CN114211221A

CN114211221A - Nailing device

Info

Publication number: CN114211221A
Application number: CN202210159218.6A
Authority: CN
Inventors: 尹华憨; 刘伟; 李延森; 余超
Original assignee: Shenzhen Yuchen Intelligent Equipment Co Ltd
Current assignee: Shenzhen Yuchen Intelligent Equipment Co Ltd
Priority date: 2022-02-22
Filing date: 2022-02-22
Publication date: 2022-03-22
Anticipated expiration: 2042-02-22
Also published as: CN114211221B

Abstract

The invention relates to the technical field of secondary battery manufacturing equipment, in particular to a nailing device for driving a sealing nail into a liquid injection hole for sealing a hard-shell secondary battery. The nailing device comprises a nail feeding device, a nail vibrating device, a vision device, a battery clamp and a taking and striking device, wherein the nail vibrating device comprises a material tray with a plurality of hole positions for accommodating nail bodies and a vibrating table for supporting and vibrating the material tray, and the vibrating table vibrates the material tray to ensure that the nail bodies of the sealing nails randomly and completely fall into the hole positions to be in a positive posture; the fetching and striking device drives the manipulator to move back and forth between the tray and the battery clamp by the driving component, sucks and holds the sealing nail in a positive posture from the acupuncture point hole under the guidance of the visual device, and drives the sealing nail into the liquid injection hole of the hard shell secondary battery which is stably positioned by the battery clamp. The sealing nail solves the problem that the sealing nail is easy to lose state and block a pipe or be askew to be beaten due to sucking and delivering through a suction pipe, and is suitable for hard-shell secondary batteries such as square and round aluminum-shell lithium batteries and other hard-shell secondary batteries to be beaten.

Description

Nailing device

Technical Field

The invention relates to the technical field of secondary battery manufacturing equipment, in particular to a nailing device for driving a seal nail into a liquid injection hole of a hard-shell secondary battery so as to seal the liquid injection hole, which is suitable for driving the seal nail into the hard-shell secondary battery such as an aluminum-shell lithium battery including square and round and other hard-shell secondary batteries.

Background

In the production process of the hard-shell secondary battery, after electrolyte and helium are sequentially injected into the hard-shell secondary battery through the liquid injection hole, the liquid injection hole of the hard-shell secondary battery needs to be immediately blocked so as to prevent the electrolyte and the helium from leaking and moisture from entering.

In the prior art, generally, nails are taken and fed through a suction pipe, and then are nailed through a servo electric cylinder or an air cylinder, so that in the process of sucking and feeding the sealing nails through the suction pipe, on one hand, the phenomenon that the suction pipe is blocked by the sealing nails is easy to occur, and on the other hand, the sealing nails are easy to incline when being conveyed to a liquid injection hole, and further the sealing nails are easy to damage when being hit; secondly, only one sealing nail can be sucked and fed once, and only one hard-shell secondary battery can be sealed, so that the production efficiency is low.

Disclosure of Invention

The invention aims to provide a nailing device, which aims to solve the technical problems that in the prior art, a sealing nail blocks a suction pipe and is easy to damage due to the fact that the sealing nail is sucked and conveyed through the suction pipe, only one sealing nail of a hard-shell secondary battery can be nailed at a time, and the production efficiency is low.

In view of the above, the present invention provides a nailing device for driving a seal nail into a liquid injection hole of a hard-shell secondary battery to block the liquid injection hole, wherein the seal nail is divided into a nail body for being driven into the liquid injection hole and a nail cap for preventing the seal nail from completely entering the liquid injection hole and even falling into the hard-shell secondary battery at the upper end of the nail body; the nailing device includes:

the nail shaking device comprises a material tray and a shaking table, wherein the material tray is provided with a plurality of hole positions for accommodating the nail bodies of the sealing nails, the shaking table is used for supporting and shaking the material tray, and the shaking table shakes the material tray to enable the nail bodies of the sealing nails on the material tray to randomly and completely fall into the hole positions to form a positive posture for sucking the sealing nails;

the fetching and beating device comprises a driving assembly and a mechanical arm fixedly mounted on a mechanical arm of the driving assembly, the mechanical arm is used for sucking the sealing nail and beating the nail body of the sealing nail into the liquid injection hole of the hard shell secondary battery, and the driving assembly is used for driving the mechanical arm to move back and forth between the material tray and the hard shell secondary battery.

In an embodiment of the nailing device, the manipulator has one or more mechanical fingers, each mechanical finger comprises a first mounting plate, a nailing driving piece fixed on the first mounting plate, a nailing rod fixedly connected with a power output end of the nailing driving piece respectively, and a material suction barrel fixed on the first mounting plate, the material suction barrel is formed with a material suction channel and a suction opening communicated with the material suction channel, wherein one end of the nailing rod far away from the nailing driving piece extends into the material suction channel, a sealing piece is arranged at an inlet of the nailing rod into the material suction channel, and the other end of the material suction channel forms a suction nozzle;

the suction nozzle is used for sucking the sealing nail, the sucking channel is used for holding the sealing nail and accommodating the nailing rod, and the nailing driving piece is used for driving nailing of the nailing rod.

