CN112670624B - Automatic battery cell casing machine - Google Patents

Abstract

The invention discloses an automatic battery cell casing machine which comprises a rack, a first positioning clamp, a second positioning clamp, a tooling jig, a rubber casing feeding assembly line, a battery cell feeding assembly line, a rubber casing feeding mechanical arm, a rubber casing overturning device, a rubber casing inner wall CCD (charge coupled device) detection device, a battery cell upper CCD detection device, a duplex mechanical arm, a film tearing device, a buried robot, a discharging mechanical arm and a tooling translation device, wherein the rubber casing feeding assembly line, the battery cell feeding assembly line, the rubber casing feeding mechanical arm, the rubber casing overturning device, the rubber casing inner wall CCD detection device, the battery cell upper CCD detection device, the duplex mechanical arm, the film tearing device, the buried robot, the discharging mechanical arm and the tooling translation device are arranged on the rack. The tool fixture is arranged on the tool translation device, the rubber shell feeding assembly line is positioned beside one side of the tool translation device, the rubber shell feeding mechanical arm stretches across the upper part of one end of the tool translation device, and the blanking mechanical arm stretches across the upper part of the other end, opposite to the tool translation device; the battery cell feeding assembly line is positioned beside the other side opposite to the tool translation device; the film tearing device is adjacent to the second positioning clamp, and the embedded robot is located between the battery cell feeding assembly line and the tooling translation device so as to achieve the purpose of automatic operation of automatically entering the shell into the battery cell.

Description

Automatic battery cell casing machine

Technical Field

The invention relates to the field of batteries, in particular to an automatic battery cell casing machine.

Background

As is well known, batteries are widely used in electronic products, automobiles, motorcycles, and bicycles to supply electric power to the electronic products, automobiles, motorcycles, and bicycles.

The flat battery comprises a battery core and a rubber shell, wherein the battery core is adhered to the rubber shell through double-sided adhesive, so that the battery core and the rubber shell are fixed together.

However, the operation of embedding the battery core into the rubber shell and adhering the battery core to the rubber shell is manually completed by an operator, which increases the burden on the operator and is not suitable for automatic operation.

Therefore, there is a need for an automatic battery cell casing machine that can realize automatic operation of automatically casing and fixing the battery cell with the plastic casing and prevent the risk of edge scraping during the process of casing the battery cell to overcome the above-mentioned drawbacks.

Disclosure of Invention

The invention aims to provide an automatic battery cell casing machine which can realize automatic operation of automatically casing a battery cell and fixing the battery cell with a rubber casing and prevent the edge-scraping risk in the process of casing the battery cell.

In order to achieve the purpose, the automatic battery cell casing machine comprises a rack, a rubber casing feeding assembly line, a battery cell feeding assembly line, a rubber casing feeding mechanical arm, a rubber casing overturning device, a rubber casing inner wall CCD detection device, a battery cell upper CCD detection device, a duplex mechanical arm, a first positioning clamp, a second positioning clamp, a film tearing device, an embedding robot, a discharging mechanical arm, a tool fixture and a tool translation device. The tool fixture is arranged on the tool translation device, and the tool translation device is arranged on the rack and drives the tool fixture to perform reciprocating translation along a first direction parallel to the rack; the rubber shell feeding assembly line is arranged on the rack and is positioned beside one side of the tool translation device along the second direction of the rack, the rubber shell feeding mechanical arm is arranged on the rack, and the rubber shell feeding mechanical arm also stretches across the upper part of the rubber shell feeding assembly line and the upper part of one end of the tool translation device along the second direction of the rack; the rubber shell overturning device is arranged on the rack and is respectively adjacent to the rubber shell feeding mechanical arm and the rubber shell feeding assembly line, and the rubber shell inner wall CCD detection device is arranged on the rack and is positioned right above the rubber shell overturning device; the battery cell feeding assembly line is mounted on the rack and is located beside the opposite side of the tooling translation device along the second direction of the rack, the first positioning clamp and the second positioning clamp are aligned with each other along the first direction of the rack, the first positioning clamp is adjacent to the tail end of the battery cell feeding assembly line, and the second positioning clamp is far away from the tail end of the battery cell feeding assembly line; the duplex manipulator is arranged on the rack and is positioned beside the battery cell feeding assembly line along the second direction of the rack, the duplex manipulator further extends along the first direction of the rack and exceeds the battery cell feeding assembly line, and the duplex manipulator grabs and places the battery cells conveyed by the battery cell feeding assembly line on the first positioning clamp and simultaneously grabs and places the battery cells on the first positioning clamp on the second positioning clamp; battery cell top CCD detection device is located directly over first positioning fixture, the dyestripping device install in the frame and with the second positioning fixture neighbour establishes, bury the robot install in the frame is followed the second direction of frame is located battery cell feed assembly line with between the frock translation device, unloading manipulator install in the frame is followed the second direction of frame spanes the other end top that frock translation device is relative.

Compared with the prior art, the method has the advantages that with the help of the coordination of a rubber shell feeding assembly line, a battery cell feeding assembly line, a rubber shell feeding mechanical arm, a rubber shell overturning device, a rubber shell inner wall CCD detecting device, a battery cell upper CCD detecting device, a duplex mechanical arm, a first positioning fixture, a second positioning device, a film tearing device, a buried robot, a blanking mechanical arm, a tooling fixture and a tooling translation device, the rubber shell conveyed by the rubber shell feeding assembly line is grabbed and overturned by a preset angle by the rubber shell overturning device, the overturned inner wall of the rubber shell is detected by the rubber shell inner wall CCD detecting device, and the detected rubber shell is grabbed by the rubber shell feeding mechanical arm and is loaded into the tooling fixture switched to a rubber receiving position; meanwhile, the electric core conveyed by the electric core feeding assembly line is picked up by the duplex manipulator and is loaded into the first positioning fixture for positioning, and meanwhile, the electric core in the first positioning fixture is picked up and loaded into the second positioning fixture for positioning and skirt shaping, so that the electric core conveyed by the electric core feeding assembly line is conveyed to the second positioning fixture step by means of the duplex manipulator; carrying out visual detection on the first positioning clamp by a CCD detection device above the battery cell; the protective film in the battery cell on the second positioning fixture is clamped by the film tearing device, so that the protective film is separated from the battery cell in the process that the battery cell on the second positioning fixture is grabbed by the embedding robot to expose the double-faced adhesive tape, and the battery cell is adhered to the glue shell by means of the double-faced adhesive tape when being embedded into the glue shell; the blanking manipulator carries out blanking on the battery cell and the rubber shell which are cemented together in the tooling jig so as to realize the purpose of automatic operation of automatically feeding the battery cell into the shell and fixing the battery cell and the rubber shell. With the help of first positioning fixture and second positioning fixture for carry out location, secondary location and skirt and put the processing once to electric core, prevent that electric core from going into shell in-process and having the limit risk of wiping.

