CN116177188A - Loading attachment and handling equipment - Google Patents

Abstract

The invention discloses a feeding device and carrying equipment, wherein the device comprises a base, a material shaft is oppositely arranged on the base and is configured to be used for sleeving a shaft pole piece; the docking adjusting 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 along the direction vertical to the Y-axis to be centered with the machine shaft; the pushing mechanism is configured to push a target feed piece on the feed shaft onto the machine shaft. The device can accomplish the material loading process of target material loading spare automatically, has saved artifical material loading cost, can also avoid because of the unexpected problem that falls of causing the product damage or personnel to hurt of target material loading spare because of the operation carelessly when artifical material loading, can improve the security and the reliability of target material loading spare material loading.

Description

Loading attachment and handling equipment

Technical Field

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

Background

The front-stage working procedures of the manufacturing process of the lithium battery relate to the material taking, transferring and feeding of the shaft pole piece, graphite dust can be generated in the front-stage working procedures of the production of the lithium battery, and if the production personnel are not protected, the personnel health can be endangered. With the rapid development of intelligent manufacturing in recent years, unmanned requirements are put forward on the handling of pole pieces.

Disclosure of Invention

The invention provides a feeding device for realizing unmanned automatic conveying of a target feeding piece.

The feeding device of the invention comprises:

a base;

a spindle oppositely disposed on the base and configured for nesting a target load;

the butt joint adjusting mechanism is configured to push the material shaft to move along the Y-axis direction to butt joint 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 along the direction vertical to the Y axis to be centered with the machine shaft;

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

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

the detection element is configured to detect whether the material shaft and the machine shaft are centered or not;

and based on the fact that the material shaft and the machine table shaft detected by the detection element are in a centering state, the butt joint adjusting mechanism pushes the material shaft to move to butt joint with the machine table shaft, and the material pushing mechanism pushes a target material loading piece on the material shaft into the machine table shaft.

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

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

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

the Y-axis motor is arranged on the base;

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

In one embodiment of the feeding device, the butt joint driving mechanism further comprises a Y-axis guiding mechanism, and the Y-axis guiding mechanism is configured to guide the Y-axis movable piece 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 piece is arranged on the Y-axis movable piece, the X-axis movable piece is controlled by an X-axis driving mechanism to move along the X-axis direction, and the material shaft is oppositely arranged on the X-axis movable piece.

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

the X-axis motor is arranged on the Y-axis movable piece;

and the X-axis transmission mechanism is configured to convert the rotary motion of the X-axis motor into linear motion to push the X-axis movable piece to move along the X axis.

In one embodiment of the feeding device of the present invention, the centering adjustment mechanism further includes an X-axis guiding mechanism configured to guide 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:

the Z-axis movable piece is arranged on the X-axis movable piece, the Z-axis movable piece is controlled by the Z-axis driving mechanism to move along the Z-axis direction, and the material shaft is arranged on the Z-axis movable piece.

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

the Z-axis motor is arranged on the X-axis movable piece;

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

In one 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 moving member to move along the Z-axis.

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

and the pushing piece is arranged on the Z-axis movable piece and is configured to be controlled by a pushing driving mechanism for pushing the target feeding piece on the material shaft into the machine table shaft.

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

the pushing motor is arranged on the Z-axis movable piece;

and the pushing transmission mechanism is configured to convert the rotary motion of the pushing motor into linear motion to push the pushing piece to move.

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

and the pushing piece is arranged on the base and is configured to be controlled by a pushing driving mechanism for pushing the target feeding piece on the feeding shaft into the machine table shaft.

In one embodiment of the feeding device, the detection element is a visual angle sensor, and the visual angle sensor is configured to collect a centering reference pattern arranged on the machine platform shaft and transmit the centering reference pattern to a processor of the feeding device;

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

In one embodiment of the feeding device of the present invention, the detection element is configured for acquiring the centering reference pattern and transmitting it to the processor of the feeding 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.

In one embodiment of the feeding device of the present invention, the target feeding member is a shaft sheet.

In a second aspect, the invention provides a carrying device, which comprises a carrying vehicle and the feeding device, wherein the base is arranged on the carrying vehicle.