In an embodiment of the nailing device, the material suction barrel comprises a material suction barrel main body fixed with the first mounting plate and a suction rod formed by surface protrusions of the nailing driving piece far away from the material suction barrel main body, and the material suction channel sequentially penetrates through the material suction barrel main body and the suction rod.

In an embodiment of the nailing device, the suction rod of the suction cylinder is sleeved with a rubber lip, for this purpose, a protruding ring is processed in the middle of the sleeve position of the suction rod, a groove is processed in the middle of the sleeve position of the lip to fix the lip and the suction rod, the lip is grown out of the suction rod or the periphery of the suction nozzle covering the suction rod is only exposed out of the mouth of the suction nozzle, and the lip is used for protecting the end surface of the suction nozzle.

In one embodiment of the nailing device, the manipulator further comprises a second mounting plate connected with the driving assembly and one or more lifting driving members, wherein the fixed end of each lifting driving member is fixed on the second mounting plate, and the sliding end of each lifting driving member is fixed on the first mounting plate of the mechanical finger; the lifting driving piece is used for driving the first mounting plate of the mechanical finger to drive the nailing driving piece, the nailing rod and the material suction barrel to move up and down.

In an embodiment of the nailing device, a fixed limiting block is fixedly connected to the side surface of the fixed end of the lifting driving piece, a sliding limiting block is fixedly connected to the side surface of the sliding end, and the fixed limiting block and the sliding limiting block form a limiting device;

the limiting device is used for limiting the height of the end face of the lip of the suction rod of one or more mechanical fingers of the manipulator before nail taking and before nailing to the same working reference surface.

In one embodiment of the nailing device, the material tray is divided into a tray bottom plate and a tray body formed by bending and extending the tray bottom plate, the tray bottom plate and the tray body enclose to form a material vibrating space, the placing surface and the ejecting surface of the sealing nails on the tray bottom plate are flat, and a plurality of acupuncture point holes for accommodating the nail bodies of the sealing nails are uniformly distributed in the central area of the tray bottom plate;

the surface of the tray bottom plate is located on the working reference surface, and the height of the surface is the height to which the end surface of the lip of the suction rod of one or more mechanical fingers of the mechanical arm is limited before taking the nail.

In an embodiment of a nailing device, the cross section of the cavity hole of the tray is profiled to the cross section of the nail body, the cavity hole is a through hole penetrating through the tray bottom plate in depth, the cavity hole can only accommodate the nail body so that the nail body faces downwards and the nail cap faces upwards to enter vertically, and the necessary positive posture of the upper nail of the sealing nail is presented, and the nail body cannot be enabled to enter in a skew mode and the nail cap faces downwards and the nail body faces upwards.

In an embodiment of the nailing device, the nailing device further comprises a nailing device for loading sealing nails into the material tray, wherein the nailing device comprises a first support, a material barrel arranged on the first support and a hopper, the first support is communicated with the material barrel and the hopper, and a discharge hole of the hopper is positioned above the material tray.

In an embodiment of the nailing device, the nailing device further comprises a battery holder for positioning and stabilizing the hard-shell secondary battery, the battery holder is provided with one or more hard-shell secondary battery pit positions side by side corresponding to one or more mechanical fingers of the manipulator, the battery holder is used for positioning and stabilizing one or more hard-shell secondary batteries for nailing at one time, the distance between the centers of the liquid injection holes of the plurality of the hard-shell secondary batteries after positioning and stabilizing is the same as that between the centers of the plurality of suction nozzles of the plurality of the mechanical fingers of the manipulator, and the sealed nails are driven into the liquid injection holes of the plurality of the hard-shell secondary batteries for positioning and stabilizing the battery holder at the same time;

the bottom surface of a positioning pit in which the liquid injection hole of the hard shell secondary battery or batteries is positioned and stabilized in the battery holder is positioned on the working reference surface, and the height of the pit is the height to which the end surface of the lip of the suction rod of the mechanical finger or fingers of the manipulator is limited before nailing, and is also equal to the surface of the tray bottom plate.

In an embodiment of a nailing device, the nailing device still includes the vision device, the vision device include with the camera lens orientation the camera of charging tray with be used for with the camera is fixed in the second support of charging tray top, the camera is used for taking a picture the charging tray and then discernment the sealed nail of positive gesture in the charging tray, and then guide again the drive assembly drive the manipulator will be positive the sealed nail of gesture follow the suction links in the cave position hole of charging tray.

In an embodiment of the nailing device, the nailing device further comprises a machine table, and the nail feeding device, the nail vibrating device, the vision device, the battery clamp and the taking and striking device are fixedly arranged on the machine table in a matched mode.

