CN108435591B

CN108435591B - Automatic gear-shifting machine for soft-package lithium battery

Info

Publication number: CN108435591B
Application number: CN201810104477.2A
Authority: CN
Inventors: 曹骥; 刘伟; 陶顺兴
Original assignee: Zhejiang Hangke Technology Co Ltd
Current assignee: Zhejiang Hangke Technology Co Ltd
Priority date: 2018-02-02
Filing date: 2018-02-02
Publication date: 2023-11-21
Anticipated expiration: 2038-02-02
Also published as: CN108435591A

Abstract

The utility model provides an automatic sorting machine of soft packet lithium cell, including the frame that is used for supporting, a battery transfer chain that is used for transporting the battery, be used for implementing the letter sorting manipulator of letter sorting to the battery, be used for carrying the battery automatic to the battery unloading mechanism on the tray and be used for controlling the central controller of whole device operation, battery transfer chain, battery unloading mechanism and central controller all install in the frame, set up letter sorting manipulator directly over the letter sorting department of battery transfer chain, battery unloading mechanism sets up the battery transfer chain transport district at letter sorting manipulator low reaches, the control end of battery transfer chain, the control end of letter sorting manipulator and the control end of battery unloading mechanism respectively with central controller's corresponding pin signal connection. The beneficial effects of the invention are as follows: the automation of battery sorting is realized, the production efficiency is improved, and the consistency of batteries is ensured; the lithium battery is applicable to single-side pole ear soft package lithium batteries and double-side pole ear soft package lithium batteries; and interfacing with production management systems of various companies to view state information of the batteries and the trays in real time.

Description

Automatic gear-shifting machine for soft-package lithium battery

Technical Field

The invention relates to an automatic stepper for a soft-package lithium battery.

Background

In the production process of the soft-package lithium battery, battery grading equipment is an important process. At present, a manual sorting process of a battery manufacturer is adopted, batteries or trays are scanned by a manual sorting machine, the batteries with the same grade are sorted manually according to display of an indicator lamp to be classified into one grade, and the next battery or tray is sorted in a recycling mode.

Disclosure of Invention

In order to solve the problems, the invention provides the automatic stepper for the soft-package lithium battery, which improves the production efficiency, reduces the time and the labor input cost and improves the battery quality.

The invention relates to an automatic stepper for a soft-package lithium battery, which is characterized in that: the battery conveying device comprises a frame used for supporting, a battery conveying line used for conveying batteries, a sorting manipulator used for sorting the batteries, a battery discharging mechanism used for automatically conveying the batteries to a tray and a central controller used for controlling the operation of the whole device, wherein the battery conveying line is paved in front of the frame, the battery discharging mechanism and the central controller are both arranged in a corresponding area of the frame, the sorting manipulator is arranged right above the sorting position of the battery conveying line, the battery discharging mechanism is arranged in a battery conveying line carrying area at the downstream of the sorting manipulator, and a control end of the battery conveying line, a control end of the sorting manipulator and a control end of the battery discharging mechanism are respectively connected with corresponding pins of the central controller through signals;

The device comprises a rack, a tray feeding area, a tray discharging area, a discharging area and a control area, wherein the tray feeding area is used for feeding empty trays, the tray discharging area is used for discharging full trays, the discharging area is used for installing a battery discharging mechanism, the control area is used for installing a central controller, a battery conveying area of a battery conveying line is arranged in front of the rack, and the battery conveying area is used for paving the battery conveying line; the discharging area is arranged between the battery conveying area and the tray input area, and a battery discharging mechanism is arranged in the battery conveying area; the tray input area and the tray discharge area are arranged in parallel up and down, the tray input area is provided with a plurality of parallel rollers, and the rolling surfaces of the rollers form a tray input conveying line for inputting empty trays; the tray discharging area is provided with a plurality of parallel rollers, and the rolling surfaces of the rollers form a tray discharging conveying line for discharging full trays;

the battery conveying line comprises a main conveying line and a plurality of auxiliary conveying lines, wherein the main conveying line and the auxiliary conveying lines are both chain conveying lines which are provided with driving devices and are horizontally paved, the input end of the auxiliary conveying line is closely adjacent to the output end of the main conveying line, and the area is used as a sorting position of the battery conveying line; the output end of the auxiliary conveying line is used as a battery conveying line conveying area to extend to a battery blanking mechanism; the main conveying line and the auxiliary conveying line are respectively provided with a switch for controlling the on-off of the corresponding driving device, and the control end of the switch is connected with a port corresponding to the central controller; a battery code scanner for scanning battery information is arranged on the main conveying line;

The sorting manipulator comprises a first grabbing mechanism for grabbing a battery to be sorted, a parallel manipulator for adjusting the position of the first grabbing mechanism and an installation suspension for suspending the first grabbing mechanism above the battery, wherein the installation suspension is arranged at the sorting position of the battery conveying line, and the top of the installation suspension is suspended right above the sorting position of the battery conveying line, so that the movement track of the grabbing part of the first grabbing mechanism is ensured to cover the output end of the main conveying line and the input end of the adjacent auxiliary conveying line; the top of the parallel manipulator is rotationally connected with the upper part of the mounting suspension, the parallel manipulator is a 4-axis parallel robot, the bottom of the parallel manipulator is driven by servo electricity to do circular motion and vertical motion around the vertical central axis of the parallel manipulator, and the sucked battery can rotate around the vertical central axis 360; the control end of the first grabbing mechanism is in signal connection with a control port corresponding to the central controller;

the battery discharging mechanism corresponds to the auxiliary conveying lines one by one, namely one auxiliary conveying line corresponds to one set of battery discharging mechanism, the battery discharging mechanism comprises a fixed frame serving as a turnover platform, a turnover assembly for turning over the battery by 90 degrees, a sucking and supporting manipulator for conveying the battery on the auxiliary conveying line into the tray, and a lifting mechanism for adjusting the longitudinal position of the tray, and the fixed frame is fixedly arranged on the frame and serves as the turnover platform for turning over the battery by 90 degrees; the turnover assembly is arranged on the fixed frame and comprises a turnover driving device for providing a rotation driving force and a second grabbing device for providing grabbing batteries to be turned, wherein the driving end of the turnover driving device is fixedly arranged on the second grabbing device, so that the second grabbing device performs circumferential rotation motion around a horizontally erected rotating shaft under the driving of the turnover driving device;

The suction and supporting manipulator comprises a manipulator mounting frame for supporting, a battery suction manipulator for moving the battery on the auxiliary conveying line to the overturning platform, and a battery supporting manipulator for moving the overturned battery to the empty tray, wherein the top frame of the manipulator mounting frame is a rectangular frame suspended above the working platform of the lifting mechanism; the battery sucking manipulator is an X-axis and Z-axis two-axis movement mechanism, which is respectively a first X-axis movement mechanism for providing X-axis movement and a first Z-axis movement mechanism for providing Z-axis movement, wherein the first X-axis movement mechanism is in sliding connection with the short side of the manipulator mounting frame, the first Z-axis movement mechanism is arranged on the first X-axis movement mechanism, and the bottom of the Z-axis movement mechanism is provided with a third grabbing mechanism for sucking the battery on the auxiliary conveying line onto the overturning platform;

the battery supporting manipulator is an X-axis, Y-axis and Z-axis three-axis movement mechanism, and comprises a second X-axis movement mechanism for providing X-axis movement, a second Y-axis movement mechanism for providing X-axis movement and a second Z-axis movement mechanism for providing Z-axis movement, wherein the second X-axis movement mechanism is in sliding connection with the short side of the manipulator mounting frame, the second Y-axis movement mechanism is arranged on the second X-axis movement mechanism and in sliding connection with the long side of the manipulator mounting frame, and a fourth grabbing mechanism for sucking the battery on the overturning platform onto the empty tray is assembled on the second Z-axis movement mechanism; defining the length direction of the rectangular frame as the Y-axis direction, the width direction of the rectangular frame as the X-axis direction, and the longitudinal axis direction of the rectangular frame as the Z-axis direction;