The feeding device comprises a base, a material shaft, a butt joint adjusting mechanism, a centering adjusting mechanism and a pushing mechanism. Wherein the material shafts are oppositely arranged on the base and are configured for sleeving the target feeding piece; the docking adjusting 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 along the direction vertical to the Y-axis to be centered with the machine shaft; the pushing mechanism is configured to push a target feed piece on the feed shaft onto the machine shaft.

The term "centered" means that the center lines (axes) of both the material shaft and the machine shaft are collinear, and the term "abutted" means that the shaft end surfaces of both the material shaft and the machine shaft are abutted against each other.

The feeding device reaches the machine table shaft and can ensure that the axes of the feeding shaft and the machine table shaft are basically parallel, if the feeding shaft and the machine table shaft are centered, the butt joint adjusting mechanism drives the feeding shaft to move to butt joint the feeding shaft and the machine table shaft along the Y-axis direction relative to the base, and finally the pushing mechanism pushes the target feeding piece on the feeding shaft until the shaft pole piece is pushed onto the machine table shaft, so that the feeding process of the target feeding piece is completed. And if the material shaft and the machine shaft are not aligned, the alignment adjusting mechanism adjusts the relative positions of the material shaft and the machine shaft until the material shaft and the machine shaft are aligned, and then the steps are repeated to finish the feeding of the target feeding piece.

It can be understood that this loading attachment can accomplish the material loading process of target material loading spare voluntarily, has saved artifical material loading cost, can also avoid because of the unexpected problem that falls of causing the product damage or personnel injury of target material loading spare because of the operation carelessly when feeding, can improve the security and the reliability of target material loading spare material loading.

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 a schematic structural view of an embodiment of a feeding device provided by the invention;

fig. 2 to 5 are schematic views of front view, left view, right view and top view of the feeding device of fig. 1 with the housing removed, wherein a part of the structure of the feed shaft is removed in fig. 5;

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

fig. 7 is a detailed step flow diagram of a control method of a feeding device provided by the invention.

The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 5 is as follows:

1 is a carrier;

the butt joint adjusting mechanism comprises:

2000 is a base, 2001 is a Y-axis movable piece, 2002 is a Y-axis motor, 2003Y axis racks, 2004Y axis gears, 2005Y axis speed reducers, 2006Y axis guide rails and 2007Y axis guide sliding blocks;

centering adjustment mechanism:

2101 The X-axis moving part, a 2102X-axis motor, a 2103X-axis ball screw, a 2104-axis screw bearing seat, a 2105X-axis speed reducer, a 2106X-axis guide rail and a 2107X-axis guide slide block;

2201 The Z-axis moving part and 2202 are a Z-axis motor, a 2203Z-axis ball screw, a 2204Z-axis driving gear, a 2205Z-axis driven gear, a 2206Z-axis speed reducer, a 2207Z-axis guide rail and a 2208Z-axis guide sliding block;

and the pushing mechanism comprises a pushing mechanism:

2301 pushing piece, 2302 pushing motor, 2303 pushing ball screw, 2304 pushing driving gear, 2305 pushing driven gear, 2306 first pushing bearing seat and 2307 second pushing bearing seat;

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

and 3, a pole piece.

Detailed Description

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 arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

The invention provides a feeding device for automatically completing feeding of a target feeding piece in an unmanned manner.

For the sake of clarity, the terms "X-axis, Y-axis, and Z-axis" used herein to describe the relative movement of the components of the loading device are spatial coordinate systems established with reference to the axial direction of the material axis, where the axis of the material axis is denoted as the Y-axis, the axis perpendicular to the Y-axis in the horizontal plane is denoted as the X-axis, and the axis perpendicular to the horizontal plane is the Z-axis.

The feeding device comprises a base, a material shaft, a butt joint adjusting mechanism, a centering adjusting mechanism and a pushing mechanism. Wherein the material shaft is oppositely arranged on the base and is configured for sleeving the shaft pole piece; the docking adjusting 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 along the direction vertical to the Y-axis to be centered with the machine shaft; the pushing mechanism is configured to push a target feed piece on the feed shaft onto the machine shaft.

