CN112455751A - Handling device and electricity core baling equipment - Google Patents

Handling device and electricity core baling equipment Download PDF

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Publication number
CN112455751A
CN112455751A CN202011201464.0A CN202011201464A CN112455751A CN 112455751 A CN112455751 A CN 112455751A CN 202011201464 A CN202011201464 A CN 202011201464A CN 112455751 A CN112455751 A CN 112455751A
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CN
China
Prior art keywords
clamping
assembly
driving
battery cell
clamping assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202011201464.0A
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Chinese (zh)
Inventor
不公告发明人
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuxi Lead Intelligent Equipment Co Ltd
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Wuxi Lead Intelligent Equipment Co Ltd
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Application filed by Wuxi Lead Intelligent Equipment Co Ltd filed Critical Wuxi Lead Intelligent Equipment Co Ltd
Priority to CN202011201464.0A priority Critical patent/CN112455751A/en
Publication of CN112455751A publication Critical patent/CN112455751A/en
Withdrawn legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30Arranging and feeding articles in groups
    • B65B35/36Arranging and feeding articles in groups by grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B61/00Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/20Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents
    • B65B61/207Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents for inserting partitions between package contents

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Battery Mounting, Suspending (AREA)

Abstract

The invention relates to a carrying device and a battery cell packaging device. This handling device includes: mounting a plate; the fixed clamping assembly is arranged on the mounting plate and used for clamping the battery cell; the movable clamping assembly is arranged on the mounting plate and used for clamping the battery cell, the movable clamping assembly and the fixed clamping assembly are arranged at intervals along the eighth direction, and the movable clamping assembly can move relative to the mounting plate along the eighth direction so as to adjust a gap between the movable clamping assembly and the fixed clamping assembly; the variable-pitch driving assembly is arranged on the mounting plate and is in transmission connection with the movable clamping assembly; and the vision positioning system is electrically connected with the variable-pitch driving assembly and is used for detecting the position of the electric core accommodating groove and controlling the variable-pitch driving assembly to drive the movable clamping assembly to move along the eighth direction according to the detected position of the electric core accommodating groove.

