CN108724323B

CN108724323B - Working method of intelligent punching robot

Info

Publication number: CN108724323B
Application number: CN201810404119.3A
Authority: CN
Inventors: 郑玉祥
Original assignee: You Xiufeng
Current assignee: You Xiufeng
Priority date: 2018-04-28
Filing date: 2018-04-28
Publication date: 2020-09-04
Anticipated expiration: 2038-04-28
Also published as: CN108724323A

Abstract

The invention discloses a working method of an intelligent punching robot, which is characterized in that: the first puncher comprises more than 3 parallel first beams which are distributed up and down, and each first beam is provided with the horizontal mover and the telescopic puncher. By adopting the intelligent punching robot and the method for replacing the punching head, the punching efficiency can be improved; meanwhile, the problems of replacing the punching head and exchanging positions of adjacent punching heads are solved.

Description

Working method of intelligent punching robot

Technical Field

The invention relates to the technical field of industrial robots and intelligent manufacturing machines, in particular to a working method of an intelligent punching robot.

Background

The copper foil has important application in the fields of mobile phones, electric vehicles and the like. With the continuous development of these industries, the performance requirements for copper foil are also increasing. At present, the demand of the market for the punched copper foil is more and more vigorous as a new copper foil form.

For the copper foil punching method, the application numbers are as follows: 201610281641.8 discloses a punching device and a production process for aluminum foil and copper foil of a lithium battery, the punching device comprises a frame, a pressure water pump, a water knife, a cutting upper die with a plurality of holes, a feed roller, a transfer roller and a punching lower die workbench, wherein the pressure water pump pressurizes and feeds water into the water knife, the feed roller of the aluminum foil or the copper foil is fed into the punching lower die workbench through the transfer roller, and high-pressure water of the water knife is fed into the punching lower die workbench through the holes of the cutting upper die to punch the foil or the copper foil. The punching process comprises the following steps: 1) the material roll of aluminium foil, copper foil is installed on the feed roll, 2) send aluminium foil, copper foil into on the workstation of treating processing through the feed roll, 3) pressurize water through the pressure water pump, 4) will establish that the porous cutting goes up the mould and is close the aluminium foil, the copper foil sends into the workstation of treating processing, starts the water sword cutting switch, makes the water under high pressure pass the hole of mould on the cutting, carries out the operation of punching to aluminium foil, copper foil.

For example, the study of Jiangxi blue sky college "CO 2 surface treatment of copper foil for laser drilling" (2 nd stage 2009) adopts laser drilling.

However, mechanical drilling is still the best drilling method, and the quality of the drilled holes is high, such as the hole diameter and the drilling position. However, mechanical punching is inefficient. How to improve the efficiency of the punching becomes a direction of the technical development.

Disclosure of Invention

The invention aims to provide a working method of an intelligent punching robot, which overcomes the defects in the prior art and improves punching efficiency.

The invention aims to provide a method for changing a punching head of an intelligent punching robot, which mainly solves the problem of changing the punching head.

The technical scheme of the invention is realized as follows:

an intelligent perforating robot, comprising: a first puncher;

the first puncher includes: the device comprises upright columns respectively positioned on two side surfaces of a punching platform, and a first beam 4-2, a horizontal mover 4-1 and a telescopic puncher 4-3 which are fixed above the upright column of the first puncher;

the first cross member 4-2 includes: the cross sections of the bearing part 4-2-1 and the clamping part 4-2-2 and the bearing part 4-2-1 and the clamping part 4-2-2 are L-shaped; a plurality of sliding tables 4-2-4 protruding out of the surface of the bearing part are arranged above the bearing part 4-2-1;

the horizontal mover 4-1 includes: the moving device comprises a moving device body 4-1-1, wherein a sliding groove 4-1-1 corresponding to the sliding table 4-2-4 in shape is formed in the lower surface of the moving device body;

a horizontal moving device is arranged on the upright column, and the horizontal mover 4-1 can move along the first cross beam under the action of the horizontal moving device;

the telescopic puncher 4-3 sequentially comprises from bottom to top: 4-3-1 of a perforating head, 4-3-2 of a connecting sleeve, 4-3-3 of a telescopic rod, 4-3-4 of a telescopic power device, 4-3-5 of a fixed horizontal plate, 4-3-6 of 2 vertical plates arranged at the top of the fixed horizontal plate 4-3-5, and 4-3-7 of a first articulated shaft and 4-3-8 of a second articulated shaft arranged between the 2 vertical plates 4-3-6;

