CN108435591A - A kind of automatic grading machine of soft package lithium battery - Google Patents
A kind of automatic grading machine of soft package lithium battery Download PDFInfo
- Publication number
- CN108435591A CN108435591A CN201810104477.2A CN201810104477A CN108435591A CN 108435591 A CN108435591 A CN 108435591A CN 201810104477 A CN201810104477 A CN 201810104477A CN 108435591 A CN108435591 A CN 108435591A
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- battery
- pallet
- pipeline
- manipulator
- signal
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 title claims abstract description 22
- 229910052744 lithium Inorganic materials 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 94
- 230000032258 transport Effects 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 84
- 238000009434 installation Methods 0.000 claims description 50
- 230000000875 corresponding effect Effects 0.000 claims description 43
- 230000003028 elevating effect Effects 0.000 claims description 35
- 238000009413 insulation Methods 0.000 claims description 30
- 230000001360 synchronised effect Effects 0.000 claims description 28
- 238000005096 rolling process Methods 0.000 claims description 20
- 230000005693 optoelectronics Effects 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 18
- 230000005622 photoelectricity Effects 0.000 claims description 18
- 238000007599 discharging Methods 0.000 claims description 15
- 230000004888 barrier function Effects 0.000 claims description 14
- 230000009467 reduction Effects 0.000 claims description 13
- 239000000203 mixture Substances 0.000 claims description 12
- 239000000725 suspension Substances 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 238000010521 absorption reaction Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 10
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 9
- 229910052782 aluminium Inorganic materials 0.000 claims description 9
- 238000013500 data storage Methods 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000005520 cutting process Methods 0.000 claims description 3
- 230000000284 resting effect Effects 0.000 claims description 2
- 230000007306 turnover Effects 0.000 claims description 2
- 241000252254 Catostomidae Species 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000002146 bilateral effect Effects 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000007726 management method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
Landscapes
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
A kind of automatic grading machine of soft package lithium battery, including the rack being used to support, battery conveying line for transports cell, sorting manipulator for implementing sorting to battery, for battery to be removed to the battery blanking mechanism to pallet and the central controller for controlling whole device operation automatically, battery conveying line, battery blanking mechanism and central controller are installed in rack, the sorting office of battery conveying line is arranged above sorting manipulator, the battery conveying line that battery blanking mechanism is arranged in sorting manipulator downstream carries area, the control terminal of battery conveying line, the control terminal of sorting manipulator and the control terminal of battery blanking mechanism are connect with the respective pins signal of central controller respectively.The beneficial effects of the invention are as follows：The automation for realizing battery sorting improves production efficiency, ensures battery with two side terminals；It is applicable in unilateral side lug soft package lithium battery and bilateral lug soft package lithium battery；It is docked with the production management system of each company, the status information of real time inspection battery and pallet.
Description
Technical field
The present invention relates to a kind of automatic grading machines of soft package lithium battery.
Background technology
In the production technology of soft package lithium battery, battery grading equipment is one of important process.Current battery factory
The sorting process of family is to use manual grading machine, by battery or pallet barcode scanning, being shown according to indicator light, manually being sub-elected
The battery of same levels is classified as one grade, is recycled for the sorting of next battery or pallet, due to mainly by artificial separation, at
This height, efficiency is low, is affected by human factors larger, and battery quality can not carry out management and control.
Invention content
To solve the above-mentioned problems, the present invention proposes a kind of raising production efficiency, reduces time and artificial input cost,
And the automatic grading machine of soft package lithium battery for improving battery quality.
The automatic grading machine of a kind of soft package lithium battery of the present invention, it is characterised in that：Including rack, the use being used to support
In the battery conveying line of transports cell, the sorting manipulator for implementing sorting to battery, for being removed battery automatically to pallet
On battery blanking mechanism and central controller for controlling whole device operation, the battery conveying line is taped against the rack
Front, the battery blanking mechanism and central controller are installed in the corresponding region of rack, wherein the battery conveying line
Sorting office be arranged above sorting manipulator, the battery conveying line in sorting manipulator downstream is arranged in the battery blanking mechanism
Carry area, the control terminal of the battery conveying line, the control terminal of the control terminal of the sorting manipulator and battery blanking mechanism
It is connect respectively with the respective pins signal of the central controller；
The rack be equipped with for put into empty pallet pallet put into area, the pallet discharge area for full tray to be discharged,
Discharging area for installing battery blanking mechanism and the control zone for installing central controller, the rack front are equipped with electricity
The battery delivery area of pond pipeline, the battery delivery area are laid with battery conveying line；The discharging area is arranged in battery delivery area
Between pallet input area, and region installation battery blanking mechanism；Pallet input area, the pallet discharge area are flat up and down
Row setting, pallet put into area and several parallel rollers are housed, and the rolling surface of the roller forms the pallet for putting into empty pallet and throws
Enter pipeline；Pallet discharge area is equipped with several parallel rollers, and the rolling surface of the roller forms the pallet for full tray to be discharged
Pipeline is discharged；
The battery conveying line includes main conveyor line and several auxiliary pipelines, and main conveyor line, auxiliary pipeline are
With driving device and the horizontal chain pipeline being laid with, and assist the input terminal of pipeline close to the output end of main conveyor line,
Sorting office of the region as battery conveying line；It assists the output end of pipeline to carry area as battery conveying line and extends to battery
At cutting agency；It is equipped with the switch for controlling the keying of respective drive device on main conveyor line, auxiliary pipeline, and described opens
The control terminal of pass port corresponding with central controller is connected；The main conveyor line is equipped with the battery for scanning battery information
Code reader；
The sorting manipulator includes for capturing the first grasping mechanism of battery to be sorted, for adjusting the first gripper
The parallel manipulator of structure position and installation suspension for being suspended from the first grasping mechanism above battery, the installation suspension are set
It in the sorting office in battery conveying line, and installs and is suspended from the top of suspension right over the sorting office of battery conveying line, ensure first
The output end of the crawl section movement locus covering main conveyor line of grasping mechanism and the input terminal of adjacent auxiliary pipeline；It is described
The top of parallel manipulator and the top of the installation suspension are rotatablely connected, and the parallel manipulator is the parallel robot of 4 axis,
Its bottom circles and moves vertically around its vertical center axis under the electrical driving of servo, and the battery drawn can be around
Vertical center axis 360 rotates；The control terminal control port signal corresponding with the central controller of first grasping mechanism
Connection；
The battery blanking mechanism is corresponded with auxiliary pipeline, i.e., one auxiliary pipeline corresponds to a set of battery blanking
Mechanism, the battery blanking mechanism include as overturning platform fixed frame, for by battery overturn 90 ° overturning component,
For that will assist the battery on pipeline that the absorption to pallet is sent to start going to a nursery manipulator and for adjusting pallet lengthwise position
Elevating mechanism, the fixed frame are installed in rack, as the overturning platform that battery is overturn to 90 °；The overturning component peace
On fixed frame, the overturning component includes overturning drive device for providing rotary driving force and for providing crawl
The driving end of second grabbing device of battery to be flipped, the overturning drive device is fixedly mounted with second grabbing device so that institute
The shaft that the second grabbing device is set up under the driving of overturning drive device around level is stated to rotate in a circumferential direction movement；
The manipulator of starting going to a nursery of drawing includes the manipulator mounting rack being used to support, for that will assist the battery on pipeline
It removes to the battery of overturning platform and draws manipulator and for the battery removed to empty pallet of battery after overturning to be started going to a nursery manipulator,
The top frame of the wherein described manipulator mounting rack is the rectangle frame being suspended from right over elevating mechanism workbench；Battery draws manipulator
For X-axis, the two axle movement mechanism of Z axis, respectively it is used to provide the first X-axis motion of X-motion and for providing Z axis
To the first Z axis motion of movement, wherein the short side of the first X-axis motion and the manipulator mounting rack is slidably connected,
First Z axis motion is mounted on the first X-axis motion, and the bottom of Z axis motion will be equipped with defeated for that will assist
Battery in line sending is drawn to the third grasping mechanism on overturning platform；
The battery starts going to a nursery manipulator as X-axis, Y-axis, the three-axis moving mechanism of Z axis, is respectively used to provide X-motion
The second X-axis motion, the second Y-axis motion for providing X-motion and second for providing Z-motion
The short side of Z axis motion, the second X-axis motion and the manipulator mounting rack is slidably connected, the second Y-axis fitness machine
Structure is slidably connected on the second X-axis motion with the long side of manipulator mounting rack, is equipped on the second Z axis motion
Equipped with for the battery overturn on platform to be drawn to the 4th grasping mechanism on empty pallet；The length side of rectangle frame defined in it
It is X-direction to the width direction for Y direction, rectangle frame, the y direction of rectangle frame is Z-direction；
The elevating mechanism includes for providing the lift drive mechanism of Z-direction lifting driving force, being used for placement tray
Drum conveying line and the lifting installation frame that is used to support, the lifting installation frame is mounted in overturning platform and pallet input
Between area, the lift drive mechanism is on the lifting installation frame, and the top of lift drive mechanism is equipped with several
Root roller disposed in parallel, the rolling surface of roller constitute the drum conveying line for holding up pallet so that drum conveying line is along Z axis
Elevating movement is made in direction, realizes and is docked between drum conveying line and pallet input pipeline, pallet discharge pipeline；The roller
The pallet code reader for scanning tray information is equipped at pipeline；
The central controller includes signal picker, data processor, data storage and human-computer interaction interface, institute
The first signal input part for stating signal picker is connect with the signal output end signal of the battery code scanning device, pallet code reader；
The signal input part of the data processor and the signal output end of the signal picker are electrically connected, and the data processor moves
Make control port respectively with the control terminal of the battery conveying line, the control terminal of the sorting manipulator, the battery blanking machine
The control end signal of structure connects, the signal input part electricity of the signal output end of the data processor and the data storage
Even, the signal output end of the data storage and the signal input part of the human-computer interaction interface are electrically connected, the human-computer interaction
The signal output end at interface and the second signal input terminal of the signal picker are electrically connected.
