CN111687393A

CN111687393A - High-efficient intelligent cast joint machine of battery

Info

Publication number: CN111687393A
Application number: CN202010688230.7A
Authority: CN
Inventors: 罗土福; 金标; 赵春平; 王庆云; 掌冠华; 曾观明; 王琪琪; 赵云
Original assignee: Zhejiang Haiyue Automation Machinery Co Ltd
Current assignee: Hangzhou Tongyue automation equipment Co.,Ltd.
Priority date: 2020-07-16
Filing date: 2020-07-16
Publication date: 2020-09-22

Abstract

The invention relates to the technical field of lead-acid storage battery manufacturing equipment, in particular to a high-efficiency intelligent storage battery cast-welding machine, which comprises a feeding conveyor belt, a feeding mechanical hand group, a large lead furnace, a small lead furnace, a high-frequency unit, a disc device, a discharging mechanical hand group and a discharging conveyor belt; the feeding side of the feeding manipulator group is butted with the feeding conveyor belt, the discharging side of the feeding manipulator group is opposite to a cast-weld station of the disc device, and the disc device sequentially comprises a plurality of cooling stations, a discharging station, a high-frequency heating station and a lead injection station from the cast-weld station along the rotation direction of the disc and then returns to the cast-weld station; the discharging station faces the feeding side of the discharging mechanical hand group, the discharging side of the discharging mechanical hand group is in butt joint with the discharging conveyor belt, the high-frequency heating station is provided with a high-frequency heating assembly electrically connected with the high-frequency unit, the large lead furnace is connected with the small lead furnace through a lead pump, a lead liquid outlet of the small lead furnace is located above the lead injection station, and when the lead liquid outlet is opened, lead liquid is injected into the busbar mold rotating to the lead injection station.

Description

High-efficient intelligent cast joint machine of battery

Technical Field

The invention relates to the technical field of lead-acid storage battery manufacturing equipment, in particular to a high-efficiency intelligent cast welding machine for a storage battery.

Background

The lead-acid storage battery is mainly composed of accessories such as a positive plate group, a negative plate group, a partition plate, a box body, electrolyte and the like. In the same lead-acid storage battery, the pole plates are connected together through a bus bar formed by a cast-weld process. Before the cast-weld process is carried out, the plate group and the partition plate are assembled manually or mechanically to form the semi-boxed storage battery workpiece. The half-in box means that the top of the plate group and the tab of each plate extend out of the opening of the box body of the storage battery workpiece for a certain distance, and a gap is formed between the bottom of the plate group and the bottom surface of the inner cavity of the box body. The general flow of the cast-weld process of the semi-boxed storage battery workpiece is as follows: the feeding conveyor belt continuously conveys storage battery workpieces by taking groups as units, then the feeding manipulator grabs the storage battery workpieces to a cast-weld station in groups, molten lead liquid is used for cast-weld, the lead liquid is fully cooled to form a busbar, then the busbar is grabbed by the discharging manipulator and sent to the discharging conveyor belt to be sent out, and the subsequent processes of assembling other accessories, filling electrolyte and the like are carried out, so that the finished product of the lead-acid storage battery is obtained. Currently, a cast-weld machine needs to be designed to meet the production requirements of the cast-weld process.

Disclosure of Invention

The invention aims to provide an efficient and intelligent storage battery cast-welding machine which can complete the cast-welding process of a plate group, so that the production requirement of a lead-acid storage battery is met.

The technical scheme of the invention is as follows: an efficient intelligent storage battery cast-welding machine comprises a feeding conveyor belt, a feeding mechanical arm group, a large lead furnace, a small lead furnace, a high-frequency unit, a disc device, a discharging mechanical arm group and a discharging conveyor belt; the feeding side of the feeding manipulator group is butted with the feeding conveyor belt, the discharging side of the feeding manipulator group is right opposite to a cast-weld station of the disc device, and the disc device sequentially comprises a plurality of cooling stations, a discharging station, a high-frequency heating station and a lead injection station along the rotation direction of a disc from the cast-weld station and then returns to the cast-weld station; the discharging station faces the feeding side of the discharging mechanical hand group, the discharging side of the discharging mechanical hand group is in butt joint with the discharging conveyor belt, the high-frequency heating station is provided with a high-frequency heating assembly electrically connected with the high-frequency unit, the large lead furnace is connected with the small lead furnace through a lead pump, a lead liquid outlet of the small lead furnace is located above the lead injection station, and when the lead liquid outlet is opened, lead liquid is injected into the busbar mold rotating to the lead injection station.

Further, the feeding manipulator group comprises a feeding rack, a variable-pitch manipulator and a feeding manipulator which is orthogonally arranged with the variable-pitch manipulator; the variable-pitch manipulator comprises a main support, a group of auxiliary supports, a longitudinal driving mechanism and a grabbing assembly, wherein the auxiliary supports are arranged at the bottom of the main support side by side and can slide along the longitudinal direction of the main support; the main bracket is hung on the feeding rack through a longitudinal guide pair and horizontally slides to and fro from the tail end of the feeding conveyor belt to the feeding manipulator under the drive of the variable-pitch walking assembly; the grabbing component comprises two variable-pitch fingers which are oppositely arranged and hang downwards and a transverse driving mechanism, the two variable-pitch fingers can be transversely and slidably arranged at the bottom of the auxiliary bracket, and the transverse driving mechanism drives the two variable-pitch fingers to be close along the transverse direction of the main bracket so as to clamp the storage battery workpiece or drives the two variable-pitch fingers to be separated along the transverse direction so as to release the storage battery workpiece; the feeding manipulator comprises a feeding sliding table, a feeding lifting frame, a feeding gripper, a turnover assembly, a feeding lifting assembly and a feeding travelling assembly; the feeding sliding table is arranged at the top of the feeding rack through a horizontal guide pair and driven by the feeding walking assembly to slide back and forth along the front direction of the feeding rack. The feeding lifting frame is installed on the feeding sliding table through a vertical guide pair and ascends and descends along the vertical direction under the driving of the feeding walking assembly, and the feeding gripper is rotatably installed on the front side of the feeding lifting frame through a turnover shaft and can overturn and rotate under the driving of the turnover assembly.

Further, the discharging manipulator group comprises a discharging rack, a grabbing manipulator arranged on the front side of the discharging rack, a secondary box-feeding device arranged in the middle of the discharging rack and a discharging manipulator arranged on the rear side of the rack; the grabbing mechanical arm comprises a front sliding table, a front grabbing hand, a front lifting frame, a front lifting assembly and a front walking assembly; the front sliding table is arranged on the front side of the top of the discharging rack through a horizontal guide pair and slides in the front-back direction under the drive of the front walking assembly; the front gripper is fixedly connected to the bottom of the front lifting frame, the front lifting frame is installed on the front sliding table through a vertical guide pair and is driven by the front lifting assembly to lift along the vertical direction; the secondary box-feeding device comprises a jacking mechanism arranged in the middle of the rack and a pressing mechanism arranged on the rear side of the front sliding table; the jacking mechanism is used for upwards jacking the electrode plate group of the inverted storage battery workpiece, and the pressing mechanism is used for downwards jacking the box body of the storage battery workpiece to completely press the electrode plate group to the bottom of the box; the discharging manipulator comprises a rear sliding table, a rear lifting frame, a rear gripper, a turnover assembly, a rear lifting assembly and a rear walking assembly; the rear sliding table is horizontally arranged on the rear side of the top of the discharging rack through a horizontal guide pair and slides in the front-back direction under the driving of the rear walking assembly; the rear lifting frame is arranged on the rear sliding table through a vertical guide pair and is driven by the rear lifting assembly to lift along the vertical direction; the rear gripper is rotatably arranged on the front side of the rear lifting frame through a turnover shaft and can be turned and rotated under the driving of the turnover assembly.

Furthermore, feeding lifting unit, preceding lifting unit, back lifting unit all include by elevator motor driven lead screw to and with lead screw complex nut, feeding lifting unit, preceding lifting unit, back lifting unit's elevator motor fix respectively on feeding slip table, preceding slip table, back slip table, preceding lifting unit's nut is installed in the front on crane or preceding tongs, feeding lifting unit, back lifting unit's nut is installed respectively on feeding crane, back crane.

Furthermore, the feeding walking assembly, the front walking assembly and the rear walking assembly respectively comprise a gear, a rack, a walking motor, a driving synchronous wheel, a driven synchronous wheel and a synchronous belt; the rack is fixed at feeding frame or ejection of compact frame top along the fore-and-aft direction, feeding walking subassembly, preceding walking subassembly, the gear of back walking subassembly is installed respectively at the feeding slip table through the pivot, preceding slip table, on the back slip table, and respectively with the rack cooperation, be fixed with driven synchronizing wheel in the pivot of gear, feeding walking subassembly, preceding walking subassembly, the walking motor of back walking subassembly is fixed respectively at the feeding slip table, preceding slip table, on the back slip table, the feeding slip table, preceding slip table, the walking motor on the back slip table is respectively through initiative synchronizing wheel, hold-in range and pinch roller, it rotates to drive the driven synchronizing wheel on the corresponding slip table.

