CN117293404A

CN117293404A - Sheet material rubberizing machine

Info

Publication number: CN117293404A
Application number: CN202311437093.XA
Authority: CN
Inventors: 顾金成; 张开梓; 张强; 杨高; 谈言; 周洁; 吴彦琰; 孙中跃; 叶潇; 周文; 张文雄; 俞森山
Original assignee: Changzhou Mentechs Intelligent Equipment Co ltd
Current assignee: Changzhou Mentechs Intelligent Equipment Co ltd
Priority date: 2023-06-21
Filing date: 2023-06-21
Publication date: 2023-12-26
Also published as: CN116495320A; CN116495320B

Abstract

The invention relates to the technical field of battery module assembly, in particular to a sheet stock rubberizing machine, which comprises a stock bin A, a bottom tearing release paper station A, a secondary positioning table, a material taking manipulator A and a rubberizing manipulator A, wherein the stock bin A, the bottom tearing release paper station A and the secondary positioning table are covered by the travel of the material taking manipulator A, and the secondary positioning table and a battery core to be rubberized are covered by the travel of the rubberizing manipulator A; the first visual equipment is arranged between the tearing bottom release paper station A and the secondary positioning table and used for position addressing of the sheet material and tearing detection of the bottom release paper, and the third visual equipment is arranged above the to-be-glued battery cell and used for position addressing of the to-be-glued battery cell; the invention has simple structural design and can accurately position the sizing material.

Description

Sheet material rubberizing machine

Technical Field

The invention relates to the technical field of battery module assembly, in particular to a sheet stock rubberizing machine.

Background

In the production line of new energy lithium batteries, a rubberizing procedure of an electric core is generally involved. In the CTP technology power battery production line, the existing rubberizing process mainly adopts sheet rubber to paste the battery cells, but the new rubberizing process requires the use of coil stock strip rubber. The same production line usually needs different sizing materials for producing different types of products, and may require a paste material glue or a coil material glue. The size and rubberizing process difference between different rubber materials can not realize the mixed rubberizing of the coil stock by the sheet stock rubberizing machine or the coil stock rubberizing machine, so that the design of rubberizing equipment capable of simultaneously meeting the mixed rubberizing of the coil stock is necessary. In addition, the existing rubberizing machine is not accurate enough in positioning of sizing materials, so that a rubberizing manipulator has deviation in the grabbing and rubberizing processes, and the rubberizing effect of the battery cell is affected.

Disclosure of Invention

The invention aims to solve the technical problems that: overcomes the defects in the prior art, and provides a sheet stock rubberizing machine which has simple structural design and can accurately position sizing materials.

The technical scheme adopted for solving the technical problems is as follows: the utility model provides a mixed rubberizing machine of coiled sheet material, includes that establish the storehouse on lower frame bench, tear end and leave paper station, divide the rubberizing mechanism, get material manipulator and rubberizing manipulator, the stroke of getting material manipulator covers storehouse, tear end and leave paper station and rubberizing mechanism, rubberizing manipulator's stroke covers rubberizing mechanism and waits to rubberize electric core; the device comprises a first visual device, a second visual device and a third visual device, wherein the first visual device is arranged between a tearing bottom release paper station and a glue separating mechanism and is used for position addressing of glue stock and tearing detection of bottom release paper, the second visual device is arranged above the glue separating mechanism and is used for position addressing of glue stock, tearing detection of release paper on a coil stock and detection of adhesive tape missing in the coil stock, and the third visual device is arranged above a to-be-glued electric core and is used for position addressing of the to-be-glued electric core; the rubberizing manipulator comprises a rubberizing frame, a plurality of coil stock rubberizing tongs, a plurality of sheet stock rubberizing tongs and a plurality of sheet stock rubberizing tongs, wherein the rubberizing frame is arranged at the execution tail end of the manipulator, the coil stock rubberizing tongs are arranged at the middle part of the bottom end of the rubberizing frame and are arranged at intervals transversely along the rubberizing frame for grabbing and rubberizing of adhesive tapes, and the sheet stock rubberizing tongs are arranged at the two sides of the bottom end of the rubberizing frame for grabbing and rubberizing of sheet tapes.

Further, the coil stock rubberizing tongs include install coil stock lift cylinder on rubberizing frame, install the coil stock rubberizing support and the coil stock rubberizing sucking disc of movable mounting in coil stock rubberizing support bottom at coil stock lift cylinder output, the output of coil stock lift cylinder is vertical downwards.

Further, the sheet rubberizing tongs include install the sheet lift cylinder on rubberizing frame, install the sheet rubberizing support and the sheet rubberizing sucking disc of movable mounting in sheet rubberizing support bottom at sheet lift cylinder output, the output of sheet lift cylinder is vertical downwards.

Further, divide gluey mechanism including installing the base on lower frame, install the branch gluey platform of base upper end, movable mounting at the removal seat of base lower extreme, drive the drive assembly who removes the seat along the length direction lateral shifting of base, install at the lifting subassembly of dividing gluey platform right-hand member and install at the lower subassembly, jacking subassembly and the clamp plate subassembly of removing the seat upper end, a plurality of through-holes have been seted up on the branch gluey platform, the through-hole is arranged along the width direction of dividing gluey platform, and along the length direction general length of dividing gluey platform and offer, the top at dividing gluey platform is established to the subassembly that pushes down, jacking subassembly is established in the below of dividing gluey platform, the left side at the subassembly that pushes down is established to the clamp plate subassembly.

Further, the material storehouse includes the drawer plate of slidable mounting on the lower frame, establishes the lifting plate of drawer plate top, promotes the pushing components and the plastic subassembly of slidable mounting on the drawer plate that the lifting plate reciprocated, the right-hand member extension of drawer plate stretches out the lower frame and installs the stabilizer blade, the truckle is installed to the bottom of stabilizer blade.

Further, the pushing component comprises a pushing rod frame arranged below the lower frame, a plurality of pushing rods arranged on the pushing rod frame and a driving group for driving the pushing rod frame to move up and down, wherein rod holes for the pushing rods to pass through are formed in the lower frame and the drawer plate.

Further, the shaping assembly comprises a plurality of side reference stop rods arranged in the middle of one side of the drawer plate, a side sliding plate slidably arranged in the middle of the drawer plate, a plurality of side stop rods arranged on the side sliding plate, end sliding plates respectively slidably arranged at two ends of the drawer plate and a plurality of end stop rods arranged on the end sliding plate, wherein a plurality of waist holes are formed in the lifting plate, the side stop rods and the end stop rods respectively penetrate through the waist holes and move along the length direction of the waist holes, and the reference stop rods correspond to the side stop rods.

Further, tear end from being equipped with from type paper feed bin and tearing end from type paper mechanism on the type paper station, tear end from type paper mechanism including installing at a plurality of revolving cylinder from type paper feed bin one side, install at the first clamping jaw cylinder of revolving cylinder output and install two first clamping jaws at first clamping jaw cylinder output.