The implementation of the invention has the following beneficial effects:

the sealing nail is added into the charging bucket and continuously flows to the charging tray through the charging bucket, and the vibration table vibrates the charging tray to enable the nail body of the sealing nail to be vibrated into the hole, so that the sealing nail is in a positive state that the nail body is vertically placed on the lower nail cap; the driving assembly drives the mechanical arm to move to the position of the material tray, the sealing nails in the positive postures in the hole positions are sucked into the suction nozzles of the mechanical arm one by one under the guidance of the camera, so that one sealing nail is sucked into each suction nozzle, the driving assembly drives the mechanical arm to move to the position of the battery clamp, and the mechanical arm drives the nail bodies of the sealing nails in the suction nozzles into the liquid injection holes of the hard-shell secondary battery in the battery clamp.

This technical scheme provides getting of sealed nail through the cooperation of shaking platform and charging tray and just gesture, and the sealed nail that adjusts the gesture is realized getting the nail to the cooperation of rethread drive assembly and camera, then, the manipulator can carry out the nailing simultaneously in unison to one and a plurality of crust secondary battery single.

The technical scheme solves the technical problems that in the prior art, the sealing nail is easy to lose state and block a pipe or be askew, and the sealing nail can only be used for hammering a hard-shell secondary battery at a time, and improves the production efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a view showing a hard case secondary battery according to an embodiment of the present invention and a construction thereof before nailing through a pour hole;

FIG. 2 is a block diagram of a seal pin according to an embodiment of the present invention;

FIG. 3 is a view showing a hard case secondary battery according to an embodiment of the present invention and a structure thereof after nailing through a pour hole;

FIG. 4 is a schematic view of a nailing device according to an embodiment of the present invention;

FIG. 5 is a structural diagram of a nail feeding device and a nail shaking device;

FIG. 6 is an enlarged view of the central region hole of the tray bottom plate and the attitude of the sealing nail;

FIG. 7 is a block diagram of a robot;

fig. 8 is a sectional view taken along line a-a of fig. 6.

Wherein: 100. a nailing device; 10. a nail shaking device; 11. a material tray; 111. a tray bottom plate; 1111. a hole at the acupuncture point; 112. a plate body; 12. vibrating the platform; 20. a manipulator; 21. a first mounting plate; 22. a nailing driving member; 23. a nailing rod; 24. a suction barrel; 24a, a material sucking channel; 24a1, suction nozzle; 24b, an air suction opening; 241. a suction cylinder main body; 242. a suction rod; 25. a second mounting plate; 26. a lifting drive member; 27. lips; 28. a seal member; 29. a limiting device; 29a, fixing a limiting block; 29b, a sliding stopper; 30. a drive assembly; 40. a machine platform; 50. a battery clamp; 60. a vision device; 61. a camera; 62. a second bracket; 70. a nail feeding device; 71. a first bracket; 72. a charging bucket; 73. a hopper; 80. fetching and beating the device; 90. a mechanical finger;

200. a hard-shell secondary battery; 201. a liquid injection hole; 202. positioning a pit; 300. sealing the nail; 310. a nail body; 320. and (5) a nail cap.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" 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," "front," "back," "left," "right," "up," "down," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

An embodiment of the present invention provides a nailing device 100 for driving a seal nail 300 into a pour hole 201 of a hard-shell secondary battery 200 to close the pour hole 201, as shown in fig. 1, the pour hole 201 of the hard-shell secondary battery 200 not yet being closed by the seal nail 300; as shown in fig. 3, a seal nail 300 has been driven into the pour hole 201 of the hard-shell secondary battery 200.

Referring to fig. 1, the hard-shell secondary battery 200 is provided with a liquid injection hole 201 for injecting an electrolyte and helium gas; in addition, the hard-shell secondary battery 200 is further provided with a positioning pit 202 around the pour hole 201, so that the pour hole 201 is positioned at the center of the positioning pit 202, and the positioning pit 202 is used for positioning during pouring and sealing nail driving.

Referring to fig. 2, the sealing nail 300 comprises a nail body 310 for being driven into the injection hole 201 and a nail cap 320 at the upper end of the nail body 310 for preventing the sealing nail 300 from completely entering the injection hole 201 and even falling into the hard-shell secondary battery 200.

Referring to fig. 4-6, the nailing device 100 includes a nail shaking device 10 and a striking device 80.

The nail shaking device 10 comprises a tray 11 with a plurality of acupuncture point holes 1111 for accommodating the nail bodies 310 of the sealing nails 300 and a shaking table 12 for supporting and shaking the tray 11, wherein the shaking table 12 shakes the tray 11 to enable the nail bodies 310 of the sealing nails 300 on the tray 11 to randomly and completely fall into the acupuncture point holes 1111 in a positive posture for sucking the sealing nails 300;

the tapping device 80 comprises a driving assembly 30 and a manipulator 20 fixedly mounted on a mechanical arm of the driving assembly 30, the manipulator 20 is used for sucking the seal nail 300 and then tapping the nail body 310 of the seal nail 300 into the injection hole 201 of the hard-shell secondary battery 200, and the driving assembly 30 is used for driving the manipulator 20 to move back and forth between the tray 11 and the hard-shell secondary battery 200.