Furthermore, the jacking mechanism comprises a lower frame fixed in the middle of the discharging rack through a supporting plate and at least one jacking assembly arranged in the lower frame; a top plate of the lower frame is provided with a group of positioning openings of the storage battery box bodies; each jacking assembly comprises a lifting plate, a plurality of groups of thimbles, a vertical guide pair and a jacking cylinder, the lifting plate is arranged in the lower frame in a lifting way through the vertical guide pair, the thimbles are arranged on the top surface of the lifting plate in a row, one group of thimbles are aligned with one positioning opening, the jacking cylinder is fixed at the bottom of the frame, and the ejector rods of the jacking cylinder are upwards suspended and connected with the lifting plate; the pressing mechanism comprises a pressing plate, a vertical guide pair and a pressing cylinder, the pressing plate is arranged below the front sliding table through the vertical guide pair in a liftable mode and is arranged in parallel with a top plate of the lower frame, the pressing cylinder is arranged on the front sliding table, an ejector rod of the pressing cylinder is downwardly cantilevered, and the pressing plate is connected after the pressing cylinder penetrates through the front sliding table.

Furthermore, the overturning assembly comprises a driven gear fixed on an overturning shaft of the rear gripper and a driving rack matched with the driven gear, the driving rack is driven by an overturning cylinder fixed on the rear lifting frame, and a guide pair of the driving rack is further arranged on the rear lifting frame.

Furthermore, the feeding hand grab, the front hand grab and the rear hand grab all comprise a frame and at least one clamping assembly arranged in the frame; each clamping assembly comprises a fixed finger fixedly connected with the frame and two movable fingers which are symmetrically arranged on two sides of the fixed finger and are parallel to the fixed finger; the front ends of the fixed fingers and the two movable fingers extend out of the front side of the frame, the rear ends of the two movable fingers are positioned in the frame in a sliding mode through the guide pair and are respectively connected with an ejector rod of a grabbing cylinder, and the fingers are fixed relatively to slide under the driving of the grabbing cylinder.

Further, the high-frequency heating assembly comprises a positioning bracket, a transverse fixing plate, a group of high-frequency coils and a joint; the positioning support is fixed on the side surface of a high-frequency heating station of the disc device, a cantilever is arranged at the top of the positioning support and extends to the upper part of the disc device, a transverse fixing plate is fixed on the cantilever, high-frequency coils are fixed on the transverse fixing plate side by side at a certain interval, and joints used for connecting a high-frequency unit are arranged at two ends of each high-frequency coil.

Furthermore, the cast-weld station is provided with a vibration assembly, the vibration assembly comprises a base plate, an intermediate plate arranged above the base plate in a lifting manner through a vertical guide pair, a vibration top plate positioned above the intermediate plate through a group of elastic assemblies, a vibration motor fixed on the bottom surface of the vibration top plate, and a bottom cylinder used for driving the intermediate plate to vertically lift; a certain distance is kept between the vibration motor and the middle plate, so that the vibration motor is prevented from being directly contacted with the middle plate.

The invention has the beneficial effects that: the feeding manipulator group has a pitch-changing function, can be suitable for grabbing storage battery workpieces of different sizes, and uniformly adjusts the storage battery workpieces to a distance suitable for grabbing by the feeding manipulator; before the busbar mold is filled with the lead liquid, the high-frequency heating station can quickly preheat the busbar mold, so that the temperature of the lead liquid is prevented from being influenced, and the vibration assembly of the lead filling station can quickly and uniformly distribute the lead liquid in the busbar mold, so that the forming quality of a busbar is improved; the grabbing mechanical arm of the discharging mechanical arm group can clamp the cast-welded storage battery workpiece from the disc device, the storage battery workpiece is conveyed to the secondary box-in device through the movement of the front sliding table to carry out secondary box-in of the electrode plate group, and then the storage battery workpiece is clamped from the secondary box-in device through the discharging mechanical arm and turned over, so that the bottom of the storage battery workpiece faces downwards and can be smoothly conveyed by a subsequent conveying belt.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic perspective view of the second embodiment of the present invention.

Fig. 3 is a front view of the pitch-variable robot.

Fig. 4 is a left side view of the pitch robot.

Fig. 5 is a schematic bottom view of the pitch robot.

Fig. 6 is a schematic structural view of the longitudinal driving mechanism.

Fig. 7 is a front view schematically showing the construction of the high-frequency heating assembly.

Fig. 8 is a schematic diagram of a top view of the high-frequency heating assembly.

Fig. 9 is a perspective view of the vibration assembly.

Fig. 10 is a front view structural schematic diagram of the vibration assembly.

Fig. 11 is a schematic perspective view of the discharge robot.

Fig. 12 is a front view configuration diagram of the discharge robot group.

Fig. 13 is a schematic top view of the discharge robot group.

Fig. 14 is a schematic perspective view of the grasping robot.

Fig. 15 is a front view configuration diagram of the grasping robot (the front travel assembly is omitted).

Fig. 16 is a schematic perspective view of the grasping robot (the front walking assembly is omitted).

Fig. 17 is a schematic front view of the secondary box-loading device.

Fig. 18 is a schematic view of a half-in-box state of the plate group.

Fig. 19 is a front view schematic diagram of the jacking mechanism.

Fig. 20 is a schematic perspective view of the jack mechanism in a non-operating state.

Fig. 21 is a schematic perspective view of the jack mechanism in an operating state.

Fig. 22 is one of schematic perspective views of the discharging robot.

Fig. 23 is a second perspective view of the discharging robot.

Fig. 24 is a front view schematically showing the structure of the discharging robot.

Fig. 25 is a bottom view of the flip assembly of fig. 24.

Fig. 26 is a schematic view of the engagement structure of the guide block and the rack in fig. 25.

Fig. 27 is a schematic view of an installation structure of the limit angle block and the hydraulic shock absorber.

Fig. 28 is a schematic view of the mounting structure of the hydraulic shock absorber.

Fig. 29 is a schematic view of the internal structure of the front and rear grips.

Fig. 30 is a perspective view of the front hand grip and the rear hand grip (a part of the frame is omitted).

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples, but the present invention is not limited to the following examples, so that the objects, solutions and advantages of the present invention can be more clearly understood by those skilled in the art.

As shown in fig. 1 and fig. 2, the efficient and intelligent storage battery cast-weld machine provided by the invention sequentially comprises a feeding conveyor belt 51, a feeding manipulator group, a disc device 59, a discharging manipulator group 58 and a discharging conveyor belt 57 according to the sequence of the flow of storage battery workpieces 35, and further comprises a large lead furnace 54, a small lead furnace 55, a high-frequency unit 56, a high-frequency heating assembly and a vibration assembly. The feeding conveyor belt 51 receives the storage battery workpieces 35 sent by the upper-level equipment, the storage battery workpieces are picked by the feeding manipulator group and subjected to posture adjustment, then the storage battery workpieces are sent to the disc device 59 for cast welding and cooling, the cooled storage battery workpieces 35 are picked by the discharging manipulator group 58 and subjected to posture adjustment, then the storage battery workpieces are sent to the discharging conveyor belt 57, and then the storage battery workpieces are sent to the lower-level equipment for subsequent assembly, electrolyte filling and other operations.

Specifically, the feeding side of the feeding manipulator group is butted with the feeding conveyor belt 51, the discharging side of the feeding manipulator group is right opposite to the cast-welding station 59.1 of the disc device 59, the discharging station 59.3 of the disc device 59 is right opposite to the feeding side of the discharging manipulator group 58, and the discharging side of the discharging manipulator group 58 is butted with the discharging conveyor belt 57.

As shown in fig. 1 and 2, the feeding robot group includes a feeding frame 52, and a variable pitch robot 61 and a feeding robot 53 mounted on the feeding frame 52, wherein the variable pitch robot 61 is located at a side of the feeding robot 533, and moving directions of the variable pitch robot 61 and the feeding robot are arranged orthogonally. As shown in fig. 3 to 6, the pitch-variable robot 61 comprises a main support 61.1, a set of sub-supports 61.2 mounted side by side at the bottom of the main support 61.1 and slidable in the longitudinal direction of the main support 61.1, a longitudinal driving mechanism 61.5 for driving the sub-supports 61.2 to vary the pitch in the longitudinal direction of the main support 61.1, and a grasping assembly mounted at the lower part of each sub-support 61.2. The main support 61.1 may be mounted at the end of the arm of an articulated robot, with the pitch robot 61 acting as an actuator for the articulated robot. Or as shown in fig. 1 and fig. 2 of the invention, the main bracket 61.1 is suspended on a suspension plate 52.1 on the side of the feeding rack 52 (above the feeding conveyor 51) through a guide pair, and slides horizontally and reciprocally from the tail end of the feeding conveyor 51 to the feeding manipulator under the driving of the variable pitch walking assembly.