The chain pipeline include servomotor, gear reducer, chain, synchronous belt, the first synchronous pulley, two second it is same
Walk belt wheel, bottom plate, the first sprocket wheel, the second sprocket wheel, the first sprocket shaft and aluminum section bar frame, the servo motor, the speed reducer
It is packed on aluminum section bar frame, and the output shaft of servo motor is connected with the input shaft of the speed reducer；The head of the chain
Tail is connected to form ring-like chain, and chain is sleeved on outside the first sprocket wheel and the second sprocket wheel, and is tensioned by the second sprocket wheel；It is described same
Step band is sleeved on outside the first synchronous pulley and the second synchronous pulley, and first synchronous pulley and first sprocket wheel are mounted on institute
It states on the first sprocket shaft, second synchronous pulley is mounted on the output shaft of speed reducer, under the drive of servo motor so that
Chain is moved along chain length direction；Several pieces of bottom plates are installed on the surface of the chain, and bottom plate is along the direction of travel of chain
It arranges, two parallel blend stops, two blend stops and bottom plate screw connection is respectively arranged on every piece of bottom plate, Battery Card is between two blend stops
Gap in；The input terminal of the chain pipeline is equipped with the pan feeding optoelectronic switch for starting servo motor, and the chain is defeated
The output end of line sending is equipped with discharging optoelectronic switch for closing servo motor, the control terminal of the pan feeding optoelectronic switch, described
The control terminal of discharging optoelectronic switch is connect with the first signal input part signal of the signal picker of the central controller respectively；
The input terminal of the chain pipeline adds battery positional stations, and the battery positional stations include the first positioning cylinder and first
Insulation board, first positioning cylinder is on aluminum section bar frame；The motion end of first positioning cylinder is equipped with for clamping
First insulation board of battery, and first positioning cylinder installation place is equipped with battery scanner, the letter for scanning battery at this
Breath；The control terminal action control port signal connection corresponding with the data processor of first positioning cylinder.
First grasping mechanism includes that the first vacuum generator, the first Suction cup assembly and first pressure switch, described
First vacuum generator is mounted on the bottom of parallel manipulator, and the first Suction cup assembly is mounted on the bottom end of parallel manipulator, and protects
The sucker for holding the first Suction cup assembly is attracted face towards battery conveying line, the battery for picking up battery conveying line surface；First is true
The gas outlet pipeline connection that the air entry of empty generator passes through air intake duct and the first Suction cup assembly；The detecting head of first pressure switch
At the air entry of the first vacuum generator, the signal output end of first pressure switch and the first signal of signal picker are defeated
Enter end signal connection, and the action control port signal of the control terminal of the first vacuum generator and data processor connects.
The overturning drive device of the overturning component includes tumble cylinder, driving shaft, driven axle, hydraulic bjuffer and overturning
Plate, the tumble cylinder is mounted on fixed frame top, and the output shaft of the tumble cylinder passes through second shaft coupling and institute
The one end for stating driving shaft is connected, and driving shaft is erected at fixed frame top and rotationally connected by hydraulic bjuffer and level
Driven axle be connected, one surface of the returning face plate is packed on driven axle, and another surface of returning face plate is more as EDS maps are attracted
A sucker, for overturning the battery being horizontally arranged to vertical state；Second grabbing device of the overturning component includes second
The air entry of vacuum generator and filter, second vacuum generator passes through the sucker tube in respective line and returning face plate
Road is connected to, and filter is on the pipeline between the second vacuum generator and sucker；The control terminal of second vacuum generator, overturning
The action control end signal connection corresponding with data processor respectively of the control terminal of cylinder.
The first X-axis motion is identical with the second X-axis motion structure, includes driving motor, slows down
Case, gear, rack and the linear guide, the output shaft of the driving motor are connected with the input terminal of the reduction box, reduction box
Output end installation for rack meshed gears, the rack, the linear guide in an axial direction be mounted in manipulator mounting rack it is short
Bian Shang；The Y-axis motion includes the second servo motor and the first module, and the Y-axis motion is fixed on module installation
On plate, module mounting plate is mounted in the linear guide；Second servo motor, first module are installed in second
On X-axis motion, and the first module is arranged along the long side of manipulator mounting rack；The second Z axis motion includes the
Two modules, third servo motor, cylinder mounting plate, rotary cylinder and third Suction cup assembly, second module are mounted in the first mould
In group, and the two is slidably connected, and cylinder mounting plate is on the second module, and the output end of rotary cylinder is equipped with for that will turn over
Battery after turning draws into the third Suction cup assembly in pallet；The control of the control terminal of the driving motor, the second servo motor
The control terminal at end, the control terminal of third servo motor, the control terminal of rotary cylinder and third Suction cup assembly is controlled with center
The corresponding action control end signal connection of data processor of device.
The first Z axis motion includes the 4th servo motor, third module and the 4th Suction cup assembly, the third
Module, the 4th servo motor are mounted on the first X-axis motion, and third module is arranged along manipulator mounting rack Z-direction, and
The two is slidably connected, and the output shaft of the 4th servo motor is connected with third module so that third module drives in the 4th servo motor
Dynamic lower edge moves up and down along manipulator mounting rack Z axis；4th Suction cup assembly is mounted on the bottom of third module, defeated for that will assist
In battery transfer to overturning platform in line sending；Control terminal, the control terminal of the 4th Suction cup assembly of 4th servo motor are equal
Action control end signal connection corresponding with the data processor of central controller.
The lift drive mechanism include lifting motor, lifting synchronous belt, lifting synchronizing wheel, drive sprocket, elevating chain,
Idle pulley and second straight line guide rail, the lifting motor are mounted on lifting installation frame bottom, and the output end of lifting motor is coaxially pacified
Dress lifting synchronizing wheel；Elevating chain is the chain that both ends disconnect, and both ends are connected by screw on bottom plate respectively, elevating chain
Both ends are tensioned by drive sprocket and idle pulley respectively so that elevating chain is arranged along Z-direction；Installation is for solid on elevating chain
Determine the installation part of drum conveying line, and installation part is slidably connected with longitudinally arranged second straight line guide rail.