Further, the material taking manipulator comprises a material taking frame, a buffer assembly, a material taking sucker and a tearing release paper assembly, wherein the material taking frame is arranged at the execution tail end of the mechanical arm, the material taking sucker is connected with the bottom end of the material taking frame through the buffer assembly, and the tearing release paper assembly is arranged at the left end of the material taking frame.

Further, tear and go up from paper subassembly including installing at the lift cylinder of getting material frame left end, install at the second clamping jaw cylinder of lift cylinder output and install two second clamping jaws at second clamping jaw cylinder output.

The rubberizing method of the coil stock mixed rubberizing machine comprises the following steps,

s1, taking glue: the material taking manipulator grabs the sizing material in the material taking warehouse, moves to a bottom tearing release paper station to tear off the bottom release paper, then moves to a first vision device to address the sizing material position and detect the tearing off of the bottom release paper, and finally is placed on the sizing separating mechanism;

s2, pretreatment before rubberizing: when the sizing material is a coil stock, the material taking manipulator tears off upper release paper from the coil stock on the sizing material distributing mechanism, the second vision equipment performs position addressing of the coil stock, tear off detection of the upper release paper and adhesive tape missing detection, and the sizing material distributing mechanism distributes sizing material; when the sizing material is sheet material, the second vision equipment performs position addressing of the sheet material;

S3, rubberizing: and the rubberizing mechanical arm grabs the sizing material on the rubberizing mechanism, moves to the position of the cell to be rubberized, performs position addressing of the cell to be rubberized by the third vision equipment, and finally performs rubberizing action by the rubberizing mechanical arm.

Further, the concrete steps of the coil stock glue dividing in the step S2 are as follows,

s21, positioning a fifth adhesive tape: the driving assembly drives the movable seat to move left until the pressing plate assembly corresponds to the fifth adhesive tape on the coiled material, and then the pressing plate assembly presses down to press the fifth adhesive tape on the adhesive tape separating platform;

s22, separating the first four adhesive tapes from the fifth adhesive tape up and down: the pressing component presses down to press the front four adhesive tapes on the adhesive separating platform, and then the jacking component jacks up to enable the front four adhesive tapes to be separated from the adhesive separating platform;

s23, left-right separation among the first four adhesive tapes: the driving assembly drives the movable seat to move rightwards, and in the right moving process of the movable seat, the pressing assembly and the jacking assembly synchronously expand to enable the first four adhesive tapes to be separated from each other.

The sheet stock rubberizing machine comprises a stock bin A, a bottom tearing release paper station A, a secondary positioning table, a material taking manipulator A and a rubberizing manipulator A, wherein the stock bin A, the bottom tearing release paper station A and the secondary positioning table are arranged on a lower stand A, the stroke of the material taking manipulator A covers the stock bin A, the bottom tearing release paper station A and the secondary positioning table, and the stroke of the rubberizing manipulator A covers the secondary positioning table and a battery cell to be rubberized; the device further comprises the first vision equipment arranged between the tearing bottom release paper station A and the secondary positioning table and used for position addressing of the sheet material and tearing detection of the bottom release paper, and the third vision equipment arranged above the battery cell to be rubberized and used for position addressing of the battery cell to be rubberized.

Further, the secondary positioning table comprises a base frame arranged on the lower frame A, a positioning platform arranged at the top end of the base frame, a plurality of positioning seats arranged on the positioning platform, and an end pushing assembly and a side pushing assembly which are arranged on the positioning platform.

Further, the end pushing assembly comprises an end reference block I arranged in the middle of the positioning platform, end pushing plates I respectively arranged at two ends of the positioning platform and an end pushing cylinder I for enabling the end pushing plates I to transversely move towards the end reference block I; the side pushing assembly comprises a side pushing block I arranged on one side of the positioning platform, a side pushing plate I arranged on the other side of the positioning platform and a side pushing cylinder I driving the side pushing plate I to longitudinally move towards the side pushing block I.

Further, the end pushing assembly comprises a plurality of end reference blocks II arranged on the positioning seat at intervals, an end pushing plate II arranged below the positioning platform, a plurality of end pushing blocks II arranged on the end pushing plate II at intervals and an end pushing cylinder II for enabling the end pushing plate II to transversely move towards the end reference blocks II, wherein the top ends of the end pushing blocks II sequentially penetrate through holes II formed in the positioning platform and the positioning seat and transversely move along the through holes II; the side pushing assembly comprises a plurality of side reference blocks II which are arranged on one side of the positioning seat at intervals, side pushing plates II which are arranged on the other side of the positioning seat, a plurality of side pushing blocks II which are arranged on the side pushing plates II at intervals, and side pushing cylinders II which drive the side pushing plates II to longitudinally move towards the side reference blocks II.

Further, rubberizing manipulator A is including installing at robotic arm execution terminal rubberizing frame I, install the lift cylinder I in rubberizing frame I bottom and install rubberizing tongs I at lift cylinder I output.

Further, rubberizing manipulator A is including installing at the terminal rubberizing frame II of robotic arm execution, install the revolving cylinder II in the terminal II bottom of rubberizing frame and install two rubberizing tongs II at revolving cylinder II output, mutually perpendicular between the rubberizing tongs II, and one of them rubberizing tongs II level sets up.

The beneficial effects of the invention are as follows:

(1) According to the invention, the coil stock rubberizing tongs and the sheet stock rubberizing tongs are integrated on the rubberizing frame, so that the grabbing and rubberizing of the sheet stock can be realized, the grabbing and rubberizing of the coil stock can be realized, the compatibility is high, and the accurate placement of the rubber stock on the rubberizing platform is ensured through the twice position addressing of the rubber stock by the first vision equipment and the second vision equipment and the position addressing of the battery cell by the third vision equipment, so that the rubber stock is accurately adhered on the battery cell;

(2) According to the invention, through the arrangement of the pressing component, the jacking component and the pressing plate component, the glue distribution of a plurality of continuous adhesive tapes on the coiled material is realized, and the influence of the size error of a single adhesive tape on the glue distribution precision is avoided;

(3) According to the invention, through the arrangement of the lifting assembly, the situation that the adhesive tape is brought back by the adhesion of the pressing assembly is avoided for the special adhesive tape with strong adhesion, the reliability of adhesive separation is improved, and the adhesive separation precision is further ensured.

Drawings

The invention will be further described with reference to the drawings and examples.