In order to pre-adjust the posture of the storage battery workpiece 35 before the storage battery workpiece is grabbed by the variable-pitch manipulator 61, two flat plates 62 are respectively fixed on two sides of the tail end of the feeding conveyor belt 51, a distance is kept between the two flat plates 62 to form a centering channel of the storage battery workpiece 35, the front end of the centering channel is flared outwards so as to guide the storage battery workpiece 35 to enter the centering channel, and a row of rollers 63 are respectively installed on two sides of the centering channel.

As shown in fig. 6, the longitudinal driving mechanism 61.5 includes a primary pitch cylinder 61.5.1 and two secondary pitch cylinders 61.5.2 (all of which are commercially available), and each of the primary pitch cylinder 61.5.1 and the secondary pitch cylinders 61.5.2 has two action blocks 61.5.4 sliding along the longitudinal direction of the main bracket 61.1. The cylinder body of the primary pitch cylinder 61.5.1 is fixed on the bottom surface of the main bracket 61.1, the two action blocks 61.5.4 are respectively connected and fixed with the cylinder body of one secondary pitch cylinder 61.5.2 through the connecting plate 61.7, and the two action blocks 61.5.4 of each secondary pitch cylinder 61.5.2 are respectively connected with one auxiliary bracket 61.2 through the connecting plate 61.7.

As shown in fig. 4, in the present invention, the main support 61.1 and the sub-support 61.2 are both portal frames, wherein the main support 61.1 is composed of a variable pitch roof 61.1.1 and vertical plates 61.1.2 suspended and fixed on both sides of a variable pitch roof 61.1.1, the vertical plates 61.1.2 extend along the longitudinal direction of the main support 61.1, and the sub-support 61.2 is composed of a cross beam 61.2.1 and end plates 62.2 suspended and fixed on both ends of a cross beam 61.2.1. A longitudinal guide pair is arranged between the cylinder body of the secondary pitch varying cylinder 61.5.2 and the main bracket 61.1, the primary pitch varying cylinder 61.5.1 drives the secondary pitch varying cylinder 61.5.2 to longitudinally slide, and when the primary pitch varying of the auxiliary bracket 61.2 is realized, the guide pair guides the secondary pitch varying cylinder 61.5.2. And a longitudinal guide pair is arranged between the auxiliary support 61.2 and the main support 61.1, the primary pitch varying cylinder 61.5.1 drives the secondary pitch varying cylinder 61.5.2 to longitudinally slide to realize the first pitch varying of the auxiliary support 61.2, and the secondary pitch varying cylinder 61.5.2 drives the auxiliary support 61.2 to longitudinally slide, so that when the second pitch varying of the auxiliary support 61.2 is realized, the guide pair guides the auxiliary support 61.2.

The gripper assembly comprises two plate 62-like distance-changing fingers 61.3 arranged opposite and depending downwards, and a transverse drive mechanism for driving the two distance-changing fingers 61.3. The two variable-pitch fingers 61.3 are transversely slidably mounted at the bottom of the auxiliary bracket 61.2, and the transverse driving mechanism drives the two variable-pitch fingers 61.3 to move close along the transverse direction so as to clamp a box body (generally a rectangular box body with a regular shape, and a pole plate group is half put into the box) of the storage battery workpiece 35, or drives the two variable-pitch fingers 61.3 to move apart along the transverse direction so as to release the box body of the storage battery workpiece 35. The clamping surface of the variable-pitch finger 61.3 is provided with a cushion block 49 (such as a rubber pad or a silicon rubber pad) for increasing friction force and buffering.

Two variable-pitch fingers 61.3 of the grabbing component are arranged at the bottom of the auxiliary support 61.2 through two transverse guide pairs, the upper ends of the variable-pitch fingers 61.3 are fixedly connected with the sliding blocks 30 of the guide pairs, and the transverse driving mechanism is connected with the variable-pitch fingers 61.3 or the sliding blocks 30 to drive the two variable-pitch fingers 61.3 to be close to or separate from each other along the transverse direction. The transverse driving mechanism is a transversely-arranged push-pull air cylinder 61.6 (commercially available), a cylinder body of the push-pull air cylinder 61.6 is fixedly connected to an end plate 62.2 of the auxiliary bracket 61.2, the tail end of a mandril of the push-pull air cylinder 61.6 is connected with the variable-pitch finger 61.3, and the mandrils of the push-pull air cylinders 61.6 of the two variable-pitch fingers 61.3 are oppositely arranged.

Because the stroke of the push rods of the two push-pull air cylinders 61.6 is difficult to be completely consistent when the push rods are ejected or contracted, the synchronizing component 6.16 is arranged between the two variable-pitch fingers 61.3, so that the distance of each movement of the two variable-pitch fingers 61.3 is the same, and the situation that the box body is deviated to one side due to inconsistent force application of the push-pull air cylinders 61.6 on the two sides to the variable-pitch fingers 61.3 is avoided. As shown in fig. 4 and 5, the synchronizing assembly 6.16 includes a positioning lever 61.6.1, a synchronizing plate 61.6.2, and two synchronizing pins 61.6.4. The locating lever 61.6.1 is suspended and fixed at the bottom of the secondary support 61.2 and is at the midpoint of the two distance-changing fingers 61.3. The synchronization board 61.6.2 horizontal installation is at the lower extreme of locating lever 61.6.1 to use locating lever 61.6.1 to rotate for the center level, synchronization groove 61.6.3 has been seted up respectively to synchronization board 61.6.2's both sides, two synchronization grooves 61.6.3 are certain contained angle (the angle is confirmed according to the sliding distance of displacement finger 61.3) with the sliding direction of displacement finger 61.3 and synchronizing pin 61.6.4, when displacement finger 61.3 slided, under the effect of synchronizing pin 61.6.4, synchronization groove 61.6.3 can force synchronization board 61.6.2 to rotate around locating lever 61.6.1.

The two synchronizing pins 61.6.4 are positioned in the synchronizing slots 61.6.3 on both sides of the synchronizing plate 61.6.2 and are fixedly connected to the sliders 30 to which the two pitch fingers 61.3 are fixed, respectively. The two synchronizing pins 61.6.4 and the two synchronizing grooves 61.6.3 are both centrosymmetric with respect to the positioning rod 61.6.1, and the axis of the positioning rod 61.6.1 is the center of symmetry, so when the push-pull cylinder 61.6 drives the variable-pitch finger 61.3 to slide, the two synchronizing pins 61.6.4 keep centrosymmetric under the restriction of the two synchronizing grooves 61.6.3, and the movement of the synchronizing pin 61.6.4 is a linear movement, so that the sliding distances between the two synchronizing pins 61.6.4 are the same, that is, the movement distances of the two variable-pitch fingers 61.3 are also the same, and synchronization is realized.

The feeding manipulator comprises a feeding sliding table 60, a feeding lifting frame 66, a feeding gripper, a turnover assembly, a feeding lifting assembly and a feeding walking assembly. The feeding sliding table 60 is mounted on the top of the feeding frame 52 through a horizontal guide pair and slides back and forth between the pitch-variable manipulator 61 and the cast-weld station 59.1 under the driving of the feeding travelling assembly. The feeding lifting frame 66 is installed on the feeding sliding table 60 through a vertical guide pair and is driven by the feeding walking assembly to lift along the vertical direction. The feeding gripper is rotatably arranged on the front side of the feeding lifting frame 66 through a turnover shaft and is driven by the turnover assembly to turn over and rotate.

The feeding manipulator is used for clamping and overturning the storage battery workpiece 35 which is originally upward in the tab 35.3 after the distance change, so that the tab 35.3 of the electrode plate group is downward, the box bottom is upward, and the cast welding is prepared. The bottom of the infeed housing 52 has a platform for receiving the group of battery workpieces 35 from the pitch robot 61 and then being gripped by the infeed gripper.

As shown in fig. 1 and 2, the disc device 59 includes a disc 65.1 that rotates around a center under power driving, a plurality of busbar molds 65.2 that are uniformly fixed on the edge of the disc 65.1, and a housing 59.6 that covers the disc 65.1. The inner side of each busbar module 65.2 is provided with a clamping arrangement for the battery workpieces 35. The pressing assembly comprises a tray 65.6 arranged on the disc 65.1 through a vertical guide pair, a tray cylinder for driving the tray 65.1 to ascend and descend, a vertical door frame 65.4 fixed on the rear side of the tray 65.6, a pressing flat plate 65.5 arranged in the door frame through the vertical guide pair, and a pressing cylinder for driving the pressing flat plate 65.5 to ascend and descend. The tray 65.6 is located above the busbar die 65.1 and is provided with a set of positioning openings for the battery workpieces 35, and the pressing plate 65.5 is arranged in parallel with the tray. In fig. 2, the tray cylinder, the pressing cylinder and the vertical guide pair are omitted.