the top of the perforating head 4-3-1 is provided with threads and is in threaded connection with the connecting sleeve 4-3-2, the top end of the connecting sleeve 4-3-2 is fixed at the bottom end of the telescopic rod 4-3-3, the top end of the telescopic rod 4-3-3 is connected with the bottom end of the telescopic power device 4-3-4, and the telescopic power device 4-3-4 is fixed on the bottom surface of the fixed horizontal plate 4-3-5;

when the telescopic puncher 4-3 is in a vertical state: the axial lines of the first articulated shaft 4-3-7 and the second articulated shaft 4-3-8 are positioned in the same vertical plane, and the second articulated shaft 4-3-8 is positioned above the first articulated shaft 4-3-7;

the surface of the mover body 4-1-1 is provided with 2 hinged plates 4-3-10, a third hinged shaft is arranged between the 2 hinged plates, and a hydraulic telescopic device is connected between the third hinged shaft and the second hinged shaft 4-3-8.

The telescopic perforator 4-3 can be switched between horizontal and vertical by the telescopic of the hydraulic telescopic device connected between the third articulation and the second articulation, wherein the first articulation 4-3-7 has a higher height than the third articulation.

Further, the maximum length of a hydraulic rod 4-3-9 in the hydraulic telescopic device connected between the third hinge shaft and the second hinge shaft corresponds to the vertical state of the telescopic puncher 4-3, and the minimum length of the hydraulic rod 4-3-9 in the hydraulic telescopic device connected between the third hinge shaft and the second hinge shaft corresponds to the horizontal state of the telescopic puncher 4-3.

Furthermore, the telescopic power device 4-3-4 is a hydraulic cylinder.

Further, the horizontal moving device adopts a screw rod, and a screw hole matched with the screw rod is arranged in the mover body 4-1-1 of the horizontal mover 4-1.

Further, the horizontal moving device adopts a hydraulic driving device: the hydraulic cylinder drives a telescopic rod, and the telescopic rod is fixedly connected with the horizontal mover; and 2 sides of the first beam are provided with 1 hydraulic cylinder, and 2 relatively independent horizontal movers can move on the same beam.

Furthermore, the horizontal moving device, the telescopic power device 4-3-4 and the hydraulic telescopic device connected between the third articulated shaft and the second articulated shaft are all connected with the controller.

Further, the shape of slip table does:

the device comprises a platform at the lower part and a platform at the upper part, wherein the cross section of the platform at the upper part is in a trapezoid shape with a small lower part and a big upper part, and 2 inclined edges of the trapezoid shape of the platform at the upper part are provided with grooves; the cross section of the platform at the lower part is rectangular; a first convex part 4-2-3 is arranged on one side surface of the clamping part;

the shifter body 4-1-1 is also provided with a projecting arm 4-1-4, and a concave space 4-1-3 is formed between the projecting arm 4-1-4 and the shifter body 4-1-1; the clamping part 4-2-2 is clamped in the concave space 4-1-3; the side of the projecting arm 4-1-4 facing the concave space 4-1-3 is provided with a second projecting part 4-1-5 which cooperates with the first projecting part 4-2-3.

Further, the puncher still includes: the copper foil punching device comprises a copper foil punching press plate 4-3-12 and a driving device 4-3-11 for driving the copper foil punching press plate 4-3-12 to stretch, wherein a hole 4-3-13 corresponding to the punching head 4-3-1 is formed in the middle of the copper foil punching press plate 4-3-12.

Furthermore, the top end of the driving device 4-3-11 for driving the copper foil punching press plate 4-3-12 to stretch is also fixed on the lower surface of the fixed horizontal plate 4-3-5.

Further, intelligence drilling robot is used for punching the copper foil.

An intelligent punching robot comprises the first punching machine, wherein the first punching machine comprises more than 3 parallel first beams which are distributed up and down, and each first beam is provided with the horizontal mover 4-1 and the telescopic puncher 4-3.

A method for replacing a punching head of an intelligent punching robot comprises the steps that firstly, a hydraulic rod 4-3-9 is driven to be shortened through a hydraulic telescopic device connected between a third hinged shaft and a second hinged shaft, so that a telescopic puncher 4-3 is in a horizontal state; then, the horizontal shifter and the telescopic puncher are moved beside the upright post by the driving of the horizontal moving device; then the punching head is rotated and twisted out from the connecting sleeve 4-3-2, and then the required punching head is replaced.

The utility model provides an intelligent punching robot, includes 2 puncher, and 2 puncher adopt the design of aforementioned first puncher, and the puncher installation that is close to unreeling roller is than the great punching head of diameter, and the puncher installation diameter that is far away from unreeling roller is less punching head.

