechanism;
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism;
when the second distance difference value is equal to a second threshold value, a first instruction is sent to the output mechanism, the mechanical clamping jaw, the lifting cylinder and the linear motion mechanism;
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism;
when the third distance difference value is equal to a third threshold value, a first instruction is sent to the output mechanism, the mechanical clamping jaw, the lifting cylinder and the linear motion mechanism;
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism;
the output mechanism is used for executing the first instruction and the second instruction respectively;
a mechanical jaw for executing a first instruction
The linear motion mechanism is used for executing a first instruction;
the lifting cylinder is used for executing a first instruction;
the first instruction is that the output mechanism stops moving in sequence, the lifting rod is lowered to a first set height through the lifting cylinder, the mechanical clamping jaw grabs the power module, the lifting rod is reset, the linear motion mechanism moves the moving plate to a set position, the lifting cylinder is lowered to a set second height, the mechanical clamping jaw unclamping module, the lifting cylinder is reset, and the linear motion mechanism is reset;
the second instruction is that the output mechanism (4) continues to move;
the first and second time of capture time differences satisfy:
；
the second and third time of capture time differences satisfy:
；
s is the time difference between the first grabbing and the second grabbing; b is the distance from the first marker post to the bearing mechanism, cm;the first distance difference value is cm between the first marker post and the upright post; />The second distance difference value is cm between the second marker post and the upright post; />The distance is cm, which is the third distance difference between the third marker post and the upright post; v is the set movement speed of the mechanical jaw, cm/s.
Compared with the prior art, the power module transportation and transfer device and the transportation and transfer method provided by the invention have the following steps:
the utility model provides a power module transportation transshipment device, realize whole automatic control, carrier stack mechanism, a plurality of loading power module carriers are piled up from top to bottom in proper order, can realize simultaneously inputting a plurality of loading power module carriers through input mechanism, carrier stack mechanism transportation is to stopping on the split mechanism of bottom the box, split mechanism rises, will not need the carrier of transportation to carry out the joint, the carrier of bottommost follows split mechanism and descends after, fall on two conveyer belts of output mechanism simultaneously, and along with output mechanism output to the box outside, then carry out the snatch of power module by snatching the mechanism, snatch the power module that the carrier loaded and place on the bearing mechanism, power module transportation transshipment is accomplished, wait for next step work; the visual sensor is used for monitoring the position between the carrier and the bearing mechanism in real time, transmitting information to the controller, and controlling the grabbing position and the function of the grabbing mechanism by the controller; and the automatic integrated power module transportation and transfer is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a front view of a power module transport and transshipment apparatus transport vehicle according to the present invention;
FIG. 2 is a perspective view of an input mechanism of the power module transport and transfer device of the present invention;
FIG. 3 is a perspective view of one end of the output mechanism of the power module transporting and transferring device far away from the box body;
FIG. 4 is a perspective view of a carrier according to the present invention;
fig. 5 is a control flow chart of the power module transporting and transferring device in the invention.
The reference numerals are as follows:
2. an input mechanism; 3. a splitting mechanism; 4. an output mechanism; 5. a grabbing mechanism; 6. a carrying mechanism; 7. a visual sensor; 9. a controller; 8. a carrier; 801. a carrier plate; 803. a placement table; 804. screw holes; 805. a support rod; 201. a first motor; 202. a first drive wheel; 203. a first drive belt; 204. a first driving wheel; 205. a first drive shaft; 206. a first left main wheel; 207. a first right main wheel; 208. a first left guard plate; 209. a first left wheel; 210. a first left support wheel; 211. a first left conveyor belt; 212. a first right guard plate; 213. a first right wheel; 214. a first right support wheel; 215. a first right conveyor belt; 301. a case; 302. a lifting assembly; 304. a separation assembly; 305. a telescopic fixed rod; 306. a stop table; 303. an infrared measuring instrument; 401. a second motor; 402. a second driving wheel; 403. a second drive belt; 404. a second driving wheel; 405. a second drive shaft; 406. a second left main wheel; 407. a second left guard plate; 409. a second left wheel; 410. a second left support wheel; 411. a second left conveyor belt; 412. a second right guard plate; 504. a column; 505. a linear motion mechanism; 503. a moving rod; 506. a lifting rod; 501. mechanical clamping jaws; 502. and an air compressor.
