CN111266308B - Material inspection and tray loading device and control method thereof - Google Patents
Material inspection and tray loading device and control method thereof Download PDFInfo
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- CN111266308B CN111266308B CN202010044345.2A CN202010044345A CN111266308B CN 111266308 B CN111266308 B CN 111266308B CN 202010044345 A CN202010044345 A CN 202010044345A CN 111266308 B CN111266308 B CN 111266308B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M1/00—Design features of general application
- G06M1/08—Design features of general application for actuating the drive
- G06M1/10—Design features of general application for actuating the drive by electric or magnetic means
- G06M1/101—Design features of general application for actuating the drive by electric or magnetic means by electro-optical means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M7/00—Counting of objects carried by a conveyor
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Abstract
A material inspection and tray loading device and a control method thereof are provided, the device comprises a conveyor belt and a blanking tray loading mechanism, a plurality of product containing positions are arranged on the conveyor belt, and a rejecting mechanism is arranged between a feeding station and a material supplementing station; every 2N product containing positions are alternately positioned at the material supplementing station when the conveyor belt conveys the step length once; the device is provided with N groups of feeding mechanisms, each group of feeding mechanisms comprises a product taking and placing mechanism and a product detection assembly which are electrically connected with the controller, the product detection assembly detects whether two product containing positions corresponding to the feeding mechanisms currently contain products or not, the product taking and placing mechanism is controlled to grab the products independently existing in the two product containing positions corresponding to the feeding mechanisms currently, and place the grabbed products into the under-grade independently existing in the two product containing positions corresponding to the feeding mechanisms next time; the blanking tray loading mechanism clamps and loads even number of continuous products. The invention can remove defective products and supplement the deficient grade.
Description
All as the field of technology
The invention relates to a product conveying device, in particular to a material inspection and tray loading device and a control method thereof.
All the above-mentioned background techniques
The material inspection and tray loading device has a wide application range, and is mainly used for inspecting products (finished products or semi-finished products) produced and processed (mostly inspecting whether the appearance is qualified), then loading good products and then carrying out the subsequent process steps.
For example, in the production process of lithium battery cells, after the cells are subjected to hot pressing, the cells are generally conveyed to a blanking and dishing station through a conveyor belt, a plurality of cell slots are arranged on the conveyor belt, each cell slot is used for accommodating one cell, in the conveying process, the cells are inspected and rejected according to process requirements, blanking and dishing are performed on the good cells, so that the cell slots without accommodating cells are called as an under-grade, and the distance between two adjacent cell slots is called as a material distance. If a traditional mechanical arm blanking mode for loading the tray is adopted, the defective products are removed by the mechanical arm and then the tray is loaded, but the material tray can leave the under grade after the defective products in the shape are removed; if an X-Y-axis manipulator is adopted to clamp and pick up good products to be replenished into an electric core groove in a charging tray, although the problem of poor grade can be solved, the problems of complex and fussy control program and inaccurate blanking counting are caused. The problem of the poor grade counting can be solved by clamping one battery cell by the manipulator once, but the efficiency is too low; and two or more than two electric cores are got to unloading sabot mechanism's manipulator single clamp, and the same electric core that can not press from both sides in owing grade again, and the sabot appears the article of lacking and the inaccurate problem of count. The same problem exists in other fields.
All the contents of the invention
The invention aims to provide a material inspection tray and a control method thereof, which can accurately eliminate defective products, integrate products on a conveyor belt into even number of continuous products or off-grade products so as to facilitate blanking and have accurate counting.
In order to achieve the above object, the technical solution of the present invention includes:
the invention provides a material inspection and tray loading device, which comprises a conveyor belt and a blanking tray loading mechanism, wherein a plurality of product containing positions are arranged on the conveyor belt, and comprise a feeding station and a blanking station; a rejecting mechanism for detecting defective products on the conveyor belt and rejecting the defective products is arranged between the feeding station and the material supplementing station; every 2N product containing positions are alternately positioned at the material supplementing station when the conveyor belt conveys the step length once; the device is also provided with N groups of feeding mechanisms, each feeding mechanism is N groups, N is a natural number greater than or equal to 1, the N groups of feeding mechanisms are continuously arranged when N is greater than 1, each group of feeding mechanisms comprises a product picking and placing mechanism and a product detection assembly, the product detection assembly is respectively electrically connected with the controller, the product detection assembly detects whether two product containing positions corresponding to the feeding mechanisms currently contain products or not, the product picking and placing mechanism grabs the products existing independently in the two product containing positions corresponding to the feeding mechanisms currently under the control of the controller and places the grabbed products into the under-grade existing independently in the two product containing positions corresponding to the feeding mechanisms next time; the blanking tray loading mechanism clamps and loads even number of continuous products.