Description

Handling device and electricity core baling equipment
Technical Field
The invention relates to the technical field of battery production, in particular to a carrying device and a battery cell packaging device.
Background
A lithium battery is a type of battery using a nonaqueous electrolyte solution, using lithium metal or a lithium alloy as a positive/negative electrode material. With the progress of technology, lithium batteries have been widely used in various industrial products, such as mobile phones, computers, automobiles, and the like. The battery core is an important component of the lithium battery, and the market demand is increasing. Since the battery cell is easily damaged when being impacted or scratched, and in order to facilitate transportation, the battery cell needs to be stacked and packaged by using a packaging material, and the packaging material generally adopts foam. At present, the battery cores are generally placed into a packaging material layer by manpower, namely, the battery cores are manually stacked and packaged, and the production efficiency is seriously influenced.
In order to improve the production efficiency, the battery core needs to be transported into the battery core groove on the packaging material by a manipulator and filled layer by layer. Because there is the size deviation in electric core length and thickness, packing material self also has great size deviation, and need to put things in good order a plurality of electric cores at every turn in order to raise the efficiency manipulator, consequently can make electric core and packing material's electric core groove mismatch when the electric core is put things in good order to the manipulator to can't place electric core in the electric core inslot or place not in place, and then lead to the automatic pile up neatly of unable completion electric core.
Disclosure of Invention
Based on this, it is necessary to be mismatched with packaging material's electric core groove to manipulator when putting things in good order electric core among the prior art to can't place electric core in the electric core inslot or place not in place, and then lead to the problem of the automatic pile up neatly of unable completion electric core, provide a handling device and electric core baling equipment who improves above-mentioned defect.
A handling device comprising:
mounting a plate;
the fixed clamping assembly is arranged on the mounting plate and used for clamping the battery cell;
the movable clamping assembly is arranged on the mounting plate and used for clamping the battery cell, the movable clamping assembly and the fixed clamping assembly are arranged at intervals along an eighth direction, and the movable clamping assembly can move relative to the mounting plate along the eighth direction so as to adjust a gap between the movable clamping assembly and the fixed clamping assembly;
the variable-pitch driving assembly is arranged on the mounting plate and is in transmission connection with the movable clamping assembly; and
and the visual positioning system is electrically connected with the variable-pitch driving assembly and is used for detecting the position of the electric core accommodating groove and controlling the variable-pitch driving assembly to drive the movable clamping assembly to move along the eighth direction according to the detected position of the electric core accommodating groove.
In one embodiment, the movable clamping assembly includes a first bearing plate and a first clamping mechanism, the first bearing plate is movably connected to the mounting plate along the eighth direction and is in transmission connection with the variable-pitch driving assembly, and the first clamping mechanism is disposed on the first bearing plate and is used for clamping the battery cell.
In one embodiment, the first clamping mechanism includes a first clamping driving member and two third clamping blocks, the first clamping driving member is disposed on the first carrier plate and has two driving ends, and the two third clamping blocks are respectively mounted at the two driving ends of the first clamping driving member so as to be driven by the first clamping driving member to clamp or release the battery cell.
In one embodiment, the first clamping mechanism further includes a first lifting plate and a second elastic member, the first lifting plate is movably connected to the first bearing plate along a ninth direction perpendicular to the eighth direction, and the first clamping driving member is mounted on the first lifting plate;
the second elastic piece is arranged between the first lifting plate and the first bearing plate to provide pre-tightening force for enabling the first lifting plate to move away from the first bearing plate along the ninth direction.
In one embodiment, the first clamping mechanism further includes a first sensor and a first sensing piece, the first sensor is mounted on the mounting plate, the first sensing piece is mounted on the first lifting plate, and the first sensor is used for detecting the position of the first sensing piece.
In one embodiment, the two third clamping blocks are respectively mounted at the driving ends of the corresponding first clamping driving pieces through two first clamping arms, and the two first clamping arms can be connected to the first lifting plate in a mutually approaching or distancing mode.
In one embodiment, the first clamping mechanism further includes a second sensor and a second sensing piece, the second sensor is mounted on the first lifting plate, the second sensing piece is mounted on one of the first clamping arms, and the second sensor is used for detecting the position of the second sensing piece.
In one embodiment, the variable-pitch driving assembly comprises a screw rod, a screw nut, a variable-pitch driving piece and a driving connecting block, the screw rod is rotatably connected to the mounting plate around the axis of the screw rod, the variable-pitch driving piece is arranged on the mounting plate and is in transmission connection with the screw rod, the screw nut is in threaded connection with the screw rod and is connected with the driving connecting block, and the driving connecting block is used for being connected with the movable clamping assembly.
In one embodiment, the movable clamping assemblies comprise a plurality of movable clamping assemblies, and the plurality of movable clamping assemblies are arranged at intervals along the eighth direction;
the variable-pitch driving assembly comprises a plurality of variable-pitch driving assemblies, the variable-pitch driving assemblies correspond to the movable clamping assemblies one by one, and each variable-pitch driving assembly is in transmission connection with the corresponding movable clamping assembly.
In one embodiment, the visual positioning system comprises a first industrial camera, a second industrial camera, and a controller;
the first industrial camera is arranged on the mounting plate, corresponds to the fixed clamping assembly and is used for detecting the position of a cell accommodating groove of a cell to be clamped by the fixed clamping assembly; the second industrial camera is arranged on the mounting plate, corresponds to the movable clamping assembly and is used for detecting the position of a battery cell accommodating groove of a battery cell to be clamped by the movable clamping assembly;
the first industrial camera and the second industrial camera are both electrically connected with the controller, and the controller is electrically connected with the variable-pitch driving assembly and used for controlling the variable-pitch driving assembly to drive the movable clamping assembly to move along the eighth direction according to the positions, detected by the first industrial camera and the second industrial camera, of the corresponding battery cell accommodating grooves.
In one embodiment, the carrying device further comprises a sucker assembly, wherein the sucker assembly is mounted on the mounting plate and used for sucking the cover in the package.
In one embodiment, the handling device further comprises a fall arrest assembly comprising a swing drive and a swing frame;
the swing driving piece is arranged on the mounting plate, one end of the swing frame is connected to the driving end of the swing driving piece, and the other end of the swing frame is connected with a supporting rod;
the swing driving piece can drive the swing frame to swing to an anti-falling position and an avoiding position, and when the swing frame is located at the anti-falling position, the supporting rod is located at the bottom of the battery cell clamped by the fixed clamping assembly and the movable clamping assembly; when the swing frame is located at the avoiding position, the supporting rod is located on the side of the fixed clamping assembly and the movable clamping assembly.
In one embodiment, the swing frames comprise two swing driving pieces, and the swing driving pieces drive the two swing frames to swing in opposite directions;
when the two swing frames are installed, one end of the supporting rod is folded, the two swing frames are positioned at the anti-falling position, and when the two swing frames are installed, one end of the supporting rod is opened, the two swing frames are positioned at the avoiding position
A battery cell packaging device includes the carrying device as described in any of the above embodiments.
Above-mentioned handling device and electric core baling equipment, visual positioning system are used for detecting the position of electric core holding groove to according to the position control displacement drive assembly drive activity centre gripping subassembly of electric core holding groove that detects and remove along the eighth direction, so that the electric core of fixed centre gripping subassembly centre gripping and the electric core homoenergetic of activity centre gripping subassembly centre gripping insert in the electric core storage tank that corresponds smoothly. That is to say, can adjust the interval between the electric core of fixed centre gripping subassembly centre gripping and the electric core of activity centre gripping subassembly centre gripping according to the position in electric core holding groove, avoided because the dimensional deviation of lid leads to not matching with electric core storage tank position in packing bottom or the packing, and then the problem that electric core can't put into electric core storage tank.
Drawings
Fig. 1 is a schematic structural diagram of a packaging structure of a battery cell;
fig. 2 is a schematic layout structure diagram of a cell packaging apparatus according to an embodiment of the present invention;
fig. 3 is a top view of a cover feeding device in the package of the battery cell packaging equipment shown in fig. 2;
fig. 4 is a front view of a cell positioning device of the cell packaging apparatus shown in fig. 2;
fig. 5 is a top view of the cell positioning device shown in fig. 4;
fig. 6 is a front view of a package positioning device of the battery cell packaging apparatus shown in fig. 2;
FIG. 7 is a top view of the package positioning device shown in FIG. 6;
fig. 8 is a front view of a carrying device of the cell baling apparatus shown in fig. 2;
FIG. 9 is a top view of the handling device shown in FIG. 8;
fig. 10 is a bottom view of the conveying apparatus shown in fig. 8.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Before describing the cell packaging apparatus of the present application in detail, a packaging structure of the cell is first briefly described. Referring to fig. 1, the package structure of the battery cell includes a package bottom cover 101 and a plurality of package middle covers 102, the package bottom cover 101 includes a package outer box 1011 and a package inner box 1012 contained in the package outer box 1011, the package outer box 1011 may be a carton, and the package inner box 1012 may be a foam board. The inner packaging box 1012 is provided with a plurality of cell accommodating grooves a for accommodating the cells 200. A plurality of electric core accommodating grooves a are formed in the upper side and the lower side of the cover 102 in the package, and the covers 102 are stacked on the package bottom cover 101 in sequence in the vertical direction in the plurality of packages.
It should be noted that, the arrangement modes of the plurality of battery cell accommodating grooves a on the upper side of the cover 102 in the package and the plurality of battery cell accommodating grooves a on the lower side of the cover 102 in the package may be the same or different, for example, all the battery cell accommodating grooves a are arranged horizontally, all the battery cell accommodating grooves a are arranged vertically, or one battery cell accommodating groove a is arranged horizontally and the other battery cell accommodating groove a is arranged vertically.
The process of stacking and packaging the battery cores is as follows: first, the battery cells 200 are placed in the respective cell accommodating grooves a in the pack inner case 1012. Then, the middle package cover 102 is stacked on the bottom package cover 101, and the battery cells 200 accommodated in the battery cell accommodating groove a of the inner package box 1012 are all inserted into the battery cell accommodating groove a on the lower side of the corresponding middle package cover 102. Then, the battery cell 200 is placed in each battery cell accommodating groove a on the upper side of the middle cover 102 in the package, and the new middle cover 102 in the package is stacked on the middle cover 102 in the package filled with the battery cells 200, so that each battery cell 200 is inserted into the battery cell accommodating groove a on the lower side of the middle cover 102 in the new package. Then, the battery cells 200 are placed in each of the battery cell accommodating grooves a on the upper side of the middle cover 102 in a new package, and the middle covers 102 are stacked in the package again. Thus, stacking the plurality of middle package covers 102 in sequence according to the above steps to achieve stacking and packaging of the battery cells 200.
Specifically, for facilitating the feeding and discharging of a forklift or other transportation equipment after the stacking and packaging are completed, the packaging structure further comprises a bottom support 103 arranged at the bottom of the packaging bottom cover 101. In order to protect the top cells, a top cover (not shown) is provided on the top side of the cover 102 in the topmost package.
However, the battery cores are often manually stacked and packaged, and the production efficiency is seriously affected. Therefore, it is necessary to provide a cell packing apparatus which is advantageous in improving the production efficiency.
Referring to fig. 2, an embodiment of the invention provides a battery cell packaging apparatus, which includes a packaging positioning device 10, a battery cell positioning device 30, and a carrying device 20. The package positioning device 10 is used to position the package bottom cover 101. The cell positioning device 30 is used to position a cell input from upstream. The carrying device 20 is configured to stack the middle package covers 102 one by one onto the bottom package cover 101 located by the package positioning device 10, and is further configured to carry the battery cells located by the battery cell positioning device 30 to the battery cell accommodating groove a of the bottom package cover 101 or the battery cell accommodating groove a of the middle package cover 102.
