CN110271891B - Unmanned pole piece feeding device and system - Google Patents

Unmanned pole piece feeding device and system Download PDF

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Publication number
CN110271891B
CN110271891B CN201910424122.6A CN201910424122A CN110271891B CN 110271891 B CN110271891 B CN 110271891B CN 201910424122 A CN201910424122 A CN 201910424122A CN 110271891 B CN110271891 B CN 110271891B
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CN
China
Prior art keywords
pole piece
winding drum
material shaft
shaft
equipment
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Active
Application number
CN201910424122.6A
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Chinese (zh)
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CN110271891A (en
Inventor
黄梅宝
阳如坤
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Shenzhen Geesun Intelligent Technology Co Ltd
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Shenzhen Geesun Intelligent Technology Co Ltd
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Priority to CN201910424122.6A priority Critical patent/CN110271891B/en
Publication of CN110271891A publication Critical patent/CN110271891A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
    • B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
    • B65H19/18—Attaching, e.g. pasting, the replacement web to the expiring web
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
    • B65H19/20—Cutting-off the expiring web
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/05—Accumulators with non-aqueous electrolyte
    • H01M10/058—Construction or manufacture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Replacement Of Web Rolls (AREA)

Abstract

The invention relates to the technical field of lithium battery production equipment, in particular to an unmanned pole piece feeding device and system, wherein the device comprises a pole piece winding drum for winding a pole piece, the pole piece winding drum comprises a winding drum body and a paste rod arranged in parallel with the winding drum body, and the device also comprises a pushing mechanism and a clamping mechanism. During feeding, the end part of the pole piece is stuck on the sticking rod, then the coiled pole piece is conveyed to the position of the equipment to be reloaded through the AGV trolley, after the control device controls the first material shaft to be automatically abutted with the second material shaft on the equipment to be reloaded, the pushing mechanism pushes the pole piece winding drum to the preset position of the second material shaft, then the pole piece is pulled to the pole piece feeding position of the equipment to be reloaded after the pole piece is clamped from the notch between the sticking rod and the winding drum body through the clamping mechanism, the unmanned feeding is completed, the whole feeding process is not needed to be manually participated, the material exchanging efficiency is improved, and meanwhile, the production cost is reduced.

Description

Unmanned pole piece feeding device and system
Technical Field
The invention relates to the technical field of lithium battery production equipment, in particular to an unmanned pole piece feeding device and system.
Background
In lithium battery production equipment, material roll replacement relates to a plurality of processes, and in the prior art, manual feeding is generally adopted, a coiled pole piece is pushed to a position of equipment to be replaced by a material conveying trolley, then a material roll is installed on a material shaft of the equipment to be replaced by assistance of a force assisting arm, and finally the end part of the pole piece is manually uncovered and pulled to an automatic material roll replacing mechanism to be stuck with the end part of an original pole piece on the equipment, so that material replacement is completed. Because the production speed of the existing lithium battery equipment is faster and faster, a coil of material is cut off quickly, the frequency of material feeding is higher and higher, the coil diameter of a coil of material required to be replaced is also increased along with the higher requirement of single-machine equipment capacity, the weight of the coil of material is heavier, the labor intensity of manual material replacement is increased, and more manpower is required to be input, so that the production cost is increased; meanwhile, more time is required for manual material changing, so that the production efficiency of equipment is also affected, and therefore, an unmanned pole piece feeding system is urgently needed in the market.
Disclosure of Invention
In order to solve the technical problems of high production cost and low production efficiency of manual feeding in the prior art, the application provides an unmanned pole piece feeding device and system, which are realized by the following technical scheme:
unmanned pole piece loading attachment, be in including AGV dolly and setting on the AGV dolly:
the first material shaft is used for bearing the pole piece winding drum and is in butt joint with a second material shaft on the equipment to be reloaded;
the pushing mechanism is used for pushing the pole piece winding drum on the first material shaft to a preset position of the second material shaft after the first material shaft and the second material shaft are in butt joint;
and the clamping mechanism is used for clamping the pole piece on the pole piece winding drum and pulling the pole piece to the pole piece feeding level on the equipment to be reloaded.
The pole piece winding device comprises a winding drum, a winding drum body and a winding drum body, wherein the winding drum body is provided with a winding drum body, and the winding drum body is provided with a winding drum body; one end of the sticking rod is connected with the winding drum body through a connecting piece, and a notch in the shape of a Chinese character 'men' is formed between the other end of the sticking rod and the winding drum body.
Further, the pole piece clamping device also comprises a cutter, wherein the cutter is used for cutting off the pole piece from between the pasting rod and the pole piece clamping part of the clamping mechanism after the pole piece is clamped by the clamping mechanism, so that the pole piece is clamped by the clamping mechanism to move;
the pole piece loading position of the pole piece to be pulled to the equipment for changing the materials by the clamping mechanism comprises: and clamping the end part of the pole piece, stretching the end part of the pole piece to an automatic reel changing mechanism of the equipment to be subjected to material changing, and attaching the end part of the pole piece to an original pole piece at the automatic reel changing mechanism.