Furthermore, the rejecting mechanism is provided with a visual detection device for carrying out visual detection on the products on the conveyor belt, and a rejecting action mechanism for rejecting the defective products according to the detection result of the visual detection device.
Further, the visual inspection device is a CCD camera.
Furthermore, the rejecting action mechanism comprises a push rod and a first Y-direction linear power part, the push rod corresponds to the material supplementing station in number and corresponds to the product containing positions and is used for rejecting the defective products out of the conveying belt, and the first Y-direction linear power part is correspondingly connected with the push rod.
Furthermore, the conveying belt is positioned on the opposite side of the push rod and is provided with a defective product box for receiving defective products.
Furthermore, the picking and placing mechanism comprises a first finger cylinder for grabbing and placing the product and a second X-direction linear power part for driving the first finger cylinder to switch between two currently corresponding product accommodating positions of the material supplementing station.
Further, the taking and placing mechanism further comprises a second Z-direction linear power part, and the second Z-direction linear power part drives the first finger cylinder to be close to or far away from the material supplementing station.
Furthermore, the product detection assembly comprises first photoelectric switch assemblies corresponding to the number of product accommodating positions corresponding to the material supplementing station, and a light emitting part and a receiving part of each first photoelectric switch assembly are correspondingly arranged on two sides of the conveyor belt.
Furthermore, the blanking tray loading mechanism is provided with a second product detection assembly for detecting the continuous state of products on a product containing position passing through the blanking station at present; when two continuous products appear at the blanking station, the blanking tray loading mechanism acts for M times, two continuous products are clamped from the conveying belt each time, and the clamped 2M products are placed into corresponding 2M product containing positions of the tray; when the blanking station has the state of 2M continuous products, the blanking tray loading mechanism clamps 2M continuous products from the conveyor belt at a time, and the 2M products clamped by the clamping mechanism are placed in corresponding product containing positions of the tray; when even number of continuous under-grade states appear at the blanking station, the blanking tray loading mechanism does not act, and M is a natural number more than or equal to 1.
A second aspect of the present invention provides a control method for the above material inspecting and tray loading device, including the following steps:
step 1, feeding a plurality of products at each time in the feeding station area of the conveyor belt;
step 2, the rejecting mechanism detects defective products of the products on the conveyor belt and rejects the defective products from the conveyor belt;
step 3, the product detection assembly detects whether a single under-grade exists in a continuous product containing position passing through the feeding station area at present; if yes, entering step 4; if not, the product taking and placing mechanism does not work;
step 4, the product pick and place mechanism judges whether a product is picked up or not; if yes, the product taking and placing mechanism supplements the clamped product to the under grade in the material supplementing station; if not, the product taking and placing mechanism clamps the rest product in the material supplementing station;
and 5, the blanking tray loading mechanism puts the clamped continuous even number of products into corresponding product containing positions of the tray.
The invention has the beneficial effects that:
compared with the prior art, the invention can efficiently remove defective products on the conveyor belt, and clamp and feed the single discrete product on the conveyor belt into the single under-grade after the defective products are removed, so that an even number (at least two) continuous product conveying or under-grade state is formed, and the subsequent blanking, tray loading and counting are facilitated.
Description of the drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention showing an under-grade at the feed station;
FIG. 2 is a schematic diagram of a feeding mechanism clamping one cell away from a feeding station to integrate two continuous under-grades;
fig. 3 is a schematic diagram of a feeding station with an after-grade again, and a feeding mechanism feeds a clamped cell clamp into the after-grade to integrate two continuous cells;
FIG. 4 is a schematic diagram of a preferred embodiment of the present invention;
FIG. 5 is a schematic view of another angle of FIG. 4;
wherein the reference numerals are:
12. a conveyor belt; 121. a feeding station; 122. a blanking station; 123. an electrical core slot; 124. a servo drive assembly; 125. a feeding mechanism; 126. the grade is lacking;
20. a rejection mechanism; 201. a push rod; 202. a first Y-direction linear power member; 203. defective product boxes;
30. a material supplementing mechanism; 301. a material supplementing station; 301a, a feeding station first electric core groove; 301b, a second core cell of a material supplementing station; 302. a first opto-electronic switching assembly; 303. a first finger cylinder; 304. a second X-direction linear power member; 305. a second Z-direction linear power part; 306. a material supplementing bracket; 307. a guide bar;
40. a blanking and tray loading mechanism; 401. a second opto-electronic switching assembly.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
(specific embodiments) in all cases
The embodiment is described by taking an application to a cell conveying device as an example, and specifically relates to a conveying device for conveying, blanking and loading a round cell after being flattened; the technical solutions of the present invention are described, but the specific embodiments should not be construed as limiting the technical solutions.