In the actual use process of the above-mentioned electric core packaging equipment, firstly, the packaging positioning device 10 positions the packaging bottom cover 101. The cell positioning device 30 positions the cell. The carrying device 20 carries the battery cells positioned by the battery cell positioning device 30 to each battery cell accommodating groove a on the package bottom cover 101. Then, the carrying device 20 stacks the middle package cover 102 on the bottom package cover 101, and carries the cells positioned by the cell positioning device 30 into each of the cell accommodating grooves a on the upper side of the middle package cover 102. Then, the carrying device 20 stacks the new middle package cover 102 on the middle package cover 102 filled with the battery cells, and carries the battery cells positioned by the battery cell positioning device 30 to each battery cell accommodating groove a on the upper side of the new middle package cover 102, so as to stack the plurality of middle package covers 102 to the designated height in sequence according to the above steps. Therefore, compared with the manual stacking and packaging of the battery cells in the prior art, the battery cell packaging equipment provided by the invention can complete the stacking and packaging of the battery cells, improves the automation degree, and is beneficial to improving the production efficiency of the battery cells.
Referring to fig. 2 and fig. 3, in the embodiment of the present invention, the battery cell packaging apparatus further includes a cover-in-package feeding device 40, where the cover-in-package feeding device 40 is configured to provide a cover-in-package 102. The carrying device 20 is used for stacking the pack middle lids 102 supplied from the pack middle lid supply device 40 one by one onto the pack bottom lid 101.
In some embodiments, the cover-in-package feeding device 40 includes a material frame 41, a first lifting frame 42, and a feeding positioning mechanism. The first lifting frame 42 is disposed in the material frame 41 and is used for supporting a plurality of middle packing covers 102 stacked in the material frame 41. The feeding positioning mechanism is arranged on the top of the material frame 41 and used for positioning the cover 102 in the package entering the feeding positioning mechanism. The first lifting frame 42 is lifted (i.e. moved in the vertical direction) relative to the material frame 41 to lift the plurality of middle package covers 102 stacked on the first lifting frame 42. The first lifting frame 42 can drive the covers 102 stacked in the plurality of packages of the first lifting frame 42 to enter the feeding positioning mechanism one by one in the lifting process, so that the feeding positioning mechanism can position the covers 102 in the packages positioned at the top among the plurality of packages 102. So, before carrying out the pile up neatly packing of electric core, with lid 102 stack in a plurality of packing on the first crane 42 in material frame 41, first crane 42 goes up and down relative to material frame 41 for lid 102 is located the feed positioning mechanism in the packing that is located the top, and utilizes feed positioning mechanism to fix a position it. When the process of stacking and packaging the battery cells is performed, after the cover 102 positioned in the package of the feeding positioning mechanism is carried away by the carrying device 20, the first lifting frame 42 is lifted by a certain height, so that the cover 102 in the package positioned at the top enters the feeding positioning mechanism, and is positioned by the feeding positioning mechanism to be carried by the carrying device 20. It should be noted that the cover feeding device 40 further includes a lifting module 44, and the lifting module 44 is configured to drive the first lifting frame 42 to move (i.e., lift) in a vertical direction relative to the material frame 41. The lifting module 44 may be implemented by a conventional lifting module, and therefore will not be described herein.
Specifically, in the embodiment, the feeding positioning mechanism includes a first positioning block 431, a first positioning driving member 432, a second positioning block 433, and a second positioning driving member 434. The first positioning driving member 432 is installed at one side of the material frame 41 in a first direction perpendicular to the vertical direction, and the first positioning block 431 is connected to a driving end of the first positioning driving member 432 so as to be driven by the first positioning driving member 432 to extend into or withdraw from the material frame 41 along the first direction. The second positioning driving element 434 is installed at one side of the material frame 41 in a second direction perpendicular to the vertical direction and the first direction, and the second positioning block 433 is connected to a driving end of the second positioning driving element 434, so as to be driven by the second positioning driving element 434 to extend into or withdraw from the material frame 41 along the second direction.
Thus, when the top middle package cover 102 needs to be positioned, the first positioning driving member 432 drives the first positioning block 431 to extend into the material frame 41, so as to push the middle package cover 102 along the first direction, and further, the first positioning block 431 and the material frame 41 are utilized to position the middle package cover 102 in the first direction; meanwhile, the second positioning driving element 434 drives the second positioning block 433 to extend into the material frame 41, so as to push the middle package cover 102 along the second direction, and further, the second positioning block 433 and the material frame 41 are utilized to position the middle package cover 102 in the second direction. When the carrying device 20 picks up the cover 102 in the package positioned by the feeding positioning mechanism, the first positioning driving member 432 drives the first positioning block 431 to withdraw from the material frame 41, so that the first positioning block 431 is separated from the cover 102 in the package, namely, the positioning of the cover 102 in the package in the first direction is released; meanwhile, the second positioning driving element 434 drives the second positioning block 433 to withdraw from the material frame 41, so that the second positioning block 433 is separated from the middle package cover 102, that is, the middle package cover 102 is released from being positioned in the second direction. Alternatively, the first positioning driver 432 may be a cylinder. The second positioning drive 434 may be a pneumatic cylinder.
In one embodiment, the lid feeder 40 further comprises a mounting bracket 45 and a translation drive mechanism. The material frame 41 is movably connected to the mounting frame 45. The translation driving mechanism is disposed on the mounting frame 45 and is in transmission connection with the material frame 41 to drive the material frame 41 to move relative to the mounting frame 45. The movement of the frame 41 relative to the mounting frame 45 includes a loading position for loading the cover 102 in the package and a feeding position for supplying the cover 102 in the package to the carrier device 20. In this way, when all of the lids 102 in the package in the frame 41 are carried away by the carrier device 20, the translational drive mechanism drives the frame 41 to move from the supply position to the loading position, so that the frame 41 is filled with the lids 102 in the package. The translational drive mechanism then drives the material frame 41 from the loading position to the feeding position so as to provide the handling device 20 with the in-package lids 102. Alternatively, the material frame 41 moves in the horizontal direction with respect to the mounting frame 45.
More specifically, the translational drive mechanism includes a translational drive element 461, a drive wheel, a driven wheel, and a drive belt 462. The translation driving member 461 is mounted on the mounting bracket 45, and the driving wheel is mounted on the output shaft of the translation driving member 461. The driven wheel is mounted on the mounting frame 45 and is arranged at intervals with the driving wheel along the moving direction of the material frame 41. The driving belt 462 is sleeved between the driving wheel and the driven wheel to move forward between the driving wheel and the driven wheel in sequence under the driving of the driving wheel. The driving belt 462 is connected with the material frame 41 through the connecting block 463 to drive the material frame 41 to move relative to the mounting frame 45, so that the material frame 41 can move back and forth between the loading position and the feeding position. Alternatively, the translation drive 461 may be a motor.
Further, a translation slide rail 451 is arranged on the mounting frame 45, a translation slider 452 is arranged on the material frame 41, and the translation slider 452 is slidably connected to the translation slide rail 451, so that the material frame 41 can move relative to the mounting frame 45.
In one embodiment, the lid feeder 40 further includes a fool-proof mechanism 47, and the fool-proof mechanism 47 includes a fool-proof driving member 471 and a fool-proof block 472 capable of cooperating with a fool-proof chamfer on the lid 102 in the package. The fool-proof driving member 471 is disposed on the material frame 41, and the fool-proof block 472 is connected to an output end of the fool-proof driving member 471, so as to be driven by the fool-proof driving member 471 to enter or exit the material frame 41. Thus, when the material frame 41 moves to the loading position, the fool-proof driving member 471 drives the fool-proof block 472 to extend into the material frame 41, and when the orientation of the middle package cover 102 is correct, the fool-proof block 472 matches with the fool-proof chamfer of the middle package cover 102, and at this time, the middle package cover 102 can be smoothly loaded into the material frame 41; when the orientation of the lid 102 in the package is wrong, the fool-proof block 472 cannot match the fool-proof chamfer of the lid 102 in the package, and at this time, the lid 102 in the package cannot be loaded into the material frame 41. When the package middle cover 102 is filled with the material frame 41, the fool-proof driving member 471 drives the fool-proof block 472 to exit the material frame 41, thereby avoiding interfering with the feeding positioning mechanism to position the package middle cover 102. Alternatively, the fool-proof actuation member 471 may be a pneumatic cylinder.
Referring to fig. 4 and 5, in an embodiment of the present invention, the battery cell positioning device 30 includes a chassis 31, a conveying mechanism 32, and a clamping mechanism. The conveying mechanism 32 is mounted on the base frame 31, and has a conveying surface for supporting and conveying the battery cells in the third direction. The clamping mechanism includes a clamping driving member 331, a first clamping block 332 and a second clamping block 333. The clamping driving member 331 is disposed on the bottom frame 31 and has a first driving end and a second driving end, the first clamping block 332 is connected to the first driving end of the clamping driving member 331, and the second clamping block 333 is connected to the second driving end of the clamping driving member 331. The first clamping block 332 and the second clamping block 333 are arranged along a fourth direction perpendicular to the third direction, and both at least partially extend out of the conveying surface, so that the battery cell conveyed between the first clamping block 332 and the second clamping block 333 is clamped or released under the driving of the clamping driving piece 331. In this way, the clamping driving member 331 is used to drive the first clamping block 332 and the second clamping block 333 to clamp the battery cell therebetween, so as to position the battery cell. After the handling device 20 picks up the battery cell clamped by the first clamping block 332 and the second clamping block 333, the clamping driving member 331 drives the first clamping block 332 and the second clamping block 333 to release the battery cell, so that the handling device 20 can smoothly carry the battery cell away. Alternatively, the clamp drive 331 may be a jaw cylinder.
In a specific embodiment, the first clamping blocks 332 include a plurality of first clamping blocks 332 arranged along the third direction, the second clamping blocks 333 also include a plurality of second clamping blocks 333 arranged along the third direction. Thus, when the conveying mechanism 32 conveys the battery cell to a position between the first clamping blocks 332 and the second clamping blocks 333 along the third direction on the conveying surface, the clamping driving piece 331 drives the first clamping blocks 332 and the second clamping blocks 333 to clamp the battery cell together, so that the battery cell can be positioned better, and the positioning accuracy is improved. It should be noted that, in one embodiment, each clamping mechanism includes only one clamping driving member 331, each first clamping block 332 is mounted at the first driving end of the clamping driving member 331, and each second clamping block 333 is mounted at the second driving end of the clamping driving member 331. Of course, in other embodiments, each clamping mechanism may also include a plurality of clamping drivers 331, each clamping driver 331 having a first clamping block 332 mounted at a first driving end thereof, and each clamping driver 331 having a second clamping block 333 mounted at a second driving end thereof.
Further, the gripping mechanism includes a plurality of gripping mechanisms, and the plurality of gripping mechanisms are arranged in the fourth direction. The first clamping blocks 332 of one clamping mechanism and the second clamping blocks 333 of the other clamping mechanism of every two adjacent clamping mechanisms are alternately arranged along the third direction, so that the distance between the electric cores clamped by the clamping mechanisms is reduced, the mounting space is saved, and the distance between the electric cores is matched with the conveying device 20 and the distance between the electric core accommodating grooves a on the package bottom cover 101 and the package middle cover 102.
Further, the position of the clamp drive 331 of each clamp mechanism in the fourth direction relative to the chassis 31 is adjustable. Therefore, the positions of the battery cells clamped by the clamping mechanisms in the fourth direction can be adjusted by adjusting the positions of the clamping driving pieces 331 of the clamping mechanisms in the fourth direction, so that the positioning accuracy of the battery cells is improved on one hand, and the compatibility of the battery cell packaging equipment is improved in order to adapt to the battery cells with different specifications on the other hand. More specifically, each clamping mechanism further includes a mounting seat 334, an adjusting seat 335 and an adjusting member 336, the mounting seat 334 is movably connected to the chassis 31 along the fourth direction, and the clamping driving member 331 is fixedly connected to the mounting seat 334. The adjusting base 335 is fixedly connected to the bottom frame 31, the adjusting member 336 is rotatably connected to the adjusting base 335 about its own axis, the axis of the adjusting member 336 is parallel to the fourth direction, and one end of the adjusting member 336 along its axis is threadedly connected to the mounting base 334. Thus, the mounting seat 334 can be moved relative to the chassis 31 in the fourth direction by rotating the adjusting member 336, so as to drive the clamping driving member 331 to move in the fourth direction, i.e. to achieve the purpose of adjusting the position of the clamping driving member 331 in the fourth direction. Optionally, a sliding block is disposed on the mounting seat 334, a sliding rail extending lengthwise along the fourth direction is disposed on the bottom frame 31, and the mounting seat 334 is movably connected with the bottom frame 31 along the fourth direction by sliding fit of the sliding block and the sliding rail.