The lifting mechanism comprises a lifting driving mechanism for providing lifting driving force in the Z-axis direction, a roller conveying line for placing the tray and a lifting installation frame for supporting, wherein the lifting installation frame is arranged between the overturning platform and the tray input area, the lifting driving mechanism is arranged on the lifting installation frame, a plurality of rollers which are arranged in parallel are arranged at the top of the lifting driving mechanism, the roller conveying line for supporting the tray is formed by the rolling surface of the rollers, so that the roller conveying line moves up and down along the Z-axis direction, and butt joint between the roller conveying line and the tray input conveying line and butt joint between the tray discharging conveying line are realized; tray code scanners for scanning tray information are arranged at the roller conveying lines;

the central controller comprises a signal collector, a data processor, a data memory and a human-computer interaction interface, wherein a first signal input end of the signal collector is in signal connection with signal output ends of the battery code scanner and the tray code scanner; the signal input end of the data processor is electrically connected with the signal output end of the signal collector, the action control port of the data processor is respectively in signal connection with the control end of the battery conveying line, the control end of the sorting manipulator and the control end of the battery blanking mechanism, the signal output end of the data processor is electrically connected with the signal input end of the data memory, the signal output end of the data memory is electrically connected with the signal input end of the man-machine interaction interface, and the signal output end of the man-machine interaction interface is electrically connected with the second signal input end of the signal collector.

The chain conveying line comprises a servo motor, a speed reducer, a chain, a synchronous belt, a first synchronous belt pulley, two second synchronous belt pulleys, a bottom plate, a first chain wheel, a second chain wheel, a first chain wheel shaft and an aluminum profile frame, wherein the servo motor and the speed reducer are fixedly arranged on the aluminum profile frame, and an output shaft of the servo motor is connected with an input shaft of the speed reducer; the chains are connected end to form a ring-shaped chain, and the chains are sleeved outside the first chain wheel and the second chain wheel and are tensioned through the second chain wheel; the synchronous belt is sleeved outside a first synchronous belt pulley and a second synchronous belt pulley, the first synchronous belt pulley and the first chain wheel are arranged on the first chain wheel shaft, the second synchronous belt pulley is arranged on an output shaft of the speed reducer, and the chain moves along the length direction of the chain under the drive of the servo motor; the surface of the chain is provided with a plurality of bottom plates, the bottom plates are distributed along the advancing direction of the chain, each bottom plate is provided with two parallel barrier strips, the two barrier strips are connected with the bottom plates by screws, and the battery is clamped in a gap between the two barrier strips; the input end of the chain-shaped conveying line is provided with a feeding photoelectric switch for starting the servo motor, the output end of the chain-shaped conveying line is provided with a discharging photoelectric switch for closing the servo motor, and the control end of the feeding photoelectric switch and the control end of the discharging photoelectric switch are respectively connected with a first signal input end of a signal collector of the central controller in a signal manner; the battery positioning station is additionally arranged at the input end of the chain conveying line and comprises a first positioning cylinder and a first insulating plate, and the first positioning cylinder is arranged on the aluminum profile frame; the action end of the first positioning cylinder is provided with a first insulating plate for clamping a battery, and the installation part of the first positioning cylinder is provided with a battery scanner for scanning the information of the battery at the installation part; and the control end of the first positioning cylinder is in signal connection with a corresponding action control port of the data processor.

The first grabbing mechanism comprises a first vacuum generator, a first sucker assembly and a first pressure switch, wherein the first vacuum generator is arranged at the bottom of the parallel manipulator, the first sucker assembly is arranged at the bottom of the parallel manipulator, and the sucker suction surface of the first sucker assembly faces the battery conveying line and is used for sucking up the battery on the surface of the battery conveying line; the air suction port of the first vacuum generator is communicated with the air outlet pipeline of the first sucker assembly through an air suction pipe; the detecting head of the first pressure switch is positioned at the air suction port of the first vacuum generator, the signal output end of the first pressure switch is in signal connection with the first signal input end of the signal collector, and the control end of the first vacuum generator is in signal connection with the action control port of the data processor.

The turnover driving device of the turnover assembly comprises a turnover cylinder, a driving shaft, a driven shaft, a hydraulic buffer and a turnover plate, wherein the turnover cylinder is arranged on the upper part of the fixed frame, an output shaft of the turnover cylinder is connected with one end of the driving shaft through a second coupler, the driving shaft is connected with the driven shaft which is horizontally erected on the upper part of the fixed frame and is rotationally connected with the fixed frame through the hydraulic buffer, one surface of the turnover plate is fixedly arranged on the driven shaft, and the other surface of the turnover plate is used as a suction surface to distribute a plurality of suckers for turning a horizontally placed battery to a vertical state; the second grabbing device of the overturning assembly comprises a second vacuum generator and a filter, an air suction port of the second vacuum generator is communicated with a sucker pipeline on the overturning plate through a corresponding pipeline, and the filter is arranged on a pipeline between the second vacuum generator and the sucker; the control end of the second vacuum generator and the control end of the overturning cylinder are respectively connected with the corresponding action control end of the data processor through signals.

The first X-axis movement mechanism and the second X-axis movement mechanism have the same structure and comprise a driving motor, a reduction gearbox, a gear, a rack and a linear guide rail, wherein an output shaft of the driving motor is connected with an input end of the reduction gearbox, a gear for meshing with the rack is arranged at an output end of the reduction gearbox, and the rack and the linear guide rail are axially arranged on a short edge of a manipulator mounting frame; the Y-axis movement mechanism comprises a second servo motor and a first module, the Y-axis movement mechanism is fixed on a module mounting plate, and the module mounting plate is mounted on the linear guide rail; the second servo motor and the first module are both arranged on the second X-axis movement mechanism, and the first module is arranged along the long side of the manipulator mounting frame; the second Z-axis movement mechanism comprises a second module, a third servo motor, a cylinder mounting plate, a rotary cylinder and a third sucker assembly, wherein the second module is mounted on the first module and is in sliding connection with the first module, the cylinder mounting plate is mounted on the second module, and the output end of the rotary cylinder is provided with the third sucker assembly for sucking the overturned battery into the tray; the control end of the driving motor, the control end of the second servo motor, the control end of the third servo motor, the control end of the rotary cylinder and the control end of the third sucker assembly are all in signal connection with the corresponding action control end of the data processor of the central controller.