The disc 65.1 is generally provided with a plurality of stations, such as eight stations, twelve stations, sixteen stations and the like, and from the cast-weld station 59.1, along the rotation direction of the disc 65.1, a plurality of cooling stations 59.2, discharging stations 59.3, high-frequency heating stations 59.4, lead injection stations 59.5 are arranged in sequence, and then the disc returns to the cast-weld station 59.1. The high-frequency heating station 59.4 is provided with a high-frequency heating assembly electrically connected with the high-frequency unit 56, the lead injection station 59.5 is provided with a small lead furnace 55, the cast-weld station 59.1 is provided with a vibration assembly, the cooling station 59.2 is provided with an air cooling assembly 65.3, the air cooling assembly 65.3 is positioned below the disc 65.1, a fan is generally adopted to provide air volume, and an air outlet of the fan is provided with an air channel adaptive to the size of the busbar die 65.2. The large lead furnace 54 is connected with the small lead furnace 55 through a lead pump, a lead liquid outlet of the small lead furnace 55 is positioned above the lead injection station 59.5, and when the lead liquid outlet is opened, lead liquid is injected into a cavity of the busbar mold 65.2 which rotates to the lead injection station 59.5.

As shown in fig. 7 and 8, the high-frequency heating module includes a high-frequency holder 59.4.1, two sets of fixing members, a set of high-frequency coils 59.4.4, and a plurality of connectors 59.4.6. The high frequency bracket 59.4.1 is fixed on the side of the disk 65.1 of the disk device 59, and the top of the high frequency bracket 59.4.1 is provided with two cantilevers 59.4.2 which extend above the busbar mold 65.2 of the disk 65.1. Two sets of fixing members are fixed between the two cantilevers 59.4.2, each set of fixing members has two opposite-clamping transverse fixing plates 59.4.3, and the transverse fixing plates 59.4.3 are made of insulating materials, such as bakelite.

In fig. 7 and 8, four high-frequency coils 59.4.4 are provided, each high-frequency coil 59.4.4 is bent from a copper pipe to form a U shape, the high-frequency coils 59.4.4 are arranged side by side in a plane at a certain interval, a yoke 59.4.5 is wrapped at the middle section of the high-frequency coil 59.4.4, and the yoke 59.4.5 is used for reducing magnetic field leakage and also can dissipate heat of the copper pipe. The bent end of the high-frequency coil 59.4.4 is fixed by one of the fixing members, and the opened end is held and fixed by the other fixing member. The copper tube of the hf coil 59.4.4 has fittings 59.4.6 (prior art and not described in detail herein) mounted on opposite ends thereof for connection to the hf block 56 and its water cooling apparatus. The inside cooling water passageway that is water cooling plant of copper pipe, self can give off a large amount of heats when high frequency coil 59.4.4 induction heating, and the heat can be taken away rapidly to the cooling water, avoids the high temperature.

As shown in fig. 2, 9 and 10, the oscillating assembly of the cast-on-site 59.1 is located below the busbar mold 65.2 fixed to the disc 65.1. The vibration assembly comprises a base plate 59.1.6, a middle plate 59.1.7 arranged above the base plate 59.1.6 in a liftable mode through a vertical guide pair, a vibration top plate 59.1.1 positioned above the middle plate 59.1.7 through a group of elastic assemblies, a vibration motor 59.1.4 fixed on the bottom surface of the vibration top plate 59.1.1, and a bottom air cylinder 59.1.5 used for driving the middle plate 59.1.7 to vertically lift. The base plate 59.1.6, the middle plate 59.1.7 and the vibrating top plate 59.1.1 are arranged in parallel, and the height of the middle plate 59.1.7 ascending and descending should be smaller than the distance between the middle plate 59.1.7 and the vibrating top plate 59.1.1, so as to avoid the guide pair from interfering with the vibrating top plate 59.1.1. In addition, a certain distance also needs to be kept between the vibration motor 59.1.4 and the intermediate plate 59.1.7, so that the vibration motor 59.1.4 is prevented from contacting the intermediate plate 59.1.7, and the work of the vibration assembly is prevented from being influenced.

The elastic component comprises a stand column which is fixedly suspended at the bottom of the vibrating top plate 59.1.1 and an elastic cushion block 59.1.3 which is fixedly arranged at the top of the middle plate 59.1.7, wherein the elastic cushion block 59.1.3 is provided with a positioning hole corresponding to the stand column, the lower end of the stand column is provided with a tenon, and the tenon is inserted into the positioning hole to connect the stand column and the elastic cushion block 59.1.3 into a whole. One of the effects of elastic cushion block 59.1.3 is that the vibration to vibrating motor 59.1.4 and vibration roof 59.1.1 cushions, avoids the vibration to pass through rigid stand direct transfer to intermediate plate 59.1.7 and cylinder, influences cylinder life, and the other of the effect cushions when vibration roof 59.1.1 and busbar mould 65.2 contact, avoids vibration roof 59.1.1 and busbar mould 65.2 rigid contact. Based on the above-mentioned function of the resilient pad 59.1.3, the resilient member may be replaced by a spring having a certain stiffness, which is a conventional alternative in the art and will not be described in detail herein.

As shown in fig. 11 to 13, the discharging manipulator group 58 includes a discharging rack, a grabbing manipulator arranged at the front side of the discharging rack, a secondary cassette loading device arranged at the middle part of the discharging rack, and a discharging manipulator arranged at the rear side of the discharging rack.

The discharging machine frame comprises a base body 2 and a vertical frame. The walking wheel 1 is installed to the bottom of pedestal 2, and when walking wheel 1 self is not locked, the ejection of compact frame can freely walk under the exogenic action. The vertical frame comprises two vertical frames 3.1 arranged on the front side and the rear side of the seat body 2 respectively and two side plates 3.2 connected with the upper parts of the two vertical frames 3.1, wherein the left side and the right side of the tops of the two vertical frames 3.1 are respectively fixed with a supporting plate 5 horizontally extending along the front-rear direction, and the supporting plate 5 on the vertical frame 3.1 on the front side extends and is fixed to the top surface of the side plate 3.2. In order to avoid mutual interference between the grabbing manipulator and the discharging manipulator during working, a height difference of a plurality of centimeters is formed between the supporting plate 5 on the stand 3.1 at the rear side and the supporting plate 5 on the stand 3.1 at the front side, and the specific height difference can be determined according to actual needs.

The picking robot is used for taking the storage battery workpieces 35 cooled after cast welding from the disc device 59 and then sending the storage battery workpieces to a secondary box-entering device for secondary box entering. As shown in fig. 11, 12, 14 to 16, the grabbing robot includes a front slide table 7, a front grab 6, a front crane 15, a front lifting assembly, and a front walking assembly. The front sliding table 7 is arranged at the top of the vertical frame 3.1 at the front side through a horizontal guide pair and can slide back and forth under the driving of the front walking assembly. Preceding tongs 6 fixed connection is in the bottom of preceding crane 15, and preceding crane 15 is installed in the front on slip table 7 through vertical direction vice to lift along vertical direction under lifting unit's the drive in the front.

The effect of ejection of compact manipulator is with the secondary back of getting into the box, originally is that busbar 35.4 is storage battery work piece 35 clamp down gets the back and overturn for busbar 35.4 is up, and the box bottom is down, and the conveyer belt of being convenient for is carried. As shown in fig. 11 to 13, the discharging manipulator has a structure substantially the same as that of the feeding manipulator, and includes a rear sliding table 8, a rear lifting frame 16, a rear gripper 4, a turnover assembly, a rear lifting assembly, and a rear traveling assembly. The rear sliding table 8 is horizontally arranged at the top of the vertical frame 3.1 at the rear side through a horizontal guide pair and driven by the rear walking assembly to slide back and forth. The rear lifting frame 16 is arranged on the rear sliding table 8 through a vertical guide pair and is driven by the rear lifting assembly to lift along the vertical direction. The rear gripper 4 is rotatably arranged at the front side of the rear lifting frame 16 through a turnover shaft 37, and can be turned and rotated under the driving of the turnover assembly.

Preceding lifting unit, back lifting unit, feeding lifting unit all includes elevator motor 9, by elevator motor 9 driven lead screw 26, and with lead screw 26 complex nut 25, preceding lifting unit, back lifting unit, feeding lifting unit's lead screw 26 is installed in the front through bearing 24 respectively, back slip table 8, the bottom of feeding slip table 60, preceding lifting unit's nut 25 is installed in the front on crane 15 or the preceding tongs 6 with preceding crane 15 fixed connection, back lifting unit's nut 25 is installed on crane 16 behind, the installation of feeding lifting unit is on feeding crane 66.

The front walking assembly, the rear walking assembly and the feeding walking assembly respectively comprise a gear 36, a rack 17, a walking motor 10, a driving synchronous wheel 11, a driven synchronous wheel 12 and a synchronous belt 13. The rack 17 is fixed on the top surface of the supporting plate 5 along the front-back direction, the gears 36 of the front walking assembly, the rear walking assembly and the feeding walking assembly are respectively arranged on the front sliding table 7, the rear sliding table 8 and the feeding sliding table 60 through rotating shafts and are respectively matched with the corresponding rack 17, and the rotating shafts of the gears 36 are fixedly provided with the driven synchronizing wheels 12. The variable-pitch walking assembly comprises a gear, a rack and a pneumatic motor 64, wherein the rack is fixed on the bottom surface of the suspension plate 52.1, the gear is driven by the pneumatic motor 64, and the pneumatic motor 64 is fixed on the top surface of the main bracket 61.1.