In one embodiment, after the sealing nail 300 is delivered to the tray 11, the vibration table 12 vibrates the tray 11 to make the nail body 310 of the sealing nail 300 be vibrated into the acupuncture point hole 1111, so that the sealing nail 300 is in a positive posture that the nail body 310 is vertically placed on the lower nail cap 320; the driving assembly 30 moves the robot 20 to the tray 11, sucks the positive-posture seal nails 300 in the acupuncture point holes 1111 one by one, sucks one seal nail 300 in each suction nozzle 24a1, moves the driving assembly 30 again to the hard-shell secondary battery 200, and drives the nail body 310 of the seal nail 300 into the injection hole 201 of the hard-shell secondary battery 200 by the robot 20. According to the technical scheme, the sealing nail 300 taking and correcting posture is provided through the matching of the vibration table 12 and the material tray 11, the sealing nail 300 taking and correcting posture is realized through the driving assembly 30, and then the mechanical arm 20 can simultaneously and simultaneously take nails for two hard-shell secondary batteries 200 in a single time. This technical scheme has solved among the prior art because of sending the sealed nail 300 through the straw suction and take place out of order stifled pipe or beat askew sealed nail 300 easily, and can also solve the single sealed nail 300's that only can beat a crust secondary battery 200 technical problem, improves production efficiency.

The following describes a specific structure of the picking apparatus 80:

in one embodiment, referring to fig. 4, 7 and 8, the robot 20 has two fingers 90, each finger 90 including a first mounting plate 21, a nailing driver 22 fixed to the first mounting plate 21, a nailing rod 23 fixedly connected to a power output end of the nailing driver 22, and a suction barrel 24 fixed to the first mounting plate 21, the suction barrel 24 being formed with a suction passage 24a and a suction opening 24b communicating with the suction passage 24a, wherein one end of the nailing rod 23 far away from the nailing driving piece 22 extends into the material suction channel 24a, and a sealing piece 28 is arranged at the inlet of the nailing rod 23 into the material suction channel 24a, so as to ensure the nailing rod 23 to seal and block one end part of the material suction channel 24a, ensure that the material suction channel 24a does not suck air from the inlet end of the nailing rod 23 when sucking the sealing nail 300, and increase the pressure of the negative pressure air for sucking the sealing nail 300 so as to reduce the adsorption force; the other end of the suction passage 24a forms a suction nozzle 24a 1; the suction nozzle 24a1 is used for sucking the sealing nail 300, the suction passage 24a is used for holding the sealing nail 300 and accommodating the nailing rod 23, and the nailing driving piece 22 is used for driving the nailing rod 23 to nail.

The nailing device 100 can suck two sealed nails 300 in positive postures at a single time and then simultaneously nail two hard-shell secondary batteries 200 at the same time, and it should be noted that a plurality of mechanical fingers 90 of the robot 20 can be arranged according to the actual nailing efficiency requirement, and can be used for simultaneously nailing a plurality of hard-shell secondary batteries 200 at the same time.

In one embodiment, the suction cylinder 24 includes a suction cylinder main body 241 fixed to the first mounting plate 21 and a suction rod 242 formed to protrude from a surface of the suction cylinder main body 241 remote from the nailing drive piece 22, and the suction passage 24a penetrates the suction cylinder main body 241 and the suction rod 242 in this order.

In one embodiment, the suction rod 242 of the suction barrel 24 is sleeved with the plastic lips 27, for this purpose, a protruding ring is formed in the middle of the sleeve position of the suction rod 242, a groove is formed in the middle of the sleeve position of the lips 27 to fix the lips 27 and the suction rod 242, and the lips 27 are extended out of the suction rod 242 or only expose the mouth of the suction nozzle from the periphery of the suction nozzle 24a1 covering the suction rod 242.

The diameter of the end face of the trumpet-shaped pit wall of the conical profiling positioning pit 202 at the end of the suction nozzle 24a1 of the lips 27 is slightly smaller than the diameter of the pit bottom face of the positioning pit 202, so that the end face of the lips 27 can be abutted against the pit bottom face of the positioning pit 202, and the diameter of the end face of the lips 27 is as small as possible so as to reduce the bare space of the disc bottom plate 111 without any sealing nail 300 around the positive-posture sealing nail 300, which is required when the certain positive-posture sealing nail 300 is sucked.