FIG. 1 is a schematic structural diagram of embodiment 1 of the present invention;

FIG. 2 is a schematic view of the structure of the upper frame in embodiment 1 of the present invention;

fig. 3 is a schematic structural diagram of a rubberizing manipulator in embodiment 1 of the invention;

FIG. 4 is a right side view of the rubberizing robot of embodiment 1 of the invention;

fig. 5 is an enlarged view of a portion a in fig. 4;

FIG. 6 is an enlarged view of portion B of FIG. 4;

FIG. 7 is a schematic view of a coil stock rubberizing gripper according to embodiment 1 of the invention;

FIG. 8 is an exploded view of the coil stock rubberizing sucker of example 1 of the invention;

fig. 9 is a schematic structural diagram of a sheet rubberizing gripper according to embodiment 1 of the invention;

fig. 10 is a schematic structural diagram of a glue separating mechanism in embodiment 1 of the present invention;

FIG. 11 is a side view of the glue dispensing mechanism of embodiment 1 of the invention;

fig. 12 is a schematic structural diagram of a glue separating platform in embodiment 1 of the present invention;

fig. 13 is an enlarged view of a portion C in fig. 12;

fig. 14 is a schematic view of the structure of the mobile seat in embodiment 1 of the present invention;

FIG. 15 is a schematic view showing the structure of the pressing assembly in embodiment 1 of the present invention;

fig. 16 is an enlarged view of the portion D in fig. 15;

FIG. 17 is a schematic diagram of the first variable pitch set according to embodiment 1 of the present invention;

FIG. 18 is a schematic diagram of a jack assembly according to embodiment 1 of the present invention;

FIG. 19 is a schematic view of the structure of the second variable pitch set in embodiment 1 of the present invention;

FIG. 20 is a schematic diagram of a second driving member according to embodiment 1 of the present invention;

FIG. 21 is a schematic view of a platen assembly according to embodiment 1 of the present invention;

FIG. 22 is a schematic view showing the structure of the lifting assembly in embodiment 1 of the present invention;

FIG. 23 is a schematic view of the structure of the glue discharging block in embodiment 1 of the present invention;

FIG. 24 is a schematic diagram of a warehouse in embodiment 1 of the present invention;

FIG. 25 is a schematic structural view of the shaping assembly in embodiment 1 of the present invention;

FIG. 26 is a schematic view of a tear-off release paper station in example 1;

fig. 27 is an enlarged view of E in fig. 26;

fig. 28 is a schematic structural diagram of a material taking manipulator in embodiment 1 of the present invention;

fig. 29 is an enlarged view of the portion F in fig. 28;

fig. 30 is an enlarged view of the portion G in fig. 28;

FIG. 31 is a schematic view showing the structure of embodiment 3 of the present invention;

fig. 32 is a schematic structural diagram of a lower stand a in embodiment 3 of the present invention;

FIG. 33 is a schematic view of a secondary positioning table according to embodiment 3 of the present invention;

FIG. 34 is a schematic diagram of an end-pushing assembly according to embodiment 3 of the present invention;

fig. 35 is a schematic structural diagram of a material taking manipulator a in embodiment 3 of the present invention;

fig. 36 is an enlarged view of the H portion in fig. 35;

fig. 37 is a schematic structural diagram of a rubberizing manipulator a in embodiment 3 of the invention;

FIG. 38 is a schematic view showing the structure of a rubberizing gripper I in embodiment 3 of the invention;

FIG. 39 is a schematic diagram showing the structure of a warehouse A in example 4 of the present invention;

FIG. 40 is a schematic structural view of a shaping assembly II in embodiment 4 of the present invention;

fig. 41 is a schematic structural diagram of a release paper bin ii in embodiment 4 of the present invention;

FIG. 42 is an enlarged view of section I of FIG. 41;

FIG. 43 is a schematic view of a secondary positioning table according to embodiment 4 of the present invention;

FIG. 44 is a schematic view of a through hole II in embodiment 4 of the present invention;

fig. 45 is a schematic structural diagram of a material taking manipulator a in embodiment 4 of the present invention;

fig. 46 is a schematic structural diagram of a rubberizing manipulator a in embodiment 4 of the invention.