Drawings

Fig. 1 is a schematic plan structure diagram of an automatic battery cell casing machine according to the present invention.

Fig. 2 is a schematic three-dimensional structure diagram of a frame on which a rubber shell feeding assembly line, a rubber shell feeding manipulator, a rubber shell turning device, a rubber shell inner wall CCD detection device and a rubber shell code scanning device in the automatic battery cell shell feeding machine of the invention are mounted.

Fig. 3 is a schematic perspective view of a gel shell turning device in an automatic battery cell shell feeding machine according to the present invention when picking up a gel shell.

Fig. 4 is a schematic perspective view of the picked-up rubber case turned 180 degrees by the rubber case turning device shown in fig. 3.

Fig. 5 is a schematic perspective view of a plastic shell feeding manipulator in the automatic battery cell feeding machine according to the present invention.

Fig. 6 is a schematic diagram of a three-dimensional structure in which a cell feeding assembly line, a duplex manipulator, a CCD detection device above a cell, and a cell code scanning device in the automatic cell casing machine of the present invention are installed in a rack.

Fig. 7 is a schematic perspective view of a battery cell material flow line in the automatic battery cell casing machine of the present invention.

Fig. 8 is a schematic three-dimensional structure diagram of a duplex manipulator, a first positioning fixture, a second positioning fixture and a film tearing device in the automatic battery cell casing machine, which are installed on a rack.

Fig. 9 is a schematic perspective view of a duplex manipulator in the automatic cell casing machine of the present invention.

Fig. 10 is a schematic perspective view of a first positioning fixture and a second positioning fixture of the automatic battery cell casing machine according to the present invention when they are mounted together.

Fig. 11 is a schematic perspective view of a film tearing device in an automatic cell casing machine according to the present invention.

FIG. 12 is a schematic view of the tear away strip apparatus of FIG. 11 in a position concealing the collection spout and collection chamber and with both the upper and lower drivers in an extended position.

Fig. 13 is a schematic view of the state shown in fig. 12 when the horizontal driver is in the retracted position.

Figure 14 is a schematic view of the condition shown in figure 13 after the inversion drive has actuated the film tearing jaw to invert downwardly 90 degrees from the horizontal position.

Fig. 15 is a schematic perspective view of a tooling fixture installed on a tooling translation device in the automatic battery cell casing machine of the present invention.

Fig. 16 is a schematic perspective view of an embedding robot in the automatic battery cell casing machine according to the present invention.

Fig. 17 is a schematic perspective view of a blanking manipulator in the automatic cell casing machine of the present invention.

Fig. 18 is a schematic perspective view of a battery cell embedded in a rubber casing and fixed to the rubber casing by adhesion.

Detailed Description

In order to explain technical contents and structural features of the present invention in detail, the following description is made with reference to the embodiments and the accompanying drawings.

