CN116177188A - Loading attachment and handling equipment - Google Patents

Abstract

The invention discloses a feeding device and a handling device. The device includes a base on which a material shaft is oppositely arranged and is configured to fit the pole piece of the shaft; a docking adjustment mechanism is configured to push the material shaft The shaft moves along the Y-axis direction to dock with the machine shaft, and the Y-axis direction refers to the axial direction of the material shaft; the centering adjustment mechanism is configured to push the material shaft to move in a direction perpendicular to the Y-axis to align with the machine shaft ; The pushing mechanism is configured to push the target material on the material shaft into the machine shaft. The device can automatically complete the loading process of the target loading parts, which saves the cost of manual loading, and can also avoid the problem of product damage or personal injury caused by the accidental drop of the target loading parts due to careless operation during manual loading. Improve the safety and reliability of loading target loading parts.

Description

Loading device and handling equipment

technical field

The invention relates to the technical field of batteries, in particular to a feeding device and a handling device.

Background technique

The pre-production process of lithium batteries involves the taking, transfer, and loading of the shaft pole pieces. Graphite dust will be generated in the pre-production process of lithium batteries. If the production personnel are not well protected, it will endanger the health of personnel. With the rapid development of intelligent manufacturing in recent years, unmanned requirements have been put forward for the handling of shaft pole pieces.

Contents of the invention

In order to realize the unmanned automatic handling of target loading parts, the present invention provides a loading device on the one hand.

Feeding device of the present invention comprises:

base;

a material shaft, the material shaft is relatively arranged on the base, and is configured to be used for fitting the target loading material;

a docking adjustment mechanism, the docking adjustment mechanism is configured to push the material shaft to move along the Y-axis direction to dock with the machine shaft, and the Y-axis direction refers to the axial direction of the material shaft;

A centering adjustment mechanism, the centering adjustment mechanism is configured to push the material shaft to move in a direction perpendicular to the Y axis to be centered with the machine shaft;

A pushing mechanism, the pushing mechanism is configured to push the target loading material on the material shaft into the machine shaft.

In one embodiment of the feeding device of the present invention, the feeding device further includes:

a detection element configured to detect whether the material shaft and the machine shaft are aligned;

When the material shaft and the machine shaft are in the centered state detected by the detection element, the docking adjustment mechanism pushes the material shaft to move to dock with the machine shaft, and the pushing mechanism Push the target loading part on the material shaft into the machine shaft.

In one embodiment of the feeding device of the present invention, the docking adjustment mechanism includes:

A Y-axis movable part, the Y-axis movable part is controlled by the Y-axis driving mechanism to move along the Y-axis direction relative to the base, and the material shaft is relatively arranged on the Y-axis movable part.

In one embodiment of the feeding device of the present invention, the docking drive mechanism includes:

Y-axis motor, the Y-axis motor is arranged on the base;

A Y-axis transmission mechanism, the Y-axis transmission mechanism is configured to convert the rotational motion of the Y-axis motor into a linear motion to push the Y-axis movable member to move along the Y-axis direction.

In an embodiment of the feeding device of the present invention, the docking drive mechanism further includes a Y-axis guiding mechanism configured to guide the Y-axis movable member to move along the Y-axis.

In one embodiment of the feeding device of the present invention, the centering adjustment mechanism includes:

The X-axis movable part, the X-axis movable part is arranged on the Y-axis movable part, and the X-axis movable part is controlled by the X-axis drive mechanism to move along the X-axis direction, and the material shaft is relatively arranged on the On the X-axis movable part.

In one embodiment of the feeding device of the present invention, the X-axis drive mechanism includes:

X-axis motor, the X-axis motor is arranged on the Y-axis movable part;

An X-axis transmission mechanism, the X-axis transmission mechanism is configured to convert the rotational motion of the X-axis motor into a linear motion to push the X-axis movable member to move along the X-axis.

In an embodiment of the feeding device of the present invention, the centering adjustment mechanism further includes an X-axis guiding mechanism, and the X-axis guiding mechanism is configured to guide the movement of the X-axis movable member along the X-axis.

In one embodiment of the feeding device of the present invention, the centering adjustment mechanism further includes:

The Z-axis movable part, the Z-axis movable part is arranged on the X-axis movable part, and the Z-axis movable part is controlled by the Z-axis drive mechanism to move along the Z-axis direction, and the material shaft is arranged on the Z-axis movable part. on the movable part of the shaft.

In one embodiment of the feeding device of the present invention, the Z-axis drive mechanism includes:

Z-axis motor, the Z-axis motor is arranged on the X-axis movable part;

A Z-axis transmission mechanism, the Z-axis transmission mechanism is configured to convert the rotational motion of the Z-axis motor into a linear motion to push the Z-axis movable member to move along the Z-axis.

In an embodiment of the feeding device of the present invention, the centering adjustment mechanism further includes a Z-axis guiding mechanism configured to guide the Z-axis movable member to move along the Z-axis.

In one embodiment of the feeding device of the present invention, the pushing mechanism includes:

A pusher, the pusher is arranged on the Z-axis movable member, and is configured to be controlled by a pusher driving mechanism for pushing the target loading member on the material shaft into the machine shaft.

In one embodiment of the feeding device of the present invention, the pushing drive mechanism includes:

A pusher motor, the push rod motor is arranged on the Z-axis movable part;

A pusher transmission mechanism, the pusher transmission mechanism is configured to convert the rotary motion of the pusher motor into linear motion to push the pusher to move.

In one embodiment of the feeding device of the present invention, the pushing mechanism includes:

The pusher is arranged on the base and is configured to be controlled by the pusher driving mechanism for pushing the target loading member on the material shaft into the machine shaft.