The lips 27 serve as a protection function of isolating the end surfaces of the suction nozzles 24a1 of the suction rod 242 from the surface of the tray bottom plate 111 when the suction seal nails 300 abut against the surface of the tray bottom plate 111 to prevent hard impact from hard damage to the end surfaces of the suction nozzles 24a1 of the suction rod 242 and the surface of the tray bottom plate 111; the lips 27 serve as a protection function for preventing the end surface of the suction nozzle 24a1 of the suction lever 242 from being damaged by hard impact on the end surface of the suction nozzle 24a1 of the suction lever 242 and the bottom surface of the positioning pit 202 when the suction lever 242 enters the positioning pit 202 of the pour hole 201 of the hard case secondary battery 200 and abuts against the bottom surface of the positioning pit 202 and when nailing occurs.

In some embodiments, the nailing driving member 22 may be a pneumatic cylinder, and the nailing rod 23 is directly driven to move up and down by the pneumatic cylinder.

In one embodiment, with continued reference to fig. 7, the robot 20 further comprises a second mounting plate 25 connected to the driving assembly 30, and two lifting/lowering driving members 26, wherein a fixed end of the lifting/lowering driving member 26 is fixed to the second mounting plate 25, a sliding end of the lifting/lowering driving member is fixed to the first mounting plate 21 of the mechanical finger 90, and the lifting/lowering driving member 26 is used for driving the first mounting plate 21 of the mechanical finger 90 to move up and down with the nailing driving member 22, the nailing rod 23 and the suction cylinder 24, thereby driving the suction cylinder 24 to move closer to or away from the tray 11 and closer to or away from the hard-shell secondary battery 200.

In one embodiment, the fixed end of the lifting driving member 26 is further fixedly connected with a fixed limiting block 29a at the side, the sliding end is further fixedly connected with a sliding limiting block 29b at the side, and the fixed limiting block 29a and the sliding limiting block 29b form a limiting device 29.

The limiting device 29 is used for limiting the height of the end face of the lip 27 of the suction rod 242 of one or more mechanical fingers 90 of the manipulator 20 before nail taking and nailing to the same working reference plane.

The limiting is necessary preparation for taking and nailing the nail.

Before taking out the nail, the lifting driving member 26 drives the first mounting plate 21 of the mechanical finger 90 to move downwards, so that the end surface of the lip 27 under the suction rod 242 abuts against the surface of the disc bottom plate 111, and at this time, the sliding limiting block 29b of the limiting device 29 abuts against the fixed limiting block 29a to force the lifting driving member 26 to stop driving the first mounting plate 21 of the mechanical finger 90 to continue moving downwards;

before nailing, the lifting/lowering driver 26 drives the first mounting plate 21 of the mechanical finger 90 to move downward so that the end faces of the lips 27 under the suction rod 242 abut against the bottom surface of the positioning pit 202 of the injection hole 201 of the hard-shell secondary battery 200, and at this time, the slide stopper 29b of the stopper 29 abuts against the fixed stopper 29a to force the lifting/lowering driver 26 to stop driving the first mounting plate 21 of the mechanical finger 90 to continue moving downward.

In some embodiments, the lifting driving member 26 may be a pneumatic cylinder, and the pneumatic cylinder directly drives the first mounting plate 21 to move up and down.

In other embodiments, the limiting device 29 can also be a magnetic position switch with an optional cylinder for the lifting drive 26.

The following describes a specific structure of the nail shaking device 10:

in one embodiment, referring to fig. 5, the tray 11 is divided into a tray bottom plate 111 and a tray body 112 formed by bending and extending from the tray bottom plate 111, the tray bottom plate 111 and the tray body 112 enclose a material vibrating space, the placing surface and the ejecting surface of the sealing nail 300 on the tray bottom plate 111 are flat, and a plurality of acupuncture point holes 1111 for accommodating the nail bodies 310 of the sealing nail 300 are uniformly distributed in the central area of the tray bottom plate 111.

Specifically, as soon as the tray 11 vibrates, the nail bodies 310 of some of the sealing nails 300 randomly fall into the acupuncture point holes 1111 completely and assume a positive posture after the tray 11 stops vibrating; during the vibration process, the sealing nail 300 is limited in the vibration space, so that the sealing nail 300 can be prevented from being vibrated out of the tray 11.

The surface of the tray floor 111 is located at the working reference level at a height to which the end faces of the lips 27 of the suction stems 242 of the two fingers 90 of the robot 20 are restrained prior to staple removal.