In the embodiment shown in fig. 4, the third direction is a direction perpendicular to the paper surface, and the fourth direction is a left-right direction.
It should also be noted that the conveying mechanism 32 may be a roller conveying line, the tops of a plurality of rollers of the roller conveying line form the conveying surface, and each of the first clamping block 332 and the second clamping block 333 extends out of the conveying surface through a gap between two corresponding adjacent rollers to clamp and position the battery cells conveyed along the conveying surface.
Referring to fig. 6 and 7, in an embodiment of the present invention, the package positioning device 10 includes a carrier assembly 11, a positioning assembly and two pressing assemblies 13. The carrier assembly 11 has a support location b for supporting the package bottom lid 101. The positioning component is disposed on the bearing component 11, and is used for positioning the package bottom cover 101 on the supporting position b. Two pressing members 13 are respectively disposed on both sides of the carrier member 11 in a fifth direction perpendicular to the vertical direction for pressing the pack middle lids 102 stacked on the pack bottom lid 101 in the vertical direction. So, when carrying out pile up neatly packing to electric core, at first place packing bottom 101 on bearing component 11's support position b to utilize locating component to fix a position this bearing component 11, in order to prevent that the in-process packing bottom 101 skew of pile up neatly packing from influencing going on smoothly of pile up neatly. Then, the carrying device 20 carries the battery cells to each battery cell accommodating groove a of the package bottom cover 101, and sequentially and alternately stacks the package middle cover 102 on the package middle cover feeding device 40 on the package bottom cover 101 and carries the battery cells to each battery cell accommodating groove a on the upper side of the package middle cover 102. After the cap 102 is stacked in each package, the two pressing assemblies 13 are required to be used for pressing the newly stacked package middle cap 102 downwards, so that the package middle cap 102 is prevented from being warped, the electric core can be smoothly placed in the electric core accommodating groove a of the package middle cap 102 by the carrying device 20, and the automatic stacking package can be smoothly completed.
In some embodiments, each pressing assembly 13 includes a moving frame 131, a second lifting frame 132, a lifting driving mechanism, and a pressing head mechanism 133. The second lifting frame 132 is movably connected to the movable frame 131 along the vertical direction, and the lifting driving mechanism is arranged on the movable frame 131 and is in transmission connection with the second lifting frame 132 to drive the second lifting frame 132 to move along the vertical direction, namely, the lifting of the second lifting frame 132 is realized. The ram mechanism 133 is provided to the second crane 132, and is configured to press the pack middle cap 102 stacked on the pack bottom cap 101 during movement in the vertical direction with the second crane 132. Optionally, a slide rail is arranged on the movable rack 131, a slide block is arranged on the second lifting rack 132, and the second lifting rack 132 is movably connected with the movable rack 131 in the vertical direction through the sliding fit of the slide block and the slide rail.
In particular embodiments, the lift drive mechanism includes a rotary shaft 1341, a rotary drive 1342, a gear 1343, and a rack 1344. The rotating shaft 1341 is rotatably connected to the moving frame 131 around its own axis, and the rotary driving member 1342 is disposed on the moving frame 131 and is in transmission connection with the rotating shaft 1341 to drive the rotating shaft 1341 to rotate around its own axis. A gear 1343 is mounted to the rotary shaft 1341 to be rotated in synchronization with the rotary shaft 1341. The rack 1344 is installed at the second crane 132 and engaged with the gear 1343. The axis of the rotating shaft 1341 is perpendicular to the vertical direction, and the rack 1344 extends lengthwise in the vertical direction. So, when needing the lift of drive pressure head mechanism 133, rotatory driving piece 1342 drive rotation axis 1341 rotates to drive gear 1343 synchronous rotation, drive second crane 132 and go up and down under the meshing transmission effect of gear 1343 and rack 1344, and then realize installing the lift of pressure head mechanism 133 on this second crane 132. Alternatively, the rotary drive 1342 may be a motor.
Further, the gears 1343 and the racks 1344 each include two, the two gears 1343 are respectively installed at two opposite ends of the rotating shaft 1341, and the two racks 1344 are spaced apart from each other along the axial direction of the rotating shaft 1341 and are disposed on the second crane 132. So, utilize two gears 1343 to drive second crane 132 lift simultaneously for the elevating movement of second crane 132 is more reliable and more stable.
In one embodiment, each hold-down assembly 13 further includes a mounting base 135 and a translation drive. The moving frame 131 is movably connected to the mounting base 135 along the fifth direction, and the translational driving member is disposed on the mounting base 135 and is in transmission connection with the moving frame 131 to drive the moving frame 131 to move along the fifth direction. The ram mechanism 133 includes an escape position for avoiding the position and a pressing position for pressing the pack middle caps 102 stacked on the pack bottom cap 101 during the movement of the moving frame 131 in the fifth direction. Alternatively, the translation drive may be a cylinder. Specifically to the embodiment shown in fig. 6, the fifth direction is the left-right direction.
So, when needing to compress tightly lid 102 in the packing, translation driving piece drive removes frame 131 and removes along the fifth direction to drive pressure head mechanism 133 and remove to the position of compressing tightly by dodging the position, then lift actuating mechanism drive second crane 132 moves down along the vertical direction, and then drives pressure head mechanism 133 and compresses tightly lid 102 in the packing along the vertical direction. When the pressing mechanism 133 is located at the pressing position, the pressing mechanism 133 is located above the in-package lid 102 to ensure that the pressing mechanism 133 can press the in-package lid 102 below the pressing mechanism when it descends. When the pressing mechanism 133 is located at the escape position, the pressing mechanism 133 is withdrawn out of the range above the lids 102 in the package, so that the carrying device 20 carries the lids 102 in the next package for stacking.
Optionally, a slide rail is disposed on the mounting base 135, a slider is disposed on the moving frame 131, and the moving frame 131 is movably connected with the mounting base 334 along the fifth direction through a sliding fit between the slider and the slide rail.
In one embodiment, the pressing mechanism 133 includes a connecting frame 1331, a pressing head 1332 and a first elastic member 1333. The connection frame 1331 is connected to the second lifting frame 132, and the pressure head 1332 is movably connected to the connection frame 1331 in a vertical direction. A first elastic member 1333 is disposed between the pressing head 1332 and the connecting frame 1331 to provide a pre-tightening force that tends to move the pressing head downward in a vertical direction with respect to the connecting frame 1331. Therefore, the connecting frame 1331 is pressed downwards along the vertical direction along with the second lifting frame 132, the pressure head 1332 is enabled to be pressed against the middle package cover 102, the pressure head 1332 is pressed to compress the first elastic piece 1333 along with the continuous pressing of the pressure head 1332 and under the action of the reaction force of the middle package cover 102 to the pressure head 1332, the first elastic piece 1333 plays a role in buffering, the middle package cover 102 is prevented from being crushed due to the fact that the pressure head 1332 has large impact on the middle package cover 102, and the pressing effect on the middle package cover 102 is improved. Optionally, the pressing head mechanism 133 further includes a guide rod, the connecting frame 1331 has a guide hole, the guide rod is slidably disposed through the guide hole, and the bottom end of the guide rod is fixedly connected to the pressing head. The first elastic piece 1333 may be a spring, and the first elastic piece 1333 is sleeved on the guide rod.
In a particular embodiment, the package positioning device 10 further comprises a first detector 15 mounted to the connecting frame 1331, the first detector 15 being configured to detect whether the cap 102 is palletized in place in the package during pressing of the cap 102 in the package. Alternatively, the first detector 15 may be a photosensor. Of course, the first detector 15 may include a plurality of sets to improve the reliability of detection.
Specifically, in an embodiment, the package positioning device 10 further includes a second detector 14 mounted on the connecting frame 1331, where the second detector 14 is configured to detect whether the battery cell enters the battery cell accommodating slot a during the process that the carrying device 20 carries the battery cell into the battery cell accommodating slot a. Alternatively, the second detector 14 may be a photosensor. Of course, the second detector 14 may comprise multiple sets to improve the reliability of the detection.
In the embodiment of the present invention, the positioning assembly includes a first positioning mechanism 121, a second positioning mechanism 122 and a third positioning mechanism 123 disposed around the supporting position b.
The two first positioning mechanisms 121 are arranged on the bearing component 11 along a sixth direction perpendicular to the vertical direction, and are both used for pushing and pushing the packaging bottom cover 101 supported on the supporting position b along the sixth direction. The second positioning mechanism 122 and the third positioning mechanism 123 are disposed on the bearing assembly 11 along a seventh direction perpendicular to the vertical direction and the sixth direction, and both are used for pushing against the packaging bottom cover 101 supported on the supporting position b along the seventh direction. In this way, the packaging bottom cover 101 supported on the supporting position b is positioned in the sixth direction by the two first positioning mechanisms 121; at the same time, the package bottom cover 101 on the supporting position b is positioned in the seventh direction by the second positioning mechanism 122 and the third positioning mechanism 123, so that the package bottom cover 101 is prevented from being displaced on the supporting position b.
In one embodiment, each of the first positioning mechanisms 121 includes a third positioning driving member 1211 and a third positioning block 1212. The third positioning driving member 1211 is mounted on the carrying assembly 11, and the third positioning block 1212 is mounted at a driving end of the third positioning driving member 1211, so that the third positioning driving member 1211 drives the packaging bottom cover 101 to push against the supporting position b along the sixth direction. In this way, the third positioning driving member 1211 drives the third positioning block 1212 to move along the sixth direction, so that the third positioning block 1212 is pressed against the package bottom lid 101 along the sixth direction to position the package bottom lid 101 in the sixth direction. Alternatively, the third positioning drive 1211 may be a cylinder.
Further, each first positioning mechanism 121 further includes a first push rod driving member 1213 and a first push rod. The first push rod driving member 1213 is disposed on the third positioning block 1212, and one end of the first push rod is connected to the first push rod driving member 1213 to be driven by the first push rod driving member 1213 to move along the sixth direction, so as to penetrate through the outer packaging box of the bottom packaging lid 101 and abut against the inner packaging box of the bottom packaging lid 101. So, remove along the sixth direction through first ejector pin driving piece 1213 drive first ejector pin, can make first ejector pin along the sixth direction support the box in the packing of packing bottom 101 to upwards fix a position at the sixth in the packing of packing bottom 101, further improve positioning accuracy, be favorable to subsequent electric core to put into electric core storage tank a and pile up neatly packing in lid 102 go on smoothly. Alternatively, the first ram drive 1213 may be an air cylinder. It should be noted that the third positioning block 1212 is provided with a through hole for the first push rod to penetrate through, so that the first push rod can be guided by the through hole along the sixth direction, the first push rod can move more stably and reliably, and the positioning accuracy of the inner packaging box of the packaging bottom cover 101 can be improved.
In specific embodiments, the positioning assembly further includes a lifting mechanism 124 disposed on the carrying assembly 11, the second positioning mechanism 122 includes a baffle 1221, and the baffle 1221 is disposed on the lifting mechanism 124 to be driven by the lifting mechanism 124 to move in the vertical direction. The barrier 1221 may extend to the supporting position b during the movement in the vertical direction, so as to abut against the packaging bottom cover 101 at the supporting position b in the seventh direction, thereby defining the packaging bottom cover 101. When the package bottom cover 101 does not need to be positioned, the lifting mechanism 124 can drive the baffle 1221 to move in the vertical direction to exit the supporting position b, so that the palletized package structure is output from the side of the package positioning assembly 10 where the baffle 1221 is arranged. It should be noted that, in other embodiments, the baffle may also be directly fixedly mounted on the bearing assembly 11 for abutting against the package bottom cover 101 of the supporting position b along the seventh direction.
Further, the second positioning mechanism 122 further includes a second ram driver 1222 and a second ram 1223. The second ejector rod driving piece 1222 is arranged on the baffle 1221, one end of the second ejector rod 1223 is connected to the second ejector rod driving piece 1222 to be driven by the second ejector rod driving piece 1222 to move along the seventh direction, so that the second ejector rod driving piece 1222 penetrates through the outer packaging box of the packaging bottom cover 101 and abuts against the inner packaging box of the packaging bottom cover 101, the inner packaging box of the packaging bottom cover 101 is limited, and the positioning accuracy is further improved. Alternatively, the second ram drive 1222 may be a pneumatic cylinder. It should be noted that the baffle 1221 is provided with a through hole for the second ejector rod 1223 to penetrate through, so that the second ejector rod 1223 can be guided by the through hole along the seventh direction, the second ejector rod 1223 can move more stably and reliably, and the positioning accuracy of the inner packaging box of the bottom packaging cover 101 can be improved.