In the figure: 100. a lower stand; 101. a material warehouse; 101a, drawer plates; 101b, lifting plate; 101c, a pushing assembly; 101c1, a pusher carriage; 101c2, push rod; 101c3, drive groups; 101c4, a rod hole; 101d, a shaping assembly; 101d1, side-mounted stop lever; 101d2, side sliding plate; 101d3, side bars; 101d4, end sliding plate; 101d5, end stop lever; 101d6, waist hole; 101e, support legs; 101f, casters; 102. tearing off a bottom release paper station; 102a, a release paper bin; 102b, tearing the bottom release paper mechanism; 102b1, a rotary cylinder; 102b2, a first jaw cylinder; 102b3, a first jaw; 103. a glue distributing mechanism; 103a, a base; 103b, a glue distributing platform; 103c, a movable seat; 103d, a driving assembly; 103e, lifting the assembly; 103e1, lifting the cylinder; 103e2, lifting the bracket; 103e3, lifting bar; 103e4, placing a glue block; 103e5, rod groove; 103f, pressing down the assembly; 103f1, a pressing cylinder; 103f2, pressing down the bracket; 103f3, lower press plate; 103f4, a first displacement group; 103f41, a first pitch plate; 103f42, a first adjustment plate; 103f43, a first driving member; 103f431, a first screw; 103f432, first lead screw nut; 103f433, a first link; 103f434, first motor; 103f44, a first bolt; 103f45, first pulley; 103f46, a first regulating groove; 103g, jacking assembly; 103g1, jacking cylinder; 103g2, lifting the bracket; 103g3, jacking plate; 103g4, a second variable pitch group; 103g41, second pitch plate; 103g42, second adjusting plate; 103g43, a second driving member; 103g431, second screw; 103g432, second lead screw nut; 103g433, a second link; 103g434, second motor; 103g44, second bolt; 103g45, second pulley; 103g46, a second regulating groove; 103h, a pressing plate assembly; 103h1, positioning a cylinder; 103h2, positioning a bracket; 103h21, upper longitudinal beams; 103h22, side sills; 103h23, vertical axis; 103h3, positioning the plate; 103i, through holes; 103j, adsorption holes; 103k, cam divider; 103l, slide; 104. a material taking manipulator; 104a, a material taking frame; 104b, a buffer assembly; 104b1, a sleeve; 104b2, a slide shaft; 104b3, a buffer; 104b4, a limiting member; 104c, taking out a sucker; 104c1, a second mounting plate; 104c2, a second vacuum logic valve; 104c3, a second suction nozzle; 104d, tearing off the release paper component; 104d1, lifting cylinders; 104d2, a second jaw cylinder; 104d3, second jaw; 105. a rubberizing manipulator; 105a, a rubberizing frame; 105b, coil stock rubberizing tongs; 105b1, coil lifting cylinder; 105b2, coil stock rubberizing bracket; 105b3, a coil stock rubberizing sucker; 105b31, cover plate; 105b32, an adsorption plate; 105b33, a flow-through tank; 105b34, suction holes; 105b35, linker; 105b4, a first cushioning component; 105b41, a first sleeve; 105b42, a first slide shaft; 105b43, a first buffer; 105b44, a first stop; 105b5, a first photosensor; 105b6, a first inductive pad; 105c, a sheet rubberizing gripper; 105c1, a sheet lifting cylinder; 105c2, a sheet rubberizing bracket; 105c3, a sheet rubberizing sucker; 105c31, a first mounting plate; 105c32, a first vacuum logic valve; 105c33, a first suction nozzle; 105c4, a second cushioning assembly; 105c41, a second sleeve; 105c42, a second slide shaft; 105c43, a second buffer; 105c44, a second stop; 105c5, a second photosensor; 105c6, a second inductive piece; 105c7, a first through hole; 105d, a slider; 105e, sliding rails; 105f, a third photosensor; 105g, third inductive piece; 106. a first vision device; 107. a second vision device; 108. a third vision device; 109. an upper frame; 200. a lower stand A; 201. a material warehouse A;201a, drawer plate II; 201b, lifting plate II; 201d, a shaping assembly II; 201d1, side-mounted stop lever II; 201d2, side sliding plate II; 201d3, side bar II; 201d4, end-position-reference stop lever II; 201d5, end slide II; 201d6, connecting plate II; 201d7, end stop lever II; 201d8, waist hole II; 202. tearing off the bottom and separating from the paper station A;202a, a release paper bin II; 202b, tearing bottom release paper mechanism II; 202b1, a first rotary cylinder II; 202b2 and a rotating shaft II; 202b3, clamping jaw cylinder II; 202b4, jaw ii; 203. a secondary positioning table; 203a, a base frame; 203b, a positioning platform; 203c, a positioning seat; 203d, an end pushing assembly; 203d1, end standard block i; 203d2, end push plate I; 203d3, an end pushing cylinder I; 203d4, end standard block ii; 203d5, end push plate II; 203d6, an end pushing block II; 203d7, an end pushing cylinder II; 203d8, through hole ii; 203e, side pushing assembly; 203e1, side block i; 203e2, side pushing plate i; 203e3, a side pushing cylinder I; 203e4, side block ii; 203e5, side pushing plate ii; 203e6, side pushing block ii; 203e7, a side pushing cylinder II; 204. a material taking manipulator A;204a, a material taking frame I; 204b, a first cushioning component i; 204b1, a first shaft sleeve I; 204b2, a first slide shaft i; 204b3, a first buffer i; 204b4, a first limiting piece I; 204c, taking out the sucker I; 204c1, a first mounting plate I; 204c2, a first vacuum logic valve I; 204c3, a first suction nozzle I; 204d, a material taking frame II; 204e, a first cushioning component ii; 204f, taking a sucker II; 205. a rubberizing manipulator A;205a, rubberizing frame i; 205b, lifting cylinder I; 205c, rubberizing tongs I; 205c1, a rubberizing bracket I; 205c2, a second cushioning component i; 205c21, a second sleeve i; 205c22, a second sliding shaft I; 205c23, a second buffer I; 205c24, a second limiting piece I; 205c3, rubberizing sucking disc I; 205c31, a second mounting plate I; 205c32, a second vacuum logic valve I; 205c33, a second suction nozzle I; 205d, a buffer plate; 205e, a third cushioning component i; 205e1, a third sleeve I; 205e2, a third sliding shaft I; 205e3, a third buffer i; 205e4, a third limiting piece I; 205f, through hole i; 205g, rubberizing frame II; 205h, a rotary cylinder II; 205i, rubberizing tongs II; 205i1, a rubberizing bracket II; 205i2, a second cushioning component ii; 205i21, a second sliding shaft II; 205i22, a second buffer II; 205i3, rubberizing sucking disc II; 205i31, suction cup ii; 205i32, a second suction nozzle II; 205i4, a guide assembly ii; 205i41, guide sleeve ii; 205i42, guide shaft ii; 205i43, and a limiting piece II.

Detailed Description

The invention will now be further described with reference to the drawings and preferred embodiments. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.

Example 1.

As shown in fig. 1-3, a coil stock mixing rubberizing machine comprises a stock base 101, a tearing bottom release paper station 102, a rubberizing mechanism 103, a material taking manipulator 104 and a rubberizing manipulator 105 which are arranged on a lower stand 100, wherein the travel of the material taking manipulator 104 covers the stock base 101, the tearing bottom release paper station 102 and the rubberizing mechanism 103, and the travel of the rubberizing manipulator 105 covers the rubberizing mechanism 103 and a battery core to be rubberized; the device further comprises a first visual device 106 which is arranged between the tearing bottom release paper station 102 and the glue separating mechanism 103 and used for position addressing of glue stock and tearing detection of bottom release paper, a second visual device 107 which is arranged above the glue separating mechanism 103 and used for position addressing of glue stock, tearing detection of release paper on a coil stock and detection of adhesive tape missing in the coil stock, and a third visual device 108 which is arranged above a cell to be glued and used for position addressing of the cell to be glued; the rubberizing manipulator 105 includes rubberizing frame 105a, installs at robotic arm's execution end, and a plurality of coil stock rubberizing tongs 105b are installed in rubberizing frame 105 a's bottom middle part, and along rubberizing frame 105 a's horizontal interval arrangement for the snatch and the rubberizing of adhesive tape to and a plurality of slice material rubberizing tongs 105c, install in rubberizing frame 105 a's bottom both sides, be used for the snatch and the rubberizing of slice. Through integrating coil stock rubberizing tongs 105b and sheet stock rubberizing tongs 105c on rubberizing frame 105a, both can realize snatching and rubberizing to the sheet stock, can realize snatching and rubberizing to the coil stock again, the compatibility is high, and addresses the position of electric core through first vision equipment 106 and second vision equipment 107 to the twice position of sizing material and third vision equipment 108, guarantees that the sizing material is accurate to be placed on dividing the rubberizing platform 103b to accurate pasting is on the electric core. In addition, this rubberizing manipulator 105 makes the coil stock rubberizing integrated on a station, compares with coil stock rubberizing and coil stock rubberizing divide into two stations, and the overall structure of production line is compacter, and has saved the spatial layout of factory building.

Specifically, an upper frame 109 is installed on the lower stand 100, and the stock house 101, the tearing bottom release paper station 102, the glue separating mechanism 103, the material taking manipulator 104 and the glue sticking manipulator 105 are all arranged in the upper frame 109, and the second vision equipment 107 and the third vision equipment 108 are respectively installed at the top of the upper frame 109; the first vision apparatus 106 is mounted on the lower stage 100; the four coil stock rubberizing grippers 105b are uniformly arranged at intervals along the transverse direction of the rubberizing frame 105 a; the number of the sheet rubberizing grippers 105c is two, the sheet rubberizing grippers 105c are symmetrically arranged at two sides of the bottom end of the rubberizing frame 105a, and the coil rubberizing grippers 105b are positioned between the two sheet rubberizing grippers 105 c.