Further, the automatic feeding device further comprises a first sensor, wherein the first sensor is arranged on the AGV trolley and/or the equipment to be subjected to material changing and is used for detecting whether the first material shaft and the second material shaft are positioned on the same axis or not.
Further, the automatic feeding device further comprises an adjusting mechanism arranged on the vertical surface of the AGV, the first material shaft is arranged on the adjusting mechanism, and the adjusting mechanism is used for driving the first material shaft to move in the vertical direction.
The unmanned pole piece feeding system comprises the pole piece feeding device, and further comprises a second material shaft arranged on equipment to be reloaded and used for being in butt joint with the first material shaft to bear the pole piece winding drum.
The front end of the first material shaft is provided with a bulge or a groove, and the bulge or the groove is used for forming limit fit with the groove or the bulge at the front end of the second material shaft;
and the equipment to be reloaded is provided with a second sensor for detecting whether the pole piece winding drum is pushed to a preset position of a second material shaft or not.
Further, the pole piece winding machine further comprises a first sliding mechanism and a second sliding mechanism which are respectively arranged on the first material shaft and the second material shaft, wherein the first sliding mechanism comprises a first guide piece used for enabling the pole piece winding drum to slide along the axial direction of the first material shaft, and the first guide piece is arranged on the outer surface of the first material shaft; the second sliding mechanism comprises a second guide piece used for enabling the pole piece winding drum to slide along the axial direction of a second material shaft, and the second guide piece is arranged on the outer surface of the second material shaft.
Further, the device further comprises a first limiting device and a second limiting device which are respectively arranged on the first material shaft and the second material shaft, wherein the first limiting device and the second limiting device are used for limiting the pole piece winding drum and preventing the pole piece winding drum from rotating on the first material shaft and the second material shaft.
Wherein, the first material shaft and the second material shaft are hollow structures;
the first limiting device comprises a first expansion block arranged on the first material shaft and a first driving mechanism connected with the first expansion block, and a mounting through hole is formed in the side wall of the first material shaft and used for mounting the first expansion block; the first driving mechanism is arranged in the hollow structure of the first material shaft, and is used for driving the first expansion block to extend out after the pole piece winding drum is arranged on the first material shaft so as to limit the pole piece winding drum, and shrinking the first expansion block when the pole piece winding drum is pushed out and pushed into the first material shaft;
the second limiting device comprises a second expansion block arranged on the second material shaft and a second driving mechanism connected with the second expansion block, and a mounting through hole is formed in the side wall of the second material shaft and used for mounting the second expansion block; the second driving mechanism is arranged in the hollow structure of the second material shaft, and is used for controlling the second expansion block to extend out to limit the pole piece winding drum after the pole piece winding drum is pushed into a preset position on the second material shaft, and driving the second expansion block to shrink when the pole piece winding drum is taken down.
Further, the automatic feeding device further comprises a control device connected with the feeding mechanism, the pushing mechanism, the clamping mechanism, the telescopic mechanism, the first sensor and the second sensor.
According to the unmanned pole piece feeding device, the end part of the pole piece is stuck on the sticking rod, then the coiled pole piece is conveyed to the position of the equipment to be reloaded through automatic guidance of the AGV trolley, after the control device controls the first material shaft to be automatically abutted with the second material shaft on the equipment to be reloaded, the pushing mechanism pushes the pole piece winding drum to the preset position of the second material shaft, then the pole piece winding drum is stretched into the gap between the sticking rod and the winding drum body through the clamping mechanism and then pulled to the pole piece feeding position on the equipment to be reloaded, unmanned feeding is completed, manual participation is not needed in the whole feeding process, the material exchanging efficiency is improved, and meanwhile the production cost is reduced.
Drawings
Fig. 1 is a schematic diagram of a front structure of a feeding system according to an embodiment of the present application;
FIG. 2 is a schematic view of the right structure of an embodiment of the present application;
FIG. 3 is a schematic structural view of a pole piece roll according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a pole piece rolled on a winding drum according to an embodiment of the present application;
fig. 5 is a schematic front structural view of a feeding device according to an embodiment of the present application;
fig. 6 is a schematic view of a right structure of a feeding device according to an embodiment of the present application;
FIG. 7 is a schematic view of a first material shaft according to an embodiment of the present disclosure;
FIG. 8 is a schematic cross-sectional view of a first shaft according to an embodiment of the present application along the direction A-A in FIG. 5;
fig. 9 is a schematic structural diagram of a clamping mechanism according to an embodiment of the present application;
fig. 10 is a schematic diagram of a front structure of the clamping mechanism in the embodiment of the application during operation.
Detailed Description
The invention will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, some operations associated with the present application have not been shown or described in the specification to avoid obscuring the core portions of the present application, and may not be necessary for a person skilled in the art to describe in detail the relevant operations based on the description herein and the general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The terms "coupled" and "connected," as used herein, are intended to encompass both direct and indirect coupling (coupling), unless otherwise indicated.