Description of the embodiments
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in the present invention will be understood in detail by those skilled in the art.
The invention provides a power module transportation and transfer device, which comprises
A plurality of carriers 8 stacked in sequence for loading the power modules;
an input mechanism 2 for transporting the carrier 8 onto the splitting mechanism 3;
a splitting mechanism 3 for separating each carrier 8;
the output mechanism 4 is used for conveying the single carrier 8 detached from the detaching mechanism 3 to the outside of the detaching mechanism 3;
the grabbing mechanism 5 is used for grabbing the power modules on the single carrier 8 transmitted by the output mechanism 4 to the bearing mechanism 6;
the bearing mechanism 6 is used for storing the power modules grabbed by the grabbing mechanism 5;
the device also comprises a visual sensor 7 arranged on the grabbing mechanism 5 and used for monitoring the position between the carrier 8 and the bearing mechanism 6 in real time.
Preferably, the grabbing mechanism 5 comprises an upright post 504, a linear motion mechanism 505 is mounted on the top of the upright post 504, a moving plate of the linear motion mechanism 505 is connected with a moving rod 503, the grabbing mechanism further comprises a lifting rod 506, the top of the lifting rod 506 is connected with the moving rod 503 through a lifting cylinder, and a mechanical clamping jaw 501 is connected to the bottom of the lifting rod 506;
the device further comprises a first marker post, a second marker post and a third marker post which are arranged along the length direction of the carrier 8, and an infrared sensor which is arranged on the upright post 504, wherein the infrared sensor is used for acquiring a first distance difference value, a second distance difference value and a third distance difference value between the first marker post, the second marker post and the third marker post and the upright post 504;
The timing module is used for setting the time difference between two adjacent grabbing times;
the controller 9 is used for receiving the first distance difference value, the second distance difference value and the third distance difference value sent by the infrared sensor and comparing the first distance difference value, the second distance difference value and the third distance difference value with a preset first threshold value, a preset second threshold value and a preset third threshold value;
when the first distance difference is equal to the first threshold value, a first instruction is sent to the output mechanism 4, the mechanical clamping jaw 501, the lifting cylinder and the linear motion mechanism 505;
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism 4;
when the second distance difference is equal to the second threshold value, a first instruction is sent to the output mechanism 4, the mechanical clamping jaw 501, the lifting cylinder and the linear motion mechanism 505;
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism 4;
when the third distance difference is equal to the third threshold value, a first instruction is sent to the output mechanism 4, the mechanical clamping jaw 501, the lifting cylinder and the linear motion mechanism 505;
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism 4;
an output mechanism 4 for executing the first instruction and the second instruction, respectively;
Mechanical jaw 501 for executing a first instruction
A linear motion mechanism 505 for executing a first instruction;
the lifting cylinder is used for executing a first instruction;
the first instruction is that the output mechanism 4 stops moving, the lifting rod 506 is lowered to a first set height through the lifting cylinder, the mechanical clamping jaw 501 grabs the power module lifting rod 506 to reset, the linear motion mechanism 505 moves the moving plate to a set position, the lifting cylinder is lowered to a set second height, the mechanical clamping jaw 501 loosens the module, the lifting cylinder resets, and the linear motion mechanism 505 resets;
the second instruction is that the output mechanism 4 continues to move;
the first and second time of capture time differences satisfy:
；
the second and third time of capture time differences satisfy:
；
s is the time difference between the first grabbing and the second grabbing; />S is the time difference between the second grabbing and the third grabbing; b is the distance from the first marker post to the bearing mechanism 6, cm; />Is the first distance difference, cm, between the first pole and the column 504; />Is the second distance difference, cm, between the second pole and the column 504; />Is the third distance difference, cm, between the third post and column 504; v is the set speed of movement of the mechanical jaw 501, cm/s.