As shown in fig. 1-5, the conveying device provided in this embodiment includes a conveyor belt 12, a rejecting mechanism 20, a blanking tray loading mechanism 40, and 1 feeding mechanism 30.
As shown in fig. 1 to 4, a conveying direction of the conveyor belt 12 is an X direction (for convenience of description, the X direction, the Y direction, and the Z direction are defined by coordinate axes in the relevant drawings, specifically referring to the drawings), a plurality of cell slots 123 for accommodating cells are provided on the conveyor belt 12, a distance between adjacent cell slots 123 is referred to as a material distance (denoted by d in fig. 4), and the conveyor belt 12 moves by two material distances (i.e., 2d) per conveying step. At least one cell slot 123 located upstream of the conveyor belt 12 serves as a feeding station 121, and the feeding station 121 is used for receiving flattened cells output from the cell flattening machine; at least one cell slot 123 positioned at the downstream of the conveyor belt 12 is used as a blanking station 122, and the blanking station 122 is used for blanking and loading cells into a tray; in this embodiment, the feeding station 121 and the discharging station 122 correspond to four core slots 123, respectively.
As shown in fig. 1, a rejecting station is arranged between the rejecting mechanism 20 and the feeding station 121 on the conveyor belt 12, the rejecting station corresponds to the electric cores on the two electric core slots, and when the rejecting station has an electric core defective product, the rejecting mechanism 20 rejects the electric core defective product from the conveyor belt 12. The rejecting mechanism 20 is further provided with a visual detection device for cell inspection at one end close to the feeding station 121; in this embodiment, the visual inspection device is a CCD camera for visual photographing. The CCD camera is not shown in the drawings, wherein the CCD is a Charge Coupled Device, which is a Charge Coupled Device, and can store and transfer light into charges, and also can take out the stored charges to change the voltage, so that the CCD camera is an ideal photographic element, and a standard photo comparison program is provided inside the CCD camera for comparing photos of a detection object. As a possible implementation, the CCD camera may be provided between the tray and the conveyor belt 12, especially on the path that the robot of the feeding mechanism 125 must travel before feeding. A plurality of electric cores of centre gripping on the manipulator of material loading, quantity can be two, four or eight, removes the top to the CCD camera, and the CCD camera carries out the vision to these a plurality of electric cores and shoots, carries out the defective products and detects.
The purpose of this test is to confirm the shape of the cell, for example, whether the width after thermal flattening is uniform, and whether the cell tab is deformed or damaged. The CCD camera is electrically connected to a PLC Controller, wherein the PLC Controller is not shown in the figure and is called a Programmable Logic Controller in English, namely a Programmable Logic Controller, the Programmable Logic Controller is a digital operation electronic system which is specially designed for application in industrial environment, a Programmable memory is adopted, instructions for executing operations such as Logic operation, sequence control, timing, counting, arithmetic operation and the like are stored in the Programmable memory, and various types of mechanical equipment or production processes are controlled through digital or analog input and output. The PLC controller controls the action of the switch push rod 201 according to the detection result of the CCD camera by matching with the transmission speed of the conveyor belt 12; when the detection result of the CCD camera is a defective product, the PLC controller opens the switch of the first Y-direction linear power part 202, and the push rod 201 stretches out of the cell slot 123 for pushing out the defective product from the conveyor belt 12, so that all cells of the subsequent blanking and tray loading are good products, and then the push rod 201 retracts. In this embodiment, the PLC controller is electrically connected to the CCD camera and the switch of the removing mechanism 20 through a serial connection manner of RS232, RS485 or USB, and controls the actuation sequence of the CCD camera and the removing mechanism 20. When the rejecting mechanism 20 is extended to push out the defective product from the Y direction to the cell slot 123 of the ejection conveyor 12, the cell slot 123 becomes the reject (cell slot without cell) 126.