Referring to fig. 1, fig. 2, fig. 8, and fig. 18, an automatic battery cell casing machine 100 according to the present invention includes a rack 10a, a rubber casing feeding line 10b, a battery cell feeding line 10c, a rubber casing feeding manipulator 20, a rubber casing turnover device 30, a rubber casing inner wall CCD detection device 40a, a battery cell upper CCD detection device 40b, a duplex manipulator 50, a first positioning fixture 60a, a second positioning fixture 60b, a film tearing device 70, an embedding robot 80, a blanking manipulator 90a, a tooling fixture 90b, and a tooling translation device 90 c. The tooling fixture 90b is mounted on the tooling translation device 90c, and the tooling translation device 90c is mounted on the rack 10a, preferably, the tooling translation device 90c is located at the middle part of the rack 10a to reasonably utilize the space of the rack 10a, and certainly, the tooling translation device 90c can also be located at other positions of the rack 10a, so that the invention is not limited thereto; the tool fixture 90b is parallel to the first direction along the rack 10a (i.e. the direction indicated by the arrow a, which is also the width direction of the rack 10 a) to drive the tool fixture 90b to perform reciprocating translation, so that the tool fixture 90b is driven by the tool translation device 90c to switch between a glue-receiving position and a burying position. The glue shell feeding line 10B is mounted to the frame 10a and located beside one side of the tooling translation device 90c along a second direction of the frame 10a (i.e., the direction indicated by the arrow B, and also the length direction of the frame 10 a), and preferably, in fig. 1, the glue shell feeding line 10B is located beside the front side of the tooling translation device 90c, and the glue shell feeding line 10B is also located at the front side of the frame 10a, but not limited thereto. The glue shell feeding manipulator 20 is installed on the rack 10a, and the glue shell feeding manipulator 20 further crosses over the glue shell feeding assembly line 10b and over one end of the tooling translation device 90c (for example, the left end of the tooling translation device 90c in fig. 1) along the second direction of the rack 10a, so that the glue shell 220 on the glue shell turning device 30 is placed into the tooling fixture 90b switched to the glue receiving position by the glue shell feeding manipulator 20. The glue shell turning device 30 is mounted on the rack 10a and is respectively adjacent to the glue shell feeding manipulator 20 and the glue shell feeding assembly line 10b, so that the glue shell turning device 30 can grab and turn the glue shell 220 conveyed by the glue shell feeding assembly line 10b by a preset angle, for example, but not limited to, 180 degrees, so that the turned glue shell 220 is arranged upwards to facilitate the detection of the inner wall of the glue shell 220. The rubber casing inner wall CCD detection device 40a is mounted on the frame 10a and located right above the rubber casing turnover device 30, preferably, in fig. 2, the rubber casing inner wall CCD detection device 40a is suspended right above the rubber casing turnover device 30 by a column 41, so that the rubber casing feeding manipulator 20 and the rubber casing inner wall CCD detection device 40a can be staggered in the height direction (i.e. the direction indicated by the arrow C) of the frame 10a, thereby making the arrangement of the two more compact, but not limited thereto. The cell feed assembly line 10c is mounted on the rack 10a and located beside the opposite side of the tooling translation device 90c along the second direction of the rack 10a, and preferably, in fig. 1, the cell feed assembly line 10c is located beside the rear side of the tooling translation device 90c, and the cell feed assembly line 10c is also located at the rear side of the rack 10a, but not limited thereto. The first positioning jig 60a and the second positioning jig 60b are aligned with each other along the first direction of the rack 10a, and the first positioning jig 60a is adjacent to the end of the cell feed line 10c, and the second positioning jig 60b is away from the end of the cell feed line 10c, so that the first positioning jig 60a and the second positioning jig 60b are sequentially arranged along the first direction of the rack 10a, so as to facilitate the step-by-step conveyance of the battery cells 210 on the first positioning jig 60a and the second positioning jig 60b by the duplex robot 50. The duplex robot 50 is mounted to the rack 10a and is located beside the cell feed line 10c along the second direction of the rack 10a, for example, beside the rear side of the cell feed line 10c in fig. 1, so that the duplex robot 50 is respectively staggered from the first positioning fixture 60a and the second positioning fixture 60b (see fig. 8), the duplex robot 50 further extends along the first direction of the rack 10a and exceeds the cell feed line 10c, and the duplex robot 50 further grasps and places the cell 210 on the first positioning fixture 60a onto the second positioning fixture 60b while grasping and placing the cell 210 delivered from the cell feed line 10c onto the first positioning fixture 60a, thereby achieving the step-by-step ordered delivery of the cell 210 onto the first positioning fixture 60a and the second positioning fixture 60 b. The cell-above CCD detecting device 40b is located directly above the first positioning fixture 60a, and is configured to detect the electric cell 210 on the first positioning fixture 60a, and ensure subsequent positioning of the second positioning fixture 60b and reliability of skirt work, preferably, in fig. 6, the cell-above CCD detecting device 40b is suspended on the rack 10a by an upright rod 42, so that the cell-above CCD detecting device 40b and the duplex manipulator 50 are dislocated, and the structural layout of the cell-above CCD detecting device and the duplex manipulator 50 is more compact, but not limited thereto. The film tearing device 70 is mounted on the frame 10a and is adjacent to the second positioning fixture 60b, so that the film tearing device 70 clamps the protective film 211 in the battery cell 210 on the second positioning fixture 60b (see fig. 8). The embedding robot 80 is mounted to the rack 10a and located between the cell feed water line 10c and the tooling translation device 90c in the second direction of the rack 10a, so that the embedding robot 80 can grab the cell 210 on the second positioning fixture 60a and embed it in the rubber casing 220 on the tooling jig 90b switched to the embedding position. The feeding manipulator 91a is installed on the frame 10a and crosses over the opposite end (e.g. the right end in fig. 1) of the tooling translation device 90c along the second direction of the frame 10a, and preferably, the feeding manipulator 91a is located at the right side of the frame 10a and is opposite to the glue shell feeding manipulator 20 located at the left side of the frame 10a, so that the structural layout between the feeding manipulator 91a and the glue shell feeding manipulator 20 is more reasonable and compact, but not limited thereto. More specifically, the following:

as shown in fig. 1, the automatic cell casing machine 100 of the present invention further includes a CCD detection device 40c below the cell and an NG external flow line 90d, where the NG external flow line 90d is installed on the rack 10a and crosses over the tooling translation device 90c from below the tooling translation device 90c along the second direction of the rack 10a, and the NG external flow line 90d is further adjacent to the feeding manipulator 90 a; the battery cell lower CCD detecting device 40c is arranged on the rack 10a and is adjacent to the second positioning clamp 60b, and the battery cell lower CCD detecting device 40c is also positioned below the embedded robot 80; the battery cell 210 gripped by the embedding robot 80 from the second positioning jig 60b is detected by the battery cell lower CCD detecting device 40 c; if the cell 210 is not qualified, the cell 210 is transferred to the NG external flow line 90d, preferably to a cell NG turning device arranged on the NG external flow line 90d, the cell NG turning device turns the NG cell 210 down to the NG external flow line 90d, and finally the NG external flow line 90d sends the cell 210 away; if the battery cell 210 is qualified, the battery cell 210 is embedded into the rubber casing 220 on the tool fixture 90b switched to the embedding position. Specifically, in fig. 1, the direction in which the cell feed line 10c delivers the cells 210 is parallel to the direction in which the gel casing feed line 10b delivers the gel casings 220, both along the direction indicated by the arrow a in fig. 1. For example, the glue casing feed line 10b, the cell feed line 10c and the NG external flow line 90d are each a belt conveyor line, but not limited thereto.

In order to realize data integration and trace sharing to meet intelligent production, in fig. 2, a plastic shell code scanning device 16 is arranged beside the rear side of the plastic shell feed assembly line 10b, in fig. 6, a cell code scanning device 18f is arranged beside the front side of the cell feed assembly line 10c, and the plastic shell code scanning device 16 and the cell code scanning device 18f are respectively installed on the rack 10. In order to mechanically position the rubber shell 220 delivered from the rubber shell feed line 10b, so as to facilitate the grabbing operation of the rubber shell turnover device 30, in fig. 2, the rubber shell positioning device 17 is installed at the end of the rubber shell feed line 10b, the rubber shell positioning device 17 includes a rubber shell positioning cylinder 171 and a rubber shell positioning block 172, the rubber shell positioning cylinder 171 is installed on the rubber shell feed line 10b, the rubber shell positioning block 172 is installed on the rubber shell positioning cylinder 171, and the rubber shell positioning block 172 is driven by the rubber shell positioning cylinder 171 to slide along the second direction parallel to the rack 10a, so as to position the rubber shell 220 delivered from the rubber shell feed line 10 b. In order to mechanically position the battery cells 210 conveyed from the battery cell feed flow line 10c, so as to facilitate the grabbing operation of the duplex manipulator 50, in fig. 6 and 7, a battery cell positioning device 19 is installed at the end of the battery cell feed flow line 10c, the battery cell positioning device 19 includes a battery cell positioning cylinder 191 and a battery cell positioning block 192, the battery cell positioning cylinder 191 is installed on the battery cell feed flow line 10c, the battery cell positioning block 192 is installed on the battery cell positioning cylinder 191, and the battery cell positioning block 192 is driven by the battery cell positioning cylinder 191 to slide along a second direction parallel to the rack 10a, so as to position the battery cells 210 conveyed from the battery cell feed flow line 10 c.