Preferably, the grabbing mechanism further comprises a vacuum chuck arranged on the mechanical clamping jaw 501, the vacuum chuck is arranged on the upper portion of one end of the output mechanism 4 far away from the box 301, the vacuum chuck is connected with the air compressor 502 through a pipeline, the other end of the mechanical clamping jaw 501 is connected with an adjusting rod for lifting and rotating, and the adjusting rod is electrically connected with the controller 9.
By adopting the structure, the whole-course automatic control is realized, the carrier stacking mechanism is used for sequentially stacking a plurality of loading power module carriers up and down, the loading power module carriers can be input through the input mechanism, the carrier stacking mechanism is transported to the splitting mechanism stopped at the bottom of the box body, the splitting mechanism is lifted, the carriers which do not need to be transported are clamped, the lowest carrier falls on two conveying belts of the output mechanism after following the falling of the splitting mechanism, is output to the outside of the box body along with the output mechanism, then the grabbing mechanism is used for grabbing the power modules, the power modules loaded by the grabbing mechanism are placed on the bearing mechanism, and the transportation and the transfer of the power modules are completed and wait for the next step of work; and the automatic integrated power module transportation and transfer is realized.
Preferably, the grabbing mechanism further comprises a vacuum chuck arranged on the mechanical clamping jaw 501, the vacuum chuck is arranged on the upper portion of one end of the output mechanism 4 far away from the box 301, the vacuum chuck is connected with the air compressor 502 through a pipeline, the other end of the mechanical clamping jaw 501 is connected with an adjusting rod for lifting and rotating, and the adjusting rod is electrically connected with the controller 9.
Preferably, the carrier 8 comprises a carrier plate 801, wherein a copper layer is electroplated on the surface of the carrier plate 801, and the thickness of the copper layer is 4-10 micrometers; the carrier plate 801 is provided with carrier holes, placing tables 803 for carrying the power modules are distributed at intervals along the circumferential direction of the carrier holes, and anti-slip pads are arranged on the placing tables 803; a plurality of screw holes 804 are uniformly formed in the carrier plate 801 at intervals, and telescopic screws are arranged in each screw hole 804; a plurality of support rods 805 are uniformly distributed on the carrier plate 801 at intervals, and the support rods 805 extend upwards to form bolts; the bottom of the carrier plate 801 is provided with jacks corresponding to the bolts.
By adopting the structure, the plurality of carriers are sequentially stacked up and down to be discharged, and meanwhile, the plurality of carriers can be transported in, and the carriers below can be sequentially put down and transported through the splitting mechanism; in the power module transportation process, the power module is required to be placed on a carrier and is produced by matching with an automatic line; the carrier holes are generally larger than the power module in size, which results in the power module being rocked in the carrier during transportation and operation; in the operation process of the automatic equipment, a mechanical clamping jaw or a vacuum chuck is used for taking out and replacing the power module, and in the replacement process, the power module contacts with the metal surface of the carrier to cause scratch or abrasion; the carrier adopts a copper electroplating mode to carry out surface treatment, the plating surface is generally kept at about 4-10um, the plating surface is easy to damage due to friction or touch, and the anti-slip pad arranged on the placing table can prevent the plating surface from damaging.
Preferably, the input mechanism 2 comprises a first motor 201, the first motor 201 is connected with a first driving wheel 202 through a shaft, the first driving wheel 202 is connected with a first driving wheel 204 through a first driving belt 203, a first driving shaft 205 is sleeved on the first driving wheel 204, two ends of the first driving shaft 205 are respectively sleeved with a first left main wheel 206 and a first right main wheel 207 which are positioned at two sides of the first driving wheel 204, the first driving shaft 205 penetrates out of the first left main wheel 206 and is connected with a first left guard plate 208, a first left wheel 209 is mounted on the first left guard plate 208 far away from the first left main wheel 206, a plurality of first left supporting wheels 210 are mounted on the first left guard plate 208 at intervals, each first left supporting wheel 210 is positioned between the first left main wheel 206 and the first left wheel 209, and a first left conveying belt 211 is sleeved on the first left main wheel 206 and the first left wheel 209; the first transmission shaft 205 penetrates out of the first right main wheel 207 and then is connected with a first right guard plate 212 which is arranged corresponding to the first left guard plate 208, a first right wheel 213 which is corresponding to the first left wheel 209 is arranged on the first right guard plate 212 which is far away from the first right main wheel 207, a plurality of first right supporting wheels 214 are arranged on the first right guard plate 212 at intervals, each first right supporting wheel 214 is positioned between the first right main wheel 207 and the first right wheel 213, and a first right conveying belt 215 which is corresponding to the first left conveying belt 211 is sleeved on the first right main wheel 207 and the first right wheel 213.