In one embodiment of the feeding device of the present invention, the detection element is an angle of view sensor, and the vision sensor is configured to collect the centering reference pattern set on the axis of the machine, and transmit it to the in the processor;

The processor is configured to compare the centering reference pattern collected by the visual sensor with the calibration centering reference pattern, and adjust the centering adjustment mechanism to adjust the material axis relative to the machine according to the comparison result. The table shaft moves perpendicular to the Y-axis direction until the material shaft and the machine shaft are aligned.

In an embodiment of the feeding device of the present invention, the detection element is configured to collect a centering reference pattern and transmit it to a processor of the feeding device;

The processor is configured to compare the centering reference pattern with the calibrated centering reference pattern to obtain a first distance in the X-axis direction, and control the centering adjustment mechanism to drive the material shaft to move along the X-axis direction for the first time. a distance;

The processor is further configured to compare the centering reference pattern with the calibrated centering reference pattern to obtain a second distance in the Z-axis direction, and control the centering adjustment mechanism to drive the material shaft to move along the Z-axis direction second distance.

In one embodiment of the feeding device of the present invention, the target feeding part is a shaft pole piece.

In a second aspect, the present invention provides a transporting device, the transporting device includes a transporting vehicle and the above-mentioned feeding device, and the base is arranged on the transporting vehicle.

The feeding device of the present invention includes a base, a material shaft, a docking adjustment mechanism, a centering adjustment mechanism and a material pushing mechanism. Among them, the material shaft is relatively arranged on the base, and is configured to be used for fitting the target material; the docking adjustment mechanism is configured to push the material shaft to move along the Y-axis direction to dock with the machine shaft, and the Y-axis direction Refers to the axial direction of the material shaft; the centering adjustment mechanism is configured to push the material shaft to move in a direction perpendicular to the Y axis to align with the machine axis; the pushing mechanism is configured to place the target on the material shaft The material is pushed onto the machine shaft.

It should be noted that "centering" means that the centerlines (axes) of the material shaft and the machine shaft are collinear, and "docking" means that the shaft end faces of the material shaft and the machine shaft are offset.

The feeding device reaches the machine shaft and can ensure that the axes of the material shaft and the machine shaft are basically parallel. If the material shaft and the machine shaft are aligned, the docking adjustment mechanism drives the material shaft along the Y-axis relative to the base. Move until the material shaft and the machine shaft are docked, and finally the pushing mechanism pushes the target loading piece on the material shaft until the shaft pole piece is pushed onto the machine shaft to complete the loading process of the target loading piece. If the material shaft and the machine shaft are not aligned, the centering adjustment mechanism adjusts the relative position of the material shaft and the machine shaft until the material shaft and the machine shaft are aligned, and then repeat the above steps to complete the loading of the target material.

It can be understood that the loading device can automatically complete the loading process of the target loading parts, saves the cost of manual loading, and can also avoid product damage or personnel accidents caused by the accidental drop of the target loading parts due to manual loading. The problem of injury can improve the safety and reliability of loading the target feeding parts.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

Fig. 1 is the structural representation of an embodiment of the feeding device provided by the present invention;

Fig. 2 to Fig. 5 are schematic diagrams of the front view, left view, right view and top view of the feeding device in Fig. 1 after the shell is hidden, wherein, part of the structure of the material shaft is hidden in Fig. 5;

Fig. 6 is the flow chart of the main steps of the control method of the feeding device provided by the present invention;

Fig. 7 is a schematic flowchart of detailed steps of the control method of the feeding device provided by the present invention.

The one-to-one correspondence between the names of the components and the reference signs in Figures 1 to 5 is as follows:

1 is a transport vehicle;

Butt adjustment mechanism:

2000 is the base, 2001 is the Y-axis moving parts, 2002 is the Y-axis motor, 2003 Y-axis rack, 2004 Y-axis gear, 2005 Y-axis reducer, 2006 Y-axis guide rail, 2007 Y-axis guide slider;

Centering adjustment mechanism:

2101 X-axis moving parts, 2102 X-axis motor, 2103 X-axis ball screw, 2104 screw bearing seat, 2105 X-axis reducer, 2106 X-axis guide rail, 2107 X-axis guide slider;

2201 Z-axis movable parts, 2202 Z-axis motor, 2203 Z-axis ball screw, 2204 Z-axis driving gear, 2205 Z-axis passive gear, 2206 Z-axis reducer, 2207 Z-axis guide rail, 2208 Z-axis guide slider;

Pushing mechanism:

2301 pusher, 2302 pusher motor, 2303 pusher ball screw, 2304 pusher driving gear, 2305 pusher passive gear, 2306 first pusher bearing seat, 2307 second pusher bearing seat;

2400 material shaft, 2401 material shaft seat, 2500 detection element;

3-axis pole pieces.

Detailed ways

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.

In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have different values.

It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

In order to automatically complete the loading of the target loading parts without human, the present invention provides a loading device.

It should be noted that, in order to facilitate a clear understanding, the "X-axis, Y-axis and Z-axis" used in this paper when describing the relative movement of the components of the feeding device is a spatial coordinate system established based on the axial direction of the material axis, where , the axis of the material axis is recorded as the Y axis, the axis perpendicular to the Y axis in the horizontal plane is recorded as the X axis, and the axis perpendicular to the horizontal plane is the Z axis.

The feeding device of the present invention includes a base, a material shaft, a docking adjustment mechanism, a centering adjustment mechanism and a material pushing mechanism. Among them, the material shaft is relatively arranged on the base, and is configured to be used to cover the pole piece of the shaft; the docking adjustment mechanism is configured to push the material shaft to move along the Y-axis direction to dock with the machine shaft, and the Y-axis direction is Refers to the axial direction of the material shaft; the centering adjustment mechanism is configured to push the material shaft to move in a direction perpendicular to the Y axis to align with the machine axis; the pushing mechanism is configured to feed the target on the material shaft Push the piece onto the machine shaft.