As shown in fig. 1, the feeding mechanism 30 is located between the rejecting mechanism 20 and the blanking station 122, the feeding mechanism 30 is provided with a region (referred to as a feeding station 301) including two continuous core slots 123 on the conveyor belt 12, the conveyor belt 12 moves by two grids at a material distance 2d, that is, the feeding station 301 updates two core slots 123 at each step, and therefore, the state of the feeding station 301 continuously changes with the state of whether a cell is installed in the core slot 123 on the conveyor belt 12. As shown in fig. 1 to fig. 5, two first photoelectric switch assemblies 302 are disposed on the material supplementing station 301, and correspond to the material supplementing station first core slot 301a and the material supplementing station second core slot 301b, respectively, and are configured to detect whether there is an under-grade 126 in the material supplementing station 301, the material supplementing mechanism 30 is provided with a second X-direction linear power component, when there is an under-grade 126 on the material supplementing station 301 at the kth time, the material supplementing mechanism 30 is switched to the position of the core slot 123 of the remaining one core in the material supplementing station 301 through the second X-direction linear power component, so as to clamp the remaining one core in the material supplementing station 301, and temporarily store the clamping position, and integrate the conveyor 12 passing through the material supplementing station 301 into two continuous under-grade 126 states; when the K +1 th time of the material supplementing station 301 shows a state of the under-grade 126, the material supplementing mechanism 30 is switched to the position of the under-grade 126 in the material supplementing station 301 through the second X-direction linear power member, the material supplementing mechanism 30 supplements a cell clamped by the material supplementing mechanism into the under-grade 126, and the conveyor belt 12 passing through the material supplementing station 301 integrates states of two continuous cells. Wherein K is a natural number of 1 or more.
As shown in fig. 3, 4 and 5, the blanking station 122 is generally provided with four cell slots 123, the blanking tray loading mechanism 40 is located on the blanking station 122, and the blanking tray loading mechanism 40 is provided with two or four second photoelectric switch assemblies 401, so as to detect whether a state of four continuous under-grades 126, a state of two continuous cells, or a state of four continuous cells is ready to pass through the blanking station 122; if the blanking station 122 has four continuous under-grades 126, the blanking tray loading mechanism 40 does not work; if two continuous electric cores exist on the blanking station 122, the blanking tray loading mechanism 40 firstly takes away the two electric cores, after the next electric core is conveyed, the blanking tray loading mechanism 40 takes away the two electric cores again, and finally four electric cores are obtained from the blanking tray loading mechanism 40 and are placed into the corresponding electric core grooves 123 of the tray; if there are four continuous cells on the blanking station 122, the blanking tray loading mechanism 40 operates once, and then four continuous cells can be obtained from the conveyor belt 12 and placed in the corresponding cell slots 123 of the tray.
The invention can simply and efficiently eliminate defective products and supplement materials for the blank spaces after the defective products are eliminated, and has simple and convenient blanking procedure and accurate blanking counting.
The feeding station 121 may be provided with a plurality of cell slots 123 for feeding cells, and the number may be two, four, or eight, depending on the needs of the production equipment; as shown in fig. 1, 2, and 3, the number of the cells in this embodiment is four, and the manipulator loads four cells at a time, and matches the speed of the conveyor belt 12.
As shown in fig. 4, the removing mechanism 20 is further provided with a removing mechanism, and the removing mechanism includes a push rod 201 corresponding to the number of product accommodating positions corresponding to the feeding station and used for removing the defective products from the conveyor belt 12, and a first Y-direction linear power member 202 correspondingly connected to the push rod 201. In order to cooperate with the conveyor belt 12 to move two material spaces 2d per step, two push rods 201 are provided in this embodiment. The first Y-direction linear power element 202 may be a linear cylinder, a screw and nut assembly, a linear motor, or a pen-shaped cylinder, and may be selected according to the size and material distance of the battery cell, in this embodiment, the pen-shaped cylinder. The starting switch of each first Y-direction linear power part 202 is electrically connected to the PLC controller, and the PLC controller controls the removing operation of each push rod 201.
As a possible way, a defective product box 203 for receiving defective products is further disposed on the opposite side of the push rod 201 of the conveyor belt 12, and is used for receiving the rejected defective products for convenient collection.