Furthermore, when the punching robot punches holes, large holes are punched firstly, and then small holes are punched.

A copper foil split machine with a punching function, the advancing direction of a mounted copper foil comprising: the automatic punching machine comprises an unwinding roller 1, a punching platform 2, a punching robot 4, a driving roller 3 and a winding roller 8;

the punching platform 2 comprises: the punching device comprises a supporting column, a punching platform plate 2-1, a strip-shaped hole 2-2 formed in the punching platform plate 2-1 and a waste collection box below the punching platform plate 2-1, wherein the waste collection box is used for collecting punched waste.

The strip-shaped holes 2-2 correspond to the punching head of the punching robot 4.

Furthermore, guide rollers 2-3 and 2-4 are fixedly arranged at the front end and the rear end of the punching platform 2, and angle sensors are arranged on the guide rollers 2-3 and/or 2-4.

An aftertreatment split machine with a punching robot, the advancing direction of an installation copper foil comprising: the device comprises an unwinding roller 1, a punching platform 2, a punching robot 4, an anti-oxidation treatment tank 5, a cleaning tank 6, a drying device 7, a driving roller 3 and a winding roller 8; the copper foil placed on the unreeling roller is rough foil.

Further, the oxidation prevention treatment tank includes: an anti-oxidation treatment tank body 5-1, an anti-oxidation treatment tank foil pressing roller 5-2 and an anti-oxidation treatment solution contained in the anti-oxidation treatment tank body 5-1, wherein a guide roller is arranged at the front end of the anti-oxidation treatment tank body 5-1, and a driving roller and a guide roller are arranged at the rear end of the anti-oxidation treatment tank body 5-1.

Further, the cleaning tank 6 includes: the cleaning device comprises a cleaning tank body 6-1, a cleaning foil pressing roller 6-2 and a water washing solution contained in the cleaning tank body 6-1, wherein a guide roller is arranged at the front end of the cleaning tank body 6-1, and a driving roller and a guide roller are arranged at the rear end of the cleaning tank body 6-1; flushing heads are arranged on two sides of the copper foil.

Further, between the unwinding roller and the oxidation prevention treatment tank, there are provided, along the advancing direction of the copper foil: and the pickling tank is used for removing the oxide layer of the punched rough foil.

Further, a liquid inlet pipe flow control valve 9-5 is arranged on a liquid inlet pipe of the pickling tank 9 and/or a liquid outlet pipe flow control valve 9-7 is arranged on a liquid outlet pipe; the amount of the liquid inlet pipe and the amount of the liquid outlet pipe are adjusted through the liquid inlet pipe flow control valve 9-5 and the liquid outlet pipe flow control valve 9-7, and further the liquid level in the pickling tank body 9-1 is adjusted.

Furthermore, a liquid level sensor is arranged in the pickling tank and used for detecting the liquid level height in the pickling tank body.

Furthermore, a liquid inlet pipe flow control valve 9-5, a liquid outlet pipe flow control valve 9-7 and a liquid level sensor are all connected with the controller.

Further, a liquid inlet pipe flow control valve is also arranged on the liquid inlet pipe and/or a liquid outlet pipe flow control valve is arranged on the liquid outlet pipe of the anti-oxidation treatment tank; the amount of the liquid inlet pipe and the amount of the liquid outlet pipe are adjusted through the liquid inlet pipe flow control valve and the liquid outlet pipe flow control valve, so that the liquid level in the anti-oxidation tank body is adjusted; a liquid level sensor is arranged in the anti-oxidation treatment tank and is used for detecting the liquid level height in the pickling tank body.

A working method of a post-processing split machine with a punching robot is characterized in that a rough foil is punched after coming out of an unwinding roller, then is sequentially subjected to acid washing, anti-oxidation treatment, water washing and drying, and finally is wound on a winding roller.

The invention has the beneficial effects that:

first, one of the main concepts of the present application is: the punching robot (embodiment I) is provided, and the telescopic puncher is arranged on the cross beam, so that the punching efficiency is improved; meanwhile, the problems of replacing the punching head and exchanging positions of adjacent punching heads are solved.

Second, one of the main concepts of the present application is: it is proposed how to monitor the length of copper foil passage under the punch head using a sensor.

Third, one of the main concepts of the present application is: the copper foil post-treatment split machine with the punching function is provided (embodiment II), the punching function is added into the post-treatment split machine, so that an anti-oxidation layer is arranged on the edge of the punched copper foil, and the performance of the punched copper foil is improved.