In the embodiment of the invention, an unmanned pole piece feeding device is provided, the device comprises a pole piece winding drum 1 for winding a pole piece, the pole piece winding drum 1 comprises a winding drum body and a pasting rod 15 which is axially parallel to the winding drum body, after the pole piece 16 is wound on the winding drum body, the end part of the pole piece 16 is fixed on the pasting rod 15 through an adhesive tape, a notch is formed at one end of the winding drum body and one end of the pasting rod 15, a mechanical arm 5 can conveniently extend into the pole piece 16 from the notch, and the technical problem that the mechanical arm 5 cannot uncover the end part of the pole piece 16 from the wound pole piece material roll during unmanned production is solved.
Further, this unmanned loading attachment still includes AGV dolly 2 and sets up first stub shaft 3, pushing equipment and the clamping mechanism on this AGV dolly 2. The AGV trolley (Automated Guided Vehicle) 2 is used for self-navigation feeding, and a first material shaft 3 on the AGV trolley 2 is arranged for bearing the pole piece winding drum 1, for example, the pole piece winding drum 1 is sleeved on the first material shaft 3; the AGV trolley 2 can send the material roll to a preset device through electromagnetic navigation, the first material shaft 3 is in butt joint with the second material shaft 61 arranged on the device 7 to be reloaded, and the second material shaft 61 is used for bearing the pole piece winding drum 1 after the butt joint with the first material shaft 3 is completed. The pushing mechanism comprises a material roll pushing rod 4 arranged on the first telescopic mechanism and used for pushing the pole piece winding drum 1 to a preset position of the second material shaft 61 after the first material shaft 3 and the second material shaft 61 are in butt joint. The clamping mechanism comprises a clamping rod arranged on the six-axis mechanical arm 5 and is used for stretching into a gap between the winding drum body and the pasting rod 15 to clamp the pole piece 16 and pulling the pole piece to the pole piece loading position on the equipment to be reloaded. All mechanisms on the device control cooperative work through the control device to finish unmanned pole piece feeding, so that labor cost can be saved, and meanwhile, production efficiency is improved.
Embodiment one:
referring to fig. 1 and 2, the embodiment provides an unmanned pole piece feeding device, which comprises an AGV trolley 2, and a first material shaft 3, a material pushing mechanism and a material clamping mechanism which are arranged on the AGV trolley 2. The first material shaft 3 is used for bearing the pole piece winding drum 1, is in butt joint with the second material shaft 61 on the equipment to be reloaded, and the pushing mechanism comprises a first telescopic mechanism and a material roll pushing rod 4 arranged on the first telescopic mechanism, and is used for pushing the pole piece winding drum 1 on the first material shaft 3 to a preset position of the second material shaft 61 after the butt joint of the first material shaft 3 and the second material shaft 61 is completed. The clamping mechanism is used for clamping the pole piece 16 on the pole piece winding drum 1 and pulling the pole piece 16 to the pole piece feeding level on the equipment 7 to be reloaded so that the equipment 7 to be reloaded can feed or take the pole piece 16. The clamping mechanism comprises a six-axis mechanical arm 5 and a clamping rod arranged on the mechanical arm 5, the clamping rod comprises two clamping rods and is arranged in parallel, the clamping rods are used for extending into the end part of the clamping pole piece 16 from a gap between the winding drum body and the pasting rod 15, and in order to prevent the clamping rod from wearing the pole piece, the surface of the clamping rod is as smooth as possible, so that friction is reduced. In this embodiment, two parallel material clamping rollers 51 are used to clamp the pole piece, and a rubber layer is arranged on the surface of the material clamping rollers 51 to prevent the pole piece 16 from being worn.
Further, this loading attachment still includes the pole piece reel that is used for coiling pole piece, as fig. 3 and 4, and pole piece reel 1 includes reel body, connecting rod 14 and stick 15, and wherein the reel body includes reel core 11 and gum cover 13, connects through hollow bearing structure 12 between reel core 11 and the gum cover 13, and the inner wall of reel core 11 is smooth. One end of the connecting rod 14 is fixedly connected with one end part of the winding drum core 11, the other end of the connecting rod is fixedly connected with one end of the sticking rod 15, and the sticking rod 15 and the connecting rod 14 are arranged in an L shape. After the pole piece 16 is coiled on the pole piece winding drum 1, the end part of the pole piece 16 is fixed on the sticking rod 15 through an adhesive tape, and when the pole piece is changed, the clamping roller 51 on the manipulator 5 can extend into the end part of the pole piece 16 through a gap between the winding drum body and the sticking rod 15, so that the technical problem that the manipulator 5 cannot uncover the end part of the pole piece 16 from the coiled pole piece material during unmanned production is solved. Then the cutter 71 can cut the pole piece 16 from the part between the winding drum and the pasting rod 15, and the clamping roller 51 on the manipulator 5 pastes the end part of the pole piece 16 on the original pole piece end part on the equipment, so that unmanned material changing is realized, the labor cost is saved, and meanwhile, the production efficiency is improved.