The term "centered" means that the center lines (axes) of both the material shaft and the machine shaft are collinear, and the term "abutted" means that the shaft end surfaces of both the material shaft and the machine shaft are abutted against each other.

The feeding device reaches the machine table shaft and can ensure that the axes of the feeding shaft and the machine table shaft are basically parallel, if the feeding shaft and the machine table shaft are centered, the butt joint adjusting mechanism drives the feeding shaft to move to the butt joint of the feeding shaft and the machine table shaft along the Y-axis direction relative to the base, and finally the pushing mechanism pushes the shaft pole piece on the feeding shaft until the target feeding piece is pushed onto the machine table shaft, so that the feeding process of the shaft pole piece is completed. And if the material shaft and the machine shaft are not aligned, the alignment adjusting mechanism adjusts the relative positions of the material shaft and the machine shaft until the material shaft and the machine shaft are aligned, and then the steps are repeated to finish the feeding of the target feeding piece.

It can be understood that this loading attachment can accomplish the material loading process of target material loading spare voluntarily, has saved artifical material loading cost, can also avoid because of the unexpected problem that falls of causing the product damage or personnel injury of target material loading spare because of the operation carelessly when feeding, can improve the security and the reliability of target material loading spare material loading.

For better understanding, a specific structure of the handling device and its working principle will be described in detail below with reference to fig. 1 to 5 by taking a specific embodiment as an example, and taking an axial pole piece as a target feeding member. In order to facilitate understanding and keep the text simple, the specific structure and working principle of the feeding device are described together when describing the system, and are not repeated separately.

It should be noted that, based on different usage scenarios, a person skilled in the art may also use the feeding device of the present invention to implement the feeding task of other target feeding pieces besides the axial pole piece.

In this embodiment, the handling apparatus includes a handling carriage 1 and a loading device. Wherein, loading attachment is used for pushing the epaxial pole piece 3 on its material axle 2400 onto the board axle of board.

The shaft pole piece 3 is usually an intermediate shaft and an annular piece formed on the intermediate shaft, the intermediate shaft is provided with a central hole, and the specification of the shaft pole piece is named by the aperture of the central hole in general, for example, the shaft pole piece comprises a three-inch shaft pole piece, a six-inch shaft pole piece and the like, namely, the aperture of the central hole of the three-inch shaft pole piece is 300mm, and the aperture of the central hole of the six-inch shaft pole piece is 600mm. The pole piece handling system of the present invention is generally used to handle three inch pole pieces.

The machine is directly placed on the warehouse floor or is fixed on the warehouse floor through chemical bolts. The machine table shaft is a cantilever shaft fixedly arranged on the machine table, and generally extends approximately horizontally, and the shaft diameter of the machine table shaft is smaller than the central hole in the middle of the shaft pole piece, so that the conveying robot can push the shaft pole piece on the material shaft of the conveying robot into the machine table shaft.

Referring to fig. 1 to 5, the feeding device includes a base, a 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 disposed on the truck 1, and may be formed integrally with the body of the truck 1. That is, the loading attachment not only can accomplish the material loading process of axle pole piece voluntarily in this embodiment, can also follow the axle pole piece storage area of warehouse and transport the axle pole piece to board axle work area, further improved the automation level of handling the axle pole piece.

In detail, the truck 1 may specifically be an AGV truck, which is also commonly referred to as an AGV dolly. The AGV car is a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions. In industrial applications, a carrier for a driver is not required, and a rechargeable storage battery is used as a power source. Generally, the traveling path and behavior of the vehicle can be controlled by a computer, or the traveling path can be established by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is stuck on the ground, and the vehicle is moved and operated by the information brought by the electromagnetic track. Of course, the truck is not limited to an AGV truck, as long as it is satisfied to travel the transport on the ground according to a preset path under the unmanned condition.

Of course, in other embodiments, the truck 1 may be a vehicle that requires manual driving.

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

The Y-axis drive mechanism includes a Y-axis motor 2002 and a Y-axis transmission. Wherein, the motor housing 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 for converting the rotation motion of the Y-axis motor into linear motion to push the Y-axis movable member to move along the Y-axis direction relative to the base 2000.