In one embodiment, further, referring to fig. 6, the cross-section of the acupuncture point hole 1111 is formed to follow the cross-section of the nail body 310, the acupuncture point hole 1111 is a through hole penetrating the disc base plate 111 at a depth, the hole wall of the acupuncture point hole 1111 is a straight wall, the cross-section of the nail body 310 shown in fig. 2 is formed in a rounded triangle shape, the cross-section of the acupuncture point hole 1111 is also formed in a rounded triangle shape, a single side of the cross-section of the acupuncture point hole 1111 is 0.2 to 0.3mm larger than a single side of the cross-section of the nail body 310 of the sealing nail 300 but smaller than a diameter of the circular cross-section of the nail cap 320 at the maximum size, so that the nail body 310 of the sealing nail 300 can be vertically inserted into the acupuncture point hole 1111 with the nail body 310 facing downward with the nail cap 320, and assume a normal posture necessary for the upper nail of the sealing nail 300, and at the same time, the nail cap 320 of the sealing nail 300 does not conform to the shape and size of the acupuncture point hole 1111, and the nail cap 320 facing downward and is not caught by the acupuncture point hole 1111, the nail body 310 is inclined and cannot penetrate into the acupuncture point holes 1111 and be clamped by the acupuncture point holes 1111, the sealing nail 300 with the inclined nail body can only lie on the surface of the tray bottom plate 111 or the nail body 310 is obliquely inserted into the acupuncture point holes 1111, and the sealing nail 300 with the nail cap 320 facing downwards can only lie on the surface of the tray bottom plate 111.

In one embodiment, the plurality of acupuncture point holes 1111 are closely arranged in a matrix, such that the number of the sealing nails 300 shaken into the positive postures of the acupuncture point holes 1111 within the visual field of the camera 61 is easily two or more and the more, the better; the center distance between the acupuncture point holes 1111 is slightly larger than the sum of the radius of the nail cap 220 and the radius of the lips 27 so as to avoid that when the sealing nails in positive postures are taken, the sealing nails 300 in positive postures possibly arranged in the adjacent acupuncture point holes 1111 interfere the lips 27 to abut against the surface of the plate bottom plate 111 to damage the suction nails, and the acupuncture point holes 1111 are arranged sparsely and densely.

In addition to the driver device 10 and the driver device 80, the nailing device 100 further includes a nailing device 70, a battery holder 50, and a vision device 60, and the following describes specific structures of the nailing device 70, the battery holder 50, and the vision device 60:

in one embodiment, referring to fig. 4 and 5, the nailing device 70 comprises a first bracket 71, a material barrel 72 arranged on the first bracket 71, and a hopper 73, wherein the first bracket 71 is communicated with the material barrel 72 and the hopper 73, and a discharge port of the hopper 73 is positioned above the tray 11.

The sealing nails 300 can be continuously introduced into the tray 11 by the nailing device 70, the number of the sealing nails 300 kept in the tray 11 can ensure that the sealing nails 300 are fully scattered on the tray bottom plate 111, and ensure that after each vibration, two or more sealing nails 300 are better and better in the visual field of the camera 61 and are shaken into the acupuncture point holes 1111 to be in a positive posture, and the space around the sealing nails 300 in the positive posture is large enough to avoid the sealing nails 300 beside the sealing nails 27 from interfering the surface of the tray bottom plate 111 to damage the sucking nails when the lips 27 are taken out of the nails, and the feeding and scattering effects of the sealing nails 300 enable the sealing nails 300 in the tray 11 to be dense.

In one embodiment, referring to fig. 4, the battery holder 50 is used to position and secure the hard-shell secondary battery 200, i.e., define the position and posture of the hard-shell secondary battery 200 such that the pour hole 201 faces upward. Two hard-shell secondary battery pit positions are arranged side by side in the battery clamp 50 corresponding to the two mechanical fingers 90 of the manipulator 20, so that the two hard-shell secondary batteries 200 can be stably positioned at one time for nailing, the distance between the centers of the two liquid injection holes 201 of the two firmly positioned hard-shell secondary batteries 200 is the same as the distance between the centers of the two suction nozzles 24a1 of the two mechanical fingers 90 of the manipulator 20, and the two sealing nails 300 are driven into the two liquid injection holes 201 of the two hard-shell secondary batteries 200 which are stably positioned in the battery clamp 50 at the same time;

the bottom surfaces of the positioning wells 202 for positioning the two liquid pouring holes 201 of the two hard case secondary batteries 200 after the battery holder 50 has been secured are located on the work reference surface at a height to which the end surfaces of the lips 27 of the suction levers 242 of the two fingers 90 of the robot hand 20 are restricted before nailing, and are also at the same height as the surface of the tray bottom plate 111.

In some embodiments, the battery holder 50 is disposed adjacent to the nail driver 10, so that the driving unit 30 drives the manipulator 20 to move along a short path between the battery holder 50 and the nail driver 10, thereby increasing the speed of the nailing operation.

In one embodiment, referring to fig. 4, the vision device 60 includes a camera 61 facing the tray 11 with a lens and a second bracket 62 for fixing the camera 61 above the tray 11, the camera 61 is used for taking a picture of the tray 11 to recognize the sealing nail 300 in the tray 11 in the positive posture, and then the driving assembly 30 is guided to drive the robot 20 to suck the sealing nail 300 in the positive posture out of the acupuncture point hole 1111 of the tray 11.

In one embodiment, referring to fig. 4, the nailing device 100 further comprises a machine table 40, and the nailing device 70, the nail shaking device 10, the vision device 60, the battery clamp 50 and the striking device 80 are fixedly arranged on the machine table in a matching manner. Because all the components are matched and fixed on the same machine table 40, the nailing device 100 has the advantages of compact and stable structure and high alignment repetition precision after movement.