The drum conveying line includes the first power drum, the first no-power drum, the first connection belt, side positioning group
Part, rear positioning component and preceding blocking, first power drum and the first no-power drum are packed on lifting installation frame, the
By the first connection belt connection between one power drum and the second power drum, the transmission of power between the two is realized, first
Carrier chain of the rolling surface formation of power drum, the first no-power drum for conveying pallet；The laterally positioning component, it is described after
Positioning component is separately mounted on the lifting installation frame at carrier chain both ends, for being positioned to pallet；The side positioning group
Part includes the first positioning cylinder and the first insulation board, and the first insulation board is installed on the first positioning cylinder tail portion.Positioning group after described
Part includes the second positioning cylinder and the second insulation board, and the second insulation board is installed on the second positioning cylinder tail portion；The side positioning group
Part and rear positioning component are on lifting installation frame corresponding position；Pallet code reader is housed at the lifting installation frame, is used
In the information for scanning pallet at this；The control terminal of first positioning cylinder and the second positioning cylinder and the data processor phase
The action control port signal connection answered.
Pallet input pipeline before the second power drum, the second no-power drum, the second connection belt, first including stopping
Component and first pair penetrate photoelectricity, horizontal and parallel rack-mounted in rack pop-up of second power drum, the second no-power drum
Disk puts into area, and second power drum is connect by the second connection belt with the second no-power drum belt, the second power
The rolling surface of roller and the second no-power drum forms pallet and puts into pipeline；Barrier assembly setting is thrown in pallet before described first
Enter the output end of pipeline, barrier assembly includes third positioning cylinder and third insulation board, the third positioning before described first
Cylinder is on the corresponding position of conveying wire frame；The motion end of the third positioning cylinder is equipped with the third for clamping battery
Insulation board, and photoelectricity, first pair of signal output end for penetrating photoelectricity are penetrated in third positioning cylinder installation place equipped with first pair
It is connect with the first signal input part signal of the signal picker, at the control terminal and the data of the third positioning cylinder
Manage the corresponding action control port signal connection of device.
Pallet discharge pipeline includes third power drum, third no-power drum, third connection belt, stops before second
Component and second pair penetrate photoelectricity, and the third power drum, third no-power drum are packed in the pallet discharge area of rack, third
Horizontal and parallel rack-mounted at the top of rack of power drum, third no-power drum, and the third power drum passes through the
Three connection belts are connect with third no-power drum belt, the third power drum rolling surface shape synchronous with third no-power drum
Pipeline is put at pallet；The output end that pipeline is put into pallet is arranged in barrier assembly before described second, is hindered before described second
It includes the 4th positioning cylinder and the 4th insulation board to keep off component, and the 4th positioning cylinder is mounted in the corresponding position of conveying wire frame
On；The motion end of 4th positioning cylinder is equipped with the 4th insulation board, and the 4th positioning cylinder installation place is equipped with second pair
Photoelectricity is penetrated, second pair of signal output end for penetrating photoelectricity is connect with the first signal input part signal of the signal picker,
The control terminal action control port signal connection corresponding with the data processor of 4th positioning cylinder.
The course of work：Manually or mechanically battery is placed on the bottom plate of main conveyor line input terminal by hand first, keeps battery
Horizontal positioned, definition battery levels are placed as its bottom surface (i.e. the maximum rectangular surfaces of cell area) level and are laid on main conveyor line
On, and the longest side of battery is vertical with the traffic direction of battery carrier chain；Battery Card is between two blend stops of the block bottom plate at this time
Gap in, install rear pan feeding optoelectronic switch and detect there is battery on bottom plate, main conveyor line servo motor driving under start
Operation, by battery positional stations, carries out positioning barcode scanning to battery again on the position, and the information that barcode scanning obtains is transmitted to
In the signal picker of central controller, and the battery information in information and date memory is compared, it is divided
Gear, then battery continues to run with, and is passed after having battery until the discharging optoelectronic switch of the output end of main conveyor line detects on bottom plate
Central controller is transported to, to start grading manipulator；
Grading manipulator is connected to instruction and brings into operation, battery is picked up by the sucker of parallel manipulator bottom end, then root
Appropriate angle is rotated by battery sorting to corresponding auxiliary pipeline according to the corresponding gear information of battery, and battery is still at this time
Level is laid on auxiliary pipeline；Pan feeding optoelectronic switch on auxiliary pipeline detects after having battery on bottom plate, assists
Pipeline brings into operation, and battery is equally located to inform electricity after discharging optoelectronic switch detects battery through central controller afterwards
Draw manipulator in pond；
Empty pallet brings into operation after detecting empty pallet at pallet input pipeline transport, pallet input pipeline, this
When elevating mechanism for conveying tray drum conveying line and upper layer pallet input pipeline dock, empty pallet is transported to roller
At pipeline, then drum conveying line is docked with corresponding overturning platform, and the absorption manipulator of starting going to a nursery that battery draws manipulator is logical
It crosses the third grasping mechanism of bottom the battery on pipeline will be assisted to remove and overturn the overturning component of platform to overturning platform by the
Battery is overturn 90 ° by two grabbing devices, and then the battery after overturning is picked up and is put into elevating mechanism and lifts by battery manipulator of starting going to a nursery
Pallet in, at this time pallet carrier chain with auxiliary pipeline dock, after pallet is piled, elevating mechanism decline, pallet carrier chain
It is docked with pallet discharge pipeline, pallet is put into from pallet discharge pipeline discharge or from pallet input pipeline, Ke Yiyu
Material flow line or the docking of AGV trolleies are automatically drained out pallet, can also artificial discharge tray.
Beneficial effects of the present invention are：
1, by the scheme of automation, the sorting information of battery, pallet data are collected and are carried out inside set of system, are subtracted
Few artificial operation, improves production efficiency, ensures battery with two side terminals.
2, unilateral lug soft package lithium battery and bilateral lug soft package lithium battery are applicable in.
3, it can be docked with the production management system of each company using central controller, the shape of real time inspection battery and pallet
State information.
4, it can be docked with material flow line, the equipment such as AGV trolleies using the pattern of pipeline.
Description of the drawings
Fig. 1 is the structure chart of the present invention.
Fig. 2 a are the front views of the main conveyor line of the present invention.
Fig. 2 b are the left views of the main conveyor line of the present invention.
Fig. 2 c are the vertical views of the main conveyor line of the present invention.
Fig. 3 a are the grading manipulator front views of the present invention.
Fig. 3 b are the grading manipulator side views of the present invention.
Fig. 3 c are the grading manipulator vertical views of the present invention.
Fig. 4 a are the front views of the auxiliary pipeline of the present invention.
Fig. 4 b are the left views of the auxiliary pipeline of the present invention.
Fig. 4 c are the vertical views of the auxiliary pipeline of the present invention.
Fig. 5 a are the front views of the overturning platform of the present invention.
Fig. 5 b are the left views of the overturning platform of the present invention.
Fig. 5 c are the vertical views of the overturning platform of the present invention.
Fig. 6 a are that the absorption of the present invention is started going to a nursery manipulator schematic diagram.
Fig. 6 b are that the absorption of the present invention is started going to a nursery the front view of manipulator.
Fig. 6 c are that the absorption of the present invention is started going to a nursery the left view of manipulator.
Fig. 6 d are that the absorption of the present invention is started going to a nursery the vertical view of manipulator.
Fig. 7 a are the front views of the elevating mechanism of the present invention.
Fig. 7 b are the left views of the elevating mechanism of the present invention.
Fig. 7 c are the vertical views of the elevating mechanism of the present invention.
Fig. 8 a are the front views of the pallet input roller section of the present invention.
Fig. 8 b are the side views of the pallet input roller section of the present invention.
Fig. 8 c are the vertical views of the pallet input roller section of the present invention.
Fig. 9 a are the front views of the pallet discharge roller section of the present invention.
Fig. 9 b are the side views of the pallet discharge roller section of the present invention.
Fig. 9 c are the vertical views of the pallet discharge roller section of the present invention.
Specific implementation mode
It further illustrates the present invention below in conjunction with the accompanying drawings.