As shown in fig. 4 and 7, the coil rubberizing grip 105b includes a coil lifting cylinder 105b1 mounted on the rubberizing frame 105a, a coil rubberizing bracket 105b2 mounted at the output end of the coil lifting cylinder 105b1, and a coil rubberizing suction cup 105b3 movably mounted at the bottom end of the coil rubberizing bracket 105b2, wherein the output end of the coil lifting cylinder 105b1 is vertically downward. The coil lifting cylinders 105b1 in the coil rubberizing grippers 105b are lifted independently, so that the coil rubberizing suction cups 105b3 can move independently, and rubberizing actions of the adhesive tapes are completed.

As shown in fig. 7-8, the coil stock rubberizing sucker 105b3 includes a cover plate 105b31 movably mounted at the bottom end of the coil stock rubberizing bracket 105b2 and an adsorption plate 105b32 mounted at the bottom surface of the cover plate 105b31, a circulation groove 105b33 is formed at the bottom end of the cover plate 105b31, a plurality of suction holes 105b34 are formed on the adsorption plate 105b32 along the length direction thereof, the suction holes 105b34 are communicated with the circulation groove 105b33, and a joint 105b35 communicated with the circulation groove 105b33 is mounted on the cover plate 105b 31. By opening the suction hole 105b34 along the length direction of the suction plate 105b32, the coil stock rubberizing gripper 105b can be compatible with the adhesive tape in a certain length. Specifically, the cover plate 105b31 and the adsorption plate 105b32 are both elongated; the bottom surface of the adsorption plate 105b32 is coated with a release coating; the joint 105b35 communicates with a vacuum apparatus (not shown), and the vacuum pump can cause the negative pressure to be formed in the flow channel 105b33 and the suction hole 105b 34.

As shown in fig. 7, two ends of the coil stock rubberizing support 105b2 are respectively connected with the cover plate 105b31 through a first buffer component 105b4, the first buffer component 105b4 comprises a first shaft sleeve 105b41 fixedly penetrating through the end part of the coil stock rubberizing support 105b2, a first sliding shaft 105b42 penetrating through the first shaft sleeve 105b41 in a sliding manner, a first buffer piece 105b43 sleeved at the bottom end of the first sliding shaft 105b42, and a first limiting piece 105b44 installed at the top end of the first sliding shaft 105b42, wherein the bottom end of the first sliding shaft 105b42 is connected with the cover plate 105b31, the top end of the first buffer piece 105b43 is in contact with the bottom surface of the first shaft sleeve 105b41, and the bottom end of the first buffer piece 105b is in contact with the top surface of the cover plate 105b 31. The first buffer component 105b4 is arranged, so that the situation that the adhesive tape is gripped by the coil stock adhesive tape sticking suction disc 105b3 and is subjected to overvoltage in the process of sticking the adhesive tape to the battery cell is avoided, and deformation of the adhesive tape and the situation that the battery cell is crushed are prevented. Specifically, the first buffer 105b43 is a spring; the first stopper 105b44 is a nut.

When the coil stock rubberizing tongs 105b grabs four adhesive tapes on the dispensing platform 103b, the rubberizing tongs 105 moves the coil stock rubberizing tongs 105b to be right above the four adhesive tapes, then moves downwards, the adsorption plate 105b32 is pushed to slightly move upwards after being contacted with the adhesive tapes, the upper movement of the adsorption plate 105b32 drives the cover plate 105b31 to move upwards, the first buffer piece 105b43 is compressed, accordingly, the lower pressure buffer of the adsorption plate 105b32 on the adhesive tapes is achieved, finally the vacuum equipment enables the circulation groove 105b33 and the suction holes 105b34 to form negative pressure, the adhesive tape is held, and the rubberizing tongs 105 drive the coil stock rubberizing tongs 105b to move upwards.

As shown in fig. 5 and 7, a first photoelectric sensor 105b5 is mounted at one end of the roll stock rubberizing bracket 105b2, and a first sensing piece 105b6 corresponding to the first photoelectric sensor 105b5 is provided at an end of the cover plate 105b 31. Through the cooperation setting of first photoelectric sensor 105b5 and first response piece 105b6, go up the journey spacing to the adsorption plate 105b32 and the adhesive tape after contact, avoid going up the journey too big buffering effect that leads to first buffer module 105b 4. When the first sensor 105b5 senses the first sensor piece 105b6, the entire gripper stops moving downward.

As shown in fig. 4 to 9, the sheet rubberizing gripper 105c includes a sheet lifting cylinder 105c1 mounted on the rubberizing frame 105a, a sheet rubberizing bracket 105c2 mounted on an output end of the sheet lifting cylinder 105c1, and a sheet rubberizing suction cup 105c3 movably mounted on a bottom end of the sheet rubberizing bracket 105c2, wherein the output end of the sheet rubberizing lifting cylinder 105c1 is vertically downward. The sheet rubberizing lifting cylinders 105c1 in the respective sheet rubberizing grippers 105c are independently lifted, so that the respective sheet rubberizing suction cups 105c3 can be independently moved, thereby completing the rubberizing action of the sheet.

As shown in fig. 9, the sheet stock rubberizing suction cup 105c3 includes a first mounting plate 105c31 movably mounted at the bottom end of the sheet stock rubberizing bracket 105c2, a plurality of first vacuum logic valves 105c32 mounted on the first mounting plate 105c31, and a first suction nozzle 105c33 mounted at the bottom end of the first vacuum logic valves 105c 32. Specifically, the first vacuum logic valves 105c32 are uniformly arranged along the length direction of the first mounting plate 105c31, and two rows of the first vacuum logic valves 105c32 are arranged along the width direction of the first mounting plate 105c31, and the first vacuum logic valves 105c32 are communicated with a vacuum pump, so that negative pressure can be formed in the first suction nozzle 105c33 through the vacuum pump. The first vacuum logic valve 105c32 is disposed on the first mounting plate 105c31 such that the web rubberizing grip 105c is compatible with a range of web sizes.

As shown in fig. 9, two ends of the sheet material rubberizing support 105c2 are respectively connected with the first mounting plate 105c31 through a second buffer assembly 105c4, the second buffer assembly 105c4 comprises a second sleeve 105c41 fixedly penetrating through the end part of the sheet material rubberizing support 105c2, a second sliding shaft 105c42 penetrating through the second sleeve 105c41 in a sliding manner, a second buffer member 105c43 sleeved at the bottom end of the second sliding shaft 105c42, and a second limiting member 105c44 mounted at the top end of the second sliding shaft 105c42, the bottom end of the second sliding shaft 105c42 is connected with the first mounting plate 105c31, the top end of the second buffer member 105c43 is in contact with the bottom surface of the second sleeve 105c41, and the bottom end of the second buffer member is in contact with the top surface of the first mounting plate 105c 31. Through the setting of second buffer assembly 105c4, avoid the piece rubberizing sucking disc 105c3 to snatch the piece and paste the piece in-process that the electric core appears the excessive pressure to prevent the piece to glue to appear warping and the electric core appears the condition of pressing the bad. Specifically, the second buffer 105c43 is a spring; the second stopper 105c44 is a nut.