The first Z-axis movement mechanism comprises a fourth servo motor, a third module and a fourth sucker assembly, wherein the third module and the fourth servo motor are arranged on the first X-axis movement mechanism, the third module is arranged along the Z-axis direction of the manipulator mounting frame and is in sliding connection with the first X-axis movement mechanism, and an output shaft of the fourth servo motor is connected with the third module, so that the third module moves up and down along the Z-axis of the manipulator mounting frame under the driving of the fourth servo motor; the fourth sucker assembly is arranged at the bottom of the third module and is used for transferring the battery on the auxiliary conveying line to the overturning platform; the control end of the fourth servo motor and the control end of the fourth sucker assembly are connected with the corresponding action control end of the data processor of the central controller through signals.

The lifting driving mechanism comprises a lifting motor, a lifting synchronous belt, a lifting synchronous wheel, a driving sprocket, a lifting chain, an idler wheel and a second linear guide rail, wherein the lifting motor is arranged at the bottom of the lifting installation frame, and the lifting synchronous wheel is coaxially arranged at the output end of the lifting motor; the lifting chain is a chain with two broken ends, the two ends of the lifting chain are respectively connected to the bottom plate through screws, and the two ends of the lifting chain are respectively tensioned through the driving chain wheel and the idler wheel, so that the lifting chain is arranged along the Z-axis direction; and the lifting chain is provided with a mounting piece for fixing the roller conveying line, and the mounting piece is in sliding connection with the longitudinally arranged second linear guide rail.

The roller conveying line comprises a first power roller, a first unpowered roller, a first connecting belt, a side positioning assembly, a rear positioning assembly and a front blocking part, wherein the first power roller and the first unpowered roller are fixedly arranged on a lifting installation frame, the first power roller is connected with the second power roller through the first connecting belt to realize power transmission between the first power roller and the second power roller, and the rolling surfaces of the first power roller and the first unpowered roller form a conveying chain for conveying pallets; the side positioning assembly and the rear positioning assembly are respectively arranged on lifting installation frames at two ends of the conveying chain and used for positioning the tray; the side positioning assembly comprises a first positioning cylinder and a first insulating plate, and the first insulating plate is mounted at the tail part of the first positioning cylinder. The rear positioning assembly comprises a second positioning cylinder and a second insulating plate, and the second insulating plate is arranged at the tail part of the second positioning cylinder; the side positioning assembly and the rear positioning assembly are arranged at the corresponding positions of the lifting installation frame; the lifting installation frame is provided with a tray code scanner for scanning information of the tray at the position; and the control ends of the first positioning cylinder and the second positioning cylinder are in signal connection with corresponding action control ports of the data processor.

The tray input conveying line comprises a second power roller, a second unpowered roller, a second connecting belt, a first front blocking component and a first correlation photoelectric device, wherein the second power roller and the second unpowered roller are horizontally and parallelly arranged on a tray input area on the rack in a rack, the second power roller is connected with the second unpowered roller belt through the second connecting belt, and the rolling surface of the second power roller and the rolling surface of the second unpowered roller form the tray input conveying line; the first front blocking component is arranged at the output end of the tray input conveying line and comprises a third positioning cylinder and a third insulating plate, and the third positioning cylinder is arranged at the corresponding position of the conveying line frame; the action end of the third positioning cylinder is provided with a third insulating plate for clamping the battery, the installation part of the third positioning cylinder is provided with a first correlation photoelectric device, the signal output end of the first correlation photoelectric device is in signal connection with the first signal input end of the signal acquisition device, and the control end of the third positioning cylinder is in signal connection with the corresponding action control port of the data processor.

The tray discharging conveying line comprises a third power roller, a third unpowered roller, a third connecting belt, a second front blocking component and a second correlation photoelectric device, wherein the third power roller and the third unpowered roller are fixedly arranged in a tray discharging area of the frame, the third power roller and the third unpowered roller are horizontally and parallelly arranged at the top of the frame, the third power roller is connected with the third unpowered roller belt through the third connecting belt, and a rolling surface of the third power roller and the third unpowered roller, which is synchronous, forms a tray feeding conveying line; the second front blocking component is arranged at the output end of the tray input conveying line and comprises a fourth positioning cylinder and a fourth insulating plate, and the fourth positioning cylinder is arranged at the corresponding position of the conveying line frame; the action end of the fourth positioning cylinder is provided with a fourth insulating plate, the installation part of the fourth positioning cylinder is provided with a second correlation photoelectric device, the signal output end of the second correlation photoelectric device is in signal connection with the first signal input end of the signal collector, and the control end of the fourth positioning cylinder is in signal connection with a corresponding action control port of the data processor.

The working process comprises the following steps: firstly, placing a battery on a bottom plate of an input end of a main conveying line manually or by a mechanical arm, keeping the battery horizontally placed, defining the battery horizontally placed so that the bottom surface (namely, the rectangular surface with the largest battery area) of the battery is horizontally paved on the main conveying line, and enabling the longest side of the battery to be perpendicular to the running direction of the battery conveying chain; at the moment, the battery is clamped in a gap between two barrier strips of the bottom plate, a battery is detected on the bottom plate by a feeding photoelectric switch after the battery is installed, a main conveying line starts to run under the driving of a servo motor, a positioning code scanning is carried out on the battery again at the position through a battery positioning station, information obtained by the code scanning is transmitted to a signal collector of a central controller, the information is compared with battery information in a data memory, the information is blocked, then the battery continues to run until a discharging photoelectric switch at the output end of the main conveying line detects the battery on the bottom plate and then transmits the battery to the central controller, and thus a sorting manipulator is started;

the sorting manipulator receives the instruction and starts to run, the battery is sucked up through the sucker at the bottom end of the parallel manipulator, then the battery is sorted to the corresponding auxiliary conveying line according to the gear information corresponding to the battery by rotating a proper angle, and the battery is still horizontally laid on the auxiliary conveying line at the moment; after the charging photoelectric switch on the auxiliary conveying line detects that the battery is arranged on the bottom plate, the auxiliary conveying line starts to operate, and the battery is positioned until the discharging photoelectric switch detects the battery, and then the central controller informs the battery to absorb the manipulator;

Empty tray drops into the transfer chain transportation from the tray, the tray drops into the transfer chain department and detects the operation after empty tray, elevating system is used for transporting the cylinder transfer chain of tray and the tray of upper strata drops into the transfer chain butt joint, transport empty tray to cylinder transfer chain department, then the cylinder transfer chain is docked with corresponding upset platform, the battery on the absorption tray manipulator through the third grabbing mechanism on bottom with the auxiliary conveyor line of battery absorption manipulator remove the upset platform, the upset subassembly of upset platform passes through second grabbing device with battery upset 90, then the battery is gone into the tray that the tray was put into elevating system and lifts up to the battery after the tray was put into to the tray, at this moment the tray transfer chain docks with supplementary transfer chain, elevating system descends after the tray is fully, tray transfer chain docks with tray discharge transfer chain, the tray is discharged or drops into the transfer chain input from the tray, can be with commodity circulation line or AGV dolly butt joint automatic discharge tray, also can manual discharge tray.