The walking motors 10 of the front walking assembly, the rear walking assembly and the feeding walking assembly are respectively arranged on the front sliding table 7, the rear sliding table 8 and the feeding sliding table 60 through the fixed support 32, and the walking motors 10 on the front sliding table 7, the rear sliding table 8 and the feeding sliding table 60 respectively drive the driven synchronizing wheel 12 on the corresponding sliding table to rotate through the driving synchronizing wheel 11, the synchronous belt 13 and the pinch roller 14. The lifting motor of the front lifting assembly is arranged on the front sliding table through a fixing support 32, and the lifting motor 9 of the rear lifting assembly and the feeding walking assembly are respectively fixed on the top surfaces of the rear sliding table 8 and the feeding sliding table 60.

The front gripper 6, the rear gripper 4 and the feeding gripper can purchase the existing mechanical grippers with multiple clamping positions, and the clamping positions and the number of the mechanical grippers are only required to be adjusted to be consistent with those of the storage battery workpieces 35. In the present invention, as shown in fig. 29 and 30, the front gripper 6, the rear gripper 4 and the feeding gripper each include a rectangular frame 4.1 and at least one clamping assembly (two clamping assemblies are shown in fig. 29 and 30) installed in the frame 4.1. Each gripping assembly comprises a fixed finger 47 fixedly connected to the frame 4.1 and two movable fingers 46 symmetrically arranged on either side of the fixed finger 47 and parallel to the fixed finger 47. In the present invention, the fixed finger 47 and the movable finger 46 are both in the form of a flat plate 62, the plate faces being in the vertical direction and projecting from the front side of the frame 4.1. Both sides of the fixed finger 47 and the side of the movable finger 46 facing the fixed finger 47 are fixed with cushion blocks 49 (e.g., silicone pads or rubber pads) for increasing friction and cushioning. The rear ends of the two movable fingers 46 are positioned in the frame 4.1 in a sliding manner through a guide pair along the left-right direction, and are respectively connected with a top rod of a grabbing cylinder 48, and the movable fingers slide relative to the fixed fingers 47 under the driving of the grabbing cylinder 48. The cylinder body of the grabbing cylinder 48 is fixed on the fixed finger 47 or the frame 4.1, and the mandrils of the grabbing cylinders 48 of the two movable fingers 46 are arranged in the opposite direction. As shown in fig. 16, both sides of the frame 4.1 of the front hand grip 6 are fixedly connected with the front lifting frame 15, and the top of the frame 4.1 is provided with a nut 25 of the front lifting assembly.

The turning components of the feeding manipulator and the discharging manipulator are the same, and the turning component of the discharging manipulator is taken as an example for explanation:

the overturning component of the discharging manipulator comprises an overturning shaft 37 which is arranged on the rear lifting frame 16 or the lower part of the rear lifting frame through a vertical plate 45, a driven gear 42 positioned on the overturning shaft 37, a driving rack 41 which is arranged on the rear lifting frame 16 and matched with the driven gear 42, and an overturning air cylinder 39 which drives the driving rack 41 to reciprocate. The front end of the turning shaft 37 is fixedly connected with the rear side plate of the frame 4.1 of the rear gripper 4, and the driving rack 41 drives the driven gear 42 to act on the turning shaft 37 under the driving of the turning cylinder 39, so that the turning shaft 37 drives the rear gripper 4 to complete 180-degree turning. It should be understood that the active rack 41 could be replaced by the gear 36 and the tilt cylinder 39 replaced by a motor to achieve the same result of the rack 17 cooperating with the gear 36. Because the driven gear 42 is circular, the driving rack 41 can be installed vertically, horizontally or in other states, and the driven gear 42 can be driven to rotate only by ensuring the meshing of the other driven gears 42.

In order to guide the linear movement of the active rack 41, the tipping assembly further comprises a guide pair and a guide block 43. As shown in fig. 24 to 26, the guide block 43 is fixed on the vertical plate 45 or the rear crane 16, the guide block 43 is provided with a guide groove 43.2, the guide groove 43.2 is in sliding fit with the driving rack 41, at least one pressing wheel 43.1 is arranged at the bottom of the guide groove 43.2, and the pressing wheel 43.1 abuts against the back of the driving rack 41, so that the driving rack 41 is tightly matched with the driven gear 42. As shown in fig. 27 and 28, in order to buffer the end of the stroke of the turning and rotation of the rear hand grip 4, a limit corner block 50 is arranged on the left side or the right side of the rear side plate of the frame 4.1, two hydraulic buffers 44 are respectively arranged on the left side and the right side of the rear lifting frame 16, and the two hydraulic buffers 44 buffer the rear hand grip 4 through the limit corner block 50 during the turning and rotation of the rear hand grip 4.

As shown in fig. 18, for cast-welding, the plate group 35.2 needs to extend a distance from the box body 35.1, so that when the tabs 35.3 of the plate group 35.2 are inserted into the molten lead, the box body 35.1 can avoid the molten lead and the high-temperature components, which results in a distance between the plate group 35.2 and the box bottom. In the invention, the secondary box-entering device is used for completely entering the half-box-entered pole plate group 35.2. The secondary box-entering device comprises a jacking mechanism 20 arranged in the middle of the vertical frame 3.1 and a pressing mechanism 33 arranged on the rear side of the front sliding table 7.

The jacking mechanism 20 is used for jacking the electrode plate group 35.2 of the inverted storage battery workpieces 35 upwards, as shown in fig. 1, 3 and 8, the jacking mechanism 20 comprises a lower frame fixed in the middle of the stand 3.1 through a supporting plate 19, and at least one jacking assembly arranged in the lower frame, the number of the jacking assemblies is determined according to the number of the storage battery workpieces 35 during discharging, and two jacking assemblies are arranged in fig. 10 to 12.

As shown in fig. 19, the lower frame is composed of a bottom plate 20.1 arranged horizontally, a top plate 20.2 arranged in parallel above the bottom plate 20.1, and a side plate 20.6 connected between the bottom plate 20.1 and the top plate 20.2. The top plate 20.2 of the lower frame is similar to the structure of the tray 65.6, and is provided with at least one positioning opening 20.7 for the storage battery workpieces 35, the number of the positioning openings 20.7 is determined according to the number of the storage battery workpieces 35 during discharging, and four positioning openings 20.7 are arranged in fig. 20 and 21. The size and the shape of the positioning opening 20.7 are adapted to the box body 35.1 of the storage battery workpiece 35, the bottom of the inner wall of the positioning opening 20.7 is provided with a baffle 20.8 which extends inwards and is used for supporting the box body 35.1 formed by the storage battery in half, and it should be noted that the baffle 20.8 does not support the plate group 35.2 and the busbar 35.4 inside the box body 35.1.

As shown in fig. 19 to 21, each jacking assembly includes a lifting plate 20.4, at least one set of ejector pins 20.3, a vertical guide pair, and a jacking cylinder 20.5, the lifting plate 20.4 is liftably mounted in the lower frame through the vertical guide pair, the ejector pins 20.3 are arranged in rows on the top surface of the lifting plate 20.4 and aligned with the positioning holes 20.7 (in fig. 19 to 21, two rows of ejector pins 20.3 are arranged on the top of each lifting plate 20.4), and the jacking cylinder 20.5 is fixed on the bottom plate 20.1 of the lower frame, and the ejector pins thereof are cantilevered upward and connected with the lifting plate 20.4. The ejector pin 20.3 is used for pushing the electrode plate group 35.2 upwards, the position of the ejector pin is staggered with the position of a bus bar 35.4 of the storage battery workpiece 35, the ejector pin is generally square or columnar, and the top of the ejector pin is flat.

The pressing mechanism 33 is used for pressing the box body 35.1 of the storage battery workpiece 35 downwards to completely press the plate group 35.2 to the bottom of the box. As shown in fig. 11 and 17, the pressing mechanism 33 includes a pressing plate 34, a vertical guide pair, and a pressing cylinder 31, the pressing plate 34 is disposed below the front sliding table 7 in a liftable manner through the vertical guide pair and is arranged in parallel with the top plate 20.2 of the lower frame, the pressing cylinder 31 is mounted on the front sliding table 7, a top rod 31.1 of the pressing cylinder is downwardly suspended, and the pressing plate 34 is connected after passing through the front sliding table 7.

The guide pair in the present invention generally refers to the cooperation of the guide rail 18 and the slide block 30, or the cooperation of the optical axis 28 and the sliding sleeve 29, or other guide mechanisms with the same function. In each of the different components of the present invention, it is selected according to the actual installation requirements.

Specifically, as shown in fig. 1, 2, 11 to 15, and 22 to 24, in the feeding robot, the grabbing robot, and the discharging robot, the guide pair employs the cooperation of the guide rail 18 and the slider 30. The guide rail 18 is fixed on the supporting plate 5 and extends parallel to the racks 17 of the feeding walking assembly, the front walking assembly and the rear walking assembly. The slide block 30 is fixed on the bottom surface of the feeding slide table 60 or the front slide table 7 or the rear slide table 8, and a travel switch 21 and a stop 27 are generally provided at both ends of the guide rail 18 to limit the travel of the slide block 30.