Fourth, one of the main concepts of the present application is: set up 2 puncher, beat the macropore earlier, beat the aperture afterwards to guarantee to punch quality and efficiency of punching.

Fifth, one of the main concepts of the present application is: a power device for the horizontal mover to move along the first cross beam adopts a hydraulic driving device, a hydraulic cylinder drives a telescopic rod, and the telescopic rod is fixedly connected with the horizontal mover; there may be 2 relatively independent horizontal movers (perforating heads) on the same beam that can move along the cross section of the copper foil.

Sixth, one of the main concepts of the present application is: when punching is carried out, the copper foil punching press plate 4-3-12 is driven to move downwards by the driving device 4-3-11 for driving the copper foil punching press plate 4-3-12 to stretch and retract, and the copper foil is pressed on the punching platform 2, so that the accuracy of the punching position is further ensured.

Seventh, all of the power plants in the present application can be connected to a controller in order to achieve a level of automation of the device.

Drawings

The invention will be further described in detail with reference to examples of embodiments shown in the drawings to which, however, the invention is not restricted.

Fig. 1 is a schematic structural diagram of a copper foil splitting machine with a punching function in the first embodiment.

Fig. 2 is an exploded view of the punching robot according to the first embodiment.

Fig. 3 is a schematic view of the punching robot in another view according to the first embodiment.

Fig. 4 is a schematic view of the telescopic hole puncher in the punching robot in the first embodiment in a vertical state.

FIG. 5 is a schematic diagram of a telescoping punch in a punching robot of one embodiment in a horizontal position.

Fig. 6 is a schematic front view of the hole punch according to the first embodiment.

FIG. 7 is a schematic diagram of the positioning of the copper foil by the punching head in the first embodiment.

FIG. 8 is a schematic diagram showing the pickling time of the copper foil in the pickling tank in the second embodiment.

Fig. 9 is a schematic structural view of a copper foil post-processing split machine with a punching function according to a second embodiment.

Fig. 10 is a schematic structural view of a copper foil post-processing split machine with a punching function according to a third embodiment.

FIG. 11 is a schematic design view of the hole punch of the fourth embodiment.

FIG. 12 is a schematic design diagram of a punching robot according to the fifth embodiment.

Detailed Description

The first embodiment is as follows: as shown in fig. 1, a copper foil split machine having a punching function, in which an advancing direction of a mounted copper foil includes: the automatic punching machine comprises an unwinding roller 1, a punching platform 2, a punching robot 4, a driving roller 3 and a winding roller 8;

the punching platform 2 comprises: the punching device comprises a supporting column, a punching platform plate 2-1, a strip-shaped hole 2-2 arranged on the punching platform plate 2-1 and a waste collection box below the punching platform plate 2-1, wherein the waste collection box is used for collecting punched waste.

The strip-shaped holes 2-2 correspond to the perforating heads of the perforating robot 4;

the punching robot 4 includes: the punching device comprises a first puncher and a second puncher, wherein the first puncher comprises stand columns which are respectively positioned on two side surfaces of a punching platform, and a first beam 4-2, a horizontal mover 4-1 and a telescopic puncher 4-3 are arranged above the stand columns of the first puncher;

the first cross member 4-2 includes: the bearing part 4-2-1 and the clamping part 4-2-2, and the cross sections of the bearing part 4-2-1 and the clamping part 4-2-2 are L-shaped;

a plurality of sliding tables 4-2-4 protruding out of the surface of the bearing part are arranged above the bearing part 4-2-1, and the sliding tables are in the shapes of:

the device comprises a platform at the lower part and a platform at the upper part, wherein the cross section of the platform at the upper part is in a trapezoid shape with a small lower part and a big upper part, and 2 inclined edges of the trapezoid shape of the platform at the upper part are provided with grooves; the cross section of the platform at the lower part is rectangular; one side surface of the clamping part is provided with a first convex part 4-2-3.