The beneficial effects of the invention are as follows:

1. through automatic scheme, select separately information to the battery, tray data acquisition goes on in the one set of system, reduces artificial operation, has promoted production efficiency, guarantees the uniformity of battery.

2. The lithium battery is suitable for single-side pole ear soft package lithium batteries and double-side pole ear soft package lithium batteries.

3. The central controller can be used for interfacing with production management systems of various companies to view state information of the batteries and the trays in real time.

4. The mode that adopts the transfer chain can dock with equipment such as commodity circulation line, AGV dolly.

Drawings

Fig. 1 is a structural diagram of the present invention.

Fig. 2a is a front view of the main conveyor line of the present invention.

Fig. 2b is a left side view of the main conveyor line of the present invention.

Fig. 2c is a top view of the main conveyor line of the present invention.

Fig. 3a is a front view of the sorting robot of the present invention.

Fig. 3b is a side view of the sorting robot of the present invention.

Fig. 3c is a top view of the sorting robot of the present invention.

Fig. 4a is a front view of the auxiliary conveyor line of the present invention.

Fig. 4b is a left side view of the auxiliary conveyor line of the present invention.

Fig. 4c is a top view of the auxiliary conveyor line of the present invention.

Fig. 5a is a front view of the flip platform of the present invention.

Fig. 5b is a left side view of the flip platform of the present invention.

Fig. 5c is a top view of the flip platform of the present invention.

Fig. 6a is a schematic view of the suction palletizing robot according to the present invention.

Fig. 6b is a front view of the suction palletizing robot of the present invention.

Fig. 6c is a left side view of the suction palletizing robot of the present invention.

Fig. 6d is a top view of the suction palletizing robot of the present invention.

Fig. 7a is a front view of the lift mechanism of the present invention.

Fig. 7b is a left side view of the lift mechanism of the present invention.

Fig. 7c is a top view of the lift mechanism of the present invention.

Fig. 8a is a front view of a tray drop roller segment of the present invention.

Fig. 8b is a side view of the tray drop roller segment of the present invention.

Fig. 8c is a top view of the tray drop roller segment of the present invention.

Fig. 9a is a front view of a tray discharge roller segment of the present invention.

Fig. 9b is a side view of the tray discharge roller section of the present invention.

Fig. 9c is a top view of the tray discharging roller section of the present invention.

Detailed Description

The invention is further described below with reference to the drawings.

Referring to the drawings:

embodiment 1 the automatic grading machine for soft package lithium batteries comprises a rack 1 for supporting, a battery conveying line 2 for conveying batteries, a sorting manipulator 3 for sorting the batteries, a battery discharging mechanism 4 for automatically conveying the batteries to a tray and a central controller 5 for controlling the operation of the whole device, wherein the battery conveying line 2 is paved in front of the rack, the battery discharging mechanism 4 and the central controller 5 are both arranged in the corresponding area of the rack 1, the sorting manipulator 3 is arranged right above the sorting position of the battery conveying line 2, the battery discharging mechanism 4 is arranged in a battery conveying line carrying area at the downstream of the sorting manipulator 3, and the control end of the battery conveying line 2, the control end of the sorting manipulator 3 and the control end of the battery discharging mechanism 4 are respectively in signal connection with corresponding pins of the central controller 5;

The machine frame 1 is provided with a tray input area 12 for inputting empty trays, a tray discharge area 13 for discharging full trays, a discharging area for installing a battery discharging mechanism 4 and a control area for installing a central controller, a battery conveying area 11 for a battery conveying line is arranged in front of the machine frame 1, and the battery conveying area is provided with a battery conveying line 2; the blanking area is arranged between the battery conveying area 11 and the tray input area 12, and is provided with a battery blanking mechanism 4; the tray input area 12 and the tray discharge area 13 are arranged in parallel up and down, the tray input area 12 is provided with a plurality of parallel rollers, and the rolling surfaces of the rollers form a tray input conveying line 14 for inputting empty trays; the tray discharging area is provided with a plurality of parallel rollers, the rolling surfaces of which form a tray discharging conveying line 15 for discharging the full tray;

the battery conveying line 2 comprises a main conveying line 21 and a plurality of auxiliary conveying lines 22, wherein the main conveying line 21 and the auxiliary conveying lines 22 are both chain conveying lines which are provided with driving devices and are horizontally paved, the input end of the auxiliary conveying line 22 is closely adjacent to the output end of the main conveying line, and the area is used as a sorting place of the battery conveying line 21; the output end of the auxiliary conveying line 22 extends to a battery discharging mechanism as a battery conveying line conveying area; the main conveying line 21 and the auxiliary conveying line 22 are respectively provided with a switch for controlling the on-off of the corresponding driving device, and the control ends of the switches are connected with the corresponding ports of the central controller; a battery code scanner 213 for scanning battery information is arranged on the main conveying line 21;

The sorting manipulator 3 comprises a first grabbing mechanism 31 for grabbing a battery to be sorted, a parallel manipulator 32 for adjusting the position of the first grabbing mechanism and a mounting suspension 33 for suspending the first grabbing mechanism above the battery, wherein the mounting suspension 33 is arranged at the sorting position of the battery conveying line, and the top of the mounting suspension 33 is suspended right above the sorting position of the battery conveying line 2, so that the movement track of the grabbing part of the first grabbing mechanism 31 is ensured to cover the output end of the main conveying line and the input end of the adjacent auxiliary conveying line; the top of the parallel manipulator 32 is rotatably connected with the upper part of the mounting suspension 33, the parallel manipulator is a 4-axis parallel robot, the bottom of the parallel manipulator is driven by servo electricity to perform circular motion and vertical motion around the vertical central axis of the parallel manipulator, and the sucked battery can rotate around the vertical central axis 360; the control end of the first grabbing mechanism 31 is in signal connection with a corresponding control port of the central controller 5;

the battery blanking mechanism 4 corresponds to the auxiliary conveying line 22 one by one, namely one auxiliary conveying line 22 corresponds to one set of battery blanking mechanism 4, the battery blanking mechanism 4 comprises a fixed frame 41 serving as a turnover platform, a turnover assembly 42 for turning over the battery by 90 degrees, a suction and supporting manipulator 43 for conveying the battery on the auxiliary conveying line into a tray, and a lifting mechanism 44 for adjusting the longitudinal position of the tray, and the fixed frame 41 is arranged on the frame 1 and serves as a turnover platform for turning over the battery by 90 degrees; the turnover assembly 42 is mounted on the fixed frame 41, the turnover assembly 42 comprises a turnover driving device 421 for providing a rotation driving force and a second grabbing device 422 for providing grabbing of the battery to be turned, and the driving end of the turnover driving device 421 is fixedly arranged on the second grabbing device 422, so that the second grabbing device 422 is driven by the turnover driving device 421 to perform circumferential rotation motion around a horizontally erected rotating shaft;