It should be noted that "centering" means that the centerlines (axes) of the material shaft and the machine shaft are collinear, and "docking" means that the shaft end faces of the material shaft and the machine shaft are offset.

The feeding device reaches the machine shaft and can ensure that the axes of the material shaft and the machine shaft are basically parallel. If the material shaft and the machine shaft are aligned, the docking adjustment mechanism drives the material shaft along the Y-axis relative to the base. Move until the material shaft and the machine shaft are docked, and finally the pushing mechanism pushes the shaft pole piece on the material shaft until the target loading part is pushed onto the machine shaft, and the feeding process of the shaft pole piece is completed. If the material shaft and the machine shaft are not aligned, the centering adjustment mechanism adjusts the relative position of the material shaft and the machine shaft until the material shaft and the machine shaft are aligned, and then repeat the above steps to complete the loading of the target material.

It can be understood that the loading device can automatically complete the loading process of the target loading parts, saves the cost of manual loading, and can also avoid product damage or personnel accidents caused by the accidental drop of the target loading parts due to manual loading. The problem of injury can improve the safety and reliability of loading the target feeding parts.

In order to facilitate a better understanding, the following article takes a specific implementation as an example in conjunction with Fig. 1 to Fig. 5, and uses the shaft pole piece as the target loading part to illustrate the specific structure and working principle of the handling equipment in detail. In order to facilitate understanding and keep the text concise, the specific structure and working principle of the feeding device will be explained together when describing the system, and will not be repeated separately.

It should be noted that, based on different usage scenarios, those skilled in the art can also use the loading device of the present invention to implement the loading task of other target loading parts except the shaft pole piece.

In this embodiment, the transport equipment includes a transport vehicle 1 and a feeding device. Wherein, the feeding device is used to push the shaft pole piece 3 on the material shaft 2400 into the machine shaft of the machine.

Among them, the shaft pole piece 3 is usually an intermediate shaft and an annular piece formed on the middle shaft. The intermediate shaft has a central hole. Usually, the specification of the shaft pole piece is named through the aperture of the central hole. For example, the shaft pole piece includes a three-inch Axis pole pieces and six-inch axis pole pieces, etc., that is, the aperture diameter of the center hole of the three-inch axis pole piece is 300mm, and the aperture diameter of the center hole of the six-inch axis pole piece is 600mm. The pole piece conveying system of the present invention is generally used for handling three-inch pole pieces.

The machine table is directly placed on the warehouse floor or fixed on the warehouse floor by chemical bolts. The machine shaft is a cantilever shaft fixed on the machine. The machine shaft generally extends approximately in the horizontal direction. The shaft diameter of the machine shaft is smaller than the center hole in the middle of the pole piece so that the handling robot can move The shaft pole piece is pushed onto the machine shaft.

Referring to Figures 1 to 5, the feeding device includes a base, a material shaft, a docking adjustment mechanism, a centering adjustment mechanism and a pushing mechanism.

In detail, the base 2000 in this embodiment is a flat plate, which is fixedly or detachably arranged on the transport vehicle 1 , and the base can even be integrally formed with the body of the transport vehicle 1 . That is to say, the feeding device in this embodiment can not only automatically complete the feeding process of the shaft pole piece, but also transfer the shaft pole piece from the shaft pole piece storage area of the warehouse to the shaft work area of the machine, which further improves the handling The level of automation of the pole pieces.

In detail, the transport vehicle 1 may specifically be an AGV transport vehicle, also commonly referred to as an AGV trolley. AGV trolley refers to a transport vehicle equipped with automatic navigation devices such as electromagnetic or optical, capable of driving along a prescribed navigation path, with safety protection and various transfer functions. A truck that does not require a driver in industrial applications uses a rechargeable battery as its power source. Generally, the computer can be used to control its travel path and behavior, or use the electromagnetic track (electromagnetic path-following system) to set up its travel path. The electromagnetic track is pasted on the ground, and the unmanned van relies on the information brought by the electromagnetic track. To move and act. Of course, the truck is not limited to the AGV truck, as long as it meets the requirements of driving and transporting materials on the ground according to the preset path under unmanned driving conditions.

Certainly, in some other embodiments, the transport vehicle 1 may also be a vehicle that requires manual driving.

The docking adjustment mechanism includes a Y-axis movable part 2001 , and the Y-axis movable part 2001 is controlled by a Y-axis driving mechanism to move relative to the base 2000 along the Y-axis direction.

The Y-axis drive mechanism includes a Y-axis motor 2002 and a Y-axis transmission mechanism. Wherein, the motor casing of the Y-axis motor 2002 is fixedly or detachably arranged on the Y-axis movable member 2001, and the Y-axis transmission mechanism is used to convert the rotational motion of the Y-axis motor into a linear motion to push the Y-axis movable member relative to each other. The base 2000 moves along the Y-axis direction.

In detail, in this embodiment, the Y-axis transmission mechanism includes a Y-axis rack 2003 and a Y-axis gear 2004 that mesh with each other. Wherein, the Y-axis rack 2003 is set on the base 2000 in a fixed or detachable manner and the Y-axis rack 2003 extends along the Y-axis direction, and the Y-axis gear 2004 is driven by the Y-axis motor 2002 to rotate and meshes with the Y-axis rack 2003 , to drive the Y-axis movable member 2001 to move relative to the base 2000 along the Y-axis direction.