The horizontal mover 4-1 includes: the moving device comprises a moving device body 4-1-1, wherein a sliding groove 4-1-1 corresponding to the sliding table 4-2-4 in shape is arranged on the lower surface of the moving device body, a protruding arm 4-1-4 is further arranged on the moving device body 4-1-1, and a concave space 4-1-3 is formed between the protruding arm 4-1-4 and the moving device body 4-1-1; the clamping part 4-2-2 is clamped in the concave space 4-1-3; a second convex part 4-1-5 matched with the first convex part 4-2-3 is arranged on one side of the projecting arm 4-1-4 facing the concave space 4-1-3;

the horizontal moving device can adopt a screw rod, and a moving device body 4-1-1 of the horizontal moving device 4-1 is internally provided with a threaded hole matched with the screw rod;

the telescopic puncher 4-3 sequentially comprises from bottom to top: the drilling head is 4-3-1, the connecting sleeve is 4-3-2, the telescopic rod is 4-3-3, the telescopic power device is 4-3-4, the fixed horizontal plate is 4-3-5, 2 vertical plates 4-3-6 are mounted at the top of the fixed horizontal plate 4-3-5, a first articulated shaft 4-3-7 and a second articulated shaft 4-3-8 are arranged between the 2 vertical plates 4-3-6, the axial lines of the first articulated shaft 4-3-7 and the second articulated shaft 4-3-8 are positioned in the same vertical plane, and the second articulated shaft 4-3-8 is positioned above the first articulated shaft 4-3-7;

2 hinged plates 4-3-10 are arranged on the surface of the mover body 4-1-1, a third hinged shaft is arranged between the 2 hinged plates, and a hydraulic rod 4-3-9 is connected between the third hinged shaft and the second hinged shaft 4-3-8;

the telescopic punch 4-3 can be switched between horizontal and vertical by the extension and retraction of the hydraulic rod 4-3-9, wherein the height of the first hinge axis 4-3-7 is higher than the height of the third hinge axis.

Preferably, the maximum length of the hydraulic rod 4-3-9 corresponds to the vertical position of the telescopic punch 4-3, and the minimum length of the hydraulic rod 4-3-9 corresponds to the horizontal position of the telescopic punch 4-3.

The design of the puncher in the first embodiment is particularly suitable for the situation of more than 3 puncher, and the punching heads 4-3-1 of the puncher with more than 3 puncher are arranged in a straight line when in a vertical state; as shown in figure 6, 3 first beams are arranged on the upright post, a horizontal shifter 4-1 and a telescopic puncher 4-3 are arranged on each of the 3 first beams, in order to replace the punching head, particularly the middle puncher, a hydraulic rod 4-3-9 is shortened, so that the telescopic puncher 4-3 is in a horizontal state, then the telescopic puncher is moved to the side of the upright post through the action of a horizontal moving device such as a screw rod, then the punching head is rotated and twisted out from a connecting sleeve 4-3-2, and then the required punching head is replaced (when the punching head and the connecting sleeve are replaced, the required punching head can still work normally).

Simultaneously, the practical meaning of the puncher of embodiment one still lies in: for the copper foil with different pore diameters, the punching heads with different sizes have to exchange positions with each other, and the design of the first embodiment just meets the requirement of exchanging the positions.

The hole puncher of the first embodiment is connected with a controller.

The copper foil advances one by one, namely when the copper foil needing to be punched passes through the punching machine, the copper foil stops advancing, and after the punching is finished, the copper foil continues to advance.

In order to determine the advancing distance of the copper foil when the copper foil passes through the punching machine, guide rollers 2-3 and 2-4 are fixedly arranged at the front end and the rear end of the punching platform 2, angle sensors are arranged on the guide rollers 2-3 and/or 2-4, the rotating angle is equal to the radius of the guide rollers, namely the length of the guide rollers, and then the distance between the punching head and the guide rollers 2-3 and 2-4 is fixed, so that whether the position of the copper foil needing to be punched passes through the punching head or not can be determined. For example, as shown in fig. 7, the copper foil needs to be punched at 3m, the horizontal distance between the contact point distance between the guide roll 2-3 and the copper foil and the punching head is 1m, and when the guide roll rotates by 3.5m, the copper foil stops moving forward, and the punching machine punches the copper foil.

The provision of a plurality of angle sensors has the effect that mutual calibration is possible.

The second embodiment has a disadvantage in that the cross section of the copper foil after punching is easily oxidized. How to solve this problem is the problem to be solved in the second embodiment.

The second embodiment is mainly characterized in that the punching robot and the post-processing machine are constructed into a whole, and the main innovation of the second embodiment is that the punching robot is arranged in front of the post-processing machine.

The post-processing split machine with the punching robot comprises the following specific steps: the copper foil that the unreeling roller was placed is the matte, between the platform 2 and the punching robot 4 of embodiment 1 and the wind-up roll 8, still has set gradually along the directionality of advancing of copper foil: an anti-oxidation treatment tank 5, a cleaning tank 6 and a drying device 7.