The suction and supporting manipulator 43 comprises a manipulator mounting frame 431 for supporting, a battery suction manipulator 432 for moving the battery on the auxiliary conveying line to the overturning platform, and a battery supporting manipulator 433 for moving the overturned battery to the empty tray, wherein the top frame of the manipulator mounting frame 431 is a rectangular frame suspended above the working platform of the lifting mechanism 44; the battery sucking manipulator 432 is an X-axis and Z-axis two-axis moving mechanism, which is a first X-axis moving mechanism for providing X-axis movement and a first Z-axis moving mechanism for providing Z-axis movement, wherein the first X-axis moving mechanism is in sliding connection with the short side of the manipulator mounting frame, the first Z-axis moving mechanism is arranged on the first X-axis moving mechanism, and a third grabbing mechanism 434 for sucking the battery on the auxiliary conveying line onto the overturning platform is arranged at the bottom of the Z-axis moving mechanism;

the battery supporting manipulator 433 is a triaxial movement mechanism of an X axis, a Y axis and a Z axis, and is respectively a second X axis movement mechanism for providing X axial movement, a second Y axis movement mechanism for providing X axial movement and a second Z axis movement mechanism for providing Z axial movement, the second X axis movement mechanism is slidably connected with the short side of the manipulator mounting frame, the second Y axis movement mechanism is arranged on the second X axis movement mechanism and is slidably connected with the long side of the manipulator mounting frame, and a fourth grabbing mechanism for sucking the battery on the overturning platform onto the empty tray is assembled on the second Z axis movement mechanism; defining the length direction of the rectangular frame as the Y-axis direction, the width direction of the rectangular frame as the X-axis direction, and the longitudinal axis direction of the rectangular frame as the Z-axis direction;

The lifting mechanism 44 comprises a lifting driving mechanism 441 for providing a lifting driving force in the Z-axis direction, a roller conveying line 442 for placing the tray and a lifting installation frame 443 for supporting, wherein the lifting installation frame 443 is arranged between the turnover platform and the tray input area, the lifting driving mechanism 441 is arranged on the lifting installation frame 443, a plurality of rollers which are arranged in parallel are arranged at the top of the lifting driving mechanism 441, the rolling surfaces of the rollers form the roller conveying line for supporting the tray, so that the roller conveying line performs lifting movement in the Z-axis direction, and the butt joint between the roller conveying line and the tray input conveying line and between the tray discharge conveying line is realized; a tray scanner 444 for scanning tray information is arranged at the roller conveying line; the lifting mechanism has the functions that: when the tray is needed to be put into, the roller conveying line of the lifting mechanism is in butt joint with the tray input conveying line, and an empty tray is input; after the tray is full, the roller conveying line of the lifting mechanism is in butt joint with the tray discharging conveying line, and the full tray is discharged;

the central controller 5 comprises a signal collector, a data processor, a data memory and a human-computer interaction interface, wherein a first signal input end of the signal collector is in signal connection with signal output ends of the battery code scanner and the tray code scanner; the signal input end of the data processor is electrically connected with the signal output end of the signal collector, the action control port of the data processor is respectively in signal connection with the control end of the battery conveying line, the control end of the sorting manipulator and the control end of the battery blanking mechanism, the signal output end of the data processor is electrically connected with the signal input end of the data memory, the signal output end of the data memory is electrically connected with the signal input end of the man-machine interaction interface, and the signal output end of the man-machine interaction interface is electrically connected with the second signal input end of the signal collector.

The chain conveying line of the main conveying chain has the same structure as the chain conveying line of the auxiliary conveying chain, the chain conveying line comprises a servo motor 23, a speed reducer 24, a chain 25, a synchronous belt 26, a first synchronous belt pulley 27, a second synchronous belt pulley 28, a bottom plate 29, a first chain wheel 210, a second chain wheel 211, a first chain wheel shaft 212 and an aluminum profile frame 213, the servo motor 23 and the speed reducer 24 are fixedly arranged on the aluminum profile frame 212, and an output shaft of the servo motor 23 is connected with an input shaft of the speed reducer 24; the chain 25 is connected end to form a loop chain, and the chain 25 is sleeved outside the first chain wheel 210 and the second chain wheel 211 and is tensioned through the second chain wheel 211; the synchronous belt 26 is sleeved outside a first synchronous pulley 27 and a second synchronous pulley 28, the first synchronous pulley 27 and the first sprocket 210 are arranged on the first sprocket shaft 212, the second synchronous pulley is arranged on the output shaft of the speed reducer 24, and the chain 25 moves along the length direction under the drive of the servo motor 23; the surface of the chain 25 is provided with a plurality of bottom plates 29, the bottom plates 29 are arranged along the advancing direction of the chain, each bottom plate 29 is provided with two parallel blocking strips 291, the two blocking strips are connected with the bottom plates 29 by screws, and the battery 6 is clamped in a gap between the two blocking strips 291; the input of chain transfer chain is equipped with the pan feeding photoelectric switch 292 that is used for starting servo motor, the output of chain transfer chain is equipped with the ejection of compact photoelectric switch 293 that is used for closing servo motor, the control end of pan feeding photoelectric switch ejection of compact photoelectric switch the control end respectively with central controller's signal acquisition part's first signal input part signal connection.

The input end of the chain-shaped conveying line is provided with a battery positioning station 294, the battery positioning station comprises a first positioning cylinder 2941 and a first insulating plate 2942, and the first positioning cylinder 2941 is arranged on the aluminum profile frame 213; the action end of the first positioning air cylinder 2941 is provided with a first insulating plate 2942 for clamping a battery, and the installation position of the first positioning air cylinder 2941 is provided with a battery scanner 213 for scanning the information of the battery at the installation position; the control end of the first positioning cylinder 2941 is in signal connection with a corresponding action control port of the data processor.

The first grabbing mechanism 31 comprises a first vacuum generator 311, a first sucker assembly 312 and a first pressure switch 313, wherein the first vacuum generator 311 is arranged at the bottom of the parallel manipulator 32, the first sucker assembly 312 is arranged at the bottom end of the parallel manipulator 32, and the sucker suction surface of the first sucker assembly 313 faces the battery conveying line and is used for sucking up the battery on the surface of the battery conveying line; the air suction port of the first vacuum generator 311 is communicated with the air outlet pipeline of the first sucker assembly 312 through an air suction pipe; the probe of the first pressure switch 313 is located at the air suction port of the first vacuum generator 311, the signal output end of the first pressure switch 313 is connected with the first signal input end of the signal collector, and the control end of the first vacuum generator 311 is connected with the action control port of the data processor.

The turnover driving device 421 of the turnover assembly 42 comprises a turnover cylinder 4211, a driving shaft 4212, a driven shaft 4213, a hydraulic buffer 4214 and a turnover plate 4215, wherein the turnover cylinder 421 is installed at the upper part of the fixed frame 41, an output shaft of the turnover cylinder 421 is connected with one end of the driving shaft 4212 through a second coupling 4216, the driving shaft 4212 is connected with the driven shaft 4213 which is horizontally erected at the upper part of the fixed frame 41 and is rotationally connected with the fixed frame through the hydraulic buffer 4214, one surface of the turnover plate 4215 is fixedly installed on the driven shaft 4213, and a plurality of sucking discs are distributed on the other surface of the turnover plate 4215 as sucking surfaces for turning the battery by 90 degrees; the second gripping device 422 of the turnover assembly 42 comprises a second vacuum generator 4221 and a filter 4222, wherein the air suction port of the second vacuum generator 4221 is communicated with the suction disc pipeline on the turnover plate 4215 through a corresponding pipeline, and the filter 4222 is arranged on the pipeline between the second vacuum generator 4221 and the suction disc 4223; the control end of the second vacuum generator 4221 and the control end of the overturning cylinder 4211 are respectively connected with the corresponding action control end of the data processor in a signal manner.