In detail, in the present embodiment, the Y-axis transmission mechanism includes a Y-axis rack 2003 and a Y-axis gear 2004 that are engaged with each other. Wherein, the Y-axis rack 2003 is fixedly or detachably arranged on the base 2000, 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 is meshed with the Y-axis rack 2003, so as to drive the Y-axis movable part 2001 to move along the Y-axis direction relative to the base 2000.

When the Y-axis driving mechanism pushes the Y-axis moving member 2001 to move along the Y-axis direction, so as to drive the material shaft 2400 to move along the Y-axis to butt against the machine axis, because the rotation speed of the existing motor is relatively high, the Y-axis motor 2002 is easy to cause violent impact between the material shaft 2400 and the machine axis or can not micro the gap between the material shaft 2400 and the machine axis in the Y-axis direction, so that in this embodiment, the Y-axis motor 2002 and the Y-axis driving mechanism are in driving connection through the Y-axis speed reducer 2005.

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

It will be appreciated that the Y-axis speed reducer 2005 can reduce the rotational speed of the Y-axis motor 2002 so that the docking adjustment mechanism pushes the shaft 2400 to move slowly toward the machine axis, fine-tuning the relative position of the two in the Y-axis direction, and reducing the impact force caused by the docking moment of the shaft 2400 and the machine axis to each other.

In other embodiments, the Y-axis transmission mechanism is a Y-axis ball screw transmission mechanism, a Y-axis screw of which is rotatably provided on the base 2000 through a bearing housing, and the Y-axis motor 2002 drives the Y-axis screw to rotate, the Y-axis screw extending in the Y-axis direction, and a Y-axis nut block of the Y-axis ball screw transmission mechanism is screw-coupled with the Y-axis screw and is used to drive the Y-axis movable member 2001 to move in the Y-axis direction with respect to the base 2000.

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 in the Y-axis direction with respect to the base 2000.

In detail, the Y-axis guiding mechanism is a linear guide, a Y-axis guiding rail 2006 of the Y-axis guiding mechanism is fixedly or detachably provided on the base 2000, a Y-axis guiding slider 2007 thereof is slidable along the Y-axis guiding rail 2006 under an external force, and the Y-axis guiding slider 2007 is fixedly or detachably provided on the Y-axis movable member 2001.

In other embodiments, the Y-axis guide slider 2007 may also be integrally formed on the Y-axis movable member 2001, that is, the Y-axis movable member 2001 is directly slidably coupled to the Y-axis guide rail 2006.

The centering adjustment mechanism is configured to urge the shaft 2400 to move relative to the base 2000 in a direction perpendicular to the Y-axis until the shaft 2400 is centered with respect to the machine axis.

The centering adjustment mechanism includes an X-axis movable member 2101, the X-axis movable member 2101 is provided on the Y-axis movable member 2001, and the X-axis movable member 2101 is controlled by an X-axis driving mechanism to push the material shaft 2400 to move in the X-axis direction so as to adjust the relative position of the material shaft 2400 with respect to the machine axis in the X-axis direction.

The X-axis driving mechanism includes an X-axis motor 2102 and 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 in an X-axis direction relative to the base 2000, and then drive the feed shaft 2400 to move in the X-axis direction relative to the base 2000 until the feed shaft 2400 and the machine shaft are centered 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 provided on the Y-axis moving member 2001 through a screw bearing block 2104 and extends in the X-axis direction, a motor housing of the X-axis motor 2102 is fixedly or detachably provided on the Y-axis moving member 2001, and a power output shaft of the X-axis motor 2102 drives the X-axis ball screw 2103 to rotate, a nut block is screwed to the X-axis ball screw 2103 and is fixedly or detachably provided on the X-axis moving member 2101, the X-axis motor 2102 drives the X-axis ball screw 2103 to rotate, and then the nut block drives the X-axis moving member 2101 to move in the X-axis direction relative to the base 2000, thereby pushing the feed shaft 2400 to move in the X-axis direction relative to the base 2000.