With reference to attached drawing：
A kind of automatic grading machine of soft package lithium battery of the present invention of embodiment 1, including be used to support rack 1, be used for
The battery conveying line 2 of transports cell, for battery implement sorting sorting manipulator 3, for being removed battery automatically to pallet
On battery blanking mechanism 4 and central controller 5 for controlling whole device operation, the battery conveying line 2 is taped against described
In front of rack, the battery blanking mechanism 4 and central controller 5 are installed in 1 corresponding region of rack, wherein the electricity
The sorting office of pond pipeline 2 is arranged above sorting manipulator 3, and the battery blanking mechanism 4 is arranged in 3 downstream of sorting manipulator
Battery conveying line carry area, under the control terminal of the battery conveying line 2, the control terminal of the sorting manipulator 3 and battery
The control terminal of material mechanism 4 is connect with the respective pins signal of the central controller 5 respectively；
The rack 1 is equipped with the pallet for being used to be laid with for putting into empty pallet and puts into area 12, for full tray to be discharged
Pallet discharge area 13, the discharging area for installing battery blanking mechanism 4 and the control zone for installing central controller, it is described
1 front of rack is equipped with the battery delivery area 11 of battery conveying line, and the battery delivery area is laid with battery conveying line 2；The blanking
Area's setting is between battery delivery area 11 and pallet input area 12, and region installation battery blanking mechanism 4；The pallet input
Area 12, about the 13 pallet discharge area are arranged in parallel, and pallet puts into area 12 and several parallel rollers, the rolling of the roller are housed
Face forms the pallet for putting into empty pallet and puts into pipeline 14；Pallet discharge area is equipped with several parallel rollers, the roller
Rolling surface forms the pallet for full tray to be discharged and pipeline 15 is discharged；
The battery conveying line 2 includes main conveyor line 21 and several auxiliary pipelines 22, main conveyor line 21, auxiliary conveying
Line 22 is and to assist the input terminal of pipeline 22 close to main conveying with driving device and the horizontal chain pipeline being laid with
The output end of line, sorting office of the region as battery conveying line 21；Assist the output end of pipeline 22 as battery conveying line
Area is carried to extend at battery blanking mechanism；It is equipped on main conveyor line 21, auxiliary pipeline 22 for controlling respective drive dress
The switch of keying is set, and the control terminal of switch port corresponding with central controller is connected；It is set on the main conveyor line 21
It is useful for the battery code scanning device 213 of scanning battery information；
The sorting manipulator 3 includes for capturing the first grasping mechanism 31 of battery to be sorted, being grabbed for adjusting first
Take the parallel manipulator 32 of mechanism position and the installation suspension 33 for being suspended from the first grasping mechanism above battery, the peace
Dress suspension 33 is located at the sorting office in battery conveying line, and the top for installing suspension 33 is being suspended from the sorting office of battery conveying line 2 just
Top ensures output end and the conveying of adjacent auxiliary of the crawl section movement locus covering main conveyor line of the first grasping mechanism 31
The input terminal of line；The top of the parallel manipulator 32 and the top of the installation suspension 33 are rotatablely connected, the parallel manipulator
Hand is the parallel robot of 4 axis, and bottom circles around its vertical center axis under the electrical driving of servo and vertically transports
It is dynamic, and the battery drawn can be rotated around vertical center axis 360；The control terminal of first grasping mechanism 31 is controlled with the center
5 corresponding control port signal of device connection processed；
The battery blanking mechanism 4 is corresponded with auxiliary pipeline 22, i.e., one auxiliary pipeline 22 corresponds to a set of electricity
Pond cutting agency 4, the battery blanking mechanism 4 include as the fixed frame 41 of overturning platform, for battery to be overturn 90 °
Overturning component 42, for will assist pipeline on battery send the absorption to pallet start going to a nursery manipulator 43 and for adjust support
The elevating mechanism 44 of disk lengthwise position, the fixed frame 41 are installed in rack 1, are put down as the overturning that battery is overturn to 90 °
Platform；The overturning component 42 is mounted on fixed frame 41, and the overturning component 42 includes for providing turning over for rotary driving force
Rotary driving device 421 and for providing the second grabbing device 422 for capturing battery to be flipped, the overturning drive device 421
Driving end is fixedly mounted with second grabbing device 422 so that driving of second grabbing device 422 in overturning drive device 421
Under the shaft that is set up around level rotate in a circumferential direction movement；
The manipulator 43 of starting going to a nursery of drawing includes the manipulator mounting rack 431 being used to support, for that will assist pipeline
Battery remove to the battery of overturning platform and draw manipulator 432 and for removing the battery to empty pallet and entering the battery after overturning
Manipulator 433 is held in the palm, wherein the top frame of the manipulator mounting rack 431 is the rectangle being suspended from right over 44 workbench of elevating mechanism
Frame；It is X-axis, the two axle movement mechanism of Z axis that battery, which draws manipulator 432, respectively is used to provide the first X-axis of X-motion
Motion and the first Z axis motion for providing Z-motion, wherein the first X-axis motion and the manipulator
The short side of mounting bracket is slidably connected, and the first Z axis motion is mounted on the first X-axis motion, and Z axis motion
Bottom is equipped with for the battery on pipeline will to be assisted to be drawn to the third grasping mechanism 434 on overturning platform；
The battery starts going to a nursery manipulator 433 as X-axis, Y-axis, the three-axis moving mechanism of Z axis, is respectively used to provide X axis
The second X-axis motion, the second Y-axis motion for providing X-motion and for providing Z-motion of movement
The short side of second Z axis motion, the second X-axis motion and the manipulator mounting rack is slidably connected, the second Y-axis fortune
Motivation structure is slidably connected on the second X-axis motion with the long side of manipulator mounting rack, on the second Z axis motion
It is equipped to be equipped with for the battery overturn on platform to be drawn to the 4th grasping mechanism on empty pallet；The length of rectangle frame defined in it
Degree direction is Y axis directions, and the width direction of rectangle frame is X-direction, and the y direction of rectangle frame is Z-direction；
The elevating mechanism 44 includes for providing the lift drive mechanism 441 of Z-direction lifting driving force, for placing
The drum conveying line 442 of pallet and the lifting installation frame 443 being used to support, the lifting installation frame 443 is mounted in overturning
Between platform and pallet input area, the lift drive mechanism 441 lifts drive on the lifting installation frame 443
The top of motivation structure 441 is equipped with several rollers disposed in parallel, and the rolling surface composition of roller is defeated for holding up the roller of pallet
Line sending so that drum conveying line makees elevating movement along Z-direction, realizes that drum conveying line is arranged with pallet input pipeline, pallet
Go out between pipeline and docks；The pallet code reader 444 for scanning tray information is equipped at the drum conveying line；Elevator
The effect of structure is：When pallet need to be put into, the drum conveying line of elevating mechanism is docked with pallet input pipeline, puts into empty support
Disk；After pallet is filled, the drum conveying line of elevating mechanism is docked with pallet discharge pipeline, and full tray is discharged；
The central controller 5 includes signal picker, data processor, data storage and human-computer interaction interface,
First signal input part of the signal picker and the signal output end signal of the battery code scanning device, pallet code reader connect
It connects；The signal input part of the data processor and the signal output end of the signal picker are electrically connected, the data processor
Action control port respectively under the control terminal of the battery conveying line, the control terminal of the sorting manipulator, the battery
Expect the control end signal connection of mechanism, the signal input part of the signal output end of the data processor and the data storage
It is electrically connected, the signal output end of the data storage and the signal input part of the human-computer interaction interface are electrically connected, the man-machine friendship
The mutual signal output end at interface is electrically connected with the second signal input terminal of the signal picker.