The first X-axis movement mechanism and the second X-axis movement mechanism have the same structure; the two sets of reduction boxes have the same reduction ratio, different sizes, the same gear module, different sizes and the same others; the first X-axis motion mechanism comprises a first driving motor 4321, a first reduction gearbox 4322, a first gear 4323, a first rack 4324 and a first linear guide rail 4325, wherein an output shaft of the first driving motor 4321 is connected with an input end of the first reduction gearbox 4322, the output end of the first reduction gearbox 4322 is provided with the first gear 4323 which is meshed with the first rack, and the first rack 4324 and the first linear guide rail 4325 are both arranged on the short edge of the manipulator mounting frame along the axial direction; the second X-axis motion mechanism comprises a second driving motor 4331, a second reduction gearbox 4332, a second gear 4333, a first rack 4324 and a first linear guide rail 4325, wherein an output shaft of the second driving motor 4331 is connected with an input end of the second reduction gearbox 4332, a second gear 4333 which is used for being meshed with the first rack 4324 is arranged at an output end of the second reduction gearbox 4332, and the first rack 4324 and the first linear guide rail 4325 are both arranged on a short edge of the manipulator mounting frame along the axial direction;

The Y-axis movement mechanism comprises a second servo motor 4334 and a first module 4335, wherein the second servo motor 4334 and the first module 4335 are arranged on the second X-axis movement mechanism through a module mounting plate 4336, and the first module 4335 is arranged along the long side of the manipulator mounting frame;

the second Z-axis motion mechanism comprises a second module 4337, a third servo motor 4338, a cylinder mounting plate 4339, a rotary cylinder 43310 and a third sucker assembly 43311, wherein the second module 4337 is arranged on the first module 4335 and is in sliding connection with the first module 4335, the cylinder mounting plate 4339 is arranged on the second module, and the output end of the rotary cylinder 43310 is provided with the third sucker assembly 43311 for sucking the overturned battery into the tray; the control end of the driving motor 4331, the control end of the second servo motor 4334, the control end of the third servo motor 4338, the control end of the rotary cylinder 43310 and the control end of the third chuck assembly 43311 are all in signal connection with the corresponding action control end of the data processor of the central controller.

The first Z-axis motion mechanism comprises a fourth servo motor 4326, a third module 4327 and a fourth sucker assembly 4328, wherein the third module 4327 and the fourth servo motor 4326 are arranged on the first X-axis motion mechanism, the third module 4327 is arranged along the Z-axis direction of the manipulator mounting frame and is in sliding connection with the first X-axis motion mechanism, and an output shaft of the fourth servo motor 4326 is connected with the third module 4327, so that the third module 4327 moves up and down along the Z-axis of the manipulator mounting frame under the driving of the fourth servo motor 4326; the fourth sucker assembly 4328 is installed at the bottom of the third module 4327, and is used for transferring the battery on the auxiliary conveying line to the overturning platform; the control end of the fourth servo motor 4326 and the control end of the fourth chuck assembly 4328 are respectively connected with the corresponding action control end of the data processor of the central controller.

The lifting driving mechanism 441 includes a lifting motor 4411, a lifting synchronous belt 4412, a first lifting synchronous wheel 4413, a second lifting synchronous wheel 4414, a driving sprocket 4415, a lifting chain 4416, an idler 4417, a third linear guide 4418, a driving shaft 4419 and a first bottom plate 44110, wherein the lifting motor 4411 is mounted at the bottom of the lifting mounting frame, and the output end of the lifting motor 4411 is coaxially provided with the first lifting synchronous wheel 4413; the second lifting synchronizing wheel 4415 and the driving sprocket 4415 are arranged on the driving shaft 4419, the lifting chain 4416 passes through the driving sprocket 4415 and the idler pulley 4417, two ends of the lifting chain 4416 are respectively fixed on the bottom plate 44110 through screws, and the lifting chain 4415 is tensioned through the idler pulley 4417, so that the lifting chain 4448 is arranged along the Z-axis direction; the first bottom plate 44110 is used to secure the roller conveyor line.

The roller conveyor line 442 includes a first power roller 4421, a first unpowered roller 4422, a first connecting belt 4423, a side positioning assembly 4424, a rear positioning assembly 4425, and a front blocking 4426, wherein the first power roller 4421 and the first unpowered roller 4422 are fixedly mounted on a lifting mounting frame, the first power roller 4422 and the second power roller 4423 are connected by the first connecting belt, so as to realize power transmission therebetween, and the rolling surfaces of the first power roller and the first unpowered roller form a conveying chain for conveying the tray; the side positioning assemblies 4424 and the rear positioning assembly 4425 are respectively arranged on lifting installation frames at two ends of the conveying chain and used for positioning the tray; the side locating assembly includes a first locating cylinder 44241 and a first insulating plate 44242, with the first insulating plate 44242 mounted to the tail of the first locating cylinder 44241. The rear positioning assembly comprises a second positioning cylinder 44251 and a second insulating plate 44252, and the second insulating plate 44252 is mounted on the tail of the second positioning cylinder 44251. The side positioning assembly and the rear positioning assembly are arranged at the corresponding positions of the lifting installation frame; a tray code scanner 444 is arranged at the lifting installation frame and is used for scanning information of the tray at the position; the control ends of the first positioning cylinder 44241 and the second positioning cylinder 44251 are in signal connection with corresponding action control ports of the data processor.

The tray input conveying line 14 comprises a second power roller 141, a second unpowered roller 142, a second connecting belt 143, a first front blocking component 144 and a first correlation photoelectric 145, wherein the second power roller 141 and the second unpowered roller 142 are horizontally and parallelly arranged on a tray input area on the rack 1, the second power roller 141 is connected with the second unpowered roller 143 through the second connecting belt 143 in a belt manner, and the rolling surfaces of the second power roller 141 and the second unpowered roller 142 form the tray input conveying line; the first front blocking assembly 144 is arranged at the output end of the tray input conveying line 14, the first front blocking assembly 144 comprises a third positioning cylinder 1441 and a third insulating plate 1442, and the third positioning cylinder 1441 is arranged at a corresponding position of the conveying line frame; the action end of the third positioning cylinder 1441 is provided with a third insulating plate 1442 for clamping a battery, the installation part of the third positioning cylinder is provided with a first correlation photoelectric 145, the signal output end of the first correlation photoelectric is in signal connection with the first signal input end of the signal collector, and the control end of the third positioning cylinder is in signal connection with the corresponding action control port of the data processor.