In other embodiments, one end of the sticking rod 15 may be further rotatably connected to the end of the connecting rod 14, so that when the winding drum body is fixed, the end of the pole piece 16 is fixed on the sticking rod 15, it is ensured that the pole piece 16 on the winding drum body is not loosened, and the pole piece between the winding drum body and the sticking rod 15 is straightened.
In other embodiments, the connection between the roll body and the applicator rod 15 may be a connection plate, or may take other forms, so long as the robot 5 is not affected to grip the pole piece 16.
Wherein, as shown in fig. 5 and 6, a first material shaft 3 is arranged on the AGV 2, and the first material shaft 3 is used for installing the pole piece winding drum 1. A magnetic navigation path is preset on a route between the equipment 7 to be reloaded and a loading position, and the AGV trolley 2 can autonomously navigate to move the coiled pole piece to the equipment 7 to be reloaded according to the navigation path during reloading, and is in butt joint with a second material shaft 61 on the equipment 7 to be reloaded. The second material shaft 61 is arranged on the device 7 to be reloaded, has a structure similar to that of the first material shaft 3, and is used for bearing the pole piece winding drum 1 after the first material shaft 3 is in butt joint.
Wherein, pushing equipment is including setting up the material roll push rod 4 on first telescopic machanism, and first telescopic machanism of this embodiment selects the cylinder, and material roll push rod 4 installs in the piston rod front end of cylinder, accomplishes the butt joint at first material axle 3 and second material axle 61 after, and control cylinder drives material roll push rod 4 forward movement and carries pole piece reel 1 to the preset position department of second material axle 61, installs the material roll on waiting to reload equipment 7.
Wherein, set up first sensor on AGV dolly 2 or wait to reload equipment 7, this first sensor is little to the type sensor, the receiving terminal and the transmitting terminal of type sensor set up respectively on AGV dolly 2 and wait to reload equipment 7 for detect AGV dolly 2 and wait to reload equipment 7's relative position, especially monitor first feed axle 3 and second feed axle 61 on same axis, if then AGV dolly 2 moves to the direction that is close to wait to reload equipment 7, accomplish the butt joint.
In general, the AGV trolley 2 can accurately find the device 7 to be reloaded by magnetic navigation, and basically ensures that the first and second spindles 3 and 61 (or the third spindle 62) are on one axis. When the general magnetic track can ensure that the AGV trolley 2 moves to the equipment 7 to be reloaded, the left and right positions of the first material shaft 3 and the second material shaft 61 (or the third material shaft 62) are not deviated, and occasionally, the deviation of the left and right positions of the first material shaft 3 and the third material shaft 62 is caused, in this embodiment, in order to enable the first material shaft 3 to be adjustable up and down, the feeding system further comprises an adjusting mechanism arranged on the vertical surface of the AGV trolley 2, the first material shaft 3 is arranged on the adjusting mechanism, and the adjusting mechanism is used for driving the first material shaft 3 to move in the vertical direction.
Wherein, adjustment mechanism of this embodiment is including setting up the slide rail on the AGV dolly vertical face, install the lead screw on the slide rail and with the first motor that the lead screw is connected, be equipped with the mounting panel on the lead screw, first material axle is installed on this mounting panel, and first motor drives the lead screw motion, and then drives the up-and-down motion of first material axle 3, adjusts the horizontal height of first material axle 3.
Wherein, as shown in fig. 10, the material clamping mechanism comprises a material clamping roller 51 installed on the six-axis manipulator 5, a cylinder 52 which can be controllably opened and closed is installed at the end part of the manipulator 5, the material clamping roller 51 comprises two roller shafts, one ends of the two roller shafts are installed on the cylinder 52 which can be controllably opened and closed, the opening and the closing are controlled under the action of the cylinder 52, and the material clamping mechanism is used for pulling the end part of the pole piece 16 to a preset position on the material waiting device 7 after the end part of the pole piece 16 is torn off from the pasting rod 15 by stretching into the end part of the pole piece 16 from a gap between the reel body and the pasting rod 15.