As shown in fig. 2 to 4, the rubber case turning device 30 includes a vertical support 31, a lifting driver 32, a turning driver 33, and a rubber case vacuum suction head 34; the lower end of the vertical bracket 31 is mounted on the frame 10a, the lifting driver 32 is mounted on the vertical bracket 31, preferably, the output end 321 of the lifting driver 32 is arranged upward, and the turning driver 33 is mounted on the output end 321 of the lifting driver 32, so as to simplify the assembly relationship between the turning driver 33 and the lifting driver 32; the glue shell vacuum adsorption head 34 is installed at the output end 331 of the turnover driver 33, and the glue shell vacuum adsorption head 34 is positioned above the glue shell feed assembly line 10 b; therefore, in the working process of the rubber shell turnover device 30, the lifting driver 32 drives the turnover driver 33 and the rubber shell vacuum adsorption head 34 to perform lifting movement close to or far away from the rubber shell feeding assembly line 10b together, so as to meet the movement requirement that the rubber shell vacuum adsorption head 34 picks up the rubber shell 220 on the rubber shell feeding assembly line 10 b; after the lifting driver 32 drives the turning driver 33, together with the glue shell vacuum adsorption head 34 and the glue shell 220, to move upward away from the glue shell feeding line 10b for a certain distance, the turning driver 33 works again, the working turning driver 33 drives the glue shell vacuum adsorption head 34 and the glue shell 220 adsorbed by the glue shell vacuum adsorption head to turn upward for 180 degrees, so as to change the position of the glue shell 220, and therefore, the inner wall of the glue shell 220 faces upward, and the CCD detection device 40a for the inner wall of the glue shell is convenient to detect the inner wall of the glue shell 220 after turning.

As shown in fig. 2 and 5, the plastic shell feeding robot 20 includes a gantry support 21, a traverse module 22, a lifting module 23, a rotation module 24, and a feeding vacuum adsorption head 25; the foot stool 21a of the gantry support 21 is mounted on the frame 10a, and the cross beam 21b of the gantry support 21 crosses over the glue shell feed water line 10b and the tooling translation device 90c, so that the crossing direction of the cross beam 21b is arranged along the second direction of the frame 10 a; the transverse moving module 22 is arranged on a cross beam 21b of the gantry support 21, the lifting module 23 is arranged on the transverse moving module 22, the rotating module 24 is arranged on the lifting module 23, and the feeding vacuum adsorption head 25 is arranged on the rotating module 24; therefore, in the process of the rubber shell feeding manipulator 20, the traverse module 22 drives the lifting module 23, the rotating module 24 and the feeding vacuum adsorption head 25 to traverse to the position right above the rubber shell 220 turned by the rubber shell turning device 30, and then the lifting module 23 drives the rotating module 24 and the feeding vacuum adsorption head 25 to slide downwards, so that the feeding vacuum adsorption head 25 adsorbs the detected rubber shell 220 on the rubber shell turning device 30, and then the rotating module 24 and the feeding vacuum adsorption head 25 are lifted upwards together under the action of the lifting module 23; finally, in the process that the traverse module 22 drives the lifting module 23, together with the rotating module 24 and the feeding vacuum adsorption head 25, to traverse toward the tooling fixture 90b switched to the glue receiving position, the rotating module 24 drives the glue shell 220 sucked by the feeding vacuum adsorption head 25 to rotate horizontally by a preset angle, for example, by 90 degrees, so as to ensure that the glue shell feeding manipulator 20 can reliably load the glue shell 220 into the tooling fixture 90 b. For example, the traverse module 22 may be composed of a traverse motor, a traverse screw, and a traverse nut, wherein the traverse motor may directly or indirectly (such as, but not limited to, belt drive, chain drive, or gear drive) drive the traverse screw to rotate; meanwhile, the lifting module 23 may be composed of a lifting motor, a lifting screw rod and a lifting screw nut, and the lifting motor may directly or indirectly (for example, but not limited to, belt transmission, chain transmission or gear transmission) drive the lifting screw rod to rotate; the rotation module 24 may be a rotation motor, a rotation cylinder or a roll-over cylinder, but not limited thereto.