When the Y-axis drive mechanism pushes the Y-axis movable part 2001 to move along the Y-axis direction to drive the material shaft 2400 to move along the Y-axis to dock with the machine shaft, due to the high speed of the existing motor, it is easy to cause damage to the Y-axis motor 2002 after starting. The material shaft 2400 and the machine shaft collide violently or cannot fine-tune the gap between the material shaft 2400 and the machine shaft in the Y-axis direction. Therefore, in this embodiment, the Y-axis motor 2002 and the Y-axis transmission mechanism pass through the Y-axis reducer 2005 Drive connection.

In detail, the power input shaft of the Y-axis reducer 2005 is connected to the power output shaft of the Y-axis motor 2002 through a coupling, and the power output shaft of the Y-axis reducer 2005 directly drives the Y-axis gear 2004 to rotate.

It can be understood that the Y-axis reducer 2005 can reduce the speed of the Y-axis motor 2002, so that the docking adjustment mechanism can push the material shaft 2400 to slowly move towards the machine axis, fine-tune the relative positions of the two in the Y-axis direction, and lower the material shaft 2400 and When the machine shafts are docked, they will cause impact to each other instantly.

In some other embodiments, the Y-axis transmission mechanism is a Y-axis ball screw transmission mechanism, and the Y-axis screw of the Y-axis ball screw transmission mechanism is rotatably arranged on the base 2000 through a bearing seat, and the Y-axis motor 2002 drives the Y-axis lead screw to rotate, and the Y-axis lead screw extends along the Y-axis direction. The Y-axis nut block of the Y-axis ball screw transmission mechanism is threadedly connected with the Y-axis lead screw and is used to drive the Y-axis movable part 2001 relative to the base 2000 moves along the Y axis.

In order to ensure the stability and consistency of the movement of the docking adjustment mechanism, in this embodiment, the docking adjustment mechanism further includes a Y-axis guide mechanism configured to guide the Y-axis movable member 2001 to move relative to the base 2000 along the Y-axis direction.

In detail, the Y-axis guide mechanism is a linear guide rail, and the Y-axis guide rail 2006 of the Y-axis guide mechanism is fixed or detachably arranged on the base 2000, and its Y-axis guide slider 2007 can be moved under the action of external force. It slides along the Y-axis guide track 2006, and the Y-axis guide slider 2007 is fixedly or detachably arranged on the Y-axis movable member 2001.

In some other embodiments, the Y-axis guide slider 2007 can also be integrally formed on the Y-axis movable member 2001 , that is to say, the Y-axis movable member 2001 is directly slidably connected to the Y-axis guide track 2006 .

The centering adjustment mechanism is configured to push the material shaft 2400 to move relative to the base 2000 in a direction perpendicular to the Y axis until the material shaft 2400 is aligned with the machine axis.

The centering adjustment mechanism includes an X-axis movable part 2101, and the X-axis movable part 2101 is arranged on the Y-axis movable part 2001, and the X-axis movable part 2101 is controlled by the X-axis driving mechanism to push the material shaft 2400 to move along the X-axis direction to adjust The relative position of the material axis 2400 in the X-axis direction relative to the machine axis.

The X-axis drive mechanism includes an X-axis motor 2102 and an X-axis transmission mechanism. The X-axis transmission mechanism is configured to convert the rotational motion of the X-axis motor 2102 into a linear motion to push the X-axis movable member 2101 along the X axis relative to the base 2000. axis, and then drive the material shaft 2400 to move relative to the base 2000 along the X-axis direction until the material shaft 2400 and the machine shaft are aligned in the X-axis direction.

The X-axis transmission mechanism includes an X-axis ball screw 2103. The X-axis ball screw 2103 is rotatably arranged on the Y-axis movable member 2001 through a screw bearing seat 2104 and extends along the X-axis direction. The motor housing of the X-axis motor 2102 The body is set on the Y-axis movable part 2001 in a fixed or detachable manner, and the power output shaft of the X-axis motor 2102 drives the X-axis ball screw 2103 to rotate, and the X-axis ball screw 2103 is threaded with a nut block. The block is fixedly or detachably arranged on the X-axis movable part 2101, the X-axis motor 2102 drives the X-axis ball screw 2103 to rotate, and then the nut block drives the X-axis movable part 2101 to move relative to the base 2000 along the X-axis direction , thereby pushing the material shaft 2400 to move relative to the base 2000 along the X-axis direction.

Of course, the nut block can also be directly integrally formed with the X-axis movable part 2101, that is to say, the threaded hole matching the X-axis ball screw 2103 can be directly processed on the X-axis movable part 2101, and the X-axis movable part 2101 can pass through The threaded hole is threadedly connected with the X-axis ball screw 2103.

When the X-axis drive mechanism pushes the X-axis movable part 2101 to move along the X-axis direction to drive the material shaft 2400 to move along the X-axis to dock with the machine shaft, due to the high speed of the existing motor, the X-axis motor 2102 cannot be fine-tuned after starting There is a gap in the X-axis direction between the material shaft 2400 and the machine shaft. Therefore, in this embodiment, the X-axis motor 2102 and the X-axis transmission mechanism are connected through the X-axis reducer 2105 .

In detail, the power input shaft of the X-axis reducer 2105 is connected to the power output shaft of the X-axis motor 2102 through a coupling, and the power output shaft of the X-axis reducer 2105 directly drives the X-axis ball screw 2103 to rotate.

It can be understood that the X-axis reducer 2105 can reduce the rotation speed of the X-axis motor 2102, so that the docking adjustment mechanism can push the material shaft 2400 to move slowly towards the machine axis, and fine-tune the relative positions of the two in the X-axis direction.