After the rough foil is punched and then is treated by the anti-oxidation treatment groove 5, anti-oxidation layers can be formed on all surfaces of the rough foil including the inner surface formed by punching, and then the high-performance copper foil can be formed more effectively.

The second embodiment has another great effect that the copper foil is adhered to copper powder generated in the punching process by punching, and the copper powder can be surely removed by the anti-oxidation treatment tank 5 and the cleaning tank 6.

Wherein, anti oxidation treatment trough includes: an anti-oxidation treatment tank body 5-1, an anti-oxidation treatment tank foil pressing roller 5-2 and an anti-oxidation treatment solution contained in the anti-oxidation treatment tank body 5-1, wherein a guide roller is arranged at the front end of the anti-oxidation treatment tank body 5-1, and a driving roller and a guide roller are arranged at the rear end of the anti-oxidation treatment tank body 5-1.

Wherein, washing tank 6 includes: the cleaning device comprises a cleaning tank body 6-1, a cleaning foil pressing roller 6-2 and a water washing solution contained in the cleaning tank body 6-1, wherein a guide roller is arranged at the front end of the cleaning tank body 6-1, and a driving roller and a guide roller are arranged at the rear end of the cleaning tank body 6-1; flushing heads are arranged on two sides of the copper foil.

The production process of the second embodiment comprises the following steps: after coming out of the unwinding roller, the rough foil is firstly punched, then is sequentially subjected to anti-oxidation treatment, water washing and drying, and finally is wound on the winding roller. Further, as shown in fig. 9, it is preferable to perform acid washing between the punching and the oxidation preventing treatment.

In the scheme of the second embodiment, the copper foil of the unwinding roller is made of a rough foil, which has great significance. According to the traditional copper foil production process: the production process includes the steps that a crude foil is collected by a crude foil machine and a wind-up roller, the crude foil is treated by a post-treatment machine, and then the copper foil with the anti-oxidation layer on the surface is treated by a punching machine. Meanwhile, if the process is changed into the following steps: the foil forming machine-the wind-up roll collects the rough foil, the rough foil is processed by the post-processor, and then the copper foil with the anti-oxidation layer on the surface is processed by the post-processor with the puncher of the second embodiment, namely the rough foil-anti-oxidation post-processing-the punching-the anti-oxidation post-processing, compared with the rough foil-the punching-the anti-oxidation post-processing of the second embodiment, the anti-oxidation processing process is added, however, the effect is not good in practice.

The reason is that the punched area of the copper foil is not continuous, because the demands of different users vary widely. For discontinuous copper foil, the principle of normal treatment is that a perforated area enters an anti-oxidation treatment groove, and a non-perforated area does not enter the anti-oxidation treatment groove. However, this principle treatment causes a problem that the copper foil causes unevenness of the oxidation preventing layer along the advancing direction. If the copper foil does not distinguish a punching area and a non-punching area, the copper foil enters the anti-oxidation treatment groove, the thickness of the anti-oxidation layer is increased (the requirement of the thickness cannot be met, and meanwhile, the previous treatment is not meaningful after 2 times of treatment), and meanwhile, the anti-oxidation layer in the punching area of the copper foil cannot be integrated with the original anti-oxidation layer.

This indicates that the choice of the treatment process is of great significance for the post-treatment of the copper foil, and that the more the number of treatment steps, the better.

When the rough foil in the second embodiment is further processed by the pickling and anti-oxidation treatment tank, a contradiction is generated due to the need of punching. In the case of punching, the copper foil needs to be stopped from advancing and the punching needs a certain time, and in this case, the copper foil may stay in the pickling tank or the oxidation prevention treatment tank for an excessively long time.

For example, mention is made in CN102418129A of: the acid washing adopts sulfuric acid, the concentration is 100-200g/L at 25-40 ℃, and the time is 4-5 s.

To solve this problem, the punching efficiency can be improved, but the punching efficiency is affected by the number of punches, the shape, the mechanical accuracy, and the like. The second embodiment addresses this problem from another perspective.

A liquid inlet pipe flow control valve 9-5 is arranged on a liquid inlet pipe of the pickling tank 9 and/or a liquid outlet pipe flow control valve 9-7 is arranged on a liquid outlet pipe; the amount of the liquid inlet pipe and the amount of the liquid outlet pipe are adjusted through the liquid inlet pipe flow control valve 9-5 and the liquid outlet pipe flow control valve 9-7, and further the liquid level in the pickling tank body 9-1 is adjusted.

A liquid level sensor is arranged in the pickling tank and used for detecting the liquid level height in the pickling tank body.