By adopting the structure, the input mechanism can stably transport the carrier stacking mechanism to the splitting mechanism.
Preferably, the splitting mechanism 3 comprises a box body 301 with an opening at the bottom, an input port corresponding to the output ends of the first conveying belt and the second conveying belt is opened at one end of the box body 301, a lifting assembly 302 corresponding to the input port is arranged in the box body 301, and further a separating assembly 304 which is arranged on the inner wall of the box body 301 and used for separating a plurality of carriers 8 which are stacked in sequence is arranged, a gap is formed between each separating assembly 304 and the bottom of the box body 301, and a telescopic fixed rod 305 is arranged on each separating assembly 304; a stop table 306 is arranged on the inner wall of the box 301 far away from the input port, and an infrared measuring instrument 303 for measuring the height of the lifting assembly 302 is arranged on the stop table 306; the infrared measuring instrument 303 is electrically connected with the controller 9, and the controller 9 is electrically connected with the telescopic fixed rod 305; the case 301 is also provided with an output port.
By adopting the structure, the lifting component ascends to lift the carriers in the carrier stacking mechanism, after the infrared measuring instrument detects the height, information is transmitted to the controller, the controller controls the telescopic fixed rod to fix other carriers except the carrier at the lowest end on the upper part, and the carrier at the lowest end falls on the output mechanism after following the lifting component to descend.
Preferably, the output mechanism 4 comprises a second motor 401 arranged outside the box 301, the second motor 401 is connected with a second driving wheel 402 through a shaft, the second driving wheel 402 is connected with a second driving wheel 404 through a second driving belt 403, a second driving shaft 405 is sleeved on the second driving wheel 404, two ends of the second driving shaft 405 are respectively sleeved with a second left main wheel 406 and a second right main wheel which are positioned at two sides of the second driving wheel 404, the second driving shaft 405 penetrates out of the second left main wheel 406 and is connected with a second left guard plate 407, the second left guard plate 407 penetrates through a gap at the bottom of the box 301 and is connected with a side wall far from the gap of the box 301, a second left wheel 409 is mounted on the second left guard plate 407 far from the second left main wheel 406, a plurality of second left supporting wheels 410 are mounted on the second left guard plate 407 at intervals, each second left supporting wheel 410 is respectively positioned between the second left main wheel 406 and the second left wheel 409, and a second left conveying belt 411 is sleeved on the second left wheel 409; the second transmission shaft 405 penetrates out of the second right main wheel and then is connected with a second right guard plate 412 which is arranged corresponding to the second left guard plate 407, a second right wheel corresponding to the second left wheel 409 is arranged on the second right guard plate 412 far away from the second right main wheel, a plurality of second right supporting wheels are arranged on the second right guard plate 412 at intervals, each second right supporting wheel is respectively positioned between the second right main wheel and the second right wheel, and a second right conveying belt corresponding to the second left conveying belt 411 is sleeved on the second right main wheel and the second right wheel.
Preferably, the bearing mechanism 6 comprises a supporting frame arranged on one side of the output mechanism 4, and a bearing plate is arranged on the supporting frame.
By adopting the structure, the output mechanism can stably output the carrier from the output port of the box body, and after the output mechanism outputs the carrier, the carrier can be stopped to be transported so as to be used for the grabbing mechanism to grab the power module on the carrier.