As shown in fig. 5 and 9, a second photoelectric sensor 105c5 is installed at one end of the sheet rubberizing support 105c2, a second sensing piece 105c6 corresponding to the second photoelectric sensor 105c5 is provided at the end of the first mounting plate 105c31, and a first through hole 105c7 is provided on the sheet rubberizing support 105c2 for the second sensing piece 105c6 to pass through. Through the cooperation setting of the second photoelectric sensor 105c5 and the second sensing piece 105c6, the upward movement of the first mounting plate 105c31 after the first suction nozzle 105c33 is in contact with the piece adhesive is limited, and the phenomenon that the buffering effect of the second buffering component 105c4 is poor due to the fact that the upward movement of the first mounting plate 105c31 is too large is avoided. Specifically, the second photosensor 105c5 is a groove-type photosensor.

As shown in fig. 4 and 6, a plurality of sliding blocks 105d are respectively installed on two sides of the rubberizing frame 105a, and sliding rails 105e are installed on two ends of the coil rubberizing support 105b2 and the sheet rubberizing support 105c2, and the sliding blocks 105d are in sliding connection with the sliding rails 105 e. By the sliding fit of the slider 105d and the slide rail 105e, the stability of the up-and-down movement of the coil stock rubberizing bracket 105b2 and the sheet rubberizing bracket 105c2 is ensured.

When the sizing material is a coil stock, the four coil stock lifting cylinders 105b1 extend synchronously, so that the adsorption plate 105b32 is positioned below the sheet stock rubberizing sucker 105c3, then the rubberizing manipulator 105 moves the coil stock rubberizing gripper 105b to be right above the four rubber strips, after the rubber strips are held, the rubberizing manipulator 105 drives the coil stock rubberizing gripper 105b to move upwards, the coil stock lifting cylinder 105b1 retracts and resets, then the rubberizing manipulator 105 drives the coil stock rubberizing gripper 105b to come to the position of the electric core, the four coil stock lifting cylinders 105b1 extend respectively, and the rubber strips held by the rubberizing manipulator are pasted on the electric core. When the sizing material is the piece material, two piece material lifting cylinders 105c1 stretch out in step for piece material rubberizing sucking disc 105c3 is located the below of adsorption plate 105b32, then rubberizing manipulator 105 moves piece material rubberizing tongs 105c to the piece directly over the piece is glued, after accomplishing holding to the piece glue, rubberizing manipulator 105 takes piece material rubberizing tongs 105c to move up, piece material rubberizing lifting cylinder 105c1 returns to the throne, then rubberizing manipulator 105 takes piece material lifting cylinder 105c1 to come to the electric core department, two piece material lifting cylinders 105c1 stretch out respectively, pastes the piece glue of holding to the electric core. As shown in fig. 2 and 4, in order to ensure the telescopic travel of the coil lifting cylinder 105b1 and the sheet lifting cylinder 105c1, a plurality of third photosensors 105f are mounted on one side of the rubberizing frame 105a, and third sensing pieces 105g corresponding to the third photosensors 105f are mounted on the coil rubberizing bracket 105b2 and the sheet rubberizing bracket 105c 2. Specifically, each third sensing piece 105g corresponds to two third photoelectric sensors 105f in the vertical direction, and the third photoelectric sensors 105f are groove-shaped photoelectric sensors.

As shown in fig. 10-13, the glue separating mechanism 103 includes a base 103a mounted on the lower stand 100, a glue separating platform 103b mounted on the upper end of the base 103a, a movable seat 103c movably mounted on the lower end of the base 103a, a driving component 103d for driving the movable seat 103c to move transversely along the length direction of the base 103a, a lifting component 103e mounted on the right end of the glue separating platform 103b, a pressing component 103f mounted on the upper end of the movable seat 103c, a lifting component 103g and a pressing plate component 103h, wherein the glue separating platform 103b is provided with a plurality of through holes 103i, the through holes 103i are arranged along the width direction of the glue separating platform 103b and are formed in a long way along the length direction of the glue separating platform 103b, the pressing component 103f is arranged above the glue separating platform 103b, the lifting component 103g is arranged below the glue separating platform 103b, and the pressing plate component 103h is arranged on the left side of the pressing component 103 f. Through the setting of pushing down subassembly 103f, jacking subassembly 103g and clamp plate subassembly 103h, realize the branch of a plurality of continuous adhesive tapes on the coil stock and glued, and avoided single adhesive tape size error to glue the influence of precision. Specifically, a plurality of adsorption holes 103j are formed in the glue distributing platform 103b along the length direction of the glue distributing platform 103b, the adsorption holes 103j are communicated with vacuum equipment through an air passage in the glue distributing platform 103b, the arrangement of the adsorption holes 103j prevents the coiled material glue placed on the glue distributing platform 103b from moving randomly, and an anti-sticking coating is coated on the upper surface of the glue distributing platform 103 b; the driving assembly 103d may be a linear module, which is a prior art, and its specific structure will not be described in detail herein; the through holes 103i are uniformly arranged along the width direction of the glue distributing platform 103 b; the platen assembly 103h is provided on the left side of the pressing assembly 103 f.

As shown in fig. 14 to 17, the pressing assembly 103f includes pressing cylinders 103f1 respectively mounted on both sides of the upper end of the movable base 103c, pressing brackets 103f2 mounted on the output ends of the pressing cylinders 103f2, a plurality of pressing plates 103f3 provided below the pressing brackets 103f2, and a first variable-pitch group 103f4 driving the plurality of pressing plates 103f3 to expand and contract synchronously at equal intervals along the width direction of the pressing brackets 103f2, the pressing brackets 103f2 being disposed above the glue distributing platform 103b, and both sides thereof being connected with the output ends of the pressing cylinders 103f1 respectively. Specifically, the output end of the lower pressure cylinder 103f1 is vertically upward; the lower platen 103f3 is four, and is elongated in shape, and the lower surface of the lower platen 103f3 is coated with a release coating. In order to ensure the stability of the vertical movement of the pressing support 103f2, guide shafts are respectively mounted on two sides of the pressing support 103f2, guide sleeves are respectively mounted on two sides of the upper end of the moving seat 103c, and the guide shafts are slidably inserted into the guide sleeves, which is the prior art, and detailed description of specific structures thereof is omitted. In addition, in order to avoid the pressing plate 103f3 from pressing the roll material, the moving seat 103c is provided with a photo-inductor to limit the moving stroke of the pressing plate 103f3, which is the prior art, and will not be described herein.