As shown in fig. 1, 8 and 9, the duplex robot 50 includes a robot frame 51 located at the end of the cell feed flow line 10c and beside the first positioning jig 60a and the second positioning jig 60b, a traverse device 52 mounted on the robot frame 51, and a first gripping device 53 and a second gripping device 54 mounted on the traverse device 52; the traverse device 52 drives the second grabbing device 54 to traverse to the position right above the first positioning fixture 60a and simultaneously drives the first grabbing device 53 to traverse to the position right above the cell feed assembly line 10c, and the traverse device 52 drives the second grabbing device 54 to traverse to the position right above the second positioning fixture 60b and simultaneously drives the first grabbing device 53 to traverse to the position right above the first positioning fixture 60a, so that the working coordination of the first grabbing device 53 and the second grabbing device 54 is ensured, and the purpose of transferring the cell 210 step by step is achieved. Specifically, in fig. 9, the traverse device 52 includes a traverse motor 52a, a traverse screw 52b, a traverse screw 52c, and a traverse seat 52d, the traverse screw 52b is rotatably mounted on a beam 51b of the manipulator frame 51, a foot rest 51a of the manipulator frame 51 is mounted on the frame 10a, the traverse screw 52c is slidably fitted on the traverse screw 52b, the traverse seat 52d is slidably mounted on the beam 51b of the manipulator frame 51 and fixedly connected to the traverse screw 52c, the traverse motor 52a is mounted on the beam 51b of the manipulator frame 51 and connected to the traverse screw 52b, the first gripping device 53 and the second gripping device 54 are mounted on the traverse seat 52d, so that, under the operation of the traverse motor 52a, the traverse screw 52b is driven to rotate by the traverse motor 52a, the traverse screw 52b is driven to slide the traverse screw 52c on the traverse screw 52b by the rotating traverse screw 52b, and the traverse screw 52c is fixed to the traverse seat 52d, therefore, the traverse base 52d and the first gripping device 53 and the second gripping device 54 on the traverse base 52d are caused to traverse together with the traverse screw 52c, so that the first gripping device 53 is caused to traverse right above the battery cell 210 conveyed by the battery cell feeding line 10c, and the second gripping device 54 is caused to traverse right above the first positioning fixture 60 a; alternatively, the first gripping device 53 is moved right above the first positioning jig 60a, and the second gripping device 54 is also moved right above the second positioning jig 60 b; thereby ensuring that the cells 210 delivered from the cell feed line 10c are delivered to the second positioning jig 60b step by step. For example, the first grabbing device 53 and the second grabbing device 54 each include a grabbing head 531(541) and a lifting cylinder 532(542) connected to the grabbing head 531(541) for simplifying the structure of the first grabbing device 53 and the second grabbing device 54, but not limited thereto.

As shown in fig. 17, the blanking manipulator 91a includes a manipulator frame 91, a linear sliding device 92 mounted on the manipulator frame 91, a lifting sliding device 93 mounted on the linear sliding device 92, a horizontal rotating device 94 mounted on the lifting sliding device 93, and a blanking vacuum suction head 95 mounted on the horizontal rotating device 94; therefore, in the working process of the feeding manipulator 91a, the linear sliding device 92 drives the lifting sliding device 93, the horizontal rotating device 94 and the feeding vacuum suction head 95 to move to the tool fixture 90b switched to the embedding position; then, under the coordination of the lifting sliding device 93 and the horizontal rotating device 94, the blanking vacuum suction head 95 sucks away the battery cell 210 and the rubber shell 220 which are adhered and fixed together on the tool fixture 90b at the embedding position; finally, the linear sliding device 92, the lifting sliding device 93 and the horizontal rotating device 94 are matched, so that the blanking vacuum suction head 95 blanks the sucked and stuck battery cell 210 and the glue shell 220.

As shown in fig. 1 and 16, the embedded robot 80 includes a multi-axis robot body 81 mounted on the frame 10a, a mounting base 82 mounted on an execution end 811 of the multi-axis robot body 81, a vacuum absorption structure 83 slidably disposed on the mounting base 82 along a height direction of the frame 10a (i.e., a direction indicated by an arrow C), a pushing block 84 disposed between the mounting base 82 and the vacuum absorption structure 83 along the height direction of the frame 10a, a pressure sensor 85 mounted on the pushing block 84 and disposed between the pushing block 84 and the vacuum absorption structure 83, and an elastic member 86 disposed between the pushing block 84 and the mounting base 82, wherein the elastic member 86 constantly has a tendency of driving the pushing block 84 and the pressure sensor 85 to slide downward together to make the pressure sensor 85 contact the vacuum absorption structure 83, so as to ensure the reliability of the operation of the pressure sensor 85. Specifically, in fig. 16, the embedding robot 80 further includes a penetrating guide connecting member 87, the penetrating guide connecting member 87 penetrates through the assembly base 82 and the pushing block 84 along the height direction of the rack 10a, and the elastic member 86 is further sleeved on the penetrating guide connecting member 87, so that the reliability of the operation of the pressure sensor 85 can be further improved. More specifically, in fig. 16, the lower end of the penetrating guide connecting member 87 is connected to the pushing block 84, such as but not limited to a screw thread, the upper end of the penetrating guide connecting member 87 is slidably inserted into the mounting base 82 along the height direction of the rack 10a, and the upper end of the penetrating guide connecting member 87 also defines the downward sliding distance of the pushing block 84, so as to prevent the pushing block 84 from sliding downward too far and being separated from the mounting base 82. For example, the penetrating guiding connection member 87 is a screw, but may be a combination of a screw rod and a nut, and the invention is not limited thereto. In the embedding robot 80, by means of the cooperation of the pressure sensor 85, the pushing block 84, the elastic member 86, the penetrating guide connecting piece 87 and the vacuum adsorption structure 83, when the pressure value of the vacuum adsorption structure 83 detected by the pressure sensor 85 to embed the sucked battery cell 210 into the rubber casing 220 is greater than a standard set value, it is determined that the battery cell 210 is at a high risk of entering the casing, and the embedding robot 80 transfers the battery cell 210 to the NG outer flow line 90d, so as to perform an edge-wiping alarm function of the battery cell 210 when entering the casing. The embedded robot 80 is a multi-axis robot, for example, a three-axis, four-axis, five-axis, or six-axis robot.