The chain pipeline of the main carrier chain is identical as the chain conveying cable architecture of auxiliary carrier chain, chain conveying
Line includes servo motor 23, speed reducer 24, chain 25, synchronous belt 26, the first synchronous pulley 27, the second synchronous pulley 28, bottom plate
29, the first sprocket wheel 210, the second sprocket wheel 211, the first sprocket shaft 212 and aluminum section bar frame 213, the servo motor 23 described subtract
Fast machine 24 is packed on aluminum section bar frame 212, and the output shaft of servo motor 23 is connected with the input shaft of the speed reducer 24；
The chain 25 joins end to end to form ring-like chain, and chain 25 is sleeved on outside the first sprocket wheel 210 and the second sprocket wheel 211, and
It is tensioned by the second sprocket wheel 211；The synchronous belt 26 is sleeved on outside the first synchronous pulley 27 and the second synchronous pulley 28, and described
One synchronous pulley 27 and first sprocket wheel 210 are mounted on first sprocket shaft 212, and second synchronous pulley is mounted on
On the output shaft of speed reducer 24, under the drive of servo motor 23 so that chain 25 moves along its length；The chain
Several pieces of bottom plates 29 are installed on 25 surface, and bottom plate 29 is arranged along the direction of travel of chain, and two are respectively arranged on every piece of bottom plate 29
Parallel blend stop 291, two blend stops and the screw connection of bottom plate 29, battery 6 are stuck in the gap between two blend stops 291；It is described
The input terminal of chain pipeline is equipped with the pan feeding optoelectronic switch 292 for starting servo motor, the output of the chain pipeline
End is equipped with the discharging optoelectronic switch 293 for closing servo motor, the control terminal of the pan feeding optoelectronic switch, the discharging photoelectricity
The control terminal of switch is connect with the first signal input part signal of the signal picker of the central controller respectively.
The input terminal of the chain pipeline is equipped with battery positional stations 294, and the battery positional stations include first fixed
Position cylinder 2941 and the first insulation board 2942, first positioning cylinder 2941 is on aluminum section bar frame 213；Described first is fixed
The motion end of position cylinder 2941 is equipped with the first insulation board 2942 for clamping battery, and the first positioning 2941 cylinder of gas is installed
Place is equipped with battery scanner 213, the information for scanning battery at this；The control terminal of first positioning cylinder 2941 with it is described
The corresponding action control port signal connection of data processor.
First grasping mechanism 31 is opened including the first vacuum generator 311, the first Suction cup assembly 312 and first pressure
313 are closed, first vacuum generator 311 is mounted on the bottom of parallel manipulator 32, and the first Suction cup assembly 312 is mounted on parallel connection
The bottom end of manipulator 32, and keep the sucker actuation face of the first Suction cup assembly 313 towards battery conveying line, it is defeated for picking up battery
The battery on line sending surface；The outlet tube that the air entry of first vacuum generator 311 passes through air intake duct and the first Suction cup assembly 312
Road is connected to；The detecting head of first pressure switch 313 is located at the air entry of the first vacuum generator 311, first pressure switch
313 signal output end and the first signal input part signal of signal picker connect, and the control of the first vacuum generator 311
End is connect with the action control port signal of data processor.
The overturning drive device 421 of the overturning component 42 includes tumble cylinder 4211, driving shaft 4212, driven axle
4213, hydraulic bjuffer 4214 and returning face plate 4215, the tumble cylinder 421 are mounted on 41 top of fixed frame, and described
The output shaft of tumble cylinder 421 is connected by 4216 device of the second shaft coupling with one end of the driving shaft 4212, and driving shaft 4212 is logical
Cross that hydraulic bjuffer 4214 is erected at 41 top of fixed frame with level and rotationally connected driven axle 4213 is connected, institute
It states 4,215 1 surface of returning face plate to be packed on driven axle 4213, another surface of returning face plate 4215 is multiple as EDS maps are attracted
Sucker, for battery to be overturn 90 °；Second grabbing device 422 of the overturning component 42 includes the second vacuum generator 4221
And filter 4222, the air entry of second vacuum generator 4221 pass through the sucker in respective line and returning face plate 4215
Pipeline connection, filter 4222 is on the pipeline between the second vacuum generator 4221 and sucker 4223；Second vacuum occurs
The action control end signal connection corresponding with data processor respectively of the control terminal of device 4221, the control terminal of tumble cylinder 4211.
The first X-axis motion is identical with the second X-axis motion structure；Two covering device reduction box reduction ratio
Equally, size is different, and module is the same, and size is different, as other；The first X-axis motion packet
Include the first driving motor 4321, the first reduction box 4322, first gear 4323, the first rack 4324 and first straight line guide rail
4325, the output shaft of first driving motor 4321 is connected with the input terminal of first reduction box 4322, the first reduction box
4322 output end installs the first gear 4323 for being engaged with the first rack, and first rack 4324, first straight line are led
Rail 4325 is mounted on manipulator mounting rack short side in an axial direction；The second X-axis motion include the second driving motor 4331,
Second reduction box 4332, second gear 4333, the first rack 4324 and first straight line guide rail 4325, second driving motor
4331 output shaft is connected with the input terminal of second reduction box 4332, and the output end installation of the second reduction box 4332 is used for
The second gear 4333 engaged with the first rack 4324, first rack 4324, first straight line guide rail 4325 fill in an axial direction
On manipulator mounting rack short side；
The Y-axis motion includes the second servo motor 4334 and the first module 4335, second servo motor
4334, first module 4335 is mounted on by module mounting plate 4336 on the second X-axis motion, and the first module
4335 along manipulator mounting rack long side arrange；
The second Z axis motion include the second module 4337, third servo motor 4338, cylinder mounting plate 4339,
Rotary cylinder 43310 and third Suction cup assembly 43311, second module 4337 is mounted in 4335 on the first module, and the two
It is slidably connected, cylinder mounting plate 4339 is on the second module, and the output end of rotary cylinder 43310 is equipped with for after overturning
Battery draw into the third Suction cup assembly 43311 in pallet；The control terminal of the driving motor 4331, the second servo motor
4334 control terminal, the control terminal of third servo motor 4338, the control terminal of rotary cylinder 43310 and third Suction cup assembly
The action control end signal connection corresponding with the data processor of central controller of 43311 control terminal.
The first Z axis motion includes the 4th servo motor 4326, third module 4327 and the 4th Suction cup assembly
4328, the third module 4327, the 4th servo motor 4326 are mounted on the first X-axis motion, 4327 edge of third module
Manipulator mounting rack Z-direction is arranged, and the two is slidably connected, output shaft and the third module 4327 of the 4th servo motor 4326
It is connected so that third module 4327 moves up and down in the 4th servo motor 4326 driving lower edge along manipulator mounting rack Z axis；4th
Suction cup assembly 4328 is mounted on the bottom of third module 4327, for the battery transfer on pipeline will to be assisted to overturning platform
On；The control terminal of 4th servo motor 4326, the control terminal of the 4th Suction cup assembly 4328 with the data of central controller
The corresponding action control end signal connection of processor.
The lift drive mechanism 441 includes lifting motor 4411, the lifting lifting synchronizing wheel of synchronous belt 4412, first
4413, second lifting synchronizing wheel 4414, drive sprocket 4415, elevating chain 4416, idle pulley 4417, third the linear guide 4418,
Driving shaft 4419 and the first bottom plate 44110, the lifting motor 4411 are mounted on lifting installation frame bottom, lifting motor 4411
Output end be co-axially mounted the first lifting synchronizing wheel 4413；Second lifting synchronizing wheel 4415 and drive sprocket 4415 are installed on actively
On axis 4419, elevating chain 4416 passes through drive sprocket 4415 and idle pulley 4417, and both ends are respectively fixed by screws in bottom plate 44110
On, it is tensioned by idle pulley 4417 so that elevating chain 4415 is arranged along Z-direction；First bottom plate 44110 is used for resting barrel
Pipeline.
The drum conveying line 442 includes the first power drum 4421, the first no-power drum 4422, first connection belt
4423, laterally positioning component 4424, rear positioning component 4425, preceding blocking 4426, first power drum 4421 and first is without dynamic
Power roller 4422 is packed on lifting installation frame, by the between the first power drum 4422 and the second power drum 4423
One connection belt connection, realizes the transmission of power between the two, the first power drum, the first no-power drum rolling surface formed
Carrier chain for conveying pallet；The laterally positioning component 4424, the rear positioning component 4425 are separately mounted to carrier chain two
On the lifting installation frame at end, for being positioned to pallet；The laterally positioning component includes the first positioning cylinder 44241 and the
One insulation board 44242, the first insulation board 44242 are installed on 44241 tail portion of the first positioning cylinder.Positioning component includes the after described
Two positioning cylinders 44251 and the second insulation board 44252, the second insulation board 44252 are installed on 44251 tail portion of the second positioning cylinder.