In one embodiment, the third positioning mechanism 123 includes a fourth positioning driving member 1231 and a push plate 1232. The fourth positioning driver 1231 is mounted to the lifting mechanism 124, and the push plate 1232 is mounted to the driving end of the fourth positioning driver 1231. The lifting mechanism 124 is configured to drive the push plate 1232 to extend to the supporting position b along the vertical direction, and the fourth positioning driving member 1231 is configured to drive the push plate 1232 to move along the seventh direction to push against the packaging bottom cover 101 at the supporting position b. Thus, when the package bottom cover 101 on the supporting position b needs to be positioned in the seventh direction, first, the lifting mechanism 124 drives the baffle 1221 and the push plate 1232 to ascend in the vertical direction until the baffle 1221 and the push plate 1232 extend out to the supporting position b (at this time, the baffle 1221 and the push plate 1232 are respectively located at two sides of the package bottom cover 101 in the seventh direction). Then, the fourth positioning driving member 1231 drives the push plate 1232 to move close to the blocking plate 1221 along the seventh direction, so that the blocking plate 1221 and the push plate 1232 abut against the packaging bottom cover 101, and the packaging bottom cover 101 is positioned in the seventh direction. When the positioning of the package bottom cover 101 is not needed, the lifting assembly drives the baffle 1221 and the push plate 1232 to descend in the vertical direction, so that the baffle 1221 and the push plate 1232 exit the supporting position b, thereby facilitating the removal of the package bottom cover 101 from the supporting position b or the removal of the package bottom cover 101 into the supporting position b. Alternatively, the fourth positioning driver 1231 may be a cylinder.
Further, the third positioning mechanism 123 further includes a third ejector rod driving member 1233 and a third ejector rod, the third ejector rod driving member 1233 is disposed on the push plate 1232, one end of the third ejector rod is connected to the third ejector rod driving member 1233, so as to be driven by the third ejector rod driving member 1233 to move along the seventh direction, so as to pass through the outer packaging box of the packaging bottom cover 101 and abut against the inner packaging box of the packaging bottom cover 101, and further limit the inner packaging box of the packaging bottom cover 101, thereby further improving the positioning accuracy. Alternatively, the third ram drive 1233 may be a cylinder. It should be noted that the push plate 1232 is provided with a through hole for the third ejector rod to penetrate through, so that the third ejector rod can be guided to move along the seventh direction by using the through hole, the third ejector rod can move more stably and reliably, and the positioning accuracy of the inner packaging box of the bottom packaging cover 101 can be improved.
Further, the lifting mechanism 124 includes a mounting bracket, a lifting driving member and a connecting seat, the mounting bracket is fixedly connected to the bottom of the bearing assembly 11, the lifting driving member is mounted on the mounting bracket, and the connecting seat is mounted at the driving end of the lifting driving member so as to be driven by the lifting driving member to move in the vertical direction. The push plate 1232 and the baffle 1221 are respectively connected to two ends of the connecting base in the seventh direction, so that when the lifting driving piece drives the connecting base to ascend in the vertical direction, the push plate 1232 and the baffle 1221 can be driven to extend out to the supporting position b; when the lifting driving piece drives the connecting seat to descend along the vertical direction, the lifting driving piece can drive the push plate 1232 and the baffle 1221 to exit from the supporting position b. It will be appreciated that the lift mechanism 124 is mounted at the bottom of the carriage assembly 11 and the support position b of the carriage assembly 11 is at the top, i.e. the support position b is above the lift mechanism 124.
It should be noted that the outer packaging box of the packaging bottom cover 101 is provided with through holes for the first top bar, the second top bar and the third top bar to pass through, so that the first top bar, the second top bar and the third top bar can pass through the corresponding through holes and abut against the inner packaging box of the packaging bottom cover 101, thereby positioning the inner packaging box.
It should also be noted that in one embodiment, the carrier assembly 11 may be a roller conveyor line, so that the package bottom cover 101 may be supported and conveyed by the carrier assembly 11. When the stack packaging is required, the carrier assembly 11 transports the packaging bottom cover 101 thereon to the supporting position b. Then, the lifting mechanism 124 drives the baffle 1221 and the push plate 1232 to ascend, so that the baffle 1221 and the push plate 1232 extend to the supporting position b, and the third positioning blocks 1212 of the two first positioning mechanisms 121 are used to position the packaging bottom cover 101 in the sixth direction, and meanwhile, the baffle 1221 of the second positioning mechanism 122 and the push plate 1232 of the third positioning mechanism 123 are used to position the packaging bottom cover 101 in the seventh direction. Then, the two first push rods of the two first positioning mechanisms 121 are used for positioning the inner packaging box of the bottom packaging cover 101 in the sixth direction, and the second push rod and the third push rod are used for positioning the inner packaging box of the bottom packaging cover 101 in the seventh direction. Then, the handling device 20 performs the operations of cell loading and the stacking and packaging middle cover 102 until the stacking and packaging are completed to form a packaging structure. Finally, the lifting mechanism 124 drives the baffle 1221 and the push plate 1232 to descend, so that the baffle 1221 and the push plate 1232 exit from the supporting position b, and the completed packaging structure is conveyed downstream by the carrying assembly 11.
Specifically, in the embodiment shown in fig. 6, the sixth direction is the left-right direction, and the seventh direction is a direction perpendicular to the paper surface.
Referring to fig. 8, 9 and 10, in an embodiment of the present invention, the carrying device 20 includes a mounting plate 21, a fixed clamping assembly 22, a movable clamping assembly 23, a variable-pitch driving assembly 24 and a visual positioning system 25.
The mounting plate 21 is used in conjunction with the robotic arm to follow the movement of the robotic arm. The fixed clamping assembly 22 is mounted on the mounting plate 21 and is used for clamping the battery cell. The movable clamping assembly 23 is arranged on the mounting plate 21 and is also used for clamping the battery core, the movable clamping assembly 23 and the fixed clamping assembly 22 are arranged at intervals in the eighth direction, and the movable clamping assembly 23 can move relative to the mounting plate 21 in the eighth direction to adjust the gap between the movable clamping assembly and the fixed clamping assembly 22. The variable-pitch driving assembly 24 is mounted on the mounting plate 21 and is in transmission connection with the movable clamping assembly 23 to drive the movable clamping assembly 23 to move along the eighth direction. Visual positioning system 25 is connected with displacement drive assembly 24 electricity, and visual positioning system 25 is used for detecting electric core storage tank a's position to according to the electric core storage tank a's that detects position control displacement drive assembly 24 drive activity centre gripping subassembly 23 and remove along the eighth direction, so that the electric core of fixed centre gripping subassembly 22 centre gripping and the electric core homoenergetic of activity centre gripping subassembly 23 centre gripping can be smooth insert in the electric core storage tank a that corresponds. That is to say, can adjust the interval between the electric core of fixed centre gripping subassembly 22 centre gripping and the electric core of activity centre gripping subassembly 23 centre gripping according to electric core storage tank a's position, avoided because the dimensional deviation of lid 102 leads to not matching with electric core storage tank a position in packing bottom lid 101 or the packing, and then the problem that electric core can't put into electric core storage tank a.
It should be noted that the mounting plate 21 is provided with a connecting seat 29, and the mounting plate 21 is connected to the robot arm through the connecting seat 29, so as to facilitate the assembly and disassembly of the mounting plate 21 and the robot arm.
In some embodiments, the movable clamping assembly 23 includes a first carrier plate 231 and a first clamping mechanism for clamping the battery cell, and the first carrier plate 231 is movably connected to the mounting plate 21 along the eighth direction and is in transmission connection with the variable-pitch driving assembly 24, so that the variable-pitch driving assembly 24 can drive the first carrier plate 231 to move along the eighth direction relative to the fixed clamping assembly 22. Optionally, the first bearing plate 231 is provided with a slider, the mounting plate 21 is provided with a slide rail, and the first bearing plate 231 is movably connected with the mounting plate 21 along the eighth direction through the sliding fit between the slider and the slide rail.
In one embodiment, the first clamping mechanism includes a first clamping driving member 232 and two third clamping blocks 233. The first clamping driving member 232 is disposed on the first carrier plate 231 and has two driving ends. The two third clamping blocks 233 are respectively installed at the two driving ends of the first clamping driving member 232, so that the first clamping driving member 232 drives the two third clamping blocks 233 to clamp or release the battery cell. Alternatively, the first clamp drive 232 may be a jaw cylinder.
In one embodiment, the first clamping mechanism further comprises a first lifting plate 234 and a second elastic member 235. The first lifting plate 234 is movably connected to the first bearing plate 231 along a ninth direction perpendicular to the eighth direction, and the first clamping driving member 232 is mounted on the first lifting plate 234. The second elastic element 235 is disposed between the first lifting plate 234 and the first bearing plate 231 to provide a pre-tightening force for the first lifting plate 234 to move away from the first bearing plate 231 along the ninth direction. In this way, the second elastic member 235 can play a role in buffering when the third clamping block 233 or the battery cell clamped by the two third clamping blocks 233 is impacted, so as to reduce the impact on the third clamping block 233 or the battery cell clamped by the two third clamping blocks 233. Optionally, a guide sleeve 2311 is installed on the first bearing plate 231, a guide post 2312 is installed on the first lifting plate 234, and the first lifting plate 234 is movably connected with the first bearing plate 231 along the ninth direction by the sliding fit of the guide post 2312 and the guide sleeve 2311. The second elastic element 235 may be a spring, and the second elastic element 235 is disposed on the guide post 2312. Of course, in other embodiments, the guide sleeve 2311 can be mounted on the first lifting plate 234 and the guide post 2312 can be mounted on the first loading plate 231.
Specifically, in the embodiment shown in fig. 8, the eighth direction is a direction perpendicular to the paper surface, and the ninth direction is an up-down direction.
Further, each first clamping mechanism further comprises a first sensor 236 and a first sensing piece 2361, the first sensor 236 is mounted on the mounting plate 21, the first sensing piece 2361 is mounted on the first lifting plate 234, and the first sensor 236 is used for detecting the position of the first sensing piece 2361. As such, whether the first clamping mechanism hits an obstacle can be determined by the first sensor 236 detecting a change in the position of the first sensing piece 2361. Alternatively, the first sensor 236 may be a proximity sensor.
Specifically, in the embodiment, the two third clamping blocks 233 are respectively mounted at the driving end of the corresponding first clamping driving member 232 through two first clamping arms 237, and the two first clamping arms 237 can be connected to the first lifting plate 234 close to or far away from each other. In this way, the third clamping blocks 233 are mounted by the first clamping arms 237, so that the clamping and releasing actions of the two third clamping blocks 233 are more stable and reliable. Optionally, a slide rail is disposed on each first clamping arm 237, a slider is disposed on the first lifting plate 234, and each first clamping arm 237 is movably connected to the first lifting plate 234 through the slide rail and the slider in a sliding fit manner, so that the two first clamping arms 237 can be close to or away from each other, and further the two third clamping blocks 233 are driven to clamp or loosen the battery cell.
Further, the first clamping mechanism further includes a second sensor 238 and a second sensing piece 2381, the second sensor 238 is mounted on the first lifting plate 234, the second sensing piece 2381 is mounted on one of the first clamping arms 237, and the second sensor 238 is configured to detect a position of the second sensing piece 2381. In this way, the second sensor 238 detects a change in the position of the second sensing piece 2381 to determine whether a battery cell is clamped between the two third clamping blocks 233. Alternatively, the second sensor 238 may be a proximity sensor.
Further, the first clamping mechanism further includes a third detector 27, the third detector 27 is mounted on one of the first clamping arms 237 through a bracket 271, and the third detector 27 is configured to detect whether a battery cell is placed in the battery cell accommodating groove a located below the first clamping mechanism. Alternatively, the third detector 27 may be a ranging sensor.
In the embodiment of the present invention, the pitch driving assembly 24 includes a lead screw 241, a lead screw nut, a pitch driving member 242, and a pitch connecting block 243. The screw rod 241 is rotatably connected to the mounting plate 21 around its axis, and the pitch-variable driving element 242 is disposed on the mounting plate 21 and is in transmission connection with the screw rod 241 to drive the screw rod 241 to rotate around its axis. The lead screw nut is connected to the lead screw 241 in a threaded manner and is connected to the variable-pitch connecting block 243, and the variable-pitch connecting block 243 is used for being connected to the movable clamping assembly 23, so that the variable-pitch connecting block 243 and the movable clamping assembly 23 move synchronously with the lead screw nut. Thus, when the distance between the fixed clamping assembly 22 and the movable clamping assembly 23 needs to be adjusted, the variable-pitch driving element 242 drives the lead screw 241 to rotate, so that the lead screw nut moves along the axial direction (i.e., the eighth direction) of the lead screw 241, and further drives the movable clamping assembly 23 to move along the eighth direction relative to the fixed clamping assembly 22, and the purpose of adjusting the distance between the movable clamping assembly 23 and the fixed clamping assembly 22 is achieved. It is understood that the axial direction of the screw 241 is parallel to the eighth direction.
Alternatively, pitch drive 242 may be a motor. More specifically, the variable pitch connection block 243 is connected to the first loading plate 231 of the movable clamping assembly 23, so that the first loading plate 231 moves synchronously with the variable pitch connection block 243.