The guide pairs among the feeding lifting assembly, the front lifting assembly and the rear lifting assembly adopt the matching of the guide rail 18 and the sliding block 30. As shown in fig. 16, in the front lifting assembly, a front fixing plate 23 is suspended and fixed at the bottom of the front sliding table 7, a sliding block 30 is fixed on the front fixing plate 23, and a guide rail 18 is vertically fixed on the front lifting frame 15 and matched with the sliding block 30. As shown in fig. 22 to 24, in the rear lift assembly, a rear fixing plate 38 is suspended and fixed at the bottom of the rear slide table 8, the slider 30 is fixed on the rear fixing plate 38, and the guide rail 18 is vertically fixed on the rear lift frame 16 and is engaged with the slider 30. Because the front lifting frame 15 and the rear lifting frame 16 need to be lifted, the front sliding table 7 and the rear sliding table 8 are provided with spacing avoiding grooves 22.

As shown in fig. 24 to 28, the guide pair of the turning assembly adopts the matching of the guide rail 18 and the sliding block 30, the guide rail 18 is vertically fixed on the rear lifting frame 16 and is arranged in parallel with the driving rack 41, the sliding block 30 is matched with the guide rail 18, the sliding block 30 is fixed with the connecting block 40, and the connecting block 40 is fixedly connected with the ejector rod of the turning cylinder 39 and the driving rack 41.

As shown in fig. 21 and 22, in the feeding hand grip, the front hand grip 6 and the rear hand grip 4, the guide pair adopts the matching of the guide rail 18 and the slide block 30, the guide rail 18 is horizontally fixed in the frame, and the slide block 30 is fixedly connected with the rear end of the movable finger 46.

As shown in fig. 1 and 2, in the pitch-variable manipulator 61, the guide pair between the main bracket 61.1 and the feeding rack 52 is the matching of the guide rail 18 and the slide block 30. As shown in fig. 3 to 6, the guiding pair between the cylinder body of the secondary pitch varying cylinder 61.5.2 and the main bracket 61.1 is composed of a guiding shaft 61.4.2 and a guiding plate 61.4.1, the guiding plate 61.4.1 is suspended and fixed on the bottom surface of the top plate of the main bracket 61.1 and is provided with a guiding hole along the longitudinal direction, the guiding shaft 61.4.2 is arranged along the longitudinal direction, one end of the guiding shaft 61.4.2 is fixedly connected with the cylinder body of the secondary pitch varying cylinder 61.5.2, the other end of the guiding shaft is in sliding fit with the guiding hole, and the guiding of the secondary pitch varying cylinder 61.5.2 is performed through the guiding hole and the guiding shaft 61.4.2. As shown in fig. 3 to 5, the guiding pair between the main bracket 61.1 and the auxiliary bracket 61.2 adopts a combination of the guide rail 18 and the sliding block 30, the guide rail 18 is fixed on two side plates of the main bracket 61.1, the sliding block 30 is fixed on two ends of the auxiliary bracket 61.2, and the auxiliary bracket 61.2 is restrained by the guide rail 18 when sliding. As shown in fig. 4, the guiding pair of the grabbing assembly is composed of the guide rail 18 and the sliding block 30 which are matched with each other.

As shown in fig. 9, 10, 19 to 21, the guiding pair of the vibration assembly, the jacking mechanism 20 and the pressing mechanism 33 adopts the matching of the optical axis 28 and the sliding sleeve 29. In the vibration component, the optical axis is fixed on the base plate 59.1.6, and the sliding sleeve is fixed on the middle plate 59.1.7. In the jacking mechanism 20, a sliding sleeve 29 is fixed on a lifting plate 20.4, an optical axis 28 is vertically fixed on a bottom plate 20.1, and the optical axis 28 is matched with the sliding sleeve 29. In the pressing mechanism 33, the sliding sleeve 29 is fixed on the front pressing plate 34, the optical axis 28 is fixed on the pressing plate 34, and the optical axis 28 vertically upwards passes through the sliding sleeve 29.

In order to improve the production efficiency, the storage battery workpieces 35 are generally subjected to feeding, cast-welding and discharging operations in groups of a plurality, and the invention is described by taking four as an example, but in the practical application process, the number of the storage battery workpieces 35 in a group, for example, a group of six, eight and the like, can be adjusted as required, and the pitch changing manipulator 61, the feeding manipulator, the busbar mold 65.2, the grabbing manipulator, the secondary box-entering device and the discharging manipulator are correspondingly adjusted. For the feeding gripper, the front gripper and the rear gripper, the storage battery workpieces 35 with the size within the stroke range can be gripped by setting the stroke of the gripping cylinder 48, and for the storage battery workpieces 35 exceeding the stroke range, the feeding gripper, the front gripper and the rear gripper meeting the stroke range are replaced to grip.

The working principle of the invention is as follows:

a feeding conveyor belt 51 and a feeding mechanical arm part;

(1) the superior equipment puts the storage battery workpieces 35 on the feeding conveyor belt 51 in a preset direction, the storage battery workpieces 35 enter the centering channel along with the advancing of the feeding conveyor belt 51 to be basically centered left and right, and the storage battery workpieces 35 are arranged below the variable-pitch manipulator 61;

(2) the variable-pitch fingers 61.3 of the variable-pitch manipulator 61 are folded to clamp the storage battery workpieces 35, then the primary variable-pitch cylinder 61.5.1 is started to perform primary pitch variation, and then the secondary variable-pitch cylinder 61.5.2 is started to perform secondary pitch variation, so that the four storage battery workpieces 35 are distributed at equal intervals; starting a pneumatic motor 64 of the variable-pitch manipulator 61, driving the four storage battery workpieces 35 to move to the feeding manipulator by the variable-pitch manipulator 61, releasing after reaching a preset position of the platform, and resetting the variable-pitch manipulator 61;

(3) the height of a feeding lifting frame 66 of the feeding manipulator is adjusted, then the position of a feeding sliding table 60 is adjusted to enable a feeding gripper to move to a gripping position, the feeding gripper clamps four storage battery workpieces 35, the feeding lifting frame 66 is lifted for a certain distance, a turning assembly is started to enable the feeding gripper to drive the four storage battery workpieces 35 to turn 180 degrees, a tab 35.3 of a plate group faces downwards, and after a bus bar die 65.2 of a lead injection station 59.5 of the feeding sliding table 60 rotates to a cast-weld station 59.1, the feeding sliding table 60 moves forwards to a preset position;

a disc device 59, a large lead furnace 54, a small lead furnace 55, a high-frequency unit 56 and a high-frequency heating component part;

(1) the busbar mold 65.2 of the high-frequency heating station 59.4 needs to be heated because the busbar mold is cooled, so that the influence on the temperature of the molten lead is reduced; starting the high-frequency unit 56, electrifying the high-frequency coil 59.4.4, inductively heating the busbar die 65.2, and stopping after a certain time, wherein the water cooling device of the high-frequency unit 56 cools the high-frequency coil 59.4.4 in the process; the high frequency assembly 56 and its water cooling apparatus are commercially available and will not be described in detail herein;

(2) the lead liquid is supplied to the small lead furnace 55 through a lead pump in the large lead furnace 54, when a lead liquid outlet of the small lead furnace 55 is controlled to be opened, the lead liquid is injected into a cavity of a busbar mold 65.2 which rotates from a high-frequency heating station 59.4 to a lead injection station 59.5, and the part is similar to the prior art;

(3) the busbar mold 65.2 of the lead injection station 59.5 rotates to the cast-weld station 59.1, the bottom cylinder 59.1.5 of the vibration assembly jacks up the vibration top plate 59.1.1 to be in contact with the bottom surface of the busbar mold 65.2, and the vibration motor 59.1.4 generates vibration after being started to enable lead liquid in the cavity to fully flow;

(4) the tray 65.6 is jacked to a preset height by the tray cylinder, the pressing flat plate 65.5 is jacked to the uppermost end by the pressing cylinder, the feeding sliding table 60 drives the feeding manipulator to slide forwards to a preset position, the storage battery workpieces 35 correspond to the positioning openings in the tray 65.6 one by one up and down, the feeding manipulator resets after loosening the storage battery workpieces 35, the storage battery workpieces 35 fall to the positioning openings after a small distance, the lugs 35.3 downwards penetrate through the positioning openings, the pressing cylinder acts, the pressing flat plate 65.5 downwards moves to press the storage battery workpieces 35 to prevent shaking, then the tray cylinder drives the tray 65.6 to fall to the top surface of the busbar mold 65.2, and the lugs 35.3 are inserted into lead liquid to be cast-welded;

or the tray is always positioned on the top surface of the busbar mold 65.2, the storage battery workpiece 35 is placed on the tray by the feeding manipulator, and the pressing cylinder drives the pressing flat plate 65.5 to move downwards to press the storage battery workpiece 35;