In some other embodiments, the X-axis transmission mechanism is a rack-and-pinion transmission mechanism, and the gears of the rack-and-pinion transmission mechanism are rotatably arranged on the upper X-axis movable member 2101 through a matching bearing seat and a rotating bearing, and the X-axis The motor 2102 drives the gear to rotate. The X-axis motor 2102 is fixed or detachable on the X-axis movable part 2101. The rack of the rack-and-pinion transmission mechanism meshes with the gear and is fixed or detachable on the Y-axis. Activities 2001 on.

Likewise, in order to ensure the stability and consistency of the movement of the docking adjustment mechanism, in this embodiment, the docking adjustment mechanism further includes an X-axis guide mechanism configured to guide the X-axis movable member 2101 to move relative to the base 2000 along the X-axis direction.

In detail, the X-axis guide mechanism is a linear guide rail, the X-axis guide track 2106 of the X-axis guide mechanism is fixed or detachably arranged on the Y-axis movable member 2001, and the X-axis guide slider 2107 is acted on by an external force. The bottom can slide along the X-axis guide track 2106 , and the X-axis guide slider 2107 is fixedly or detachably arranged on the X-axis movable member 2101 .

In some other embodiments, the X-axis guide slider 2107 can also be integrally formed on the X-axis movable member 2101 , that is to say, the X-axis movable member 2101 is directly slidably connected to the X-axis guide rail 2106 .

The centering adjustment mechanism also includes a Z-axis movable part 2201. The Z-axis movable part 2201 is arranged on the X-axis movable part 2101, and the Z-axis movable part 2201 is controlled by the Z-axis driving mechanism to push the material shaft 2400 to move along the Z-axis direction, so as to Adjust the relative position of the material axis 2400 in the Z-axis direction relative to the machine axis.

The Z-axis drive mechanism includes a Z-axis motor 2202 and a Z-axis transmission mechanism. The Z-axis transmission mechanism is configured to convert the rotational motion of the Z-axis motor 2202 into a linear motion to push the Z-axis movable member 2201 along the Z axis relative to the base 2000. axis, and then drive the material shaft 2400 to move relative to the base 2000 along the Z-axis direction until the material shaft 2400 and the machine shaft are aligned in the Z-axis direction.

The Z-axis transmission mechanism includes a Z-axis ball screw 2203. The Z-axis ball screw 2203 is rotatably arranged on the X-axis movable member 2101 through a screw bearing seat and extends along the Z-axis direction. The motor housing of the Z-axis motor 2202 It is fixedly or detachably arranged on the X-axis movable part 2101, and the power output shaft of the Z-axis motor 2202 drives the Z-axis ball screw 2203 to rotate, and the Z-axis ball screw 2203 is threaded with a nut block, and the nut block fixedly or detachably arranged on the Z-axis movable part 2201, the Z-axis motor 2202 drives the Z-axis ball screw 2203 to rotate, and then the nut block drives the Z-axis movable part 2201 to move relative to the base 2000 along the Z-axis direction, Thus, the material shaft 2400 is pushed to move along the Z-axis relative to the base 2000 .

Of course, the nut block can also be directly integrally formed with the Z-axis movable part 2201, that is to say, the Z-axis movable part 2201 can be directly machined into a threaded hole matching the Z-axis ball screw 2203, and the Z-axis movable part 2201 can pass through The threaded hole is threadedly connected with the Z-axis ball screw 2203.

When the Z-axis driving mechanism pushes the Z-axis movable part 2201 to move along the Z-axis direction to drive the material shaft 2400 to move along the Z-axis to connect with the machine shaft, due to the high speed of the existing motor, the Z-axis motor 2202 cannot be fine-tuned after starting There is a gap in the Z-axis direction between the material shaft 2400 and the machine shaft. For this reason, the Z-axis motor 2202 and the Z-axis transmission mechanism are connected through a Z-axis reducer 2206 in this embodiment.

Furthermore, the X-axis movable part is a frame structure composed of a base, a column and a top beam. The base is controlled by the X-axis drive mechanism to drive the column and the top beam to move along the X-axis direction relative to the base 2000. The base is guided by the X-axis. It is connected to the Y-axis movable member 2001 so as to be slidable along the X-axis direction.

In detail, the power input shaft of the Z-axis reducer 2206 and the power output shaft of the Z-axis motor 2202 are connected through a coupling, and the power output shaft of the Z-axis reducer 2206 is connected to the top beam through the motor bearing seat, and the Z-axis The ball screw 2203 is also rotatably connected to the base and the top beam through the screw bearing seat, the Z-axis motor 2202 and the Z-axis ball screw 2203 are arranged side by side along the Z-axis, and the power output shaft of the Z-axis reducer 2203 is driven and connected with The Z-axis driving gear 2204 and the Z-axis driven gear 2205 meshing with the Z-axis driving gear 2204 are fixedly connected with the Z-axis ball screw 2203 .

It can be understood that the Z-axis reducer 2205 can reduce the speed of the Z-axis motor 2202, so that the docking adjustment mechanism can push the material shaft 2400 to move slowly towards the machine axis, and fine-tune the relative positions of the two in the Z-axis direction.

In addition, the Z-axis motor 2202 and the Z-axis reducer 2205 are arranged side by side with the Z-axis ball screw 2203, which can control the height of the X-axis movable part 2101 in the Z-axis direction and ensure the stability of the overall structure of the feeding device.

In other embodiments, the feeding device can also omit the Z-axis reducer 2206, and the Z-axis motor 2202 and the Z-axis ball screw 2203 are arranged side by side, and the two are connected through the Z-axis driving gear 2204 and the Z-axis driven gear 2205. .

In some other embodiments, the Z-axis transmission mechanism is a rack-and-pinion transmission mechanism, and the gears of the rack-and-pinion transmission mechanism are rotatably arranged on the upper Z-axis movable member 2201 through a matching bearing seat and a rotating bearing, and the Z-axis The motor 2202 drives the gear to rotate, and the Z-axis motor 2202 is fixedly or detachably arranged on the Z-axis movable member 2201. On the movable part 2101.