In some embodiments, the fixing and clamping assembly 22 includes a second carrier plate fixedly connected to the mounting plate 21 and a second clamping mechanism for clamping the battery cell, and the second clamping mechanism is disposed on the second carrier plate. Specifically, the second clamping mechanism comprises a second clamping driving piece and two fourth clamping blocks. The second clamping driving piece is arranged on the second bearing plate and is provided with two driving ends. The two fourth clamping blocks are respectively installed at the two driving ends of the second clamping driving piece, so that the second clamping driving piece drives the two fourth clamping blocks to clamp or loosen the battery cell. Alternatively, the second clamp drive may be a jaw cylinder.
In one embodiment, the second clamping mechanism further includes a second lifting plate and a third elastic member. The second lifting plate is movably connected to the second bearing plate along a ninth direction perpendicular to the eighth direction, and the second clamping driving piece is mounted on the second lifting plate. The third elastic element is arranged between the second lifting plate and the second bearing plate to provide pre-tightening force for enabling the second lifting plate to have a movement trend away from the second bearing plate along the ninth direction. Therefore, when the fourth clamping block or the battery cell clamped by the two fourth clamping blocks is impacted, the third elastic piece can play a role in buffering, so that the impact on the fourth clamping block or the battery cell clamped by the two fourth clamping blocks is reduced. Optionally, a guide sleeve is installed on the second bearing plate, a guide pillar is installed on the second lifting plate, and the second lifting plate is movably connected with the second bearing plate along the ninth direction through sliding fit of the guide pillar and the guide sleeve. The third elastic element can be a spring, and the third elastic element is sleeved on the guide post.
Further, the second clamping mechanism further comprises a third inductor and a third induction sheet, the third inductor is mounted on the mounting plate 21, the third induction sheet is mounted on the second lifting plate, and the third inductor is used for detecting the position of the third induction sheet. In this way, whether the second clamping mechanism hits the obstacle can be determined by the third sensor detecting the change of the position of the third sensing piece. Alternatively, the third sensor may be a proximity sensor.
Specifically, in the embodiment, the two fourth clamping blocks are respectively installed at the driving ends of the corresponding second clamping driving parts through two second clamping arms, and the two second clamping arms can be connected to the second lifting plate in a mutually approaching or distancing manner. Therefore, the fourth clamping blocks are installed by the second clamping arms, so that the clamping and loosening actions of the two fourth clamping blocks are more stable and reliable. Optionally, each second clamping arm is provided with a slide rail, the second lifting plate is provided with a slide block, and each second clamping arm is movably connected with the second lifting plate through the slide rail and the slide block in a sliding fit manner, so that the two second clamping arms can be close to or far away from each other, and then the two fourth clamping blocks are driven to clamp or loosen the battery cell.
Furthermore, each second clamping mechanism further comprises a fourth sensor and a fourth sensing piece, the fourth sensor is installed on the second lifting plate, the fourth sensing piece is installed on one of the second clamping arms, and the fourth sensor is used for detecting the position of the fourth sensing piece. Therefore, the change of the position of the fourth induction sheet can be detected by the fourth inductor to determine whether the two fourth clamping blocks clamp the battery cell. Optionally, the fourth sensor may be a proximity sensor.
Further, the second clamping mechanism further comprises a fourth detector, the fourth detector is mounted on one second clamping arm through a support, and the fourth detector is used for detecting whether a battery cell is placed in a battery cell accommodating groove a located below the second clamping mechanism. Alternatively, the fourth detector may be a ranging sensor.
In the embodiment of the present invention, the movable clamping assembly 23 includes a plurality of movable clamping assemblies 23, and the plurality of movable clamping assemblies 23 are arranged at intervals in the eighth direction. The variable-pitch driving assemblies 24 also include a plurality of variable-pitch driving assemblies 24 corresponding to the movable clamping assemblies 23 one by one, and each variable-pitch driving assembly 24 is in transmission connection with the corresponding movable clamping assembly 23 to drive the corresponding movable clamping assembly 23 to move along the eighth direction, so as to adjust the distance between the movable clamping assembly 23 and the fixed clamping assembly 22. Thus, the visual positioning system 25 controls each variable-pitch driving assembly 24 to drive the corresponding movable clamping assembly 23 to move according to the detected position of the corresponding battery cell accommodating groove a, so that the position of each movable clamping assembly 23 relative to the fixed clamping assembly 22 is matched with the corresponding battery cell accommodating groove a, and the battery cell clamped by each movable clamping assembly 23 and the battery cell clamped by the fixed clamping assembly 22 can be synchronously inserted into the corresponding battery cell accommodating groove a.
In an embodiment of the present invention, the handling device 20 further includes a falling prevention assembly mounted on the mounting plate 21, and the falling prevention assembly is configured to receive the battery cell clamped by the movable clamping assembly 23 and the fixed clamping assembly 22, so as to prevent the battery cell from falling due to a failure of the movable clamping assembly 23 or the fixed clamping assembly 22 during the process of moving the handling device 20 from the battery cell positioning device 30 to the package positioning device 10.
In one embodiment, the fall protection assembly includes a swing driving member 281, a swing frame 282 and a supporting rod 283, the swing driving member 281 is mounted on the mounting plate 21, one end of the swing frame 282 is connected to a driving end of the swing driving member 281, and the supporting rod 283 is connected to the other end of the swing frame 282. The swing driving member 281 can drive the swing frame 282 to swing to the anti-falling position and the avoiding position, and when the swing frame 282 is in the anti-falling position, the supporting rod 283 swings along with the swing frame 282 to the bottom of the battery cell clamped by the fixed clamping assembly 22 and the movable clamping assembly 23, so as to prevent the battery cell from falling. When the swing frame 282 is in the off position, the support rods 283 are located at the sides of the fixed clamping assembly 22 and the movable clamping assembly 23 to avoid interfering with the grasping and releasing actions of the fixed clamping assembly 22 and the movable clamping assembly 23. Optionally, the support rod 283 is rotatably connected with the swing frame 282 around the axis thereof, so as to avoid scratching the battery cell. Of course, in other embodiments, the support rod 283 may be wrapped with an anti-scratch material to prevent scratching the battery cell.
Preferably, the number of the swing frames 282 is two, and the swing driving element 281 drives the two swing frames 282 to swing in opposite directions, so that when the ends of the two swing frames 282, at which the supporting rods 283 are installed, are closed, the two swing frames 282 are located at the anti-falling position, and at this time, the two supporting rods 283 are located at the bottom of the battery cell clamped by the fixed clamping assembly 22 and the movable clamping assembly 23, so as to prevent the battery cell from falling; when the ends of the two swing frames 282 where the supporting rods 283 are installed are opened, the two swing frames 282 are located at the avoiding positions, and at the moment, the two supporting rods 283 are located at two opposite sides of the fixed clamping assembly 22 and the movable clamping assembly 23, so that the positions where the fixed clamping assembly 22 and the movable clamping assembly 23 grab and release the battery cell action are prevented from being interfered.
In an embodiment of the present invention, the visual positioning system 25 includes a first industrial camera 252, a second industrial camera 251, and a controller. The first industrial camera 252 is disposed on the mounting plate 21, corresponds to the fixed clamping assembly 22, and is configured to detect a position of the cell accommodating groove a where the cell clamped by the fixed clamping assembly 22 is to be placed. The second industrial camera 251 is disposed on the mounting plate 21, and corresponds to the movable clamping assembly 23, and is configured to detect a position of the battery cell accommodating groove a where the battery cell clamped by the movable clamping assembly 23 is to be placed.
The first industrial camera 252 and the second industrial camera 251 are electrically connected with the controller, the controller is electrically connected to the variable-pitch driving assembly 24, and the controller is configured to control the variable-pitch driving assembly 24 to drive the movable clamping assembly 23 to move along the eighth direction according to the positions, corresponding to the battery cell accommodating grooves a, detected by the first industrial camera 252 and the second industrial camera 251, so as to adjust the position of the movable clamping assembly 23 relative to the fixed clamping assembly 22, and thus the battery cell clamped by the movable clamping assembly 23 and the battery cell clamped by the fixed clamping assembly 22 can be synchronously inserted into each corresponding battery cell accommodating groove a.
In the embodiment, when the number of the movable clamping assemblies 23 is multiple, the number of the second industrial cameras 251 is also multiple, the second industrial cameras 251 correspond to the movable clamping assemblies 23 one to one, and each second industrial camera 251 is configured to detect a position of a cell accommodating slot a where a cell clamped by the corresponding movable clamping assembly 23 is to be placed, so that each movable clamping assembly 23 can be controlled by the vision positioning system 25 to independently drive each variable-pitch driving assembly 24 to move, and the cell clamped by each movable clamping assembly 23 and the cell clamped by the fixed clamping assembly 22 can be smoothly inserted into the corresponding cell accommodating slot a.
In the embodiment, the carrying device 20 further includes a light source 253 mounted on the mounting plate 21, and the light source 253 is used for lighting the detection positions of the first industrial camera 252 and the second industrial camera 251, which is beneficial to improving the detection accuracy and the detection reliability of the first industrial camera 252 and the second industrial camera 251.
In an embodiment of the present invention, the carrying device 20 further comprises a suction cup assembly mounted on the mounting plate 21 for sucking the cover 102 in the package. Thus, when it is necessary to carry the in-package lid 102, the carrying device 20 moves to the in-package lid feeding device 40 and sucks the in-package lid 102 with the suction cup members, then the carrying device 20 moves to above the package bottom lid 101 positioned by the package positioning device 10 and stacks the in-package lid 102 on the package bottom lid 101 or on the in-package lid 102 on the package bottom lid 101, and then the suction cup members release the in-package lid 102.
In one embodiment, the suction cup assembly includes a suction cup holder, a suction cup driving member 261, a suction cup holder 262, and a suction cup 263. The suction cup driving member 261 is installed on the installation plate 21 through a suction cup fixing frame, one side of the suction cup frame 262 is connected to the driving end of the suction cup driving member 261 to be driven by the suction cup driving member 261 to move along the ninth direction, at least two suction cups 263 are arranged on the other side of the suction cup frame 262, and the at least two suction cups 263 are used for sucking the middle package cover 102. In this way, when the carrying device 20 moves to the upper side of the cap-in-package feeding device 40 (i.e. the upper side of the feeding positioning mechanism), the suction cup driving member 261 drives the suction cup holder 262 to approach the cap-in-package 102 on the cap-in-package feeding device 40, so that the suction cup 263 sucks the cap-in-package 102. The suction cup driving member 261 then drives the suction cup holder 262 to be reset so that the carrying device 20 moves to above the package positioning device 10. When the handling device 20 moves to above the package positioning device 10 (i.e. above the supporting position b), the suction cup driving member 261 drives the suction cup frame 262 to approach the supporting position b, so that the cover 102 in the package adsorbed by the suction cup 263 is stacked on the package bottom cover 101 on the supporting position b or the cover 102 in the package on the package bottom cover 101, then the suction cup 263 releases the cover 102 in the package, and the suction cup driving member 261 drives the suction cup frame 262 to reset, so that the handling device 20 moves to the cell positioning device 30 to grab the cell.
Referring to fig. 2, in the embodiment of the present invention, the electrical core packaging apparatus further includes a vision positioning platform 50 disposed between the cover-in-package feeding device 40 and the package positioning device 10, where the vision positioning platform 50 is used for detecting a position of the cover-in-package 102 adsorbed by the adsorption component of the handling device 20 when the handling device 20 approaches, so that the robot arm can drive the handling device 20 to adjust a spatial posture of the adsorbed cover-in-package 102 according to the position detection information, and ensure that postures of the cover-in-package conveyed to the package positioning device 10 at each time are consistent, so that the handling device 20 can smoothly stack the adsorbed cover-in-package 102 on the package bottom cover 101 on the supporting position b or on the cover-in-package 102 of the package bottom cover 101. In this manner, when the cap-in-package 102 needs to be stacked, first, the carrying device 20 moves to the cap-in-package feeding device 40, and sucks the cap-in-package 102 positioned at the cap-in-package feeding device 40 by using the suction member. Then, the conveying device 20 moves above the visual alignment platform 50, and the conveying device 20 adjusts the spatial posture of the sucked lid 102 in the package based on the position detection result of the lid 102 in the package by the visual alignment platform 50. Then, the carrying device 20 moves to above the supporting position b of the packing and positioning device 10, and then stacking is performed.
Specifically, a third industrial camera is disposed on the visual positioning platform 50, and the third industrial camera is used for detecting the position of the cover 102 in the package adsorbed by the adsorption component of the carrying device 20. The vision positioning platform 50 may further include a light source for polishing the middle package cover 102 adsorbed by the carrying device 20 moving to the vision platform, which is beneficial to improving the detection accuracy and stability of the third industrial camera.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (14)