(5) the disc 65.1 of the disc device 59 continues to rotate, and the bus bar die 65.2 and the storage battery workpieces 35 after cast welding are cooled by the plurality of cooling stations 59.2 and then reach the discharging station 59.3;

thirdly, a discharging manipulator group 58;

the cast-welded storage battery workpieces 35 are in a half-in-box state with the box bottom facing upwards and the bus bar 35.4 facing downwards, the storage battery workpieces 35 are taken down from the discharging station 59.3 of the disc device 59 by the discharging manipulator provided by the invention, then secondary box-in operation is carried out, the storage battery workpieces 35 are subjected to posture adjustment to enable the box bottom to face downwards, and then the storage battery workpieces are placed on a conveyor belt to be sent out. The specific action process is as follows:

(1) grabbing storage battery workpieces 35;

the lifting motor 9 of the front lifting assembly is started to drive the screw rod 26 to rotate, and the front lifting frame 15 and the front gripper 6 are lowered to a set position under the cooperation of the nut 25 and the guide of the guide rail 18; it should be noted that this step can be omitted if the initial setting position of the front gripper 6 is directly behind the accumulator workpiece 35 on the discharge station 59.3 of the disc device 59;

the walking motor 10 of the front walking assembly is started, the gear 36 of the front walking assembly is driven to rotate through the synchronous wheel and the synchronous belt 13, and the front sliding table 7 slides forwards to a set position under the cooperation of the rack 17 and the guide of the guide rail 18, so that the movable finger 46 and the fixed finger 47 of the front gripper 6 are inserted into a gap between the storage battery workpieces 35;

the grabbing cylinder 48 of the front hand grip 6 is started to drive the movable finger 46 to approach the fixed finger 47, and in the process, the movable finger 46 clamps the storage battery workpiece 35 towards the fixed finger 47;

the lifting motor 9 of the front lifting assembly is started reversely, and the front lifting frame 15 and the front gripper 6 are lifted to a set position; the traveling motor 10 of the front traveling assembly is reversely started to drive the front sliding table 7 to slide backwards to a set position, the storage battery workpieces 35 are just above the jacking mechanism 20 at the moment, then the lifting frame 16 and the front gripper 6 descend again to place the storage battery workpieces 35 on the lower frame, one storage battery workpiece 35 is placed in each positioning opening 20.7 of the lower frame, an opening of a box body 35.1 of each storage battery workpiece 35 is supported by a barrier strip 20.8, and the bus bar 35.4 faces downwards and is located in each positioning opening 20.7;

the movable finger 46 releases the storage battery workpiece 35, and the front gripper 6 rises to a set position; since the hold-down mechanism 33 is now behind the jack mechanism 20, the front slide table 7 needs to slide forward a certain distance until the hold-down mechanism 33 is aligned with the jack mechanism 20 and the battery workpiece 35.

(2) Putting the electrode plate group 35.2 into a box for the second time;

since the secondary box entering of the electrode plate group 35.2 is to press the electrode plate group 35.2 into the box body 35.1 until the electrode plate group 35.2 reaches the bottom of the inner cavity of the box body 35.1, in the process, the box body 35.1 needs to be pressed, otherwise, the box entering action cannot be completed, and therefore, the action of the pressing mechanism 33 is generally earlier than that of the jacking mechanism 20;

the pressing plate 34 is driven by the pressing cylinder 31 to descend until the bottom surface of the box body 35.1 is pressed, the lifting cylinder 20.5 drives the lifting plate 20.4 to slide upwards, so that the ejector pin 20.3 gradually approaches to the electrode plate group 35.2, the ejector pin 20.3 contacts the electrode plate group 35.2 and then exerts an upward thrust on the electrode plate group 35.2, and the electrode plate group 35.2 moves upwards due to the fact that the box body 35.1 is pressed until the electrode plate group is completely contacted with the bottom of the inner cavity of the box body 35.1; the pressing cylinder 31 drives the pressing plate 34 to reset, the jacking cylinder 20.5 drives the lifting plate 20.4 to reset, and the storage battery workpiece 35 is released; at the moment, the front sliding table 7 is reset forwards to wait for grabbing the storage battery workpiece 35 next time;

(3) discharging the storage battery workpiece 35;

after a group of storage battery workpieces 35 are placed into the box for the second time, the lifting motor 9 of the rear lifting assembly is started to drive the screw rod 26 to rotate, the rear lifting frame 16 and the rear hand grip 4 are lifted to a set height under the cooperation of the nut 25 and the guide of the guide rail 18, and the rear hand grip 4 reaches the position right behind the storage battery workpieces 35 on the jacking mechanism 20; it should be noted that if the initial setting position of the rear gripper 4 is right behind the secondary boxed battery workpiece 35, this step may be omitted;

the traveling motor 10 of the rear traveling assembly is started, the gear 36 of the rear traveling assembly is driven to rotate through the synchronous wheel and the synchronous belt 13, and the rear sliding table 8 slides forwards to a set position under the cooperation of the rack 17 and the guide of the guide rail 18, so that the movable finger 46 and the fixed finger 47 of the rear gripper 4 are inserted into a gap between the storage battery workpieces 35;

the grabbing cylinder 48 of the rear hand grip 4 is started to drive the movable finger 46 to approach the fixed finger 47, and in the process, the movable finger 46 clamps the storage battery workpiece 35 towards the fixed finger 47;

since the pressing mechanism 33 is reset at this time, the storage battery workpiece 35 has a rising space, and the rear lifting frame 16 rises together with the rear gripper 4, so that the storage battery workpiece 35 is separated from the jacking mechanism 20;

a walking motor 10 of the rear walking assembly is started reversely to drive the rear sliding table 8 to retreat to a set position; the overturning cylinder 39 acts, the driving rack 41 forces the overturning shaft 37 to rotate 180 degrees through the driven gear 42, the rear hand grip 4 fixed at the front end of the overturning shaft 37 and the storage battery workpiece 35 also rotate 180 degrees, and the storage battery workpiece 35 is changed into a box bottom downward from a bus bar 35.4 downward;

at the moment, the storage battery workpiece 35 is positioned above the discharging conveyor belt 57, the lifting cylinder ejects the storage battery workpiece, the rear lifting frame 16 and the rear gripper 4 descend under the guidance of the guide rail 18, and the storage battery workpiece 35 is placed on the discharging conveyor belt 57;

the movable finger 46 releases the storage battery workpiece 35, and the rear lifting frame 16 and the rear gripper 4 are lifted to a set position (at the moment, the discharge conveyor belt 57 is not blocked by the lifting frame and the rear gripper 4, so that the storage battery workpiece 35 can be sent out); the overturning cylinder 39 drives the overturning shaft 37 to rotate for 180 degrees, the rear gripper 4 resets, and the next discharging of the storage battery workpiece 35 is waited;

and at this moment, one-time discharging action of the discharging manipulator is finished.

It should be noted that, in the present invention, each cylinder, motor, travel switch 21, etc. are controlled by a control module (e.g. PLC module), which is conventional in the industry and will not be described in detail herein.

The specific embodiments described in this specification are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The utility model provides a high-efficient intelligent cast joint machine of battery which characterized in that: the device comprises a feeding conveyor belt (51), a feeding mechanical arm group, a large lead furnace (54), a small lead furnace (55), a high-frequency unit (56), a disc device (59), a discharging mechanical arm group (58) and a discharging conveyor belt (57); the feeding side of the feeding manipulator group is butted with the feeding conveyor belt (51), the discharging side of the feeding manipulator group is opposite to a cast-weld station (59.1) of the disc device (59), the disc device (59) sequentially comprises a plurality of cooling stations (59.2), discharging stations (59.3), high-frequency heating stations (59.4) and lead injection stations (59.5) along the rotation direction of the disc (65.1) from the cast-weld station (59.1), and then returns to the cast-weld station (59.1); the discharging station (59.3) is right opposite to the feeding side of the discharging mechanical hand set (58), the discharging side of the discharging mechanical hand set (58) is in butt joint with the discharging conveyor belt (57), the high-frequency heating station (59.4) is provided with a high-frequency heating assembly electrically connected with the high-frequency unit (56), the large lead furnace (54) is connected with the small lead furnace (55) through a lead pump, a lead liquid outlet of the small lead furnace (55) is positioned above the lead injection station (59.5), and when the lead liquid outlet is opened, lead liquid is injected into the busbar mold (65.2) rotating to the lead injection station (59.5).