Of course, the nut block may be directly integrally formed with the X-axis movable element 2101, that is, the X-axis movable element 2101 may be directly provided with a threaded hole adapted to the X-axis ball screw 2103, and the X-axis movable element 2101 is screwed with the X-axis ball screw 2103 through the threaded hole.

When the X-axis driving mechanism pushes the X-axis moving member 2101 to move along the X-axis direction, so as to drive the material shaft 2400 to move along the X-axis to butt-joint with the machine axis, because the rotation speed of the existing motor is relatively high, the gap between the X-axis motor 2102 and the machine axis in the X-axis direction cannot be reduced after the X-axis motor 2102 is started, and for this purpose, the X-axis motor 2102 and the X-axis driving mechanism are in transmission connection through the X-axis speed reducer 2105.

Specifically, the power input shaft of the X-axis speed reducer 2105 and the power output shaft of the X-axis motor 2102 are connected by a coupling, and the power output shaft of the X-axis speed reducer 2105 directly drives the X-axis ball screw 2103 to rotate.

It will be appreciated that the X-axis speed reducer 2105 may reduce the rotational speed of the X-axis motor 2102 so that the docking adjustment mechanism pushes the shaft 2400 to slowly move toward the machine axis, thereby fine-tuning the relative position of the two in the X-axis direction.

In other embodiments, the X-axis transmission mechanism is a rack-and-pinion transmission mechanism, the gears of which are rotatably disposed on the upper X-axis movable member 2101 through the adapter bearing housing and the rotating bearing, and the X-axis motor 2102 drives the gears to rotate, and the X-axis motor 2102 is fixedly or detachably disposed on the X-axis movable member 2101, and the racks of which are engaged with the gears and fixedly or detachably disposed on the Y-axis movable member 2001.

Also, in order to secure stability and consistency of the movement of the docking adjustment mechanism, in the present embodiment, the docking adjustment mechanism further includes an X-axis guide mechanism configured to guide the X-axis movable member 2101 to move in the X-axis direction with respect to the base 2000.

In detail, the X-axis guide mechanism is a linear guide, an X-axis guide rail 2106 of the X-axis guide mechanism is fixedly or detachably provided on the Y-axis moving member 2001, an X-axis guide slider 2107 thereof is slidable along the X-axis guide rail 2106 under an external force, and the X-axis guide slider 2107 is fixedly or detachably provided on the X-axis moving member 2101.

In other embodiments, the X-axis guide slider 2107 may be integrally formed with the X-axis movable member 2101, i.e., the X-axis movable member 2101 is directly slidably coupled to the X-axis guide rail 2106.

The centering adjustment mechanism further comprises a Z-axis movable member 2201, the Z-axis movable member 2201 is arranged on the X-axis movable member 2101, and the Z-axis movable member 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 shaft 2400 relative to the machine platform shaft in the Z-axis direction.

The Z-axis driving mechanism includes a Z-axis motor 2202 and a Z-axis transmission mechanism, and the Z-axis transmission mechanism is configured to convert a rotational motion of the Z-axis motor 2202 into a linear motion to push the Z-axis movable member 2201 to move in a Z-axis direction relative to the base 2000, and then drive the material shaft 2400 to move in the Z-axis direction relative to the base 2000 until the material shaft 2400 and the machine shaft are centered 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 disposed on the X-axis movable member 2101 through a screw bearing block and extends in the Z-axis direction, a motor housing of the Z-axis motor 2202 is fixedly or detachably disposed on the X-axis movable member 2101, and a power output shaft of the Z-axis motor 2202 drives the Z-axis ball screw 2203 to rotate, a nut block is screwed on the Z-axis ball screw 2203 and is fixedly or detachably disposed on the Z-axis movable member 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 member 2201 to move in the Z-axis direction relative to the base 2000, thereby pushing the material shaft 2400 to move in the Z-axis direction relative to the base 2000.

Of course, the nut block may also be formed directly with the Z-axis movable member 2201 integrally, that is, a threaded hole adapted to the Z-axis ball screw 2203 may be directly formed in the Z-axis movable member 2201, and the Z-axis movable member 2201 is screwed with the Z-axis ball screw 2203 through the threaded hole.