Further, in this embodiment, the device further includes a cutter 71 disposed at a position corresponding to the second shaft 61, the cutter 71 may be disposed on the manipulator 5, and the pole piece 16 is cut off from between the stick 15 and the position where the pole piece 16 is clamped by the clamping mechanism under the driving of the manipulator 5, in addition, the cutter 71 may also be disposed on the device 7 to be reloaded, a second telescopic mechanism may be disposed on the device 7 to be reloaded, the cutter 71 is mounted on the second telescopic mechanism, and the second telescopic mechanism may drive the cutter 71 to be telescopic for the short-term pole piece 16. In this embodiment, the second telescopic mechanism is an air cylinder, in other embodiments, a hydraulic cylinder may be also selected, the cutter 71 is mounted at the front end of a piston rod of the air cylinder, the cutter is driven by the air cylinder to extend up and down, when the material roll is mounted on the second material shaft 61, the material clamping roller 51 stretches into the end of the pole piece 16 from the gap between the roll body and the pasting rod 15, then the air cylinder is controlled to drive the cutter 71 to move upwards, the pole piece 16 is cut off from the gap between the roll body and the pasting rod 15, then the material clamping mechanism pulls the end of the pole piece 16 to the automatic roll changing mechanism 8 on the equipment 7 to be changed, and the end of the pole piece 16 is attached to the original pole piece at the automatic roll changing mechanism, so that unmanned material changing is completed.
Example 2
On the basis of embodiment 1, this embodiment provides an unmanned pole piece reloading system, and this system includes the loading attachment that embodiment 1 provided, still includes simultaneously and sets up the second material axle 61 on waiting to reload equipment 7, and second material axle 61 is used for interfacing with first material axle 3, carries pole piece reel 1 after pushing away the mechanism pushes away pole piece reel 1 to its predetermined position.
Meanwhile, as shown in fig. 2, in this embodiment, a third shaft 62 is further disposed on the to-be-reloaded device 7, and the third shaft and the second shaft are disposed on the left and right sides below the automatic reel changer 8, respectively, and two cutters 71 and 72 are disposed correspondingly. During operation, for example, the second material shaft 61 is in operation, and the coiled material on the third material shaft 63 is used up, that is, the pole piece winding drum on the third material shaft 63 can be taken down, and the material changing of the third material shaft 63 is realized through the material loading system of the embodiment. Thus, the equipment 7 can be ensured to be in a working state all the time, the machine does not need to be stopped for waiting, and the production efficiency is improved.
In actual operation, when the coil stock of a certain material shaft on the device runs out, the feeding mechanism starts feeding, after the pushing mechanism is mounted on the material shaft, the clamping mechanism and the cutter can be temporarily not operated, and when the pole piece on the other material shaft is detected to run out, the clamping mechanism and the cutter 71 (or 72) are operated to cut off the pole piece 16 and then finish pasting the material.
Wherein, in order to make the butt joint more accurate and ensure the stability of the joint after the butt joint, a protrusion is provided at the front end of the first material shaft 3 in this embodiment, and is used for forming a limit fit with a groove at the front end of the second material shaft 61 (or the third material shaft 62). In other embodiments, a groove may be formed at the front end of the first shaft 3, and a protrusion may be formed at the front end of the second shaft 61 (or the third shaft 62), and the protrusion and the groove may have various forms, which will not be described herein.
The present embodiment further includes a plurality of sensors for detecting position information, for example, a first sensor is disposed on the AGV trolley 2 or the device 7 to be reloaded, where the first sensor is a micro correlation sensor, and a receiving end and a transmitting end of the correlation sensor are disposed on the AGV trolley 2 and the device 7 to be reloaded respectively, for detecting the relative positions of the AGV trolley 2 and the device 7 to be reloaded, in this embodiment, the first spindle 3 may be adjusted in height by an adjusting mechanism, so that the receiving end or the transmitting end of the correlation sensor may be disposed on a mounting plate on the screw rod, the position of the mounting plate and the first spindle 3 is fixed, after the correlation sensor detects the corresponding information, the positions of the first spindle 3 and the second spindle 61 (or the third spindle 62) on the device 7 to be reloaded are indicated, and then the AGV trolley 2 is controlled to move toward a direction approaching the device so that the first spindle 3 and the second spindle 61 (or the third spindle 62) are completed. A second sensor is also provided on the device 7 to be reloaded, which may employ a photoelectric sensor for detecting whether the pole piece roll 1 is pushed to a preset position on the second (or third) shaft 61, 62. A third sensor is further arranged at the corresponding position of the third material shaft 62 on the equipment 7 to be reloaded, and the third sensor can also be a photoelectric sensor and is used for detecting whether the pole piece on the third material shaft 62 or the second material shaft 61 is used up, and when the detection is used up, the material clamping mechanism and the cutter 71 are started to work, so that automatic feeding is realized.