As shown in fig. 8, and fig. 11 to 14, the film tearing device 70 comprises an upper and a lower skeletons 71, a film tearing clamping jaw 72, an upper and a lower drivers 73, a horizontal driver 74, a turning driver 75 and a collecting funnel 76; the upper and lower frames 71 are installed at the frame 10a, the upper and lower drivers 72 are installed at the upper and lower frames 71, the output ends 731 of the upper and lower drivers 73 are disposed upward, and the horizontal driver 74 is installed at the output end 731 of the upper and lower drivers 73, so as to simplify the assembly relationship between the horizontal driver 74 and the upper and lower drivers 73; the inverting driver 75 is mounted to the output 741 of the horizontal driver 74, the film tearing jaw 72 is mounted to the output 751 of the inverting driver 75, and the collection funnel 76 is located below the film tearing jaw 72. Therefore, in the working process of the film tearing device 70, the upper and lower drivers 73 and the horizontal driver 74 are matched with each other to drive the film tearing clamping jaws 72 to slide to the position of the double-sided adhesive tape protection film 211 in the battery cell 210 clamped on the second positioning clamp 60b, then the film tearing clamping jaws 72 clamp the protection film 211, and then the overturning driver 75 drives the film tearing clamping jaws 72 clamping the protection film 211 to overturn in the process that the embedded robot 80 upwards picks up the battery cell 210 on the second positioning clamp 60b, so that the protection film 211 is separated from the battery cell 210; finally, the film-tearing holding jaw 72 holding the protective film 211 is slid over the collecting hopper 76 by the cooperation of the up-down driver 73 and the horizontal driver 74, and the film-tearing holding jaw 72 is turned into the collecting hopper 76 together with the protective film 211 held by it by the turning driver 75, and then the holding of the protective film 211 by the film-tearing holding jaw 72 is released, so that the protective film 211 falls into the collecting hopper 76, as shown in fig. 14. In more detail, the film tearing device 70 further comprises an upper bracket 77, a lower bracket 77, a blowing nozzle 78, a collecting outflow pipe 79a which is positioned below the collecting hopper 76 and is in butt communication with the collecting hopper 76, and a collecting box 79b which is positioned below the collecting outflow pipe 79a and is in butt communication with the collecting outflow pipe 79 a; the upper and lower brackets 77 and the upper and lower frameworks 71 are arranged opposite to each other at intervals, and the collection funnel 76 is positioned between the upper and lower brackets 77 and the upper and lower frameworks 71; the blowing nozzle 78 is mounted on the upper and lower supports 77, the blowing nozzle 78 branches into a branch air pipe 79c which is inclined downward and extends into the collecting hopper 76 from the top of the collecting hopper 76 in a direction close to the upper and lower frames 71, a sidewall 761 of the collecting hopper 76 is provided with a sidewall opening 762 for horizontal access, and the sidewall opening 762 penetrates through the sidewall 761 of the collecting hopper 76 along the actuating direction (i.e., the direction indicated by the arrow B) of the horizontal driver 74; so that the protection film 211 placed in the collection hopper 76 by the film-tearing clamp jaws 72 can be further surely conveyed along the collection outflow pipe 79a to the collection tank 79b by the cooperation of the branch air pipes 79c and the blowing nozzles 78. For example, the up-down driver 73 and the horizontal driver 74 are selected as air cylinders or oil cylinders, and the turning driver 75 is selected as a turning air cylinder, a turning oil cylinder or a turning motor, but not limited thereto.

As shown in fig. 10, the first positioning fixture 60a includes a fixture body 61, a fixed positioning block 62 mounted on the fixture body 61, a positioning driver 63 mounted on the fixture body 61, and a sliding positioning block 64 in loose or clamping fit with the fixed positioning block 62; the sliding positioning block 64 and the fixed positioning block 62 are aligned with each other, and the sliding positioning block 64 is further installed at the output end of the positioning driver 63, so as to achieve the purpose of automatically and mechanically positioning the battery cell 210. Specifically, two fixed positioning blocks 62 are arranged on the fixture body 61 in an adjacent manner, two sliding positioning blocks 64 are arranged on the fixture body 61 in an adjacent manner, and four sides surrounding the battery cell 210 from the periphery are formed by matching the two sliding positioning blocks 64 and the two fixed positioning blocks 62; the number of the positioning drivers 63 is two, and each sliding positioning block 64 is mounted at the output end of a corresponding positioning driver 63, so as to achieve the purpose of reliably positioning and clamping the battery cell 210. For example, the positioning driver 63 is selected as a cylinder, and certainly, the positioning driver is selected as a cylinder according to actual needs, so the invention is not limited thereto.

As shown in fig. 10, the second positioning fixture 60b includes a fixture body 65, a fixed positioning block 66 mounted on the fixture body 65, a positioning driver 67 mounted on the fixture body 65, and a sliding positioning block 68 which is in loose or clamping fit with the fixed positioning block 66; the slide positioning block 68 and the fixed positioning block 66 are aligned with each other, and the slide positioning block 68 is further installed at the output end of the positioning driver 67, so as to achieve the purpose of automatically and mechanically positioning the battery cell 210 and shaping the skirt. Specifically, two fixed positioning blocks 66 are arranged on the fixture body 65 in an adjacent manner, two sliding positioning blocks 68 are arranged on the fixture body 65 in an adjacent manner, and four sides surrounding the battery cell 210 from the periphery are formed by the cooperation of the two sliding positioning blocks 68 and the two fixed positioning blocks 66; the number of the positioning drivers 67 is two, and each sliding positioning block 68 is mounted at the output end of a corresponding positioning driver 67, so as to achieve the purpose of reliably positioning and clamping the battery cell 210. For example, the positioning driver 67 is selected as a cylinder, and certainly, the positioning driver is selected as a cylinder according to actual needs, so the invention is not limited thereto.

As shown in fig. 1 and 15, two tooling jigs 90b and two tooling translation devices 90c are provided, the two tooling translation devices 90c are aligned with each other along the second direction of the rack 10a and are arranged at intervals, and each tooling jig 90b is mounted on a corresponding tooling translation device 90c, so as to improve the working efficiency. For example, the tooling fixture 90b includes a tooling fixture 96, a tooling motion block 97 and a tooling driver 98, the tooling fixture 96 and the tooling driver 98 are respectively installed on the tooling translation device 90c, the tooling motion block 97 is installed at the output end of the tooling driver 98, and the tooling motion block 97 is driven by the tooling driver 98 to be in loose-clamp fit close to or far away from the tooling fixture 96. For example, the tool actuator 98 is a cylinder or a ram, but not limited thereto.

As shown in fig. 2, in order to flexibly adjust the position of the rubber case feeding line 10b on the rack 10a, a slide adjusting guide rail 11 and a slide adjusting sleeve 12 slidably sleeved on the slide adjusting guide rail 11 are assembled between the rubber case feeding line 10b and the rack 10a, so as to adjust the position of the rubber case feeding line 10b on the rack 10a by the cooperation of the slide adjusting guide rail 11 and the slide adjusting sleeve 12; preferably, the frame 10a is provided with a guide rod 13 parallel to and spaced apart from the slide adjusting guide rail 11, and the rubber case feeding assembly line 10b is provided with a clamp 14 slidably sleeved on the guide rod 13 and an operating element 15 penetrating the clamp 14 and selectively driving the clamp 14 to clamp or unclamp the guide rod 13, so that the operating element 15 is used for an operator to hold or unclamp the clamp 14 according to actual needs, thereby facilitating the operator to adjust or fix the rubber case feeding assembly line 10 b.