Likewise, in order to ensure the stability and consistency of the movement of the docking adjustment mechanism, in this embodiment, the docking adjustment mechanism further includes a Z-axis guide mechanism configured to guide the Z-axis movable member 2201 to move relative to the base 2000 along the Z-axis direction.

In detail, the Z-axis guide mechanism is a linear guide rail, and the Z-axis guide track 2207 of the Z-axis guide mechanism is fixed or detachably arranged on the Z-axis movable member 2201, and its Z-axis guide slider 2208 is acted on by an external force. The bottom can slide along the Z-axis guide track 2207 , and the Z-axis guide slider 2208 is fixedly or detachably arranged on the Z-axis movable member 2201 .

In some other embodiments, the Z-axis guide slider 2208 can also be integrally formed on the Z-axis movable member 2201 , that is to say, the Z-axis movable member 2201 is directly slidably connected to the Z-axis guide rail 2207 .

The pusher includes a pusher 2301, which is arranged on the Z-axis movable member 2201, and the pusher 2301 is controlled by the pusher drive mechanism to push the shaft pole piece 3 on the material shaft 2400 into the machine shaft.

In detail, the material shaft 2400 is fixedly or detachably arranged on the Z-axis movable member 2201 through the material shaft seat 2401 . The pushing member 2301 is slidably arranged on the material shaft seat 2401 .

The pusher drive mechanism includes a pusher motor 2302 and a pusher transmission mechanism, and the pusher transmission mechanism is configured to convert the rotary motion of the pusher motor 2302 into a linear motion to push the pusher 2301 relative to the extension direction of the material shaft 2400 Movement, to push the shaft pole piece 3 on the material shaft 2400 into the machine shaft.

The pusher transmission mechanism includes a pusher ball screw 2303, and the pusher ball screw 2303 is rotatably arranged on the Z-axis movable member 2201 through the first pusher bearing seat 2306 and the second pusher bearing seat 2307 and along the pusher direction. Extension, the motor casing of the pusher motor 2302 is fixedly or detachably arranged on the Z-axis movable member 2201, and the power output shaft of the pusher motor 2202 drives the pusher ball screw 2303 to rotate, and the pusher ball screw 2303 is threadedly connected with a nut block, and the nut block is fixedly or detachably arranged on the pusher 2301, and the pusher motor 2302 drives the pusher ball screw 2303 to rotate, and then the nut block drives the pusher 2301 relative to The material shaft 2400 moves along the pushing direction, thereby pushing the pole piece 3 on the material shaft 2400 onto the machine shaft.

Of course, the nut block can also be integrally formed directly with the pusher 2301, that is to say, the pusher 2301 can be directly processed with a threaded hole matching the pusher ball screw 2303, and the pusher 2301 passes through the threaded hole It is threadedly connected with the pushing ball screw 2303.

The pusher motor 2302 and the pusher ball screw 2303 are arranged side by side along the extension direction of the material shaft 2400, and the power output shaft drive of the pusher motor 2302 is connected with the pusher driving gear 2304, and the pusher drive gear 2304 meshes with the pusher drive gear 2304 The gear 2305 is fixedly connected with the pushing ball screw 2303.

The material pushing motor 2302 and the material pushing ball screw 2303 are arranged side by side, which can control the size of the feeding device in the Y-axis direction and ensure that the overall structure of the feeding device is relatively compact.

In some other embodiments, the pushing transmission mechanism is a rack and pinion transmission mechanism, and the gears of the rack and pinion transmission mechanism are rotatably arranged on the Z-axis movable member 2201 through a matching bearing seat and a rotating bearing, and the pushing material The motor 2302 drives the gear to rotate, and the pushing motor 2302 is set on the pushing member 2301 in a fixed or detachable manner. Part 2201 or material shaft seat 2401.

In this embodiment, both the pusher 2301 and the pusher driving mechanism are arranged on the Z-axis movable member 2201, so that when the centering adjustment mechanism and the docking adjustment mechanism adjust the position of the material shaft relative to the base 2000, the pusher 2301 is also It moves with the overall structure so that its relative position with the material shaft 2400 is basically kept fixed, so that the shaft pole piece 3 can be pushed into the machine shaft accurately, and the overall structure of the feeding device is compact, which meets the current requirements for the small size of the feeding device. customized design requirements.

According to another embodiment of the present invention, both the pushing member 2301 and the pushing driving mechanism of the present invention are arranged on the base 2000 . When the centering adjustment mechanism and the docking adjustment mechanism adjust the position of the material shaft 2400 relative to the machine shaft, the pushing mechanism remains motionless relative to the material shaft 2400 . After the material shaft 2400 and the machine shaft are both centered and docked, the pushing member 2301 of the pushing mechanism can push the shaft pole piece 3 on the material shaft 2400 into the machine shaft under the driving action of its pushing driving mechanism.

In order to further improve the intelligence level of the feeding device, the feeding device of this embodiment further includes a detection element configured to detect whether the material shaft 2400 is aligned with the machine shaft.

In detail, the detection element 2500 is specifically a visual sensor, and the visual sensor is configured to collect the centering reference pattern set on the axis of the machine, and transmit it to the processor of the feeding device;

The processor of the feeding device is configured to compare the centering reference pattern collected by the visual sensor with the calibration centering reference pattern stored in the processor, and adjust the material axis 2400 according to the comparison result by the centering adjustment mechanism. Relative to the axis of the machine, move perpendicular to the direction of the Y axis until the material axis 2400 is aligned with the axis of the machine. Wherein, the calibration alignment reference pattern is the alignment reference pattern collected when the material shaft and the machine shaft are aligned.