1. A handling device, comprising:
mounting a plate;
the fixed clamping assembly is arranged on the mounting plate and used for clamping the battery cell;
the movable clamping assembly is arranged on the mounting plate and used for clamping a battery cell, the movable clamping assembly and the fixed clamping assembly are arranged at intervals along an eighth direction, and the movable clamping assembly can move relative to the mounting plate along the eighth direction so as to adjust a gap between the movable clamping assembly and the fixed clamping assembly;
the variable-pitch driving assembly is arranged on the mounting plate and is in transmission connection with the movable clamping assembly; and
and the visual positioning system is electrically connected with the variable-pitch driving assembly and is used for detecting the position of the electric core accommodating groove and controlling the variable-pitch driving assembly to drive the movable clamping assembly to move along the eighth direction according to the detected position of the electric core accommodating groove.
2. The carrying device as claimed in claim 1, wherein the movable clamping assembly includes a first carrying plate and a first clamping mechanism, the first carrying plate is movably connected to the mounting plate along the eighth direction and is in transmission connection with the variable pitch driving assembly, and the first clamping mechanism is disposed on the first carrying plate and is used for clamping the battery cell.
3. The carrying device as claimed in claim 2, wherein the first clamping mechanism includes a first clamping driving member and two third clamping blocks, the first clamping driving member is disposed on the first carrier plate and has two driving ends, and the two third clamping blocks are respectively mounted at the two driving ends of the first clamping driving member so as to be driven by the first clamping driving member to clamp or unclamp the battery cell.
4. The carrier device as claimed in claim 3, wherein the first clamping mechanism further comprises a first lifting plate and a second elastic member, the first lifting plate is movably connected to the first carrier plate along a ninth direction perpendicular to the eighth direction, and the first clamping driving member is mounted to the first lifting plate;
the second elastic piece is arranged between the first lifting plate and the first bearing plate to provide pre-tightening force for enabling the first lifting plate to move away from the first bearing plate along the ninth direction.
5. The carrier device according to claim 4, wherein the first clamping mechanism further includes a first sensor and a first sensor strip, the first sensor is mounted on the mounting plate, the first sensor strip is mounted on the first lifting plate, and the first sensor is configured to detect a position of the first sensor strip.
6. The carrying device as claimed in claim 4, wherein the two third clamping blocks are respectively mounted at the driving ends of the corresponding first clamping driving members through two first clamping arms, and the two first clamping arms can be connected to the first lifting plate in a manner of approaching to or separating from each other.
7. The transfer device of claim 6, wherein the first clamping mechanism further comprises a second sensor and a second sensor strip, the second sensor is mounted on the first lifting plate, the second sensor strip is mounted on one of the first clamping arms, and the second sensor is used for detecting the position of the second sensor strip.
8. The carrying device as claimed in claim 1, wherein the pitch drive assembly includes a lead screw, a lead screw nut, a pitch drive member and a pitch connecting block, the lead screw is rotatably connected to the mounting plate around its axis, the pitch drive member is disposed on the mounting plate and is in transmission connection with the lead screw, the lead screw nut is in threaded connection with the lead screw and is connected with the pitch connecting block, and the pitch connecting block is used for being connected with the movable clamping assembly.
9. The handling device according to claim 1, wherein the movable clamping assembly comprises a plurality of movable clamping assemblies, and the plurality of movable clamping assemblies are arranged at intervals along the eighth direction;
the variable-pitch driving assembly comprises a plurality of variable-pitch driving assemblies, the variable-pitch driving assemblies correspond to the movable clamping assemblies one by one, and each variable-pitch driving assembly is in transmission connection with the corresponding movable clamping assembly.
10. The handling device of claim 1, wherein the visual positioning system comprises a first industrial camera, a second industrial camera, and a controller;
the first industrial camera is arranged on the mounting plate, corresponds to the fixed clamping assembly and is used for detecting the position of a battery cell accommodating groove for accommodating a battery cell clamped by the fixed clamping assembly; the second industrial camera is arranged on the mounting plate, corresponds to the movable clamping assembly and is used for detecting the position of a battery cell accommodating groove for accommodating a battery cell clamped by the movable clamping assembly;
the first industrial camera and the second industrial camera are both electrically connected with the controller, and the controller is electrically connected with the variable-pitch driving assembly and used for controlling the variable-pitch driving assembly to drive the movable clamping assembly to move along the eighth direction according to the positions, detected by the first industrial camera and the second industrial camera, of the corresponding battery cell accommodating grooves.
11. The carrier device of claim 1, further comprising a suction cup assembly mounted to the mounting plate for attracting a lid of a package.
12. The handling device of claim 1, further comprising a fall arrest assembly comprising a swing drive and a swing frame;
the swing driving piece is arranged on the mounting plate, one end of the swing frame is connected to the driving end of the swing driving piece, and the other end of the swing frame is connected with a supporting rod;
the swing driving piece can drive the swing frame to swing to an anti-falling position and an avoiding position, and when the swing frame is located at the anti-falling position, the supporting rod is located at the bottom of the battery cell clamped by the fixed clamping assembly and the movable clamping assembly; when the swing frame is located at the avoiding position, the supporting rod is located on the side of the fixed clamping assembly and the movable clamping assembly.
13. The transfer device of claim 12, wherein the swing frame comprises two swing frames, and the swing drive drives the two swing frames to swing in opposite directions;
when two the swing span is installed when the one end of bracing piece is foldd, two the swing span is in prevent weighing down the position, when two the swing span is installed when the one end of bracing piece is opened, two the swing span is in dodge the position.
14. A cell packaging apparatus, characterized by comprising the handling device of any one of claims 1 to 13.
CN202011201464.0A 2020-11-02 2020-11-02 Handling device and electricity core baling equipment Withdrawn CN112455751A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011201464.0A CN112455751A (en) 2020-11-02 2020-11-02 Handling device and electricity core baling equipment