The laterally positioning component and rear positioning component are on lifting installation frame corresponding position；Equipped with support at the lifting installation frame
Disk code reader 444, the information for scanning pallet at this；First positioning cylinder, 44241 and second positioning cylinder 44251
Control terminal action control port signal connection corresponding with the data processor.
It includes the second power drum 141, the second no-power drum 142, second connection belt that pallet, which puts into pipeline 14,
143, barrier assembly 144 and first pair penetrate photoelectricity 145, second power drum 141, the second no-power drum 142 before first
Horizontal and parallel is rack-mounted in 1 top tray of rack input area, and second power drum 141 passes through the second connection belt 143
It is connect with 143 belt of the second no-power drum, the rolling surface of the second power drum 141 and the second no-power drum 142 forms support
Disk puts into pipeline；The output end that pipeline 14 is put into pallet is arranged in barrier assembly 144 before described first, before described first
Barrier assembly 144 includes third positioning cylinder 1441 and third insulation board 1442, and the third positioning cylinder 1441 is mounted in conveying
On the corresponding position of wire frame；The motion end of the third positioning cylinder 1441 is equipped with the third insulation board for clamping battery
1442, and photoelectricity 145, first pair of signal output end for penetrating photoelectricity are penetrated in third positioning cylinder installation place equipped with first pair
It is connect with the first signal input part signal of the signal picker, at the control terminal and the data of the third positioning cylinder
Manage the corresponding action control port signal connection of device.
It includes third power drum 151, third no-power drum 152, third connection belt that pipeline 15, which is discharged, in pallet
153, barrier assembly 154 and second pair penetrate photoelectricity 155, the third power drum 151, third no-power drum 152 before second
It is packed in the pallet discharge area of rack 1, horizontal and parallel rack-mounted in machine of third power drum 151, third no-power drum 152
The top of frame, and the third power drum 151 connects belt 153 by third and is connect with 152 belt of third no-power drum,
The rolling surface synchronous with third no-power drum 152 of third power drum 151 forms pallet and puts into pipeline；It is hindered before described second
The output end that pipeline is put into pallet is arranged in gear component 154, and barrier assembly 154 includes the 4th positioning cylinder before described second
1541 and the 4th insulation board 1542, the 4th positioning cylinder is on the corresponding position of conveying wire frame；4th positioning
The motion end of cylinder 1541 is equipped with the 4th insulation board 1542, and light is penetrated in 1541 installation place of the 4th positioning cylinder equipped with second pair
Electricity, second pair of signal output end for penetrating photoelectricity is connect with the first signal input part signal of the signal picker, described
The control terminal action control port signal connection corresponding with the data processor of 4th positioning cylinder.
The course of work：Manually or mechanically battery is placed on the bottom plate of main conveyor line input terminal by hand first, keeps battery
Horizontal positioned, definition battery levels are placed as its bottom surface (i.e. the maximum rectangular surfaces of cell area) level and are laid on main conveyor line
On, and the longest side of battery is vertical with the traffic direction of battery carrier chain；Battery Card is between two blend stops of the block bottom plate at this time
Gap in, install rear pan feeding optoelectronic switch and detect there is battery on bottom plate, main conveyor line servo motor driving under start
Operation, by battery positional stations, carries out positioning barcode scanning to battery again on the position, and the information that barcode scanning obtains is transmitted to
In the signal picker of central controller, and the battery information in information and date memory is compared, it is divided
Gear, then battery continues to run with, and is passed after having battery until the discharging optoelectronic switch of the output end of main conveyor line detects on bottom plate
Central controller is transported to, to start grading manipulator；
Grading manipulator is connected to instruction and brings into operation, and is picked up battery by the sucker of parallel manipulator bottom end, then root
Appropriate angle is rotated by battery sorting to corresponding auxiliary pipeline according to the corresponding gear information of battery, and battery is still at this time
Level is laid on auxiliary pipeline；Pan feeding optoelectronic switch on auxiliary pipeline detects after having battery on bottom plate, assists
Pipeline brings into operation, and battery is equally located to inform electricity after discharging optoelectronic switch detects battery through central controller afterwards
Draw manipulator in pond；
Empty pallet brings into operation after detecting empty pallet at pallet input pipeline transport, pallet input pipeline, this
When elevating mechanism for conveying tray drum conveying line and upper layer pallet input pipeline dock, empty pallet is transported to jacking
At the drum conveying line of mechanism, and to pallet positioning and barcode scanning, the absorption manipulator of starting going to a nursery that battery draws manipulator passes through bottom
Third grasping mechanism by assist pipeline on battery remove to overturning platform, overturn platform overturning component pass through second crawl
Battery is overturn 90 ° by device, and then the battery after overturning is picked up the pallet for being put into elevating mechanism and lifting by battery manipulator of starting going to a nursery
Interior, after pallet is piled, elevating mechanism declines, and pallet carrier chain is docked with pallet discharge pipeline, and pallet is discharged defeated from pallet
Line sending is discharged or from pallet input pipeline input, can dock with material flow line or AGV trolleies and be automatically drained out pallet, can also
Artificial discharge tray.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range is not construed as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention also includes art technology
Personnel according to present inventive concept it is conceivable that equivalent technologies mean.
Claims (10)
1. a kind of automatic grading machine of soft package lithium battery, it is characterised in that：Including be used to support rack, for the electricity of transports cell
Pond pipeline, for battery implement sorting sorting manipulator, for battery to be removed to the battery blanking machine to pallet automatically
Structure and the central controller run for controlling whole device, the battery conveying line are taped against in front of the rack, the battery
Cutting agency and central controller are installed in the corresponding region of rack, wherein right over the sorting office of the battery conveying line
Sorting manipulator is set, and the battery conveying line that the battery blanking mechanism is arranged in sorting manipulator downstream carries area, the electricity
The control terminal of the control terminal of pond pipeline, the control terminal of the sorting manipulator and battery blanking mechanism respectively with the center
The respective pins signal of controller connects；
The rack is equipped with the pallet for putting into empty pallet and puts into area, the pallet discharge area for full tray to be discharged, is used for
The discharging area of battery blanking mechanism and the control zone for installing central controller are installed, it is defeated to be equipped with battery in front of the rack
The battery delivery area of line sending, the battery delivery area are laid with battery conveying line；The discharging area is arranged in battery delivery area and support
Disk is put between area, and region installation battery blanking mechanism；It is parallel above and below pallet input area, the pallet discharge area to set
Set, pallet puts into area and several parallel rollers is housed, the rolling surface of the roller formed the pallet for putting into empty pallet put into it is defeated
Line sending；Pallet discharge area is equipped with several parallel rollers, and the rolling surface of the roller forms the pallet for full tray to be discharged and is discharged
Pipeline；
The battery conveying line includes main conveyor line and several auxiliary pipelines, and main conveyor line, auxiliary pipeline are to carry
Driving device and the horizontal chain pipeline being laid with, and assist the input terminal of pipeline close to the output end of main conveyor line, the area
Sorting office of the domain as battery conveying line；It assists the output end of pipeline to carry area as battery conveying line and extends to battery blanking
At mechanism；Main conveyor line assists being equipped with the switch for controlling the keying of respective drive device on pipeline, and the switch
Control terminal port corresponding with central controller is connected；The main conveyor line is equipped with the battery code scanning for scanning battery information
Device；
The sorting manipulator includes for capturing the first grasping mechanism of battery to be sorted, for adjusting the first grasping mechanism position
The parallel manipulator set and the installation suspension for being suspended from the first grasping mechanism above battery, the installation suspension are located at
The sorting office of battery conveying line, and install and be suspended from the top of suspension right over the sorting office of battery conveying line, ensure the first crawl
The output end of the crawl section movement locus covering main conveyor line of mechanism and the input terminal of adjacent auxiliary pipeline；The parallel connection