In this embodiment, the first optoelectronic switch assembly 302 includes a light emitting portion and a receiving portion, which are correspondingly installed at two sides of the area of the feeding station 301 corresponding to the conveyor belt 12, and the light beam is blocked by the detected battery cell, and the circuit is switched on by the synchronous circuit, so as to detect whether there is a battery cell on the corresponding battery cell slot 123. The state of the feed station 301 is constantly changed according to the state of whether the cell slot 123 on the conveyor belt 12 is filled with cells. For convenience of description, the cell slot 123 is provided with a cell set to 1, and no cell set to 0, and the cell slot 123 of the replenishing station 301 is assumed to be a replenishing station first cell slot 301a and a replenishing station second cell slot 301 b; when the conveyor belt 12 passing through the rejecting mechanism 20 reaches the feeding station 301, the feeding station 301 has the following states: 10, 01 and 11; wherein 10 represents that a cell is arranged on a first cell 301a of a feeding station, and a second cell 301b of the feeding station is under-grade 126; 01 shows that the first electric core groove 301a of the feeding station is under grade 126, and the second electric core groove 301b of the feeding station is provided with an electric core; 11 denotes that the cells are arranged on the first cell tank 301a of the feeding station and the second cell tank 301b of the feeding station. When an under-grade 126 state appears on the feeding station 301 at the kth time, that is, the state of the feeding station 301 is 10, the feeding mechanism 30 clamps a remaining cell in the first cell tank 301a of the feeding station, so that both the first cell tank 301a of the feeding station and the second cell tank 301b of the feeding station are under-grade 126, that is, 00, or when the state of the feeding station 301 is 01, the feeding mechanism 30 clamps a remaining cell in the second cell tank 301b of the feeding station, so that both the first cell tank 301a of the feeding station and the second cell tank 301b of the feeding station are under-grade 126, that is, 00; when the K +1 th time of the feeding station 301 shows an under-grade 126 state, that is, the state of the feeding station 301 is 10 or 01, the feeding mechanism 30 feeds a cell clamped by the feeding mechanism into the under-grade 126, so that the first cell 301a and the second cell 301b of the feeding station are both in a state of being equipped with a cell, that is, 11.
As shown in fig. 2 and 5, the feeding mechanism 30 is further provided with a second X-direction linear power element 304 for switching positions between two core slots 123 in the feeding station 301, and a second Z-direction linear power element 305 for approaching or departing from the feeding station 301, so as to adjust a gas claw on the feeding mechanism 30 to align with a cell slot 123 on which a cell is mounted on the feeding station 301, so as to conveniently clamp the cell, or to adjust the cell clamped by the gas claw and the gas claw on the feeding mechanism 30 to align with the under-grade 126 on the feeding station 301, so as to conveniently feed the cell. It should be noted that, when the state of the feeding station 301 is in the 00 state or the 11 state, the feeding mechanism 30 is not activated. The material supplementing mechanism 30 integrates the grade of deficiency 126 on the conveyor belt 12 after the defective products of the battery cells are removed, so that the subsequent blanking and tray loading and accurate counting are facilitated.
The second X-direction linear power component 304 may be a linear cylinder, a screw nut assembly, or a linear motor, and in this embodiment, is a linear cylinder, so as to enable a gas claw of the first finger cylinder 303 to be capable of performing position switching between the first cell 301a and the second cell 301b of the feeding station, so as to facilitate clamping of a cell in a 10 state or a 01 state, and facilitate releasing of the cell in the 10 state or the 01 state accurately in a feeding process of a next time. The second Z-direction linear power component 305, and the second Z-direction linear power component 305 can enable the first finger cylinder 303 to be close to the conveyor belt 12 downwards so as to be convenient for clamping or releasing the battery cell, or to be far away from the conveyor belt 12 upwards, so that the normal conveying action of the conveyor belt 12 is not influenced; the second Z-direction linear power element 305 may be a linear cylinder, a lead screw and nut assembly, a linear motor or a pen-shaped cylinder, which is a pen-shaped cylinder in this embodiment, and has a small volume and is easy to install.
The battery cell loading and unloading conveying device further comprises a material supplementing support 306 installed on one side of the conveying belt 12, the first finger cylinder 303 is fixedly connected with a piston rod of the second X-direction linear power part 304, and a piston rod of the second Z-direction linear power part 305 is fixedly connected with the material supplementing support 306; the second Z-direction linear power component 305 is fixedly connected with the second X-direction linear power component 304, and the second X-direction linear power component 304 is connected with a guide rod 307 hole formed on the feeding bracket 306 in a sliding manner in the vertical direction through a Z-direction guide rod 307. The gas claw switch of the first finger cylinder 303 belonging to the material supplementing mechanism 30 can be electrically connected with the PLC controller in a serial port connection mode of RS232, RS485 or USB so as to control the gas claw of the first finger cylinder 303 to be actuated correctly; the actuation switches of the second X-direction linear power component 304 and the second Z-direction linear power component 305 can be electrically connected to the PLC controller through RS232, RS485 or USB serial port connection to control the actuation sequence of the second X-direction linear power component 304 and the second Z-direction linear power component 305.