As shown in fig. 6 and 7, in order to flexibly adjust the position of the cell feeding line 10c on the rack 10a, a slide adjusting guide rail 18a and a slide adjusting sleeve 18b slidably sleeved on the slide adjusting guide rail 18a are mounted between the cell feeding line 10c and the rack 10a, so that the position of the cell feeding line 10c on the rack 10a is removed by the cooperation of the slide adjusting guide rail 18a and the slide adjusting sleeve 18 b; preferably, the rack 10a is provided with a guide rod 18c parallel to and spaced apart from the slide-adjusting guide rail 18a, and the cell feeding assembly line 10c is provided with a clamp 18d slidably sleeved on the guide rod 18c and an operating member 18e penetrating through the clamp 18d and selectively driving the clamp 18d to clamp or release the clamp to the guide rod 18c, so that an operator can conveniently hold or release the clamp 18d according to actual needs by means of the operating member 18e, thereby facilitating the operator to adjust or fix the cell feeding assembly line 10 c.

Compared with the prior art, the glue shell feeding assembly line 10b, the cell feeding assembly line 10c, the glue shell feeding manipulator 20, the glue shell turning device 30, the glue shell inner wall CCD detection device 40a, the cell upper CCD detection device 40b, the duplex manipulator 50, the first positioning fixture 60a, the second positioning device 60b, the film tearing device 70, the embedding robot 80, the blanking manipulator 90a, the tooling fixture 90b and the tooling translation device 90c are coordinated, the glue shell feeding assembly line 10b is conveyed by the glue shell turning device 30 to pick up and turn over the glue shell 220 by a preset angle, the inner wall of the turned glue shell 220 is detected by the glue shell inner wall CCD detection device 40a, and the detected glue shell 220 is picked up and loaded into the tooling fixture 90b switched to the glue receiving position by the glue shell feeding manipulator 20; at the same time, the duplex manipulator 50 picks up the battery cell 210 conveyed from the battery cell feed assembly line 10c and loads the battery cell 210 into the first positioning fixture 60a for positioning, and simultaneously picks up the battery cell 210 in the first positioning fixture 60a and loads the battery cell 210 into the second positioning fixture 60b for positioning and skirt shaping; the CCD detection device 40b above the battery cell is used for carrying out visual detection on the first positioning clamp 60 a; the film tearing device 70 clamps the protective film 211 in the battery cell 210 on the second positioning fixture 60b, so that the protective film 211 is separated from the battery cell 210 in the process that the embedding robot 80 picks up the battery cell 210 on the second positioning fixture 60b to expose the double-sided adhesive tape, so that the battery cell 210 is adhered to the adhesive tape casing 220 by the double-sided adhesive tape when being embedded in the adhesive tape casing 220; the battery cell 210 and the rubber casing 220 adhered together in the tooling fixture 90b are discharged by the discharging manipulator 90a, so that the purpose of automatic operation of automatically feeding the battery cell 210 into the casing and fixing the battery cell 210 and the rubber casing 220 is achieved. The first positioning fixture 60a and the second positioning fixture 60b are used for performing primary positioning, secondary positioning and skirt finishing on the battery cell 210, so that the risk of edge scraping in the process of putting the battery cell 210 into a shell is prevented. In addition, the cell-below CCD detecting device 40c is used to detect the cell 210 grabbed by the embedding robot 80 from the second positioning fixture 60b, for example, to detect the shape and size of the cell 210, so as to determine whether the cell 210 is qualified; if the cell 210 is not qualified, the cell 210 is directly transferred to the NG external flow line 90d, and if the cell 210 is qualified, the cell is embedded into the tool fixture 90b switched to the embedding position; the tooling fixture 90b is driven by the tooling translation device 90c to switch between the glue-receiving position and the embedding position.

The above disclosure is only a preferred embodiment of the present invention, and should not be taken as limiting the scope of the invention, so that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.

Claims (10)

1. The utility model provides an automatic income shell machine of electric core, its characterized in that, include frame, gluey shell feeding assembly line, electric core feeding assembly line, gluey shell pan feeding manipulator, gluey shell turning device, gluey shell inner wall CCD detection device, electric core top CCD detection device, duplex manipulator, first positioning fixture, second positioning fixture, dyestripping device, bury robot, unloading manipulator, frock tool and frock translation device, the frock tool install in frock translation device, frock translation device install in the frame is ordered about along being on a parallel with the first direction of frame frock tool is reciprocal translation, glue shell feeding assembly line install in the frame and along the second direction of frame is located by one side of frock translation device, glue shell pan feeding manipulator install in the frame, glue shell pan feeding manipulator still follow the second direction of frame span the top of gluing shell feeding assembly line and the one end top of frock translation device The rubber shell overturning device is mounted on the frame and is respectively adjacent to the rubber shell feeding mechanical arm and the rubber shell feeding assembly line, the rubber shell inner wall CCD detection device is mounted on the frame and is positioned right above the rubber shell overturning device, the battery cell feeding assembly line is mounted on the frame and is positioned beside the opposite side of the tooling translation device along the second direction of the frame, the first positioning clamp and the second positioning clamp are aligned with each other along the first direction of the frame, the first positioning clamp is adjacent to the tail end of the battery cell feeding assembly line, the second positioning clamp is far away from the tail end of the battery cell feeding assembly line, the duplex mechanical arm is mounted on the frame and is positioned beside the battery cell feeding assembly line along the second direction of the frame, and the duplex mechanical arm also extends along the first direction of the frame and exceeds the battery cell feeding assembly line, the double-linkage manipulator grabs and places the battery cell conveyed by the battery cell feeding assembly line on the first positioning clamp, and simultaneously grabs and places the battery cell on the first positioning clamp on the second positioning clamp, the battery cell upper CCD detection device is positioned right above the first positioning clamp, the film tearing device is installed on the rack and is adjacent to the second positioning clamp, the embedded robot is installed on the rack and is positioned between the battery cell feeding assembly line and the tool translation device along the second direction of the rack, and the blanking manipulator is installed on the rack and stretches across the upper part of the other end, opposite to the tool translation device, of the rack along the second direction of the rack.