The tray discharging conveying line 15 comprises a third power roller 151, a third unpowered roller 152, a third connecting belt 153, a second front blocking component 154 and a second correlation photoelectric 155, wherein the third power roller 151 and the third unpowered roller 152 are fixedly arranged in a tray discharging area of the frame 1, the third power roller 151 and the third unpowered roller 152 are horizontally and parallelly arranged on the top of the frame, the third power roller 151 is connected with the third unpowered roller 152 through the third connecting belt 153 in a belt mode, and a rolling surface of the third power roller 151 and the third unpowered roller 152 synchronously forms a tray inputting conveying line; the second front blocking assembly 154 is arranged at the output end of the tray input conveying line, the second front blocking assembly 154 comprises a fourth positioning air cylinder 1541 and a fourth insulating plate 1542, and the fourth positioning air cylinder is arranged at a corresponding position of the conveying line frame; the action end of the fourth positioning cylinder 1541 is provided with a fourth insulating plate 1542, the installation part of the fourth positioning cylinder 1541 is provided with a second correlation photoelectric device, the signal output end of the second correlation photoelectric device is in signal connection with the first signal input end of the signal collector, and the control end of the fourth positioning cylinder is in signal connection with the corresponding action control port of the data processor.

the sorting manipulator receives the instruction to start running, sucks up the battery through a sucker at the bottom end of the parallel manipulator, then sorts the battery to a corresponding auxiliary conveying line according to the gear information corresponding to the battery by rotating a proper angle, and the battery is still horizontally laid on the auxiliary conveying line at the moment; after the charging photoelectric switch on the auxiliary conveying line detects that the battery is arranged on the bottom plate, the auxiliary conveying line starts to operate, and the battery is positioned until the discharging photoelectric switch detects the battery, and then the central controller informs the battery to absorb the manipulator;

Empty tray drops into the transfer chain transportation from the tray, the tray drops into the transfer chain department and detects the operation after empty tray, elevating system is used for transporting the cylinder transfer chain of tray and the tray of upper strata drops into the transfer chain butt joint, transport empty tray to climbing mechanism's cylinder transfer chain department, and to tray location and sweep the sign indicating number, the battery on the auxiliary conveyor line is carried to the upset platform through the third grabbing mechanism of bottom to the absorption of battery absorption manipulator, the upset subassembly of upset platform is 90 with the battery upset through the second grabbing device, then the battery holds in the manipulator and pulls up the battery after the upset and put into elevating system and lift in the tray, after the tray is fully put down, elevating system descends, tray conveying chain and tray discharge transfer chain butt joint, the tray discharges from the tray discharge transfer chain or drops into the transfer chain input from the tray, can be with logistics line or AGV dolly butt joint automatic discharge tray, also can manual discharge tray.

The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, but also equivalent technical means that can be conceived by those skilled in the art according to the inventive concept.

Claims

1. An automatic gear-shifting machine for soft-package lithium batteries is characterized in that: the battery conveying device comprises a frame used for supporting, a battery conveying line used for conveying batteries, a sorting manipulator used for sorting the batteries, a battery discharging mechanism used for automatically conveying the batteries to a tray and a central controller used for controlling the operation of the whole device, wherein the battery conveying line is paved in front of the frame, the battery discharging mechanism and the central controller are both arranged in a corresponding area of the frame, the sorting manipulator is arranged right above the sorting position of the battery conveying line, the battery discharging mechanism is arranged in a battery conveying line carrying area at the downstream of the sorting manipulator, and a control end of the battery conveying line, a control end of the sorting manipulator and a control end of the battery discharging mechanism are respectively connected with corresponding pins of the central controller through signals;

The battery discharging mechanism corresponds to the auxiliary conveying lines one by one, namely one auxiliary conveying line corresponds to one set of battery discharging mechanism, the battery discharging mechanism comprises a fixed frame serving as a turnover platform, a turnover assembly used for turning batteries by 90 degrees, a sucking and supporting manipulator used for conveying the batteries on the auxiliary conveying lines into a tray, and a lifting mechanism used for adjusting the longitudinal position of the tray, and the fixed frame is arranged on a rack and serves as a turnover platform used for turning the batteries in a carrying area by 90 degrees; the turnover assembly is arranged on the fixed frame and comprises a turnover driving device for providing a rotation driving force and a second grabbing device for providing grabbing batteries to be turned, wherein the driving end of the turnover driving device is fixedly arranged on the second grabbing device, so that the second grabbing device performs circumferential rotation motion around a horizontally erected rotating shaft under the driving of the turnover driving device;

2. The automatic stepper of a soft package lithium battery as defined in claim 1, wherein: the chain conveying line comprises a servo motor, a speed reducer, a chain, a synchronous belt, a first synchronous belt pulley, two second synchronous belt pulleys, a bottom plate, a first chain wheel, a second chain wheel, a first chain wheel shaft and an aluminum profile frame, wherein the servo motor and the speed reducer are fixedly arranged on the aluminum profile frame, and an output shaft of the servo motor is connected with an input shaft of the speed reducer; the chains are connected end to form a ring-shaped chain, and the chains are sleeved outside the first chain wheel and the second chain wheel and are tensioned through the second chain wheel; the synchronous belt is sleeved outside a first synchronous belt pulley and a second synchronous belt pulley, the first synchronous belt pulley and the first chain wheel are arranged on the first chain wheel shaft, the second synchronous belt pulley is arranged on an output shaft of the speed reducer, and the chain moves along the length direction of the chain under the drive of the servo motor; the surface of the chain is provided with a plurality of bottom plates, the bottom plates are distributed along the advancing direction of the chain, each bottom plate is provided with two parallel barrier strips, the two barrier strips are connected with the bottom plates by screws, and the battery is clamped in a gap between the two barrier strips; the input end of the chain-shaped conveying line is provided with a feeding photoelectric switch for starting the servo motor, the output end of the chain-shaped conveying line is provided with a discharging photoelectric switch for closing the servo motor, and the control end of the feeding photoelectric switch and the control end of the discharging photoelectric switch are respectively connected with a first signal input end of a signal collector of the central controller in a signal manner; the battery positioning station is additionally arranged at the input end of the chain conveying line and comprises a first positioning cylinder and a first insulating plate, and the first positioning cylinder is arranged on the aluminum profile frame; the action end of the first positioning cylinder is provided with a first insulation plate for pushing the battery, and the installation part of the first positioning cylinder is provided with a battery scanner for scanning the information of the battery at the installation part; and the control end of the first positioning cylinder is in signal connection with a corresponding action control port of the data processor.

3. The automatic stepper of a soft package lithium battery as defined in claim 1, wherein: the first grabbing mechanism comprises a first vacuum generator, a first sucker assembly and a first pressure switch, wherein the first vacuum generator is arranged at the bottom of the parallel manipulator, the first sucker assembly is arranged at the bottom of the parallel manipulator, and the sucker suction surface of the first sucker assembly faces the battery conveying line and is used for sucking up the battery on the surface of the battery conveying line; the air suction port of the first vacuum generator is communicated with the air outlet pipeline of the first sucker assembly through an air suction pipe; the detecting head of the first pressure switch is positioned at the air suction port of the first vacuum generator, the signal output end of the first pressure switch is in signal connection with the first signal input end of the signal collector, and the control end of the first vacuum generator is in signal connection with the action control port of the data processor.