The following is a detailed description of the implementation of nail removal and nailing:

the starting state is that the manipulator stops right above the material tray 11; the nailing driving member 22 is preferably arranged in the vicinity of the upper side of the air suction opening 24b so as not to block the air suction opening 24b at a position where the tip of the nailing rod 23 penetrates into the material suction passage 24a of the material suction barrel 24.

The sealing nails 300 are poured into the material barrel 72 of the upper nail device 70, the emptying switch is adjusted to enable the sealing nails 300 to continuously flow into the material tray 11, the vibration table 12 is started to vibrate the material tray 11, the sealing nails 300 in the material tray 11 are fully dispersed on the tray bottom plate 111, two or more sealing nails 300 which are more and better are ensured to be vibrated into the acupuncture point holes 1111 in the visual field of the camera 61 after each vibration, the space around the sealing nails 300 in the positive posture is large enough to avoid the sealing nails 300 beside the sealing nails 27 from interfering with the surface of the tray bottom plate 111 to damage the sucking nails when the lips 27 are taken out of the nails, and the feeding and vibration dispersion effects of the sealing nails 300 enable the sealing nails 300 in the material tray 11 to be sparse and dense.

Next, the vibration table 12 stops vibrating, the camera 61 photographs the tray 11, recognizes the sealing nail 300 in the positive posture on the tray 11 in the field of view, and further guides the driving unit 30 to drive the robot 20 to move to above the stationary tray 11, so as to align the center of the suction nozzle 24a1 of an empty suction cylinder 24 with the center of the top surface of the nut cap 320 of the sealing nail 300 in the positive posture in the tray 11.

The lifting driving member 26 corresponding to the empty material suction cylinder 24 drives the corresponding first mounting plate 21 to move downwards, the material suction cylinder 24 is lowered while the control switch is turned on to introduce negative pressure air into the air suction opening 24b, the suction nozzle 24a1 approaches to the sealing nail 300 in a positive posture until the suction nozzle 24a1 sleeves the nail cap 320 and the end face of the lip 27 touches the surface of the tray bottom plate 111 as a lower limit, then the nail cap 320 and the nail body 310 of the sealing nail 300 are sequentially sucked into the material suction channel 24a through the suction nozzle 24a1 to enable the top surface of the nail cap 320 of the sealing nail 300 to abut against the tail end of the nailing rod 23 and the side face of the nail cap 320 of the sealing nail 300 to block the air suction opening 24b and continue to introduce negative pressure air to enable the sealing nail 300 to be engaged, and then the lifting driving member 26 drives the corresponding first mounting plate 21 to move upwards to reset;

continuing to drive the robot 20 with the drive assembly 30 under the guidance of the camera 61 in another empty suction magazine 24 to suck and hold the second sealing pin 300 and reset it as usual;

meanwhile, two hard-shell secondary batteries 200 are put into the battery holder 50 and clamped.

After the nail is removed, the driving unit 30 drives the robot 20 to move to the position right above the two hard-shell secondary batteries 200 of the battery holder 50, and the centers of the two suction nozzles 24a1 are aligned with the centers of the liquid pouring holes 201 of the two hard-shell secondary batteries 200; the two lifting driving pieces 26 simultaneously drive the two first mounting plates 21 to move downwards at the same time until the two lips 27 of the suction nozzles 24a1 of the two suction cylinders 24 enter the two positioning pits 202 of the two liquid injection holes 201 of the two hard-shell secondary batteries 200 and contact the bottom surfaces of the pits;

the two nailing driving members 22 impact and drive the two nailing rods 23 to descend simultaneously, the nailing rods 23 push the seal nail 300 to extrude the nail body 310 into the injection hole 201 of the hard-shell secondary battery 200 until the bottom surface of the nail cap 320 of the seal nail 300 touches the bottom surface of the positioning pit 202, and the two nailing driving members 22 drive the two nailing rods 23 to ascend and reset simultaneously.

After nailing, the two lifting driving pieces 26 simultaneously drive the two first mounting plates 21 to drive the two suction cylinders 24 to move upwards to leave the two hard-shell secondary batteries 200 for resetting; the drive assembly 30 drives the robot 20 back to the starting position and state directly above the tray 11.

The manipulator 20 does not interfere with other sealing nails 300 on the tray 11, the nailing device 70, the vision device 60 and the battery clamp 50 in the nail taking and moving process.

The continuous operation of nailing is carried out in a circulating way.

The nailing device 100 of the present embodiment can suck two sealed nails 300 at a time and simultaneously nail two hard-shell secondary batteries 200 at once, and it should be noted that a plurality of mechanical fingers 90 of the robot 20 can be arranged according to the actual nailing efficiency requirement, and can be used to simultaneously nail a plurality of hard-shell secondary batteries 200 at once.