The conveyor belt 12 is connected to a servo drive assembly 124 for step control. The Servo Drive assembly 124 comprises a Servo driver, a belt wheel set and the like, the Servo driver is Servo Drive in English, the Servo driver acts on a common alternating current motor similarly to a frequency converter, and the Servo Drive is mainly used for a high-precision positioning system, so that the stepping distance of the battery cell groove 123 in the process of conveying the battery cell by the conveyor belt 12 is accurate, and the material distance of each step is 2 d.
As shown in fig. 1, 2 and 3, the position of the blanking tray loading mechanism 40 corresponds to the blanking station 122, and two or four second photoelectric switch assemblies 401 (or another even number) of the blanking tray loading mechanism 40 are used for detecting a state of two continuous electric cores (i.e. 0011 or 1100) or a state of four continuous electric cores (i.e. 1111) which are ready to pass through the blanking station 122. When two continuous cells (namely 0011 or 1100) appear at the blanking station 122, the blanking and tray loading mechanism 40 acts twice, each time two continuous cells are picked up from the conveyor belt 12 and four picked-up cells are placed into the corresponding four cell slots 123 of the tray, in this process, the conveyor belt 12 needs to move one or more steps until the number of cells picked up by the blanking and tray loading mechanism 40 reaches four (namely 1111); when four cells (i.e. 1111) are continuously discharged from the discharging station 122, the discharging tray loading mechanism 40 picks up the four cells (i.e. 1111) from the conveyor belt 12 at a time and puts them into the corresponding cell slots 123 of the tray. The switch of the power component of the blanking tray loading mechanism 40 and the second photoelectric switch component 401 can be electrically connected with the PLC controller through a serial port connection mode of RS232, RS485 or USB to control the correct operation of the blanking tray loading mechanism 40. Two or four second opto-electronic switching assemblies 401 may each implement the above-described process. The second photoelectric switch assembly 401 is provided with a light emitting part and a receiving part which are correspondingly arranged at two sides of the blanking station area corresponding to the conveyor belt 12. Accordingly, the blanking tray loading mechanism 40 needs to set a third X-direction linear power member, and when the status of two consecutive cells (i.e. 0011 or 1100) exists at the blanking station 122 and the cells need to be gripped twice, is used for adjusting the relative position of the blanking manipulator in the X direction on the blanking station 122, and avoiding the situation that the blanking manipulator clamped on the battery cell touches the battery cell on the blanking station 122, for example, the state of 0011 appears on the blanking station 122 for two consecutive times, when the state of 0011 appears on the blanking station 122 for the first time, the battery cell clamped by the blanking manipulator is in the state of 0011, when the blanking station 122 is in the state of 0011 for the second time, the third X-direction linear power member drives the part 11 of the blanking manipulator which must be clamped to avoid the state of 11 on the blanking station 122, so as to avoid interference, simultaneously aligning the empty blanking manipulator part with the 11-part electric core slot on the blanking station 122; conversely, when the state of 0011 first appears at the blanking station 122, it is also adjusted.
When the blanking and tray loading mechanism 40 is provided with two second photoelectric switch assemblies 401, the second photoelectric switch assemblies 401 are detected in two steps, the detection result of each time is fed back to the PLC, instructions for executing operations such as logic operation, sequence control, timing, counting and arithmetic operation are stored in the PLC, and the blanking and tray loading mechanism 40 and the second photoelectric switch assemblies 401 are controlled through digital or analog input and output. When the second photoelectric switch assembly 401 detects the state that the battery cells on the blanking station 122 are 1111 accumulatively, the PLC controller controls the power part of the blanking tray loading mechanism 40 to actuate, and the four battery cells are clamped from the blanking station 122 and placed into the corresponding battery cell slots 123 of the tray;
when the blanking and tray loading mechanism 40 is provided with four second photoelectric switch assemblies 401, the second photoelectric switch assemblies 401 can be detected in one step, the detection result is fed back to the PLC controller, instructions for executing operations such as logical operation, sequential control, timing, counting, arithmetic operation and the like are stored in the PLC controller, and the blanking and tray loading mechanism 40 and the second photoelectric switch assemblies 401 are controlled through digital or analog input and output. When the second photoelectric switch assembly 401 detects the state that the number of the battery cells on the blanking station 122 is 1111 in an accumulated manner, the PLC controller controls the mechanical and manual power part switch of the blanking tray loading mechanism 40, and the mechanical and manual power part of the blanking tray loading mechanism 40 grips four battery cells from the blanking station 122 and puts the battery cells into the corresponding battery cell slots 123 of the tray. The invention can simply and efficiently eliminate defective products and supplement materials for the blank spaces after the defective products are eliminated, and has simple and convenient blanking procedure and accurate blanking counting.