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Application Number Priority Date Filing Date Title
CN202011201464.0A CN112455751A (en) 2020-11-02 2020-11-02 Handling device and electricity core baling equipment

Publications (1)

Publication Number Publication Date
CN112455751A true CN112455751A (en) 2021-03-09

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Family Applications (1)

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CN202011201464.0A Withdrawn CN112455751A (en) 2020-11-02 2020-11-02 Handling device and electricity core baling equipment

Country Status (1)

Country Link
CN (1) CN112455751A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115504010A (en) * 2022-08-26 2022-12-23 惠州金源精密自动化设备有限公司 Battery pitch changing device and discharging tray filler thereof
CN115980071A (en) * 2023-03-17 2023-04-18 中科慧远视觉技术(北京)有限公司 Visual detection mechanism and detection equipment
WO2023231523A1 (en) * 2022-05-30 2023-12-07 宁德时代新能源科技股份有限公司 Adjustment apparatus, packing device, and adjustment method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023231523A1 (en) * 2022-05-30 2023-12-07 宁德时代新能源科技股份有限公司 Adjustment apparatus, packing device, and adjustment method
CN115504010A (en) * 2022-08-26 2022-12-23 惠州金源精密自动化设备有限公司 Battery pitch changing device and discharging tray filler thereof
CN115980071A (en) * 2023-03-17 2023-04-18 中科慧远视觉技术(北京)有限公司 Visual detection mechanism and detection equipment
CN115980071B (en) * 2023-03-17 2023-05-23 中科慧远视觉技术(北京)有限公司 Visual inspection mechanism and inspection apparatus

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