The transport and reloading method of the power module transport and reloading device is characterized by comprising the following steps of:
a) Placing power modules on each carrier 8, and stacking the carriers 8 up and down in sequence to form a carrier 8 stacking mechanism;
b) Setting an input speed of the input mechanism 2, a lifting height and lifting frequency of the splitting mechanism 3, a telescopic distance of the telescopic fixed rod 305 and an output speed of the output mechanism 4; infrared gauge 303 measures the elevation of lifting assembly 302; the height information is sent to the controller 9, and the controller 9 controls the lifting speed, the starting and stopping lifting state and the telescopic state of the fixed rod of the splitting mechanism 3 according to the received height value;
c) The infrared sensor monitors the position information between the carrier 8 and the bearing mechanism 6 in real time and sends the position information to the controller 9, and the controller 9 controls the lifting height and the moving speed of the mechanical clamping jaw 501 of the grabbing mechanism 5 according to the received position information;
d) And (c) alternately carrying out the steps a, b and c to finish the transportation and transfer of the power module.
Preferably, the infrared sensor is configured to obtain a first distance difference, a second distance difference, and a third distance difference between the first, second, and third targets and the upright 504;
the timing module is used for setting the time difference between two adjacent grabbing times;
the controller 9 receives the first distance difference value, the second distance difference value and the third distance difference value sent by the infrared sensor, and compares the first distance difference value, the second distance difference value and the third distance difference value with a preset first threshold value, a preset second threshold value and a preset third threshold value;
when the first distance difference is equal to the first threshold value, a first instruction is sent to the output mechanism 4, the mechanical clamping jaw 501, the lifting cylinder and the linear motion mechanism 505;
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism 4;
when the second distance difference is equal to the second threshold value, a first instruction is sent to the output mechanism 4, the mechanical clamping jaw 501, the lifting cylinder and the linear motion mechanism 505;
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism 4;
when the third distance difference is equal to the third threshold value, a first instruction is sent to the output mechanism 4, the mechanical clamping jaw 501, the lifting cylinder and the linear motion mechanism 505;
According to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism 4;
an output mechanism 4 for executing the first instruction and the second instruction, respectively;
mechanical jaw 501 for executing a first instruction
A linear motion mechanism 505 for executing a first instruction;
the lifting cylinder is used for executing a first instruction;
the first instruction is that the output mechanism 4 stops moving, the lifting rod 506 is lowered to a first set height through the lifting cylinder, the mechanical clamping jaw 501 grabs the power module, the lifting rod 506 is reset, the linear motion mechanism 505 moves the moving plate to a set position, the lifting cylinder is lowered to a set second height, the mechanical clamping jaw 501 loosens the module, the lifting cylinder is reset, and the linear motion mechanism 505 is reset;
the second instruction is that the output mechanism 4 continues to move;
the first and second time of capture time differences satisfy:
；
the second and third time of capture time differences satisfy:
；
s is the time difference between the first grabbing and the second grabbing; />S is the time difference between the second grabbing and the third grabbing; b is the distance from the first marker post to the bearing mechanism 6, cm; />Is the first distance difference, cm, between the first pole and the column 504; />Is the second distance difference, cm, between the second pole and the column 504; / >Is the third distance difference, cm, between the third post and column 504; v is the set speed of movement of the mechanical jaw 501, cm/s.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. The utility model provides a power module transportation transshipment device which characterized in that includes
A plurality of carriers (8) stacked in sequence for loading the power modules;
an input mechanism (2) for transporting the carrier to the splitting mechanism (3);
a splitting mechanism (3) for separating the carriers (8);
the output mechanism (4) is used for conveying the single carrier (8) detached from the detaching mechanism (3) to the outside of the detaching mechanism (3);
the grabbing mechanism (5) is used for grabbing the power modules on the single carrier (8) transmitted by the output mechanism (4) to the bearing mechanism (6);
And the bearing mechanism (6) is used for storing the power modules grabbed by the grabbing mechanism (5).