Wherein, the loading process of unmanned charging equipment of this embodiment does, installs the pole piece 16 of lapping on AGV dolly 2 at first, and AGV dolly 2 is according to the route autonomous navigation that presets with the pole piece send to wait to change material equipment 7 department, controls first charging spindle 3 and wait to change material equipment 7 on the material spindle accomplish the butt joint, then pushes the material roll to wait to change material equipment 7's material spindle through material roll push rod 4, accomplishes the material loading, then cuts off the pole piece from pasting stick 15 through cutter 71 (or 72), accomplishes the subsides material through manipulator 5. Because the position of the cutter 71 (or 72) on the device for cutting off the pole piece 16 on the adhesive rod 15 is fixed, the position of the adhesive rod 15 needs to be kept unchanged in the automatic material changing process, and the pole piece winding drum 1 cannot rotate in the pushing process, so that the position of the adhesive rod 15 and the position of the cutter 71 (or 72) cannot be corresponding after the installation. Therefore, the direction of the sticking rod 15 is to be adjusted when the pole piece winding drum is mounted on the first material shaft 3, and the direction of the sticking rod 15 needs to be kept unchanged in the process of transporting and feeding the material roll and the pushing process of the AGV trolley 2, so that limiting devices are further arranged on the first material shaft 3, the second material shaft 61 and the third material shaft 62 in the embodiment and used for radially limiting the winding drum to prevent the winding drum from rotating on the material shaft, and the direction of the sticking rod 15 is kept unchanged.
In this embodiment, the first material shaft 3, the second material shaft 61 and the third material shaft 62 are hollow structures, and a first limiting device, a second limiting device and a third limiting device are respectively arranged on the first material shaft 3, the second material shaft 61 and the third material shaft 62, and are used for radially limiting the pole piece winding drum 1 to prevent the pole piece winding drum 1 from rotating on the first material shaft 3, the second material shaft 61 and the third material shaft 62.
In this embodiment, a first limiting mechanism on the first shaft 3 is taken as an example, and the structure and mounting manner of the first limiting mechanism will be described. As shown in fig. 8, the first limiting device comprises a first expansion block 32 arranged on the first material shaft 3 and a first driving mechanism connected with the first expansion block 32, the first expansion block 32 is arranged in an installation through hole on the surface of the first material shaft 3, the first driving mechanism is arranged in a hollow structure of the first material shaft 3 and is used for controlling the first expansion block 32 to extend out to limit the winding drum after the pole piece winding drum 1 is arranged on the first material shaft 3, and the first expansion block is contracted when the winding drum is pushed out, so that the pole piece winding drum can be pushed out conveniently. The first driving mechanism in this embodiment includes a first cylinder 33, a taper shaft 35 and a spring 34, where the taper shaft 35 is disposed in the hollow structure of the first material shaft 3, and one end of the taper shaft 35 is connected with a piston rod of the first cylinder 33, and the taper shaft 35 can be driven to move axially in the hollow structure under the action of the first cylinder 33. The taper shaft 35 includes a taper surface 351, an upper end of the spring 34 is fixedly connected with a lower end surface of the first expansion block 32, and a lower end of the spring 34 is disposed on the taper surface 351 to be in contact with the taper surface 351. When the first cylinder 33 drives the taper shaft 35 to move leftwards, the conical surface 351 presses the spring 34 to enable the upper end face of the first expansion block 32 to extend out of the mounting through hole, friction limiting effect is achieved on the inner wall of the pole piece winding drum 1, conversely, when the first cylinder 33 drives the taper shaft 35 to move rightwards, the spring 34 is subjected to pressure reduction by the conical surface 351 to enable the upper end face of the spring 34 to be basically flush with the surface of the first material shaft 3, and pushing out or mounting of the pole piece winding drum 1 is facilitated.
The second limiting device on the second material shaft 61 comprises a second expansion block arranged on the second material shaft 61 and a second driving mechanism connected with the second expansion block, and the third limiting device structure on the third material shaft 62 comprises a third expansion block and a third driving mechanism connected with the third expansion block, wherein the structures and the installation modes of the second limiting device on the second material shaft 61, the third limiting device on the third material shaft 62 and the first limiting mechanism on the first material shaft 3 are similar, and are not repeated here. The difference is that after the pole piece roll 1 is pushed into the preset position on the second material shaft 61 or the third material shaft 62, the second expansion block or the third expansion block extends out to limit the pole piece roll 1, and the second expansion block or the third expansion block is driven to shrink when the pole piece roll 1 is taken down.
Further, a first sliding mechanism, a second sliding mechanism and a third sliding mechanism are respectively arranged on the first material shaft 3, the second material shaft 61 and the third material shaft 62, the first sliding mechanism comprises a first guide piece for the pole piece winding drum 1 to slide along the axial direction of the first material shaft 3, and the first guide piece is arranged on the outer surface of the first material shaft 3; the second sliding mechanism comprises a second guide piece for the pole piece winding drum 1 to slide along the axial direction of the second material shaft 61, and the second guide piece is arranged on the outer surface of the second material shaft 61; the third sliding mechanism comprises a third guide for sliding the pole piece roll 1 along the axial direction of the third material shaft 62, and the third guide is arranged on the outer surface of the third material shaft 62. The first guide member, the second guide member and the third guide member have similar structures, and the mounting manners on the corresponding material shafts are the same, and in this embodiment, the first guide member on the first material shaft 3 is taken as an example for explanation.