As other possible implementation schemes, the following technical schemes can be generalized based on the above technical scheme: the blanking tray loading mechanism is provided with a second product detection assembly for detecting the continuous state of products on a product containing position passing through the blanking station at present; when two continuous products appear at the blanking station, the blanking tray loading mechanism acts for M times, two continuous products are clamped from the conveying belt each time, and the clamped 2M products are placed into corresponding 2M product containing positions of the tray; when the blanking station has the state of 2M continuous products, the blanking tray loading mechanism clamps 2M continuous products from the conveyor belt at a time, and the 2M products clamped by the clamping mechanism are placed in corresponding product containing positions of the tray; when even number of continuous under-grade states appear at a blanking station, the blanking tray loading mechanism does not act; m is a natural number of 1 or more.
The present invention also provides: a control method of a battery cell inspection and tray loading device comprises the following steps:
step 1, feeding a plurality of products at each time in the feeding station area of the conveyor belt;
step 2, the rejecting mechanism detects defective products of the products on the conveyor belt and rejects the defective products from the conveyor belt;
step 3, the product detection assembly detects whether a single under-grade exists in a continuous product containing position passing through the feeding station area at present; if yes, entering step 4; if not, the product taking and placing mechanism does not work;
step 4, the product pick and place mechanism judges whether a product is picked up or not; if yes, the product taking and placing mechanism supplements the clamped product to the under grade in the material supplementing station; if not, the product taking and placing mechanism clamps the rest product in the material supplementing station;
and 5, the blanking tray loading mechanism puts the clamped continuous even number of products into corresponding product containing positions of the tray.
Specifically, with reference to the foregoing embodiment, the method includes the following steps:
step 1, feeding a plurality of cells subjected to hot press forming by a manipulator each time in the region of the feeding station 121 of the conveyor belt 12;
step 2, the CCD camera performs visual shooting on the electric core formed by hot pressing, detects a defective product and feeds back the result to the PLC;
step 3, the PLC controller controls a power part switch of the removing mechanism 20, and the removing mechanism 20 is started to remove the defective products passing through the removing mechanism 20 from the conveyor belt 12;
step 4, detecting whether two continuous electric core grooves 123 passing through the area of the feeding station 301 currently have an under-grade by two first photoelectric switch assemblies 302 of the feeding mechanism 30; if yes, entering step 5; if not, the feeding mechanism 30 does not work;
step 5, the feeding mechanism 30 judges whether a cell is clamped by itself; if yes, the feeding mechanism 30 feeds the clamped battery cell into the under grade in the feeding station 301; if not, the feeding mechanism 30 clamps the rest one battery cell in the feeding station 301.
Step 6, the second photoelectric switch assembly 401 of the blanking tray loading mechanism 40 detects whether the current cell condition passing through the blanking station 122 is a state of four continuous poor-grade 126, a state of two continuous cells, or a state of four continuous cells; if four continuous under-grade 126 states exist, the blanking tray loading mechanism 40 does not work; if two continuous electric cores exist, the blanking tray loading mechanism 40 firstly takes away the two electric cores, after the next electric core is conveyed, the blanking tray loading mechanism 40 takes away the two electric cores again, and finally four electric cores are obtained on the blanking tray loading mechanism 40; if there are four continuous battery cells, the blanking tray loading mechanism 40 acts once, and thus the four continuous battery cells can be obtained from the conveyor belt 12;
and 7, the blanking tray loading mechanism 40 puts the four clamped battery cells into corresponding battery cell grooves 123 of the tray.
The above embodiments are merely preferred embodiments of the present invention, which should not be construed as limiting the scope of the invention, but rather as equivalent variations on the shape, construction and principle of the invention are intended to be covered by the scope of the invention. For example, in the above embodiment, each time the conveyor belt conveys one step, the conveying step is two holding positions, and actually 2N (2N ═ 2, 4, or 6) holding positions are conveyed each time, and the feeding station corresponds to 2N holding positions, that is, each time one step is conveyed, every 2N product holding positions are alternately located at the feeding station, where N is a natural number greater than or equal to 1. Correspondingly, the feeding mechanisms are arranged into N (N is 1, 2 or 3) groups, and N groups of feeding mechanisms are continuously arranged when N is larger than 1 (continuously means that N groups of feeding mechanisms can continuously cover the containing positions on the feeding stations); each group of material supplementing mechanism still comprises a product taking and placing mechanism and two product detecting components which are respectively and electrically connected with the controller.