The liquid inlet pipe flow control valve 9-5, the liquid outlet pipe flow control valve 9-7 and the liquid level sensor are all connected with the controller.

As shown in fig. 8, the contact time of the copper foil with the solution is substantially the moving time of the copper foil from point a to point B, or: the time required for the copper foil to move to the AB section (the AB section is the length of the copper foil from the point A to the point B, and has a direct relation with the height of the liquid level). From this it can be known that: by adjusting the height of the liquid level, it can be ensured that: the time of the copper foil in the pickling solution is not too long. In particular, the solution level can be lower than the foil roller.

For this reason, the prior application of the same is referred to: 2018102554448, a liquid inlet pipe flow control valve is also arranged on the liquid inlet pipe of the anti-oxidation treatment tank and/or a liquid outlet pipe flow control valve is arranged on the liquid outlet pipe; the amount of the liquid inlet pipe and the amount of the liquid outlet pipe are adjusted through the liquid inlet pipe flow control valve and the liquid outlet pipe flow control valve, so that the liquid level in the anti-oxidation tank body is adjusted; a liquid level sensor is arranged in the anti-oxidation treatment tank and is used for detecting the liquid level height in the pickling tank body. The time of the copper foil in the oxidation prevention groove is controlled so as to control the thickness of the oxidation prevention layer. It should be noted that: above-mentioned single flow control valve design (only set up feed liquor pipe flow control valve or install drain pipe flow control valve on the drain pipe), can accomplish the rising and the decline of liquid level, however, its operating speed to the liquid level is relatively slower to, only set up flow control valve on the drain pipe, when will improve the liquid level, because the unable adjustment of flow of feed liquor pipe, consequently, in fact through the flow that reduces the drain pipe and promote, and do so and influence the circulation speed of cell body solution again. Therefore, for the oxidation scrubber 5, the flow control valves are arranged on the liquid inlet pipe and the liquid outlet pipe, and can meet the requirements of liquid level increase, liquid level reduction speed and solution circulation speed at the same time.

In the third embodiment, the copper foil punching requirements are various, and when the aperture difference of the copper foil to be punched is large, especially when the copper foil and the copper foil are in close contact, the punching is performed and the punching quality is ensured, which is the problem to be solved in the second embodiment.

In the third embodiment, 2 punching machines are provided to match with the punching platform 2. The perforating machine close to the unwinding roller is provided with a perforating head with larger diameter, and the perforating machine far away from the unwinding roller is provided with a perforating head with smaller diameter.

When the punching operation of the third step is implemented, the effect is as follows: make the macropore earlier, make the aperture afterwards, its compare: and the small holes are punched firstly, and then the large holes are punched, so that the situation that the large holes and the small holes are communicated when the large holes and the small holes are close to each other is prevented, and the effect is better. Meanwhile, the large holes and the small holes are opened separately, which is also beneficial to improving the punching efficiency.

The macro-pores and the micro-pores in the third embodiment do not refer to: the pore diameter of the copper foil is only two, but means: the punch head mounted near the unwind roll's punch is larger than the punch head mounted far from the unwind roll's punch. Multiple punches can still be provided on each punch, the punch heads of which can still be different.

In a fourth embodiment, the horizontal mover of the first embodiment moves along the first beam by means of the lead screw, and this moving manner is substantially wasteful for the space application of the beam, because one beam can only correspond to 1 horizontal mover, i.e. only can drive 1 punching head to move.

As shown in fig. 11, in the fourth embodiment, a power device for moving the horizontal mover along the first beam is replaced by a hydraulic driving device, a hydraulic cylinder drives a telescopic rod, and the telescopic rod is connected and fixed with the horizontal mover; and 2 sides at first crossbeam all can set up 1 pneumatic cylinder, and its effect lies in: there may be 2 relatively independent horizontal movers (perforating heads) on the same beam that can move along the cross section of the copper foil.

In a fifth embodiment, as shown in fig. 12, the punching robot further includes: the copper foil punching device comprises a copper foil punching press plate 4-3-12 and a driving device 4-3-11 for driving the copper foil punching press plate 4-3-12 to stretch, wherein a hole 4-3-13 corresponding to the punching head 4-3-1 is formed in the middle of the copper foil punching press plate 4-3-12.

The top end of the driving device 4-3-11 for driving the copper foil punching press plate 4-3-12 to stretch is also fixed on the lower surface of the fixed horizontal plate 4-3-5.