The top of manipulator and the top of the installation suspension are rotatablely connected, and the parallel manipulator is the parallel robot of 4 axis, bottom
Portion circles and moves vertically around its vertical center axis under the electrical driving of servo, and the battery drawn can be around vertical
Central shaft 360 rotates；The control terminal control port signal connection corresponding with the central controller of first grasping mechanism；
The battery blanking mechanism is corresponded with auxiliary pipeline, i.e., one auxiliary pipeline corresponds to a set of battery blanking machine
Structure, the battery blanking mechanism include as overturning platform fixed frame, for by battery overturn 90 ° overturning component,
For that will assist the battery on pipeline that the absorption to pallet is sent to start going to a nursery manipulator and for adjusting pallet lengthwise position
Elevating mechanism, the fixed frame are installed in rack, and 90 ° of overturning platform is overturn as the battery that will carry area；It is described to turn over
Turn component on the fixed frame, the overturning component includes overturning drive device for providing rotary driving force and is used for
The second grabbing device for capturing battery to be flipped is provided, the driving end of the overturning drive device is fixedly mounted with the second crawl dress
It sets so that the shaft that second grabbing device is set up under the driving of overturning drive device around level rotates in a circumferential direction movement；
It is described absorption start going to a nursery manipulator include the manipulator mounting rack being used to support, for will assist pipeline on battery remove to
The battery of overturning platform draws manipulator and starts going to a nursery manipulator for the battery after overturning to be removed the battery to empty pallet, wherein
The top frame of the manipulator mounting rack is the rectangle frame being suspended from right over elevating mechanism workbench；It is X that battery, which draws manipulator,
The two axle movement mechanism of axis, Z axis, respectively be used for provide X-motion the first X-axis motion and for provide Z axis to
First Z axis motion of movement, wherein the short side of the first X-axis motion and the manipulator mounting rack is slidably connected, the
One Z axis motion is mounted on the first X-axis motion, and the bottom of Z axis motion is equipped with for that will assist conveying
Battery on line is drawn to the third grasping mechanism on overturning platform；
Battery manipulator of starting going to a nursery is X-axis, Y-axis, the three-axis moving mechanism of Z axis, respectively is used to provide the of X-motion
Two X-axis motions, the second Y-axis motion for providing X-motion and the second Z axis for providing Z-motion
The short side of motion, the second X-axis motion and the manipulator mounting rack is slidably connected, the second Y-axis motion
It is slidably connected on the second X-axis motion, and with the long side of manipulator mounting rack, dress is equipped on the second Z axis motion
Be useful for the 4th grasping mechanism battery on overturning platform being drawn on empty pallet；The length direction of rectangle frame defined in it
Width direction for Y direction, rectangle frame is X-direction, and the y direction of rectangle frame is Z-direction；
The elevating mechanism includes for providing the lift drive mechanism of Z-direction lifting driving force, for the rolling of placement tray
Cylinder pipeline and the lifting installation frame that is used to support, the lifting installation frame mounted in overturning platform and pallet put into area it
Between, the lift drive mechanism is on the lifting installation frame, and the top of lift drive mechanism is flat equipped with several
The roller of row setting, the rolling surface of roller constitute the drum conveying line for holding up pallet so that drum conveying line is along Z-direction
Make elevating movement, realizes and docked between drum conveying line and pallet input pipeline, pallet discharge pipeline；The roller conveying
The pallet code reader for scanning tray information is equipped at line；
The central controller includes signal picker, data processor, data storage and human-computer interaction interface, the letter
First signal input part of number collector is connect with the signal output end signal of the battery code scanning device, pallet code reader；It is described
The signal input part of data processor and the signal output end of the signal picker are electrically connected, the action control of the data processor
Port processed respectively with the control terminal of the battery conveying line, the control terminal of the sorting manipulator, the battery blanking mechanism
End signal connection is controlled, the signal output end of the data processor and the signal input part of the data storage are electrically connected, institute
The signal input part for stating the signal output end and the human-computer interaction interface of data storage is electrically connected, the human-computer interaction interface
The second signal input terminal of signal output end and the signal picker is electrically connected.
2. a kind of automatic grading machine of soft package lithium battery as described in claim 1, it is characterised in that：The chain pipeline includes
Servomotor, gear reducer, chain, synchronous belt, the first synchronous pulley, two the second synchronous pulleys, bottom plate, the first sprocket wheels, second
Sprocket wheel, the first sprocket shaft and aluminum section bar frame, the servo motor, the speed reducer are packed on aluminum section bar frame, and watch
The output shaft for taking motor is connected with the input shaft of the speed reducer；The chain joins end to end to form ring-like chain, and chain
It is sleeved on outside the first sprocket wheel and the second sprocket wheel, and is tensioned by the second sprocket wheel；The synchronous belt is sleeved on the first synchronous pulley and
Outside two synchronous pulleys, first synchronous pulley and first sprocket wheel are mounted on first sprocket shaft, and described second
Synchronous pulley is mounted on the output shaft of speed reducer, under the drive of servo motor so that chain is moved along chain length direction；
Several pieces of bottom plates are installed on the surface of the chain, and bottom plate is arranged along the direction of travel of chain, and two are respectively arranged on every piece of bottom plate
Parallel blend stop, two blend stops and bottom plate screw connection, Battery Card is in the gap between two blend stops；The chain pipeline
Input terminal be equipped with pan feeding optoelectronic switch for starting servo motor, the output end of the chain pipeline is equipped with for closing
The discharging optoelectronic switch of servo motor, the control terminal of the pan feeding optoelectronic switch, the control terminal difference of the discharging optoelectronic switch
It is connect with the first signal input part signal of the signal picker of the central controller；The input terminal of the chain pipeline increases
If battery positional stations, the battery positional stations include the first positioning cylinder and the first insulation board, first positioning cylinder
On aluminum section bar frame；The motion end of first positioning cylinder is equipped with the first insulation board for pushing battery, and described
First positioning cylinder installation place is equipped with battery scanner, the information for scanning battery at this；The control of first positioning cylinder
End processed action control port signal connection corresponding with the data processor.
3. a kind of automatic grading machine of soft package lithium battery as described in claim 1, it is characterised in that：The first grasping mechanism packet
It includes the first vacuum generator, the first Suction cup assembly and first pressure switch, first vacuum generator and is mounted on parallel machine
The bottom of tool hand, the first Suction cup assembly are mounted on the bottom end of parallel manipulator, and the sucker of the first Suction cup assembly is kept to be attracted face
Towards battery conveying line, the battery for picking up battery conveying line surface；The air entry of first vacuum generator passes through air intake duct
With the gas outlet pipeline connection of the first Suction cup assembly；The detecting head of first pressure switch is located at the air entry of the first vacuum generator
Place, the signal output end of first pressure switch and the first signal input part signal of signal picker connect, and the first vacuum is sent out
The control terminal of raw device and the action control port signal of data processor connect.
4. a kind of automatic grading machine of soft package lithium battery as described in claim 1, it is characterised in that：The overturning of the overturning component
Driving device includes tumble cylinder, driving shaft, driven axle, hydraulic bjuffer and returning face plate, and the tumble cylinder, which is mounted on, fixes
Framework upper, and the output shaft of the tumble cylinder is connected by second shaft coupling with one end of the driving shaft, driving shaft
Fixed frame top is erected at level and rotationally connected driven axle is connected, the returning face plate one by hydraulic bjuffer
Surface is packed on driven axle, and another surface of returning face plate is as the actuation multiple suckers of EDS maps, the electricity for will be horizontally arranged
Pond is overturn to vertical state；Second grabbing device of the overturning component includes the second vacuum generator and filter, described
The air entry of second vacuum generator is mounted in the second vacuum by the sucker pipeline connection in respective line and returning face plate, filter
On pipeline between generator and sucker；The control terminal of second vacuum generator, the control terminal of tumble cylinder respectively at data
Manage the corresponding action control end signal connection of device.