When the Z-axis driving mechanism pushes the Z-axis movable member 2201 to move along the Z-axis direction, so as to drive the material shaft 2400 to move along the Z-axis to butt-joint with the machine axis, because the rotation speed of the existing motor is relatively high, the gap between the Z-axis motor 2202 and the machine axis in the Z-axis direction cannot be reduced after the Z-axis motor 2202 is started, and for this purpose, the Z-axis motor 2202 and the Z-axis driving mechanism are in transmission connection through the Z-axis speed reducer 2206.

Further, the X-axis movable member is a frame structure formed by a base, an upright and a top beam, the base is controlled by the X-axis driving mechanism to drive the upright and the top beam to move along the X-axis direction relative to the base 2000, and the base is slidably connected to the Y-axis movable member 2001 along the X-axis direction by an X-axis guiding mechanism.

In detail, a power input shaft of the Z-axis speed reducer 2206 and a power output shaft of the Z-axis motor 2202 are connected through a coupling, the power output shaft of the Z-axis speed reducer 2206 is rotationally connected to a top beam through a motor bearing seat, the Z-axis ball screw 2203 is rotationally connected to a base and the top beam through a 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 speed reducer 2203 is in driving connection with a Z-axis driving gear 2204, and a Z-axis driven gear 2205 meshed with the Z-axis driving gear 2204 is fixedly connected with the Z-axis ball screw 2203.

It will be appreciated that the Z-axis speed reducer 2205 may reduce the rotational speed of the Z-axis motor 2202 so that the docking adjustment mechanism pushes the shaft 2400 to slowly move toward the machine axis, thereby fine-tuning the relative position of the two in the Z-axis direction.

In addition, the Z-axis motor 2202 and the Z-axis speed reducer 2205 are arranged side by side with the Z-axis ball screw 2203, so that the height dimension of the X-axis movable piece 2101 in the Z-axis direction can be controlled, and the stability of the whole structure of the feeding device is ensured.

In other embodiments, the feeding device may omit the Z-axis reducer 2206, where the Z-axis motor 2202 and the Z-axis ball screw 2203 are disposed side by side and are in transmission connection with each other through the Z-axis driving gear 2204 and the Z-axis driven gear 2205.

In other embodiments, the Z-axis drive mechanism is a rack and pinion drive mechanism, the gears of which are rotatably disposed on the upper Z-axis movable member 2201 through the adapter bearing housing and the rotating bearing, and the Z-axis motor 2202 drives the gears to rotate, and the Z-axis motor 2202 is fixedly or detachably disposed on the Z-axis movable member 2201, the racks of which are engaged with the gears, and fixedly or detachably disposed on the X-axis movable member 2101.

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

In detail, the Z-axis guide mechanism is a linear guide, a Z-axis guide rail 2207 of the Z-axis guide mechanism is fixedly or detachably disposed on the Z-axis movable member 2201, a Z-axis guide slider 2208 thereof is slidable along the Z-axis guide rail 2207 under an external force, and the Z-axis guide slider 2208 is fixedly or detachably disposed on the Z-axis movable member 2201.

In other embodiments, the Z-axis guide slider 2208 can also be integrally formed with the Z-axis movable member 2201, i.e., the Z-axis movable member 2201 can be directly slidably coupled to the Z-axis guide rail 2207.

The pushing comprises a pushing piece 2301, the pushing piece 2301 is arranged on the Z-axis movable piece 2201, and the pushing piece 2301 is controlled by a pushing driving mechanism to push the pole piece 3 on the material shaft 2400 into the machine shaft.

In detail, the spindle 2400 is fixedly or removably disposed on the Z-axis movable member 2201 by a spindle base 2401. The pusher 2301 is slidably disposed on the cartridge holder 2401.

The pushing driving mechanism includes a pushing motor 2302 and 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 relative to the extending direction of the shaft 2400 to push the shaft pole piece 3 on the shaft 2400 onto the machine shaft.