When punching is carried out, the copper foil punching press plate 4-3-12 is driven to move downwards by the driving device 4-3-11 for driving the copper foil punching press plate 4-3-12 to stretch and retract, and the copper foil is pressed on the punching platform 2, so that the accuracy of the punching position is further ensured.

It should be noted that: the punching robots in the first, third, fourth and fifth embodiments are also suitable for punching other materials, such as aluminum foil and paper foil.

The above-mentioned embodiments are only for convenience of description, and are not intended to limit the present invention in any way, and those skilled in the art will understand that the technical features of the present invention can be modified or changed by other equivalent embodiments without departing from the scope of the present invention.

Claims

1. An operating method of an intelligent punching robot comprises the following steps: a first puncher;

the first puncher includes: the device comprises upright columns respectively positioned on two side surfaces of a punching platform, and a first beam, a horizontal moving device and a telescopic puncher which are fixed above the upright column of the first puncher;

the first cross member includes: the bearing part is provided with a plurality of sliding tables protruding out of the surface of the bearing part above the bearing part;

the horizontal mover includes: the lower surface of the shifter body is provided with a sliding groove corresponding to the shape of the sliding table;

a horizontal moving device is arranged on the upright post, and the horizontal mover can move along the first cross beam under the action of the horizontal moving device;

flexible hole puncher is from up including in proper order down: the drilling machine comprises a drilling head, a connecting sleeve, a telescopic rod, a telescopic power device and a fixed horizontal plate, wherein 2 vertical plates are mounted at the top of the fixed horizontal plate, and a first hinge shaft and a second hinge shaft are arranged between the 2 vertical plates; the top of the perforating head is provided with threads and is in threaded connection with the connecting sleeve, the top end of the connecting sleeve is fixed at the bottom end of the telescopic rod, the top end of the telescopic rod is connected with the bottom end of the telescopic power device, and the telescopic power device is fixed on the bottom surface of the fixed horizontal plate;

when the telescopic puncher is in a vertical state: the axial lines of the first articulated shaft and the second articulated shaft are positioned in the same vertical plane, and the second articulated shaft is positioned above the first articulated shaft;

the surface of the mover body is provided with 2 hinged plates, a third hinged shaft is arranged between the 2 hinged plates, and a hydraulic telescopic device is connected between the third hinged shaft and the second hinged shaft;

the telescopic puncher can be converted between horizontal and vertical states through the telescopic of a hydraulic telescopic device connected between a third hinge shaft and a second hinge shaft, wherein the height of the first hinge shaft is higher than that of the third hinge shaft;

it is characterized in that the preparation method is characterized in that,

the first puncher comprises more than 3 parallel first beams which are distributed up and down, and each first beam is provided with the horizontal mover and the telescopic puncher;

the horizontal movers on each layer of the first cross beams of more than 3 parallel first cross beams which are distributed up and down are all positioned at different heights, and the horizontal movers on each layer of the first cross beams of more than 3 parallel first cross beams which are distributed up and down are not overlapped in height;

when the punching head needs to be replaced: firstly, a hydraulic telescopic device connected between a third articulated shaft and a second articulated shaft drives a hydraulic rod to shorten, so that the telescopic puncher is in a horizontal state; then, the horizontal shifter and the telescopic puncher are moved beside the upright post by the driving of the horizontal moving device; then the punching head is rotated and twisted out from the connecting sleeve, and then the required punching head is replaced.

2. The method of operation of claim 1, wherein the first beam further comprises: the cross sections of the bearing part and the clamping part are L-shaped.

3. The method of claim 1, wherein the maximum length of the hydraulic rod of the hydraulic telescopic device connected between the third hinge shaft and the second hinge shaft corresponds to a vertical state of the telescopic punch, and the minimum length of the hydraulic rod of the hydraulic telescopic device connected between the third hinge shaft and the second hinge shaft corresponds to a horizontal state of the telescopic punch.

4. The method of claim 3, wherein the power device is a hydraulic cylinder.

5. The method of claim 1, wherein the horizontal moving device comprises a screw rod, and a screw hole is formed in the body of the horizontal mover to fit the screw rod.

6. The method of claim 1, wherein the horizontal moving means is a hydraulic driving means: the hydraulic cylinder drives a telescopic rod, and the telescopic rod is fixedly connected with the horizontal mover; all set up 1 pneumatic cylinder in 2 sides of first crossbeam, have 2 relatively independent horizontal movers removal on same crossbeam.

7. The method of claim 6, wherein the horizontal moving device, the power device for expansion and contraction, and the hydraulic expansion and contraction device connected between the third hinge shaft and the second hinge shaft are all connected to the controller.