5. a kind of automatic grading machine of soft package lithium battery as described in claim 1, it is characterised in that：The first X-axis fitness machine
Structure is identical with the second X-axis motion structure, including driving motor, reduction box, gear, rack and the linear guide, institute
The output shaft for stating driving motor is connected with the input terminal of the reduction box, and the output end of reduction box installation with rack for engaging
Gear, the rack, the linear guide are mounted on manipulator mounting rack short side in an axial direction；The Y-axis motion includes second
Servo motor and the first module, the Y-axis motion are fixed on module mounting plate, and module mounting plate is mounted on the straight line
On guide rail；Second servo motor, first module are mounted on the second X-axis motion by the installation of module mounting plate
On, and the first module is arranged along the long side of manipulator mounting rack；The second Z axis motion includes the second module, third
Servo motor, cylinder mounting plate, rotary cylinder and third Suction cup assembly, second module are mounted on the first module, and two
Person is slidably connected, and cylinder mounting plate is on the second module, and the output end of rotary cylinder is equipped with for the battery after overturning
Draw into the third Suction cup assembly in pallet；The control terminal of the driving motor, the control terminal of the second servo motor, third servo
The control terminal of the control terminal of motor, the control terminal of rotary cylinder and third Suction cup assembly with the data processing of central controller
The corresponding action control end signal connection of device.
6. a kind of automatic grading machine of soft package lithium battery as described in claim 1, it is characterised in that：The first Z axis fitness machine
Structure includes the 4th servo motor, third module and the 4th Suction cup assembly, and the third module, the 4th servo motor are mounted on the
On one X-axis motion, third module is arranged along manipulator mounting rack Z-direction, and the two is slidably connected, the 4th servo motor
Output shaft be connected with third module so that third module the 4th servo motor drive lower edge along manipulator mounting rack Z axis
Lower movement；4th Suction cup assembly is mounted on the bottom of third module, for the battery on pipeline auxiliary pipeline will to be assisted to turn
It moves on overturning platform；The control terminal of 4th servo motor, the control terminal of the 4th Suction cup assembly with central controller
The corresponding action control end signal connection of data processor.
7. a kind of automatic grading machine of soft package lithium battery as described in claim 1, it is characterised in that：The lift drive mechanism packet
Include lifting motor, lifting synchronous belt, the first lifting synchronizing wheel, the second lifting synchronizing wheel, drive sprocket, elevating chain, idle pulley, the
Three the linear guides, driving shaft and the first bottom plate, the lifting motor are mounted on lifting installation frame bottom, the output of lifting motor
End is co-axially mounted first；Second lifting synchronizing wheel and drive sprocket are installed on driving shaft, lift synchronizing wheel；Elevating chain is two
The chain disconnected is held, both ends are connected by screw on bottom plate respectively, and the both ends of elevating chain are respectively by drive sprocket and lazy
Wheel tensioning, so that elevating chain is arranged along Z-direction；First bottom plate is used for resting barrel pipeline.
8. a kind of automatic grading machine of soft package lithium battery as claimed in claim 7, it is characterised in that：The drum conveying line includes
First power drum, the first no-power drum, the first connection belt, laterally positioning component, rear positioning component and preceding blocking, described the
One power drum and the first no-power drum are packed on lifting installation frame, between the first power drum and the second power drum
By the first connection belt connection, the transmission of power between the two, the rolling of the first power drum, the first no-power drum are realized
Face forms the carrier chain for conveying pallet；The laterally positioning component, the rear positioning component are separately mounted to carrier chain both ends
Lifting installation frame on, for being positioned to pallet；The laterally positioning component includes the first positioning cylinder and the first insulation
Plate, the first insulation board are installed on the first positioning cylinder tail portion.Positioning component includes the second positioning cylinder and the second insulation after described
Plate, the second insulation board are installed on the second positioning cylinder tail portion；The laterally positioning component and rear positioning component are mounted in lifting installing frame
On frame corresponding position；Pallet code reader, the information for scanning pallet at this are housed at lifting installation frame；Described first
The action control port signal connection corresponding with the data processor of the control terminal of positioning cylinder and the second positioning cylinder.
9. a kind of automatic grading machine of soft package lithium battery as described in claim 1, it is characterised in that：Pallet puts into pipeline
Second power drum, the second no-power drum, the second connection belt, barrier assembly and first pair penetrate photoelectricity before first, and described the
Horizontal and parallel rack-mounted of two power drums, the second no-power drum puts into area in rack top tray, and second power rolls
Cylinder is connect by the second connection belt with the second no-power drum belt, the rolling of the second power drum and the second no-power drum
Face forms pallet and puts into pipeline；Before described first barrier assembly be arranged pallet put into pipeline output end, described first
Preceding barrier assembly includes third positioning cylinder and third insulation board, corresponding positions of the third positioning cylinder mounted in conveying wire frame
It sets；The motion end of the third positioning cylinder is equipped with the third insulation board for clamping battery, and the third positioning cylinder
Photoelectricity, the first signal of first pair of signal output end for penetrating photoelectricity and the signal picker are penetrated in installation place equipped with first pair
Input end signal connects, the control terminal action control port signal corresponding with the data processor of the third positioning cylinder
Connection.
10. a kind of automatic grading machine of soft package lithium battery as described in claim 1, it is characterised in that：Pipeline packet is discharged in pallet
Include that third power drum, third no-power drum, third connection belt, barrier assembly and second pair penetrate photoelectricity before second, it is described
Third power drum, third no-power drum are packed in the pallet discharge area of rack, third power drum, third no-power drum
Horizontal and parallel is rack-mounted at the top of rack, and the third power drum connects belt and the unpowered rolling of third by third
Cylinder belt connection, the third power drum rolling surface synchronous with third no-power drum form pallet and put into pipeline；Described
The output end that pipeline is put into pallet is arranged in barrier assembly before two, before described second barrier assembly include the 4th positioning cylinder and
4th insulation board, the 4th positioning cylinder is on the corresponding position of conveying wire frame；The action of 4th positioning cylinder
End is equipped with the 4th insulation board, and photoelectricity is penetrated in the 4th positioning cylinder installation place equipped with second pair, and described second pair is penetrated photoelectricity
Signal output end is connect with the first signal input part signal of the signal picker, the control terminal of the 4th positioning cylinder with
The corresponding action control port signal connection of data processor..
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810104477.2A CN108435591B (en) | 2018-02-02 | 2018-02-02 | Automatic gear-shifting machine for soft-package lithium battery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810104477.2A CN108435591B (en) | 2018-02-02 | 2018-02-02 | Automatic gear-shifting machine for soft-package lithium battery |
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| CN108435591A true CN108435591A (en) | 2018-08-24 |
| CN108435591B CN108435591B (en) | 2023-11-21 |
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| CN109264391A (en) * | 2018-09-25 | 2019-01-25 | 苏州晟成光伏设备有限公司 | Robot grading machine |
| CN109939947A (en) * | 2019-04-30 | 2019-06-28 | 珠海泰坦新动力电子有限公司 | Cylindrical battery automatic sorting combo system |
| CN110102503A (en) * | 2019-04-25 | 2019-08-09 | 深圳市格林晟自动化技术有限公司 | A kind of novel high speed sorting line |
| CN110421872A (en) * | 2019-07-31 | 2019-11-08 | 芜湖长鹏汽车零部件有限公司 | Bottom backplate contact heating formation system |
| CN111115234A (en) * | 2019-12-31 | 2020-05-08 | 苏州精濑光电有限公司 | Dividing device |
| CN113899580A (en) * | 2021-09-16 | 2022-01-07 | 广东拓斯达科技股份有限公司 | Sampler for battery baking |
| CN115193761A (en) * | 2022-09-14 | 2022-10-18 | 苏州玻色智能科技有限公司 | OCV test machine |
| CN115783791A (en) * | 2023-02-07 | 2023-03-14 | 中电科风华信息装备股份有限公司 | Feeding machine in butt joint with AGV trolley |
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| CN113899580A (en) * | 2021-09-16 | 2022-01-07 | 广东拓斯达科技股份有限公司 | Sampler for battery baking |
| CN113899580B (en) * | 2021-09-16 | 2024-04-09 | 广东拓斯达科技股份有限公司 | Sampler for baking battery |
| CN115193761A (en) * | 2022-09-14 | 2022-10-18 | 苏州玻色智能科技有限公司 | OCV test machine |
| CN115783791B (en) * | 2023-02-07 | 2023-04-14 | 中电科风华信息装备股份有限公司 | Feeding machine butted with AGV trolley |
| CN115783791A (en) * | 2023-02-07 | 2023-03-14 | 中电科风华信息装备股份有限公司 | Feeding machine in butt joint with AGV trolley |
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