The pushing transmission mechanism comprises a pushing ball screw 2303, the pushing ball screw 2303 is rotatably arranged on the Z-axis movable piece 2201 through a first pushing bearing seat 2306 and a second pushing bearing seat 2307 and extends along the pushing direction, a motor shell of the pushing motor 2302 is fixedly or detachably arranged on the Z-axis movable piece 2201, a power output shaft of the pushing motor 2202 drives the pushing ball screw 2303 to rotate, a nut block is connected to the pushing ball screw 2303 in a threaded manner and is fixedly or detachably arranged on the pushing piece 2301, the pushing motor 2302 drives the pushing ball screw 2303 to rotate, and then the nut block drives the pushing piece 2301 to move along the pushing direction relative to the material shaft 2400, so that the shaft piece 3 on the material shaft 2400 is pushed onto a machine shaft.

Of course, the nut block may also be formed directly with the pushing member 2301, that is, the pushing member 2301 may be directly provided with a threaded hole adapted to the pushing ball screw 2303, and the pushing member 2301 is screwed with the pushing ball screw 2303 through the threaded hole.

The pushing motor 2302 and the pushing ball screw 2303 are arranged side by side along the extending direction of the material shaft 2400, and a power output shaft of the pushing motor 2302 is in driving connection with a pushing driving gear 2304, and a pushing driven gear 2305 meshed with the pushing driving gear 2304 is fixedly connected with the pushing ball screw 2303.

The pushing motor 2302 and the pushing ball screw 2303 are arranged side by side, so that the size of the feeding device in the Y-axis direction can be controlled, and the compactness of the whole structure of the feeding device is ensured.

In other embodiments, the pushing mechanism is a rack and pinion mechanism, the gear of the rack and pinion mechanism is rotatably disposed on the Z-axis movable member 2201 through the adaptive bearing seat and the rotating bearing, and the pushing motor 2302 drives the gear to rotate, and the pushing motor 2302 is fixedly or detachably disposed on the pushing member 2301, and the rack of the rack and pinion mechanism is meshed with the gear and fixedly or detachably disposed on the Z-axis movable member 2201 or the material shaft seat 2401.

In this embodiment, the pushing member 2301 and the pushing driving mechanism are both disposed on the Z-axis movable member 2201, so that when the centering adjustment mechanism and the docking adjustment mechanism adjust the position of the spindle relative to the base 2000, the pushing member 2301 also moves along with the overall structure, so that the relative position between the pushing member and the spindle 2400 is basically kept fixed, and therefore, the axial pole piece 3 can be accurately pushed into the machine spindle, and the overall structure of the feeding device is compact, which meets the current design requirement for miniaturization of the feeding device.

According to another embodiment of the present invention, both the pushing member 2301 and the pushing drive mechanism of the present invention are provided on the base 2000. The centering and docking adjustment mechanisms maintain the pushing mechanism stationary relative to the shaft 2400 as the centering and docking adjustment mechanisms adjust the position of the shaft 2400 relative to the machine axis. After the material shaft 2400 and the machine shaft are both centered and butted, the material pushing piece 2301 of the material pushing mechanism pushes the shaft pole piece 3 on the material shaft 2400 into the machine shaft under the driving action of the material pushing driving mechanism.

To further increase the level of intellectualization of the loading device, the loading device of this embodiment further comprises a detection element configured to detect whether the feed shaft 2400 and the machine shaft are centered.

In detail, the detection element 2500 is in particular a visual sensor configured for acquiring a centering reference pattern provided on the machine axis and transmitted into the processor of the feeding device;

the processor of the loading device is configured to compare the centering reference pattern acquired by the vision sensor, and compare the centering reference pattern with the calibration centering reference pattern stored in the processor, and adjust the movement of the spindle 2400 relative to the machine axis in the direction perpendicular to the Y-axis until the spindle 2400 is centered with the machine axis according to the comparison result. The calibration centering reference pattern is a centering reference pattern acquired when the material shaft and the machine shaft are centered.

In detail, the detection element is configured for acquiring the centering reference pattern and transmitting it to the processor of the loading 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 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.