In detail, the detection element is configured to collect the centering reference pattern and transmit it to the processor of the feeding device.

The processor is configured to compare the centering reference pattern with the calibrated centering reference pattern to obtain a first distance in the X-axis direction, and control the centering adjustment mechanism to drive the material shaft to move the first distance along the X-axis direction.

The processor is also configured to compare the centering reference pattern with the calibration centering reference pattern to obtain a second distance along the Z-axis direction, and control the centering adjustment mechanism to drive the material shaft to move along the Z-axis direction for the second distance.

When the actually captured alignment reference pattern does not coincide with the calibrated alignment reference pattern stored in the processor, the processor calculates the distance between the two in the X-axis and Z-axis directions, and then controls the X-axis drive mechanism to push the material axis 2400 moves along the X-axis direction until the two coincide on the X-axis coordinate, and then controls the Z-axis driving mechanism to push the material shaft 2400 to move along the Z-axis direction until the two coincide on the Z-axis coordinate. The centering reference figure and the calibration centering reference figure stored in the processor completely overlap, indicating that the material shaft 2400 is aligned with the machine shaft.

For example, the alignment reference figure is a cross "ten", wherein the horizontal line is the X-axis coordinate, the vertical line is the Z-axis coordinate, and the intersection point of the horizontal line and the vertical line is the center point of the peripheral end surface of the machine shaft.

In some other embodiments, the centering reference pattern may be a dot located on the peripheral end surface of the machine shaft, and the centering adjustment mechanism adjusts the relative positions of the material shaft 2400 and the machine shaft until the dot is used as a reference. The material shaft 2400 is aligned with the machine shaft.

Referring to Fig. 6, the control method of the feeding device of the present invention comprises the following main steps:

S1000, detecting whether the material shaft and the machine shaft are aligned;

When it is detected that the material shaft and the machine shaft are aligned, step S2000 is executed;

When it is detected that the material shaft and the machine shaft are not aligned, step S4000 is executed;

S2000. The docking adjustment mechanism drives the material shaft to move along the Y-axis until the material shaft is docked with the machine shaft;

S3000. The pushing mechanism pushes the shaft pole piece on the material shaft into the machine shaft;

S4000. The centering adjustment mechanism drives the material shaft to move in a direction perpendicular to the Y axis until the material shaft and the machine shaft are aligned, and returns to step S1000.

In order to facilitate a better understanding, the specific control process of the control method will be described in detail below by taking a specific embodiment as an example with reference to FIG. 7 .

Referring to Figure 7, in this embodiment, the control method includes the following steps:

S1000, detecting whether the material shaft and the machine shaft are aligned;

The method for detecting whether the material shaft and the machine shaft are aligned in step S1000 includes the following steps:

S1001. Collect the centering reference graphics of the machine shaft;

It should be noted that the centering reference figure refers to a figure for marking the center position of the peripheral end surface of the machine shaft.

In some embodiments, the centering reference figure is a cross "ten", wherein the horizontal line is the X-axis coordinate, the vertical line is the Z-axis coordinate, and the intersection of the horizontal line and the vertical line is the center point of the peripheral end surface of the machine shaft.

In some other embodiments, the centering reference pattern may be a dot located on the peripheral end surface of the machine shaft, and the centering adjustment mechanism adjusts the relative position of the material shaft 2400 and the machine shaft with the dot as a reference until the material shaft 2400 Shaft 2400 is aligned with the machine shaft.

S1002. Compare whether the collected alignment reference pattern and the calibration alignment reference pattern overlap, wherein the standard alignment reference pattern is the alignment reference pattern collected when the material shaft and the machine shaft are aligned;

When the collected alignment reference graphics coincide with the calibration reference graphics, it means that the material shaft and the machine shaft are aligned;

When the collected alignment reference graphics and the calibration reference graphics do not coincide, it means that the material shaft and the machine shaft are not aligned.

When it is detected that the material shaft and the machine shaft are aligned, step S2000 is executed;

When it is detected that the material shaft and the machine shaft are not aligned, step S4000 is executed;

S2000. The docking adjustment mechanism drives the material shaft to move along the Y-axis until the material shaft is docked with the machine shaft;

S3000. The pushing mechanism pushes the shaft pole piece on the material shaft onto the machine shaft.

S4000. The centering adjustment mechanism drives the material shaft to move in a direction perpendicular to the Y axis until the material shaft and the machine shaft are aligned, and returns to step S1000.

Step S4000 specifically includes:

S4001. Calculate the first distance in the X-axis direction between the collected alignment reference graphic and the calibrated alignment reference graphic;

S4002. The centering adjustment mechanism drives the material shaft to move a first distance along the X-axis direction;

S4003. Calculate the second distance in the Z-axis direction between the collected alignment reference graphic and the calibrated alignment reference graphic;

S4004. The centering adjustment mechanism drives the material shaft to move a second distance along the Z-axis direction, and returns to step S1001.

In order to further improve the automatic control level of the shaft pole piece handling system, in this embodiment, between step S1000, the control method further includes the following steps:

Install the pole piece to be transferred on the material shaft in the pole piece storage area, and then transfer the pole piece from the pole piece storage area to the workstation area where the machine shaft is located.

Having described various embodiments of the present invention, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principle of each embodiment, practical application or technical improvement in the market, or to enable other ordinary skilled in the art to understand each embodiment disclosed herein. The scope of the invention is defined by the appended claims.