2. The efficient intelligent cast-weld machine for storage batteries as claimed in claim 1, wherein: the feeding manipulator group comprises a feeding rack (52), a variable-pitch manipulator (61) and a feeding manipulator (53) which is orthogonally arranged with the variable-pitch manipulator (61);

the variable-pitch manipulator (61) comprises a main support (61.1), a group of secondary supports (61.2) which are arranged at the bottom of the main support (61.1) side by side and can slide along the longitudinal direction of the main support (61.1), a longitudinal driving mechanism for driving the secondary supports (61.2) to vary the pitch along the longitudinal direction of the main support (61.1), and a grabbing component arranged at the lower part of each secondary support (61.2); the main bracket (61.1) is hung on the feeding rack (52) through a longitudinal guide pair and horizontally slides to and fro from the tail end of the feeding conveyor belt (51) to the feeding manipulator (53) under the drive of the variable-pitch walking assembly;

the grabbing assembly comprises two variable-pitch fingers (61.3) which are oppositely arranged and hang downwards and a transverse driving mechanism, the two variable-pitch fingers (61.3) can be transversely and slidably mounted at the bottom of the auxiliary bracket (61.2), the transverse driving mechanism drives the two variable-pitch fingers (61.3) to be close to each other along the transverse direction of the main bracket (61.1) so as to clamp the storage battery workpiece (35), or drives the two variable-pitch fingers (61.3) to be separated along the transverse direction, and the storage battery workpiece (35) is released;

the feeding manipulator (53) comprises a feeding sliding table (60), a feeding lifting frame (66), a feeding gripper, a turnover assembly, a feeding lifting assembly and a feeding travelling assembly; the feeding sliding table (60) is arranged at the top of the feeding rack (52) through a horizontal guide pair and driven by the feeding walking assembly to slide back and forth along the front direction and the rear direction of the feeding rack (52). Feeding crane (66) are installed on feeding slip table (60) through vertical direction vice to go up and down along vertical direction under feeding running assembly's drive, the feeding tongs rotationally installs the front side at feeding crane (66) through the trip shaft, and can realize upset and gyration under the drive of upset subassembly.

3. The efficient intelligent cast-weld machine for storage batteries as claimed in claim 2, wherein: the discharging manipulator group (58) comprises a discharging rack, a grabbing manipulator arranged on the front side of the discharging rack, a secondary box-feeding device arranged in the middle of the discharging rack and a discharging manipulator arranged on the rear side of the rack;

the grabbing mechanical arm comprises a front sliding table (7), a front grab handle (6), a front lifting frame (15), a front lifting assembly and a front walking assembly; the front sliding table (7) is arranged on the front side of the top of the discharging rack through a horizontal guide pair and slides along the front-back direction under the driving of the front walking assembly; the front gripper (6) is fixedly connected to the bottom of the front lifting frame (15), the front lifting frame (15) is installed on the front sliding table (7) through a vertical guide pair and is driven by the front lifting assembly to lift along the vertical direction;

the secondary box-entering device comprises a jacking mechanism (20) arranged in the middle of the rack and a pressing mechanism (33) arranged on the rear side of the front sliding table (7); the jacking mechanism (20) is used for upwards jacking and pressing the electrode plate group (35.2) of the inverted storage battery workpiece (35), the pressing mechanism (33) is used for downwards jacking and pressing the box body of the storage battery workpiece (35) and completely pressing the electrode plate group (35.2) to the bottom of the box;

the discharging manipulator comprises a rear sliding table (8), a rear lifting frame (16), a rear gripper (4), a turnover assembly, a rear lifting assembly and a rear walking assembly; the rear sliding table (8) is horizontally arranged on the rear side of the top of the discharging rack through a horizontal guide pair and slides along the front-back direction under the driving of the rear walking assembly; the rear lifting frame (16) is arranged on the rear sliding table (8) through a vertical guide pair and is driven by the rear lifting assembly to lift along the vertical direction; the rear gripper (4) is rotatably arranged at the front side of the rear lifting frame (16) through a turnover shaft (37) and can be turned and rotated under the driving of the turnover assembly.

4. The efficient intelligent cast-weld machine for storage batteries as claimed in claim 3, wherein: feeding lifting unit, preceding lifting unit, back lifting unit all include by lift motor (9) driven lead screw (26) to and with lead screw (26) complex nut (25), feeding lifting unit, preceding lifting unit, back lifting unit's lift motor (9) are fixed respectively at feeding slip table (60), preceding slip table (7), back slip table (8) are last, preceding lifting unit's nut (25) are installed in the front on crane (15) or preceding tongs (6), feeding lifting unit, back lifting unit's nut (25) are installed respectively on feeding crane (66), back crane (16).

5. The efficient intelligent cast-weld machine for storage batteries as claimed in claim 3, wherein: the feeding walking assembly, the front walking assembly and the rear walking assembly respectively comprise a gear (35), a rack (17), a walking motor (10), a driving synchronous wheel (11), a driven synchronous wheel (12) and a synchronous belt (13); rack (17) are fixed at feeding frame or play work or material frame top along the fore-and-aft direction, feeding walking subassembly, preceding walking subassembly, the gear (35) of back walking subassembly is installed respectively at feeding slip table (60) through the pivot, preceding slip table (7), on back slip table (8), and respectively with rack (17) cooperation, be fixed with driven synchronizing wheel (12) in the pivot of gear (35), feeding walking subassembly, preceding walking subassembly, walking motor (10) of back walking subassembly are fixed respectively at feeding slip table (60), preceding slip table (7), on back slip table (8), feeding slip table (60), preceding slip table (7), walking motor (10) on back slip table (8) are respectively through initiative synchronizing wheel (11), hold-in range (13) and pinch roller (14), driven synchronizing wheel (12) on the drive corresponding slip table rotate.

6. The efficient intelligent cast-weld machine for storage batteries as claimed in claim 3, wherein: the jacking mechanism (20) comprises a lower frame fixed in the middle of the discharging rack through a supporting plate (19) and at least one jacking assembly arranged in the lower frame; a top plate (20.2) of the lower frame is provided with a group of positioning openings (20.7) of the storage battery box bodies (35.1);

each jacking assembly comprises a lifting plate (20.4), a plurality of groups of ejector pins (20.3), a vertical guide pair and a jacking cylinder (20.5), the lifting plate (20.4) is arranged in the lower frame in a liftable manner through the vertical guide pair, the ejector pins (20.3) are arranged on the top surface of the lifting plate (20.4) in rows, one group of ejector pins (20.3) is aligned with one positioning hole (20.7), the jacking cylinder (20.5) is fixed at the bottom of the frame, and the ejector pins of the jacking cylinder are upwards suspended and connected with the lifting plate (20.4);

the pressing mechanism (33) comprises a pressing plate (34), a vertical guide pair and a pressing cylinder (31), the pressing plate (34) is arranged below the front sliding table (7) through the vertical guide pair in a liftable mode and is arranged in parallel with a top plate (20.2) of the lower frame, the pressing cylinder (31) is installed on the front sliding table (7), an ejector rod (31.1) of the pressing cylinder is overhung downwards, and the pressing plate (34) is connected after penetrating through the front sliding table (7).

7. The efficient intelligent cast-weld machine for storage batteries as claimed in claim 3, wherein: the overturning assembly comprises a driven gear (42) fixed on an overturning shaft (37) of the rear hand grip (4) and an active rack (41) matched with the driven gear (42), the active rack (41) is driven by an overturning cylinder (39) fixed on the rear lifting frame (16), and a guide pair of the active rack (41) is further arranged on the rear lifting frame (16).

8. The efficient intelligent cast-weld machine for storage batteries according to any one of claims 3 to 7, is characterized in that: the feeding gripper, the front gripper (6) and the rear gripper (4) comprise frames and at least one clamping assembly arranged in the frames; each clamping assembly comprises a fixed finger (47) fixedly connected with the frame and two movable fingers (46) symmetrically arranged on two sides of the fixed finger (47) and parallel to the fixed finger (47); the front ends of the fixed fingers (47) and the two movable fingers (46) extend out of the front side of the frame, the rear ends of the two movable fingers (46) are positioned in the frame in a sliding mode through guide pairs and are respectively connected with a top rod of a grabbing cylinder (48), and the fixed fingers (47) slide relative to the fixed fingers under the driving of the grabbing cylinder (48).

9. The efficient intelligent cast-weld machine for storage batteries according to any one of claims 1 to 7, characterized in that: the high-frequency heating assembly includes a positioning bracket (59.4.1), a transverse fixing plate (59.4.3), a set of high-frequency coils (59.4.4), and a joint (59.4.6); the positioning bracket is fixed on the side surface of a high-frequency heating station (59.4) of the disc device (59), the top of the positioning bracket is provided with a cantilever (59.4.2) which is suspended above a disc (65.1) of the disc device (59), a transverse fixing plate (59.4.3) is fixed on the cantilever (59.4.2), high-frequency coils (59.4.4) are fixed on the transverse fixing plate (59.4.3) side by side at a certain interval, and joints (59.4.4) used for connecting a high-frequency unit (56) are arranged at two ends of the high-frequency coils (59.4.4).

10. The efficient intelligent cast-weld machine for storage batteries as claimed in claim 1, wherein: the cast-weld station (59.1) is provided with a vibration assembly, the vibration assembly comprises a base plate (59.1.6), an intermediate plate (59.1.7) arranged above the base plate (59.1.6) in a lifting manner through a vertical guide pair, a vibration top plate (59.1.1) positioned above the intermediate plate (59.1.7) through a group of elastic assemblies, a vibration motor (59.1.4) fixed on the bottom surface of the vibration top plate, and a bottom cylinder used for driving the intermediate plate (59.1.7) to vertically lift; the vibration motor (59.1.4) keeps a certain distance from the middle plate (59.1.7) to avoid the direct contact between the vibration motor (59.1.4) and the middle plate (59.1.7).