When the actually photographed centering reference pattern does not coincide with the calibrated centering reference pattern stored in the processor, the processor calculates the distance between the actually photographed centering reference pattern and the calibrated centering reference pattern stored in the processor in the X-axis direction and the Z-axis direction, then controls the X-axis driving mechanism to push the material shaft 2400 to move along the X-axis direction until the material shaft 2400 coincides with 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 material shaft 2400 coincides with the Z-axis coordinate, so that the centering reference pattern photographed by the detection element 2500 in real time and the calibrated centering reference pattern stored in the processor completely coincide, and the alignment of the material shaft 2400 and the machine axis is described.

For example, the centering reference pattern is a cross, wherein a horizontal line is an X-axis coordinate, a vertical line is a Z-axis coordinate, and an intersection point of the horizontal line and the vertical line is a center point of a peripheral end face of the machine axis.

In 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 machine shaft 2400 and the machine shaft based on the dot until the machine shaft 2400 and the machine shaft are centered.

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

s1000, detecting whether the material shaft and the machine shaft are centered;

when the alignment of the material shaft and the machine shaft is detected, executing a step S2000;

when the material shaft and the machine shaft are detected to be not centered, executing a step S4000;

s2000, driving the material shaft to move along the Y-axis direction by the butt joint adjusting mechanism until the material shaft is in butt joint with the machine shaft;

s3000, pushing the shaft pole piece on the material shaft into the machine shaft by the material pushing mechanism;

s4000, the centering adjustment mechanism drives the material shaft to move in the direction vertical to the Y-axis until the material shaft and the machine shaft are centered, and the step S1000 is returned.

For better understanding, a specific control flow of the control method will be described in detail below by taking a specific embodiment as an example in conjunction with fig. 7.

Referring to fig. 7, in this embodiment, the control method includes the steps of:

s1000, detecting whether the material shaft and the machine shaft are centered;

the method for detecting whether the material shaft and the machine shaft are centered in the step S1000 comprises the following steps:

s1001, collecting a centering reference pattern of a machine shaft;

the centering reference pattern is a pattern for identifying the center position of the peripheral end face of the machine shaft.

In some embodiments, the centering reference pattern is a cross, wherein the horizontal line is an X-axis coordinate, the vertical line is a Z-axis coordinate, and the intersection point of the horizontal line and the vertical line is the center point of the peripheral end face of the machine axis.

In 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 machine shaft 2400 and the machine shaft based on the dot until the machine shaft 2400 and the machine shaft are centered.

S1002, comparing whether the collected centering reference pattern is coincident with the calibration centering reference pattern, wherein the standard centering reference pattern is the centering reference pattern collected when the material shaft and the machine shaft are centered;

when the collected centering reference pattern and the calibration reference pattern are overlapped, centering of the material shaft and the machine shaft is illustrated;

when the collected centering reference pattern and the calibration reference pattern are not coincident, the material shaft and the machine shaft are not centered.

When the alignment of the material shaft and the machine shaft is detected, executing a step S2000;

when the material shaft and the machine shaft are detected to be not centered, executing a step S4000;

s2000, driving the material shaft to move along the Y-axis direction by the butt joint adjusting mechanism until the material shaft is in butt joint with the machine shaft;

s3000, pushing the shaft pole piece on the material shaft into the machine shaft by the material pushing mechanism.

S4000, the centering adjustment mechanism drives the material shaft to move in the direction vertical to the Y-axis until the material shaft and the machine shaft are centered, and the step S1000 is returned.

The step S4000 specifically includes:

s4001, calculating a first distance between the collected centering reference pattern and the calibration centering reference pattern in the X-axis direction;

s4002, driving the material shaft to move along the X-axis direction for a first distance by the centering adjustment mechanism;

s4003, calculating a second distance between the collected centering reference pattern and the calibration centering reference pattern in the Z-axis direction;

s4004, the centering adjustment mechanism drives the feed shaft to move a second distance in the Z-axis direction, and returns to step S1001.

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

and (3) mounting the shaft pole piece to be transferred on a material shaft in the shaft pole piece storage area, and then transferring the shaft pole piece from the shaft pole piece storage area to a workstation area where the machine shaft is located.

The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments 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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