As shown in fig. 15 and 17, the first distance changing group 103f4 includes a plurality of first distance changing plates 103f41 respectively mounted on the upper end of the pressing plate 103f3, a first adjusting plate 103f42 slidably mounted on the lower end of the pressing bracket 103f2, and a first driving member 103f43 driving the first adjusting plate 103f42 to move longitudinally along the length direction of the pressing bracket 103f2, the first distance changing plate 103f41 is slidably connected with the lower end of the pressing bracket 103f2, the first adjusting plate 103f42 is located between the pressing plate 103f3 and the first distance changing plate 103f41, a first bolt 103f44 is mounted on the first distance changing plate 103f41, a first pulley 103f45 is mounted on the end portion of the first bolt 103f44 away from the first distance changing plate 103f41, and the first pulley 103f45 is embedded in a first adjusting groove 103f46 formed in the first adjusting plate 103f 42. Specifically, the number of the first variable-pitch plates 103f41 is four, two ends of the first variable-pitch plates 103f41 are respectively connected with the lower pressing plate 103f3, and the first variable-pitch plates 103f41 are slidably connected with the lower pressing support 103f2 through slide rail sliding blocks; two first adjusting plates 103f42 are provided, four first adjusting grooves 103f46 are formed in each first adjusting plate 103f42, and two ends of each first adjusting plate 103f42 are respectively connected with the pressing support 103f2 in a sliding mode through sliding rail sliding blocks; the first driving member 103f43 is mounted on the upper end of the pressing bracket 103f 2. In operation, the first driving member 103f43 drives the first adjusting plate 103f42 to move longitudinally along the length direction of the pressing support 103f2, the longitudinal movement of the first adjusting plate 103f42 forces the first pulley 103f45 to move along the first adjusting groove 103f46, and the movement of the first pulley 103f45 in the first adjusting groove 103f46 drives the first pitch changing plate 103f41 to move transversely along the width direction of the pressing support 103f2 through the first bolt 103f44, so that the four pressing plates 103f3 expand synchronously at equal intervals along the width direction of the pressing support 103f 2. Through the arrangement of the first variable-pitch group 103f4, the consistency of equidistant synchronous expansion and contraction of the lower pressure plate 103f3 is ensured, clamping stagnation can not occur, and the reliability is high.

As shown in fig. 15 and 16, the first driving member 103f43 includes a first screw rod 103f431 rotatably installed at an upper end of the pressing bracket 103f2, a first screw nut 103f432 screw-sleeved at a middle portion of the first screw rod 103f431, a first link 103f433 installed on the first screw nut 103f432, and a first motor 103f434 driving the first screw rod 103f431 to rotate, and an end portion of the first link 103f433 facing away from the first screw nut 103f432 is connected to the first adjusting plate 103f 42. Specifically, two ends of the first screw 103f431 are respectively installed in the middle of the upper end of the pressing support 103f2 through bearing seats; the output end of the first motor 103f434 is provided with a driving wheel, one end of the first screw 103f431 is provided with a driven wheel, and the driving wheel is connected with the driven wheel through a belt in a transmission way. When the device works, the first motor 103f434 drives the first screw rod 103f431 to rotate, so that the first screw rod nut 103f432 moves along the axial direction of the first screw rod 103f431, and the first adjusting plate 103f42 is driven by the first connecting rod 103f433 to move longitudinally along the length direction of the pressing support 103f 2.

As shown in fig. 14 and fig. 18-20, the lifting assembly 103g includes a lifting cylinder 103g1 installed at the center of the upper end of the movable base 103c, a lifting bracket 103g2 installed at the output end of the lifting cylinder 103g1, a plurality of lifting plates 103g3 arranged above the lifting bracket 103g2, and a second variable-pitch group 103g4 driving the plurality of lifting plates 103g3 to expand and contract synchronously at equal intervals along the width direction of the lifting bracket 103g2, the lifting plates 103g3 are arranged along the width direction of the lifting bracket 103g2, the lifting plates 103g3 are comb-shaped, and comb teeth on the lifting plates 103g3 face the glue distributing platform 103b and can pass through the through holes 103i. Specifically, the output end of the jacking cylinder 103g1 is vertically upward; the number of the jacking plates 103g3 is four, and the upper surface of the jacking plate 103g3 is coated with a release coating. In order to ensure the stability of the vertical movement of the jacking bracket 103g2, guide shafts are respectively mounted on two sides of the jacking bracket 103g2, guide sleeves are respectively mounted on two sides of the upper end of the movable seat 103c, and the guide shafts are slidably arranged through the guide sleeves.

As shown in fig. 18 and 19, the second distance changing group 103g4 includes a plurality of second distance changing plates 103g41 respectively mounted at the lower ends of the jacking plates 103g3, a second adjusting plate 103g42 slidably mounted at the upper ends of the jacking brackets 103g2, and a second driving member 103g43 driving the second adjusting plate 103g42 to move longitudinally along the length direction of the jacking brackets 103g2, the second distance changing plates 103g41 are slidably connected with the upper ends of the jacking brackets 103g2, the second adjusting plate 103g42 is provided between the jacking plates 103g3 and the second distance changing plates 103g41, second bolts 103g44 are mounted on the second distance changing plates 103g41, second pulleys 103g45 are mounted at the ends of the second bolts 103g44 away from the second distance changing plates 103g41, and the second pulleys 103g45 are embedded in second adjusting grooves 103g46 formed in the second adjusting plates 103g 42. Specifically, the number of the second variable-pitch plates 103g41 is four, two ends of the second variable-pitch plates are respectively connected with the jacking plate 103g3, and the second variable-pitch plates 103g41 are in sliding connection with the jacking bracket 103g2 through sliding rail sliding blocks; two second adjusting plates 103g42 are provided, four second adjusting grooves 103g46 are respectively formed, and two ends of each second adjusting plate 103g42 are respectively connected with the jacking bracket 103g2 in a sliding manner through a sliding rail and a sliding block; the second driving piece 103g43 is installed at the middle of the jacking bracket 103g 2. The working principle of the second variable-pitch group 103g4 is the same as that of the first variable-pitch group 103f4 described above, and will not be described in detail here.

As shown in fig. 18 and 20, the second driving member 103g43 includes a second screw rod 103g431 rotatably installed at the middle of the jacking bracket 103g2, a second screw rod nut 103g432 threadedly installed at the middle of the second screw rod 103g431, a second connecting rod 103g433 installed on the second screw rod nut 103g432, and a second motor 103g434 for driving the second screw rod 103g431 to rotate, and an end of the second connecting rod 103g433 facing away from the second screw rod nut 103g432 is connected with the second adjusting plate 103g 42. Specifically, two ends of the second screw 103g431 are respectively installed in the middle of the jacking bracket 103g2 through bearing seats; the output end of the second motor 103g434 is provided with a driving wheel, one end of the second screw 103g431 is provided with a driven wheel, and the driving wheel is connected with the driven wheel through a belt transmission.

Through the arrangement of the first variable-pitch group 103f4 and the second variable-pitch group 103g4, the spaces between the lower pressing plates 103f3 and between the jacking plates 103g3 are adjusted, and the compatibility of adhesive tapes with different widths can be realized.