4. The automatic stepper of a soft package lithium battery as defined in claim 1, wherein: the turnover driving device of the turnover assembly comprises a turnover cylinder, a driving shaft, a driven shaft, a hydraulic buffer and a turnover plate, wherein the turnover cylinder is arranged on the upper part of the fixed frame, an output shaft of the turnover cylinder is connected with one end of the driving shaft through a second coupler, the driving shaft is connected with the driven shaft which is horizontally erected on the upper part of the fixed frame and is rotationally connected with the fixed frame through the hydraulic buffer, one surface of the turnover plate is fixedly arranged on the driven shaft, and the other surface of the turnover plate is used as a suction surface to distribute a plurality of suckers for turning a horizontally placed battery to a vertical state; the second grabbing device of the overturning assembly comprises a second vacuum generator and a filter, an air suction port of the second vacuum generator is communicated with a sucker pipeline on the overturning plate through a corresponding pipeline, and the filter is arranged on a pipeline between the second vacuum generator and the sucker; the control end of the second vacuum generator and the control end of the overturning cylinder are respectively connected with the corresponding action control end of the data processor through signals.

5. The automatic stepper of a soft package lithium battery as defined in claim 1, wherein: the first X-axis movement mechanism and the second X-axis movement mechanism have the same structure and comprise a driving motor, a reduction gearbox, a gear, a rack and a linear guide rail, wherein an output shaft of the driving motor is connected with an input end of the reduction gearbox, a gear for meshing with the rack is arranged at an output end of the reduction gearbox, and the rack and the linear guide rail are both arranged on the short side of the manipulator mounting frame along the axial direction; the Y-axis movement mechanism comprises a second servo motor and a first module, the Y-axis movement mechanism is fixed on a module mounting plate, and the module mounting plate is mounted on the linear guide rail; the second servo motor and the first module are installed on the second X-axis movement mechanism through a module installation plate, and the first module is arranged along the long side of the manipulator installation frame; the second Z-axis movement mechanism comprises a second module, a third servo motor, a cylinder mounting plate, a rotary cylinder and a third sucker assembly, wherein the second module is mounted on the first module and is in sliding connection with the first module, the cylinder mounting plate is mounted on the second module, and the output end of the rotary cylinder is provided with the third sucker assembly for sucking the overturned battery into the tray; the control end of the driving motor, the control end of the second servo motor, the control end of the third servo motor, the control end of the rotary cylinder and the control end of the third sucker assembly are all in signal connection with the corresponding action control end of the data processor of the central controller.

6. The automatic stepper of a soft package lithium battery as defined in claim 1, wherein: the first Z-axis movement mechanism comprises a fourth servo motor, a third module and a fourth sucker assembly, wherein the third module and the fourth servo motor are arranged on the first X-axis movement mechanism, the third module is arranged along the Z-axis direction of the manipulator mounting frame and is in sliding connection with the first X-axis movement mechanism, and an output shaft of the fourth servo motor is connected with the third module, so that the third module moves up and down along the Z-axis of the manipulator mounting frame under the driving of the fourth servo motor; the fourth sucker assembly is arranged at the bottom of the third module and is used for transferring the battery on the auxiliary conveying line of the auxiliary conveying line to the overturning platform; the control end of the fourth servo motor and the control end of the fourth sucker assembly are connected with the corresponding action control end of the data processor of the central controller through signals.

7. The automatic stepper of a soft package lithium battery as defined in claim 1, wherein: the lifting driving mechanism comprises a lifting motor, a lifting synchronous belt, a first lifting synchronous wheel, a second lifting synchronous wheel, a driving sprocket, a lifting chain, an idler wheel, a third linear guide rail, a driving shaft and a first bottom plate, wherein the lifting motor is arranged at the bottom of a lifting installation frame, and the output end of the lifting motor is coaxially provided with a first lifting driving mechanism; the second lifting synchronizing wheel and the driving chain wheel are arranged on the driving shaft; the lifting chain is a chain with two broken ends, the two ends of the lifting chain are respectively connected to the bottom plate through screws, and the two ends of the lifting chain are respectively tensioned through the driving chain wheel and the idler wheel, so that the lifting chain is arranged along the Z-axis direction; the first bottom plate is used for fixing the roller conveying line.

8. The automatic stepper of a soft package lithium battery as defined in claim 7, wherein: the roller conveying line comprises a first power roller, a first unpowered roller, a first connecting belt, a side positioning assembly, a rear positioning assembly and a front blocking part, wherein the first power roller and the first unpowered roller are fixedly arranged on a lifting installation frame, the first power roller is connected with the second power roller through the first connecting belt to realize power transmission between the first power roller and the second power roller, and the rolling surfaces of the first power roller and the first unpowered roller form a conveying chain for conveying pallets; the side positioning assembly and the rear positioning assembly are respectively arranged on lifting installation frames at two ends of the conveying chain and used for positioning the tray; the side positioning assembly comprises a first positioning cylinder and a first insulating plate, and the first insulating plate is arranged at the tail part of the first positioning cylinder; the rear positioning assembly comprises a second positioning cylinder and a second insulating plate, and the second insulating plate is arranged at the tail part of the second positioning cylinder; the side positioning assembly and the rear positioning assembly are arranged at the corresponding positions of the lifting installation frame; the lifting installation frame is provided with a tray code scanner for scanning information of the tray at the position; and the control ends of the first positioning cylinder and the second positioning cylinder are in signal connection with corresponding action control ports of the data processor.

9. The automatic stepper of a soft package lithium battery as defined in claim 1, wherein: the tray input conveying line comprises a second power roller, a second unpowered roller, a second connecting belt, a first front blocking component and a first correlation photoelectric device, wherein the second power roller and the second unpowered roller are horizontally and parallelly arranged on a tray input area on the rack in a rack, the second power roller is connected with the second unpowered roller belt through the second connecting belt, and the rolling surface of the second power roller and the rolling surface of the second unpowered roller form the tray input conveying line; the first front blocking component is arranged at the output end of the tray input conveying line and comprises a third positioning cylinder and a third insulating plate, and the third positioning cylinder is arranged at the corresponding position of the conveying line frame; the action end of the third positioning cylinder is provided with a third insulating plate for clamping the battery, the installation part of the third positioning cylinder is provided with a first correlation photoelectric device, the signal output end of the first correlation photoelectric device is in signal connection with the first signal input end of the signal acquisition device, and the control end of the third positioning cylinder is in signal connection with the corresponding action control port of the data processor.

10. The automatic stepper of a soft package lithium battery as defined in claim 1, wherein: the tray discharging conveying line comprises a third power roller, a third unpowered roller, a third connecting belt, a second front blocking component and a second correlation photoelectric device, wherein the third power roller and the third unpowered roller are fixedly arranged in a tray discharging area of the frame, the third power roller and the third unpowered roller are horizontally and parallelly arranged at the top of the frame, the third power roller is connected with the third unpowered roller belt through the third connecting belt, and a rolling surface of the third power roller and the third unpowered roller, which is synchronous, forms a tray feeding conveying line; the second front blocking component is arranged at the output end of the tray input conveying line and comprises a fourth positioning cylinder and a fourth insulating plate, and the fourth positioning cylinder is arranged at the corresponding position of the conveying line frame; the action end of the fourth positioning cylinder is provided with a fourth insulating plate, the installation part of the fourth positioning cylinder is provided with a second correlation photoelectric device, the signal output end of the second correlation photoelectric device is in signal connection with the first signal input end of the signal collector, and the control end of the fourth positioning cylinder is in signal connection with a corresponding action control port of the data processor.