As shown in fig. 7 and 8, in this embodiment, the ball bearings are adopted as the first guide member, the plurality of bearings 31 are embedded on the outer surface of the first material shaft 3, a plurality of mounting grooves are provided on the first material shaft 3 in advance, the plurality of bearings 31 are disposed in the mounting grooves, the outer surface of the bearings 31 is slightly higher than the outer surface of the first material shaft 3, the rotation plane of the bearings 31 is parallel to the axial direction of the first material shaft 3, and when the pole piece roll 1 is mounted or pushed out of the first material shaft 3, the bearings 31 can rotate, so that the pole piece roll 1 is conveniently mounted and pushed out, and meanwhile, the bearings 31 play a certain limiting role on the pole piece roll 1 in the radial direction, so as to prevent the pole piece roll 1 from rotating on the first material shaft 3.
The plurality of bearings 31 may be arranged in a row along the axial direction of the first material shaft 3, or may be arranged in a staggered manner, so long as the rotation plane of each bearing 31 is guaranteed to be parallel to the axial direction of the first material shaft 3, in this embodiment, two rows of bearings 31 are arranged, so that the pole piece winding drum 1 is convenient to install and push out, and meanwhile, a radial limiting effect is achieved, and the pole piece winding drum 1 is prevented from rotating on the first material shaft 3. In other embodiments, the sliding mechanism may also employ a sliding rail, the first guide may also employ a ball or the like.
Further, the unmanned feeding system of this embodiment further includes a control device, the control device is connected with the first sensor, the second sensor and the third sensor, and is also connected with the drivers of the feeding mechanism, the pushing mechanism, the clamping mechanism and the telescopic mechanism, so as to control the sequential actions and start and stop of the feeding mechanism, the pushing mechanism, the clamping mechanism and the telescopic mechanism, for example, the control device and the control module of the AGV trolley 2 are in wireless connection, so as to control the automatic feeding and the material shaft butt joint of the AGV trolley 2, or control the cylinder movement of the pushing mechanism, so that the pole piece winding drum 1 is pushed by the material roll push rod 4. The control device comprises a processor and a memory, wherein a preset program is stored in the memory, and the processor can control the system to realize unmanned feeding by executing the program. In other embodiments, the system may include two controllers, such as a first controller mounted on the AGV cart and a second controller mounted on the equipment to be reloaded, the first controller and the second controller separately controlling the mechanisms and components on the loading device and the equipment to be reloaded 7, respectively, to cooperatively complete the entire unmanned loading process. For example, the first controller firstly controls the AGV trolley 2 to automatically navigate and feed to the to-be-reloaded equipment, then judges whether the first axis 3 and the second axis 61 are located on the same axis through information obtained by the first sensor, if yes, controls the first driving mechanism to drive the first expansion block 32 to shrink, meanwhile controls the second driving mechanism to drive the second expansion block to shrink, then controls the pushing mechanism to push the pole piece winding drum 1 to the preset position of the second axis 61, if not, controls the adjusting mechanism to adjust the position of the first axis 3 in the vertical direction until the first axis 3 and the second axis 61 are detected to be located on the same axis, then controls the pushing mechanism to push the pole piece winding drum 1 to the preset position of the second axis 61, and after the pole piece winding drum 1 is pushed to the preset position of the second axis 61, controls the second driving mechanism to drive the second expansion block to stretch out, and limits the pole piece winding drum 1. When the third sensor detects that the pole piece on the third material shaft 62 or the second material shaft 61 on the to-be-reloaded device 7 is used up, the material clamping mechanism is controlled to move to extend into the end part of the pole piece 16 from the gap between the reel body and the pasting rod 15, then the second telescopic mechanism is controlled to drive the corresponding cutter to move to cut off the pole piece 16 from the position between the pasting rod 15 and the position where the pole piece 16 is clamped by the material clamping mechanism, then the material clamping mechanism pulls the end part of the pole piece 16 to the position of the automatic reel changing mechanism 8 on the to-be-reloaded device 7, the end part of the pole piece 16 is attached to the original pole piece at the position of the automatic reel changing mechanism 8, unmanned feeding is completed, so that the labor cost can be saved, and meanwhile the production efficiency is improved.
Through the feeding system of this embodiment, adopt AGV dolly 2 to realize automatic navigation pay-off, still can guarantee that pole piece reel 1 does not take place to rotate in the direction of its stick 15 of delivery in-process, control first material axle 3 and second material axle 61 (or third material axle 62) on the equipment butt joint are accomplished the material loading, controlling means control material reel push rod 4 is with pole piece reel 1 propelling movement to second material axle 61 (or third material axle 62) on predetermined position department, the direction of its stick 15 just corresponds with cutter 71 (or cutter 72) on the equipment position, after the breach between the roll body and the stick 15 stretches into clamping pole piece 16 of clamp on six-axis manipulator 5, control cutter 71 (or cutter 72) is automatic with pole piece 16 cutter, the tip of pole piece 16 is pulled to the automatic reel change mechanism 8 department on waiting to change equipment 7 again to the automatic reel mechanism of pole piece on the manipulator 5, laminating with original pole piece on the equipment 7 has realized unmanned material loading, manpower cost has been practiced thrift, production efficiency has been improved.