2. The power module transportation and transshipment device according to claim 1, characterized in that the grabbing mechanism (5) comprises a stand column (504), a linear motion mechanism (505) is installed at the top of the stand column (504), a moving plate of the linear motion mechanism (505) is connected with a moving rod (503), the power module transportation and transshipment device further comprises a lifting rod (506), the top of the lifting rod (506) is connected with the moving rod (503) through a lifting cylinder, and a mechanical clamping jaw (501) is connected at the bottom of the lifting rod (506);
the device further comprises a first marker post, a second marker post and a third marker post and an infrared sensor (7) arranged on the stand column along the length direction of the carrier (8), wherein the infrared sensor (7) is used for acquiring a first distance difference value, a second distance difference value and a third distance difference value between the first marker post, the second marker post and the third marker post and the stand column;
the timing module is used for setting the time difference between two adjacent grabbing times;
the device also comprises a controller (9) which receives the first distance difference value, the second distance difference value and the third distance difference value which are sent by the infrared sensor and compares the first distance difference value, the second distance difference value and the third distance difference value with a preset first threshold value, a preset second threshold value and a preset third threshold value;
When the first distance difference value is equal to a first threshold value, a first instruction is sent to the output mechanism (4), the mechanical clamping jaw (501), the lifting cylinder and the linear motion mechanism (505);
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism (4);
when the second distance difference value is equal to a second threshold value, a first instruction is sent to the output mechanism (4), the mechanical clamping jaw (501), the lifting cylinder and the linear motion mechanism (505);
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism (4);
when the third distance difference value is equal to a third threshold value, a first instruction is sent to the output mechanism (4), the mechanical clamping jaw (501), the lifting cylinder and the linear motion mechanism (505);
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism (4);
an output mechanism (4) for executing the first instruction and the second instruction, respectively;
a mechanical jaw (501) for executing a first instruction
A linear motion mechanism (505) for executing a first instruction;
the lifting cylinder is used for executing a first instruction;
the first instruction is that the output mechanism (4) stops moving, the lifting rod (503) is lowered to a first set height through the lifting cylinder, the mechanical clamping jaw (501) grabs the lifting rod of the power module and resets, the linear motion mechanism (505) moves the moving plate to a set position, the lifting cylinder is lowered to a second set height, the mechanical clamping jaw (501) loosens the module, the lifting cylinder resets, and the linear motion mechanism (505) resets;
The second instruction is that the output mechanism (4) continues to move;
the first and second time of capture time differences satisfy:
；
the second and third time of capture time differences satisfy:
；
s is the time difference between the first grabbing and the second grabbing; />S is the time difference between the second grabbing and the third grabbing; b is the distance from the first marker post to the bearing mechanism (6), cm; />Is the first distance difference, cm, between the first pole and the column (504); />Is the second distance difference, cm, between the second pole and the column (504); />Is a third distance difference, cm, between a third post and the column (504); v is the set speed of movement of the mechanical jaw (501), cm/s.
3. The power module transport and transshipment apparatus of claim 2,
the grabbing mechanism (5) further comprises a vacuum chuck arranged on the mechanical clamping jaw (501), the vacuum chuck is arranged on the upper portion of one end of the output mechanism (4) far away from the box body (301), the vacuum chuck is connected with the air compressor (502) through a pipeline, the other end of the mechanical clamping jaw (501) is connected with an adjusting rod (503) for lifting and rotating, and the adjusting rod (503) is electrically connected with the controller (9).
4. A power module transport and transshipment device according to claim 3, characterized in that the carrier (8) comprises a carrier plate (801), the surface of the carrier plate (801) is electroplated with a copper layer, and the thickness of the copper layer is 4-10 microns; carrying holes are formed in the carrier plate (801), placing tables (803) for carrying power modules are arranged at intervals along the circumferential direction of the carrying holes, and anti-slip pads are arranged on the placing tables (803); a plurality of screw holes (804) are uniformly formed in the carrier plate (801) at intervals, and telescopic screws are arranged in the screw holes; a plurality of support rods (805) are uniformly distributed on the carrier plate (801) at intervals, and the support rods (805) extend upwards to form bolts; the bottom of the carrier plate (801) is provided with jacks corresponding to the bolts.