Claims (10)
1. A material inspection and tray loading device comprises a conveyor belt and a blanking tray loading mechanism, wherein a plurality of product containing positions are arranged on the conveyor belt, and each product containing position comprises a feeding station and a blanking station; a rejecting mechanism for detecting defective products on the conveyor belt and rejecting the defective products is arranged between the feeding station and the material supplementing station; every 2N product containing positions are alternately positioned at the material supplementing station when the conveyor belt conveys the step length once; the device is also provided with N groups of feeding mechanisms, each feeding mechanism is N groups, N is a natural number greater than or equal to 1, the N groups of feeding mechanisms are continuously arranged when N is greater than 1, each group of feeding mechanisms comprises a product picking and placing mechanism and a product detection assembly, the product detection assembly is respectively electrically connected with the controller, the product detection assembly detects whether two product containing positions corresponding to the feeding mechanisms currently contain products or not, the product picking and placing mechanism grabs the products existing independently in the two product containing positions corresponding to the feeding mechanisms currently under the control of the controller and places the grabbed products into the under-grade existing independently in the two product containing positions corresponding to the feeding mechanisms next time; the blanking tray loading mechanism clamps and loads even number of continuous products.
2. The material inspection tray device according to claim 1, wherein the rejecting mechanism is provided with a visual inspection device for visually inspecting the products on the conveyor belt, and a rejecting mechanism for rejecting the defective products according to the inspection result of the visual inspection device.
3. The material inspection and tray loading device according to claim 2, wherein the removing mechanism comprises a push rod corresponding to the number of the product accommodating positions corresponding to the material supplementing station and used for removing the defective products from the conveyor belt, and a first Y-direction linear power part correspondingly connected with the push rod.
4. The material inspection palletizing device according to claim 3, wherein a defective product box for receiving defective products is arranged on the opposite side of the conveyor belt on the push rod.
5. The material inspection palletizing device as in claim 2, wherein the visual inspection device is a CCD camera.
6. The material inspection and palletizing device as claimed in any one of claims 1 to 5, wherein the picking and placing mechanism comprises a first finger cylinder for picking and placing a product and a second X-direction linear power part for driving the first finger cylinder to switch between the currently corresponding product accommodating positions of the feeding station.
7. The material inspecting and palletizing device as set forth in claim 6, wherein the pick-and-place mechanism further comprises a second Z-direction linear power member for driving the first finger cylinder to move closer to or away from the feeding station.
8. The material inspecting and tray loading device according to any one of claims 1 to 5, wherein the product detecting assembly comprises first photoelectric switch assemblies corresponding to the number of product accommodating positions corresponding to the material replenishing station, and a light emitting part and a receiving part of each first photoelectric switch assembly are correspondingly arranged on two sides of the conveyor belt.
9. The material inspection and tray filling device according to any one of claims 1 to 5, wherein the blanking tray filling mechanism is provided with a second product detection assembly for detecting the continuous state of products on a product containing position passing through the blanking station at present; when two continuous products appear at the blanking station, the blanking tray loading mechanism acts for M times, two continuous products are clamped from the conveying belt each time, and the clamped 2M products are placed into corresponding 2M product containing positions of the tray; when the blanking station has the state of 2M continuous products, the blanking tray loading mechanism clamps 2M continuous products from the conveyor belt at a time, and the 2M products clamped by the clamping mechanism are placed in corresponding product containing positions of the tray; when even number of continuous under-grade states appear at the blanking station, the blanking tray loading mechanism does not act, and M is a natural number more than or equal to 1.
10. A control method of a material inspection palletizing device according to any one of claims 1 to 9, characterized by comprising the following steps:
step 1, feeding a plurality of products at each time in the feeding station area of the conveyor belt;
step 2, the rejecting mechanism detects defective products of the products on the conveyor belt and rejects the defective products from the conveyor belt;
step 3, the product detection assembly detects whether a single under-grade exists in a continuous product containing position passing through the feeding station area at present; if yes, entering step 4; if not, the product taking and placing mechanism does not work;
step 4, the product pick and place mechanism judges whether a product is picked up or not; if yes, the product taking and placing mechanism supplements the clamped product to the under grade in the material supplementing station; if not, the product taking and placing mechanism clamps the rest product in the material supplementing station;
and 5, the blanking tray loading mechanism puts the clamped continuous even number of products into corresponding product containing positions of the tray.
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| CN114887934B (en) * | 2022-03-31 | 2024-03-22 | 蜂巢能源科技股份有限公司 | Battery cell processing production line |
| CN115555271A (en) * | 2022-09-20 | 2023-01-03 | 博众精工科技股份有限公司 | Conveying system of pole piece of battery and pole piece material supplementing method using conveying system |
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