By implementing the invention, the problem that the sealing nail is easy to lose the state and block the pipe or beat askew due to sucking and delivering the sealing nail through the suction pipe is solved, the technical problem that only one sealing nail can be beat at a time is also solved, and the production efficiency is improved.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the claims. 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

1. A nailing device is used for driving a sealing nail into a liquid injection hole of a hard-shell secondary battery so as to block the liquid injection hole, wherein the sealing nail is divided into a nail body used for being nailed into the liquid injection hole and a nail cap used for preventing the sealing nail from completely entering the liquid injection hole and even falling into the hard-shell secondary battery at the upper end of the nail body; its characterized in that, nailing device includes:

2. The nailing device of claim 1, wherein the manipulator has one or more fingers, each finger comprising a first mounting plate, a nailing driving member fixed to the first mounting plate, a nailing rod fixedly connected to a power output end of the nailing driving member, and a suction barrel fixed to the first mounting plate, the suction barrel being formed with a suction passage and a suction opening communicating with the suction passage, wherein an end of the nailing rod remote from the nailing driving member extends into the suction passage, and a sealing member is provided at an inlet of the nailing rod into the suction passage, and the other end of the suction passage forms a suction nozzle;

3. The nailing device of claim 2, wherein the material suction barrel comprises a material suction barrel body fixed with the first mounting plate and a suction rod formed by a surface projection of the material suction barrel body away from the nailing driving member, the material suction passage sequentially penetrating the material suction barrel body and the suction rod.

4. The nailing device of claim 3, wherein the suction rod of the suction barrel is sleeved with a rubber lip, for this purpose, a protruding ring is formed in the middle of the sleeve position of the suction rod, a groove is formed in the middle of the sleeve position of the lip to fix the lip and the suction rod, the lip is longer than the suction rod or only exposes out of the mouth of the suction nozzle at the periphery of the suction nozzle covering the suction rod, and the lip is used for protecting the end face of the suction nozzle.

5. The nailing device of claim 4, wherein the manipulator further comprises a second mounting plate connected to the drive assembly and one or more lift drives, a fixed end of the lift drives being secured to the second mounting plate and a sliding end being secured to the first mounting plate of the mechanical fingers; the lifting driving piece is used for driving the first mounting plate of the mechanical finger to drive the nailing driving piece, the nailing rod and the material suction barrel to move up and down.

6. The nailing device of claim 5, wherein a fixed stop block is fixedly connected to the side of the fixed end of the lifting driving member, a sliding stop block is fixedly connected to the side of the sliding end, and the fixed stop block and the sliding stop block form a stop device;

7. The nailing device according to claim 6, wherein the tray is divided into a tray bottom plate and a tray body bent and extended from the tray bottom plate, the tray bottom plate and the tray body enclose a material vibrating space, the placing surface and the ejecting surface of the sealing nails on the tray bottom plate are flat, and a plurality of acupuncture point holes for accommodating the nail bodies of the sealing nails are uniformly distributed in the central area of the tray bottom plate;

8. The nailing device of claim 7, wherein the cross-section of the nest holes of the tray is contoured to the nail body cross-section, the nest holes being through holes penetrating the tray floor in depth, the nest holes being capable of and capable of accommodating only the nail body with the nail body facing down and the nut facing up into an upright position, assuming a positive attitude necessary for the nail loading of the sealed nail, without allowing the nail body to tilt into and the nut facing down and the nail body facing up into the nut.

9. The nailing device of claim 8, further comprising a nailing device for loading a sealing nail into the tray, wherein the nailing device comprises a first bracket, a material barrel arranged on the first bracket, and a hopper, the first bracket is communicated with the material barrel and the hopper, and the discharge port of the hopper is located above the tray.

10. The nailing device according to claim 9, further comprising a battery holder for positioning and securing the hard-shell secondary battery, wherein the battery holder is provided with one or more hard-shell secondary battery pit sites side by side corresponding to the one or more fingers of the robot hand for positioning and securing the one or more hard-shell secondary batteries for nailing at a time, and wherein the centers of the plurality of injection holes of the plurality of hard-shell secondary batteries after positioning and securing are at the same distance as the centers of the plurality of suction nozzles of the plurality of fingers of the robot hand for simultaneously and simultaneously positioning and securing the injection holes of the plurality of hard-shell secondary batteries with the battery holder for driving the seal nails;

11. The nailing device of claim 10, further comprising a vision device comprising a camera with a lens facing the tray and a second bracket for securing the camera above the tray, wherein the camera is adapted to photograph the tray to identify the positive seated nail in the tray, and further adapted to guide the driving assembly to drive the manipulator to suck the positive seated nail out of the cavity hole of the tray.

12. The nailing device of claim 11, further comprising a machine base, wherein the nail feeding device, the nail shaking device, the vision device, the battery clamp and the striking device are fixedly arranged on the machine base in a matching manner.