Claims (18)

1. Feeding device, its characterized in that includes:

a base (2000);

-a spindle (2400), which spindle (2400) is arranged opposite to the base (2000) and is configured for sheathing a target feed;

the butt joint adjusting mechanism is configured to push the material shaft (2400) to move along a Y-axis direction to butt joint with the machine shaft, and the Y-axis direction refers to the axial direction of the material shaft (2400);

a centering adjustment mechanism configured to push the material shaft (2400) to move in a direction perpendicular to the Y-axis to be centered with the machine axis;

and the pushing mechanism is configured to push the target feeding piece on the feeding shaft (2400) into the machine shaft.

2. The feeding device of claim 1, wherein the feeding device further comprises:

a detection element (2500), the detection element (2500) being configured for detecting whether the stock shaft (2400) and the machine shaft are centered;

when the material shaft (2400) and the machine platform shaft detected by the detection element (2500) are in a centering state, the butt joint adjusting mechanism pushes the material shaft (2400) to move to butt joint with the machine platform shaft, and the pushing mechanism pushes a target feeding piece on the material shaft (2400) into the machine platform shaft.

3. The feeding device of claim 2, wherein the docking adjustment mechanism comprises:

and the Y-axis movable part (2001), the Y-axis movable part (2001) is controlled by a butt joint driving mechanism to move along the Y-axis direction relative to the base (2000), and the material shaft (2400) is oppositely arranged on the Y-axis movable part (2001).

4. A loading device as recited in claim 3, wherein the docking drive mechanism comprises:

a Y-axis motor (2002), the Y-axis motor (2002) being disposed on the base (2000);

and the Y-axis transmission mechanism is configured to convert the rotary motion of the Y-axis motor (2002) into linear motion to push the Y-axis movable piece (2001) to move along the Y-axis direction.

5. A feeding device according to claim 3, wherein the docking drive mechanism further comprises a Y-axis guide mechanism configured for guiding the Y-axis movement of the Y-axis mover (2001) along the Y-axis.

6. A loading device as recited in claim 3, wherein the centering adjustment mechanism comprises:

an X-axis movable member (2101), wherein the X-axis movable member (2101) is arranged on the Y-axis movable member (2001), the X-axis movable member (2101) is controlled by an X-axis driving mechanism to move along the X-axis direction, and the material shaft (2400) is oppositely arranged on the X-axis movable member (2101).

7. The loading device of claim 6, wherein the X-axis drive mechanism comprises:

an X-axis motor (2102), the X-axis motor (2102) being provided on the Y-axis moving member (2001);

an X-axis transmission mechanism configured to convert a rotational motion of the X-axis motor (2102) into a linear motion to push the X-axis movable member (2101) to move along an X-axis.

8. The loading device of claim 6, wherein the centering adjustment mechanism further comprises an X-axis guide mechanism configured to guide the X-axis movable member (2101) along an X-axis.

9. The loading device of claim 6, wherein the centering adjustment mechanism further comprises:

the Z-axis moving part (2201), the Z-axis moving part (2201) is arranged on the X-axis moving part (2101), the Z-axis moving part (2201) is controlled by a Z-axis driving mechanism to move along the Z-axis direction, and the material shaft (2401) is arranged on the Z-axis moving part (2201).

10. The loading device of claim 9, wherein the Z-axis drive mechanism comprises:

a Z-axis motor (2202), the Z-axis motor (2202) being disposed on the X-axis movable member (2101);

and the Z-axis transmission mechanism is configured to convert the rotary motion of the Z-axis motor (2202) into linear motion to push the Z-axis movable piece (2201) to move along the Z axis.

11. The loading device of claim 9, wherein the centering adjustment mechanism further comprises a Z-axis guide mechanism configured to guide the Z-axis movable member (2201) along a Z-axis.

12. The feeding device of claim 9, wherein the pushing mechanism comprises:

-a pushing member (2301), the pushing member (2301) being arranged on the Z-axis movable member (2201) and being configured to be controlled by a pushing drive mechanism for pushing a target feeding member on the feeding shaft (2400) into a machine shaft.

13. The loading device of claim 12, wherein the pushing drive mechanism comprises:

a pushing motor (2302), wherein the pushing motor (2302) is arranged on the Z-axis movable piece (2201);

a pushing transmission mechanism configured to convert a rotational motion of the pushing motor (2302) into a linear motion to push the pushing member (2301) to move.

14. The feeding device of any one of claims 1 to 13, wherein the pushing mechanism comprises:

and a pushing member arranged on the base (2000) and configured to be controlled by a pushing driving mechanism for pushing the target feeding member on the feeding shaft (2400) into the machine shaft.

15. The loading device according to any one of claims 2 to 13, wherein the detection element (2500) is a viewing angle sensor configured for acquiring a centering reference pattern provided on the machine axis and transmitting into a processor of the loading device;

the processor is configured to compare the centering reference pattern acquired by the vision sensor with the calibration centering reference pattern, and control the centering adjustment mechanism to adjust the movement of the material shaft (2400) relative to the machine shaft in the direction perpendicular to the Y-axis until the material shaft (2400) and the machine shaft are centered according to the comparison result.

16. The loading device of any one of claims 2 to 13, wherein the detection element is configured to collect a centering reference pattern and transmit it to a processor of the loading device;

the processor is configured to compare the centering reference pattern with the calibration centering reference pattern to obtain a first distance in the X-axis direction, and control the centering adjustment mechanism to drive the material shaft to move along the X-axis direction by the first distance;

the processor is further configured to compare the centering reference pattern with the calibrated centering reference pattern to obtain a second distance in the Z-axis direction, and control the centering adjustment mechanism to drive the material shaft to move along the Z-axis direction by the second distance.

17. Feeding device according to any one of claims 1 to 13, wherein the target feeding member is an axial pole piece (3).

18. Handling equipment, characterized in that it comprises a trolley (1) and a loading device according to any one of claims 1 to 17, said base (2000) being arranged on said trolley (1).

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