5. The power module transportation and transfer device according to claim 4, wherein the input mechanism (2) comprises a first motor (201), the first motor (201) is connected with a first driving wheel (202) through a shaft, the first driving wheel (202) is connected with a first driving wheel (204) through a first driving belt (203), a first driving shaft (205) is sleeved on the first driving wheel (204), a first left main wheel (206) and a first right main wheel (207) which are positioned at two sides of the first driving wheel (204) are respectively sleeved at two ends of the first driving shaft (205), a first left guard plate (208) is connected after the first driving shaft (205) penetrates out of the first left main wheel (206), a first left wheel (209) is installed on the first left guard plate (208) far away from the first left main wheel (206), a plurality of first left supporting wheels (210) are installed on the first left guard plate (208) at intervals, each first left supporting wheel (210) is positioned between the first left main wheel (206) and the first left wheel (209), and the first left main wheel (206) is provided with a first transportation belt (211); the first transmission shaft (205) penetrates out of the first right main wheel (207) and then is connected with a first right guard plate (212) which is arranged corresponding to the first left guard plate (208), a first right wheel (213) which is corresponding to the first left wheel (209) is arranged on the first right guard plate (212) which is far away from the first right main wheel (207), a plurality of first right supporting wheels (214) are arranged on the first right guard plate (212) at intervals, each first right supporting wheel (214) is located between the first right main wheel (207) and the first right wheel (213), and a first right conveying belt (215) which is corresponding to the first left conveying belt (211) is sleeved on the first right main wheel (207) and the first right wheel (213).
6. The power module transporting and transferring device according to claim 5, wherein the splitting mechanism (3) comprises a box body (301) with an opening at the bottom, an input port corresponding to the output ends of the first transporting belt and the second transporting belt is opened at one end of the box body (301), a lifting assembly (302) corresponding to the input port is arranged in the box body (301), the power module transporting and transferring device further comprises separating assemblies (304) which are arranged on the inner wall of the box body (301) and are used for separating a plurality of carriers (8) stacked in sequence, a gap is formed between each separating assembly (304) and the bottom of the box body (301), and a telescopic fixed rod (305) is arranged on each separating assembly (304); a stop table (306) is arranged on the inner wall of the box body (301) far away from the input port, and an infrared measuring instrument (303) for measuring the height of the lifting assembly (302) is arranged on the stop table (306); the infrared measuring instrument (303) is electrically connected with the controller (9), and the controller (9) is electrically connected with the telescopic fixed rod (305); the box body (301) is also provided with an output port.
7. The power module transport and transshipment apparatus of claim 6, wherein,
the output mechanism (4) comprises a second motor (401) arranged outside the box body (301), the second motor (401) is connected with a second driving wheel (402) through a shaft, the second driving wheel (402) is connected with a second driving wheel (404) through a second driving belt (403), a second driving shaft (405) is sleeved on the second driving wheel (404), two ends of the second driving shaft (405) are respectively sleeved with a second left main wheel (406) and a second right main wheel which are positioned at two sides of the second driving wheel (404), the second driving shaft (405) penetrates out of the second left main wheel (406) and then is connected with a second left guard plate (407), the second left guard plate (407) penetrates through a bottom gap of the box body (301) and then is connected with one side wall far away from the gap of the box body (301), a second left wheel (409) is mounted on the second left guard plate (407) far away from the second left main wheel (406), a plurality of second left support wheels (410) are respectively sleeved on the second left guard plate (407), and each second left support wheel (410) is respectively positioned between the second left main wheel (406) and the second left main wheel (409), and the second left wheel (411) are sleeved on the second left belt; the second transmission shaft (405) penetrates out of the second right main wheel and then is connected with a second right guard plate (412) which is arranged corresponding to the second left guard plate (407), a second right wheel corresponding to the second left wheel (409) is arranged on the second right guard plate (412) far away from the second right main wheel, a plurality of second right supporting wheels are arranged on the second right guard plate (412) at intervals, each second right supporting wheel is respectively positioned between the second right main wheel and the second right wheel, and a second right conveying belt corresponding to the second left conveying belt (411) is sleeved on the second right main wheel and the second right wheel.