2. The automatic cell casing machine of claim 1, further comprising a cell lower CCD detection device and an NG outer streamline, wherein the NG outer streamline is mounted on the frame and stretches across the tool translation device from below the tool translation device along a second direction of the frame, the NG outer streamline is further adjacent to the unloading manipulator, the cell lower CCD detection device is mounted on the frame and is adjacent to the second positioning clamp, the cell lower CCD detection device is further located below the embedded robot, and a direction in which the cell feeding assembly line conveys the cells is parallel to a direction in which the gel casing feeding assembly line conveys the gel cores.

3. The automatic battery cell casing machine according to claim 1, wherein the rubber casing turnover device comprises a vertical support, a lifting driver, a turnover driver and a rubber casing vacuum adsorption head, the lower end of the vertical support is mounted on the machine frame, the lifting driver is mounted on the vertical support, the turnover driver is mounted at the output end of the lifting driver, the rubber casing vacuum adsorption head is mounted at the output end of the turnover driver, and the rubber casing vacuum adsorption head is located above the rubber casing feeding assembly line; the rubber shell feeding mechanical arm comprises a gantry support, a transverse moving module, a lifting module, a rotating module and a feeding vacuum adsorption head, wherein a foot rest of the gantry support is installed on the frame, a cross beam of the gantry support stretches across the upper portion of the rubber shell feeding assembly line and the upper portion of the tooling translation device, the transverse moving module is installed on the cross beam of the gantry support, the lifting module is installed on the transverse moving module, the rotating module is installed on the lifting module, and the feeding vacuum adsorption head is installed on the rotating module.

4. The automatic cell casing machine according to claim 1, wherein the duplex robot comprises a robot frame located at the end of the cell feeding line, at the side of the first positioning jig and the second positioning jig, a traverse device mounted on the robot frame, and a first gripping device and a second gripping device mounted on the traverse device, wherein the traverse device drives the second gripping device to traverse right above the first positioning jig while driving the first gripping device to traverse right above the cell feeding line, and drives the second gripping device to traverse right above the second positioning jig while driving the first gripping device to traverse right above the first positioning jig; the blanking manipulator comprises a manipulator frame body, a linear sliding device arranged on the manipulator frame body, a lifting sliding device arranged on the linear sliding device, a horizontal rotating device arranged on the lifting sliding device and a blanking vacuum suction head arranged on the horizontal rotating device.

5. The automatic battery cell casing machine according to claim 1, wherein the embedded robot includes a multi-axis robot body mounted on the rack, an assembly base mounted at an execution end of the multi-axis robot body, a vacuum absorption structure slidably disposed on the assembly base along a height direction of the rack, a push block located between the assembly base and the vacuum absorption structure along the height direction of the rack, a pressure sensor mounted on the push block and located between the push block and the vacuum absorption structure, and an elastic member disposed between the push block and the assembly base, and the elastic member constantly has a tendency to urge the push block and the pressure sensor to move downward together to contact the pressure sensor with the vacuum absorption structure.

6. The automatic battery cell casing machine according to claim 5, wherein the embedded robot further comprises a penetrating guide connecting piece, the penetrating guide connecting piece penetrates through the assembling base and the pushing block along the height direction of the rack, the lower end of the penetrating guide connecting piece is assembled and connected with the pushing block, the upper end of the penetrating guide connecting piece can penetrate through the assembling base in a sliding manner along the height direction of the rack, the upper end of the penetrating guide connecting piece further limits the downward sliding distance of the pushing block, and the elastic piece is further sleeved on the penetrating guide connecting piece.

7. The automatic cell casing machine according to claim 1, wherein the film tearing device comprises an upper and lower frame, a film tearing clamping jaw, an upper and lower driver, a horizontal driver, a turnover driver and a collecting funnel, the upper and lower frame is mounted on the machine frame, the upper and lower driver is mounted on the upper and lower frame, an output end of the upper and lower driver is arranged upward, the horizontal driver is mounted on an output end of the upper and lower driver, the turnover driver is mounted on an output end of the horizontal driver, the film tearing clamping jaw is mounted on an output end of the turnover driver, and the collecting funnel is located below the film tearing clamping jaw.

8. The automatic battery cell casing machine according to claim 7, wherein the film tearing device further comprises an upper bracket, a lower bracket, an air blowing nozzle, a collecting outflow pipe located below the collecting funnel and in butt joint communication with the collecting funnel, and a collecting box located below the collecting outflow pipe and in butt joint communication with the collecting outflow pipe, the upper and lower brackets and the upper and lower frameworks are arranged in a spaced manner and opposite to each other, the collecting funnel is positioned between the upper and lower brackets and the upper and lower frameworks, the air blowing nozzle is arranged on the upper bracket and the lower bracket, the air blowing nozzle branches off a branch air pipe which inclines downwards and extends into the collecting hopper from the top of the collecting hopper towards the direction close to the upper framework and the lower framework, the lateral wall of collecting the funnel is seted up the confession the lateral wall opening of the horizontal business turn over of dyestripping clamping jaw, the lateral wall opening is followed horizontal driver's the direction of actuating runs through the lateral wall of collecting the funnel.

9. The automatic battery cell casing machine according to claim 1, wherein the first positioning fixture and the second positioning fixture each include a fixture body, a fixed positioning block mounted on the fixture body, a positioning driver mounted on the fixture body, and a sliding positioning block in loose or clamping fit with the fixed positioning block, the sliding positioning block and the fixed positioning block are aligned with each other, and the sliding positioning block is further mounted on an output end of the positioning driver.

10. The automatic battery cell casing machine according to claim 9, wherein the two fixed positioning blocks are disposed adjacent to each other on the fixture body, the two sliding positioning blocks are disposed adjacent to each other on the fixture body, the two positioning drivers are disposed adjacent to each other on the fixture body, and each sliding positioning block is mounted at an output end of a corresponding one of the positioning drivers.

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