The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.

Claims (8)

1. Unmanned pole piece loading attachment, its characterized in that includes the AGV dolly and sets up on the AGV dolly:
the first material shaft is used for bearing the pole piece winding drum and is in butt joint with a second material shaft on the equipment to be reloaded;
the pushing mechanism is used for pushing the pole piece winding drum on the first material shaft to a preset position of the second material shaft after the first material shaft and the second material shaft are in butt joint;
the clamping mechanism is used for clamping the pole piece on the pole piece winding drum and pulling the pole piece to the pole piece feeding level on the equipment to be reloaded;
the pole piece winding drum is used for winding the pole piece and comprises a winding drum body and an adhesive rod, wherein the adhesive rod is arranged in parallel with the winding drum body along the axial direction of the winding drum body and is used for fixing the end part of the pole piece on the winding drum body; one end of the sticking rod is connected with the winding drum body through a connecting piece, and a notch in the shape of a Chinese character 'men' is formed between the other end of the sticking rod and the winding drum body;
the first sensor is arranged on the AGV trolley and/or the equipment to be reloaded and is used for detecting whether the first material shaft and the second material shaft are positioned on the same axis or not.
2. The feeding device of claim 1, further comprising a cutter for cutting off the pole piece from between the sticking rod and the pole piece clamping part of the clamping mechanism after the pole piece is clamped by the clamping mechanism, so that the pole piece is clamped by the clamping mechanism to move;
the pole piece loading position of the pole piece to be pulled to the equipment for changing the materials by the clamping mechanism comprises: and clamping the end part of the pole piece, stretching the end part of the pole piece to an automatic reel changing mechanism of the equipment to be subjected to material changing, and attaching the end part of the pole piece to an original pole piece at the automatic reel changing mechanism.
3. The loading device of claim 1 further comprising an adjustment mechanism disposed on a vertical surface of said AGV cart, said first shaft being mounted on said adjustment mechanism for driving said first shaft to move in a vertical direction.
4. An unmanned pole piece feeding system, comprising the pole piece feeding device according to any one of claims 1-3, and further comprising a second material shaft arranged on the equipment to be reloaded, for docking with the first material shaft and carrying the pole piece reel.
5. The feeding system of claim 4, wherein the front end of the first shaft is provided with a protrusion or a groove for forming a limit fit with the groove or protrusion of the front end of the second shaft;
and the equipment to be reloaded is provided with a second sensor for detecting whether the pole piece winding drum is pushed to a preset position of a second material shaft or not.
6. The feeding system of claim 4, further comprising a first sliding mechanism and a second sliding mechanism disposed on the first and second shafts, respectively, the first sliding mechanism comprising a first guide for sliding the pole piece roll along an axial direction of the first shaft, the first guide disposed on an outer surface of the first shaft; the second sliding mechanism comprises a second guide piece used for enabling the pole piece winding drum to slide along the axial direction of a second material shaft, and the second guide piece is arranged on the outer surface of the second material shaft.
7. The feed system of claim 4, further comprising a first stop and a second stop disposed on the first and second axes, respectively, the first and second stop being configured to stop the pole piece roll and prevent rotation of the pole piece roll on the first and second axes.
8. The feeding system of claim 7, wherein said first and second shafts are hollow;
the first limiting device comprises a first expansion block arranged on the first material shaft and a first driving mechanism connected with the first expansion block, and a mounting through hole is formed in the side wall of the first material shaft and used for mounting the first expansion block; the first driving mechanism is arranged in the hollow structure of the first material shaft, and is used for driving the first expansion block to extend out after the pole piece winding drum is arranged on the first material shaft so as to limit the pole piece winding drum, and shrinking the first expansion block when the pole piece winding drum is pushed out and pushed into the first material shaft;
the second limiting device comprises a second expansion block arranged on the second material shaft and a second driving mechanism connected with the second expansion block, and a mounting through hole is formed in the side wall of the second material shaft and used for mounting the second expansion block; the second driving mechanism is arranged in the hollow structure of the second material shaft, and is used for controlling the second expansion block to extend out to limit the pole piece winding drum after the pole piece winding drum is pushed into a preset position on the second material shaft, and driving the second expansion block to shrink when the pole piece winding drum is taken down.
CN201910424122.6A 2019-05-21 2019-05-21 Unmanned pole piece feeding device and system Active CN110271891B (en)

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Publication number Priority date Publication date Assignee Title
CN111415787B (en) * 2020-04-09 2021-07-27 义乌市亚威机械设备有限公司 Copper strips jointing equipment
CN112173614B (en) * 2020-10-22 2021-04-20 苏州冠鸿智能装备有限公司 Working method of intelligent transfer robot
CN114920049A (en) * 2022-06-14 2022-08-19 上海兰钧新能源科技有限公司 Automatic feeding device and automatic feeding method for lithium battery winding machine

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