8. The power module transport and transshipment apparatus of claim 7,
the bearing mechanism (6) comprises a supporting frame arranged on one side of the output mechanism (4), and a bearing plate is arranged on the supporting frame.
9. A transport and transfer method based on the power module transport and transfer device according to any one of claims 1 to 8, comprising the steps of:
a) The power modules are placed on the carriers (8), and the carriers (8) are stacked up and down in sequence to form a carrier stacking mechanism (1);
b) Setting the input speed of the input mechanism (2), the lifting height and lifting frequency of the splitting mechanism (3), the telescopic distance of the telescopic fixed rod (305) and the output speed of the output mechanism (4); an infrared measuring instrument (303) measures the height of the lifting assembly (302); the height information is sent to the controller (9), and the controller (9) controls the lifting speed, the start-stop lifting state and the telescopic state of the fixed rod of the splitting mechanism (3) according to the received height value;
c) The infrared sensor (7) monitors position information between the carrier (8) and the bearing mechanism (6) in real time and sends the position information to the controller (9), and the controller (9) controls the lifting height and the moving speed of the mechanical clamping jaw (501) of the grabbing mechanism (5) according to the received position information;
d) And (c) alternately carrying out the steps a, b and c to finish the transportation and transfer of the power module.
10. The transport and reloading method of a power module transport and reloading device according to claim 9, wherein,
the infrared sensor (7) is used for acquiring a first distance difference value, a second distance difference value and a third distance difference value among the first marker post, the second marker post and the third marker post and the upright post;
the timing module is used for setting the time difference between two adjacent grabbing times;
the controller (9) receives the first distance difference value, the second distance difference value and the third distance difference value sent by the infrared sensor, and compares the first distance difference value, the second distance difference value and the third distance difference value with a preset first threshold value, a preset second threshold value and a preset third threshold value;
when the first distance difference value is equal to a first threshold value, a first instruction is sent to the output mechanism (4), the mechanical clamping jaw (501), the lifting cylinder and the linear motion mechanism (505);
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism (4);
when the second distance difference value is equal to a second threshold value, a first instruction is sent to the output mechanism (4), the mechanical clamping jaw (501), the lifting cylinder and the linear motion mechanism (505);
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism (4);
When the third distance difference value is equal to a third threshold value, a first instruction is sent to the output mechanism (4), the mechanical clamping jaw (501), the lifting cylinder and the linear motion mechanism (505);
according to the grabbing time sent by the timing module, a second instruction is sent to the output mechanism (4);
an output mechanism (4) for executing the first instruction and the second instruction, respectively;
a mechanical jaw (501) for executing a first instruction
A linear motion mechanism (505) for executing a first instruction;
the lifting cylinder is used for executing a first instruction;
the first instruction is that the output mechanism (4) stops moving, the lifting rod (503) is lowered to a first set height through the lifting cylinder, the mechanical clamping jaw (501) grabs the power module, the lifting rod is reset, the linear motion mechanism (505) moves the moving plate to a set position, the lifting cylinder is lowered to a second set height, the mechanical clamping jaw (501) loosens the module, the lifting cylinder is reset, and the linear motion mechanism (505) is reset;
the second instruction is that the output mechanism (4) continues to move;
the first and second time of capture time differences satisfy:
；
the second and third time of capture time differences satisfy:
；
s is the time difference between the first grabbing and the second grabbing; b is the distance from the first marker post to the bearing mechanism (6), cm; Is the first distance difference, cm, between the first pole and the column (504); />Is the second distance difference, cm, between the second pole and the column (504); />Is a third distance difference, cm, between a third post and the column (504); v is the set speed of movement of the mechanical jaw (501), cm/s.
CN202310795844.9A 2023-06-30 2023-06-30 Power module transportation and transfer device and transportation and transfer method Active CN116588674B (en)

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