As shown in fig. 14 and 21, the pressing plate assembly 103h includes a positioning cylinder 103h1 mounted on the upper end of the moving seat 103c, a positioning bracket 103h2 mounted on the output end of the positioning cylinder 103h1, and a positioning plate 103h3 mounted on the upper end of the positioning bracket 103h2, wherein the positioning plate 103h3 is disposed above the dispensing platform 103 b. Specifically, the output end of the positioning cylinder 103h1 is vertically downward; the positioning support 103h2 comprises an upper longitudinal beam 103h21, a lower longitudinal beam 103h22 and a vertical shaft 103h23, the upper longitudinal beam 103h21 is arranged above the glue distributing platform 103b, the lower longitudinal beam 103h22 is arranged below the glue distributing platform 103b, two ends of the upper longitudinal beam 103h21 and the lower longitudinal beam 103h22 are respectively connected through the vertical shaft 103h23, the middle part of the vertical shaft 103h23 is slidably arranged on the movable seat 103c, the positioning plate 103h3 is arranged on the upper longitudinal beam 103h21, and the lower longitudinal beam 103h22 is connected with the output end of the positioning cylinder 103h 1. The fifth adhesive tape on the coil stock adhesive is positioned through the pressing plate assembly 103h, then the first four adhesive tapes are separated from the coil stock adhesive, and finally the continuous first four adhesive tapes are separated through the first variable-pitch group 103f4 and the second variable-pitch group 103g4, so that the influence of the size error of a single adhesive tape on the adhesive tape distributing precision is effectively reduced. In operation, the positioning cylinder 103h1 drives the positioning bracket 103h2 to move downwards, and the positioning bracket 103h2 moves downwards to enable the positioning plate 103h3 to press the fifth adhesive tape on the adhesive dispensing platform 103 b. In order to avoid the positioning plate 103h3 from over-pressing the coil stock glue, the moving seat 103c is provided with photoelectric sensing to limit the moving stroke of the positioning plate 103h 3.

As shown in fig. 10 and 12, a cam divider 103k is mounted at the lower end of the movable base 103c, and the cam divider 103k is connected to the output end of the driving unit 103 d. Specifically, the lower end of the cam divider 103k is connected to the output end of the driving assembly 103d through a slider 103 l. Through the setting of cam divider 103k, when the coil stock glue on the branch glued platform 103b is put untimely, cam divider 103k rotates and removes seat 103c and carries out the rotation compensation of position, ensures that the adhesive tape after the branch glues puts rightly.

As shown in fig. 10-12, 22 and 23, the lifting assembly 103e comprises a lifting cylinder 103e1 installed on the right side of the upper end of the base 103a, a lifting support 103e2 installed at the output end of the lifting cylinder 103e1, a plurality of lifting rods 103e3 installed at the upper end of the lifting support 103e2, and a plurality of glue discharging blocks 103e4 installed on the glue distributing platform 103b, a rod groove 103e5 is formed in the end portion, facing the lifting support 103e2, of the glue discharging blocks 103e4, the end portion, facing away from the lifting support 103e2, of the lifting rod 103e3 extends into the rod groove 103e5, anti-sticking glue is sleeved on the lifting rod 103e3, and the lifting rod 103e3 is arranged above the glue distributing platform 103 b. For the special adhesive tape with strong adhesion, certain adhesion force is still provided for the lower pressure plate 103f3, and the situation that the adhesive tape after the adhesive tape is separated cannot be sucked by the suction holes 103j, so that the adhesive tape is adhered and brought back by the lower pressure plate 103f3 often occurs. Through lifting assembly 103 e's setting, to the stronger super adhesive tape of adhesion, avoided its situation that is brought back by holding down plate 103f3 adhesion, improved the reliability of dividing the glue, and further guaranteed the branch and glued the precision. Specifically, the upper surface of the glue placing block 103e4 is not coated with an anti-sticking coating, so that the glue strip after glue separation is tightly adhered to the glue placing block 103e4 to avoid being adhered and brought back by the lower pressing plate 103f 3. In order to ensure the stability of the up-and-down movement of the lifting support 103e2, guide shafts are respectively mounted on two sides of the lifting support 103e2, guide sleeves are respectively mounted on two sides of the upper end of the base 103a, and the guide shafts are slidably arranged through the guide sleeves.

When the machine works, when the sizing material is coiled material, the material taking manipulator 104 places the coiled material on the left side of the sizing material distributing platform 103b and is sucked by the suction hole 103j, the second vision equipment 107 detects whether the upper release paper of the coiled material is torn off, the offset of the coiled material and the defect of the adhesive tape in the coiled material, if the coiled material has the offset, the cam divider 103k rotates the movable seat 103c to carry out the rotation compensation of the position, then the driving component 103d drives the movable seat 103c to move left until the pressing component 103f and the jacking component 103g correspond to the four adhesive tapes on the rightmost side of the coiled material, then the pressing component 103h presses down the fifth adhesive tape, the pressing component 103f presses down the four adhesive tapes on the rightmost side, the jacking component 103g moves up and jacks up until the four adhesive tapes on the rightmost side are separated from the sizing material distributing platform 103b, at the moment, the four adhesive tapes on the rightmost side are separated up and down from the fifth adhesive tape, the pressing component 103h moves up and resets, the cam divider 103k rotates the movable seat 103c to reset, the driving component 103d drives the moving seat 103c to move right, in the process of moving right, the first variable-pitch group 103f4 drives the lower pressing plate 103f3 to expand, meanwhile, the second variable-pitch group 103g4 drives the lifting plate 103g3 to expand, so that the left and right separation of four adhesive tapes is realized, after the adhesive tape is separated, until the moving seat 103c moves to the rightmost side of the adhesive tape separating platform 103b, the lower pressing component 103f and the lifting component 103g move downwards to rest the four adhesive tapes after the adhesive tape is separated on the adhesive tape releasing block 103e4, then the lower pressing component 103f moves upwards to reset, the first variable-pitch group 103f4 drives the lower pressing plate 103f3 to retract to reset, the second variable-pitch group 103g4 drives the lifting plate 103g3 to retract to reset, the driving component 103d drives the moving seat 103c to move leftwards to continue the next adhesive tape separating, then the lifting cylinder 103e1 drives the lifting bracket 103e2 to lift the lifting rod 103e3 upwards, the adhesive tape is stretched out of the lifting rod 103e5 to lift the adhesive tape lifting bracket 103e4 at the moment, the adhesive tape is not contacted with the adhesive tape releasing block 4 again, finally, the adhesive tape on the right side of the adhesive tape separating platform 103b is taken away by the adhesive tape sticking manipulator 105. Before the four adhesive tapes are separated, the jacking component 103g moves upwards to lift the four adhesive tapes off the adhesive tape separating platform 103b, so that the purpose is to avoid the influence of friction between the adhesive tapes and the adhesive tape separating platform 103b on left and right separation between the four adhesive tapes. In the process of glue separation, the upper side and the lower side of the adhesive tape are pressed simultaneously through the pressing component 103f and the jacking component 103g, so that the offset of the adhesive tape during glue separation is avoided, and the glue separation precision is effectively ensured. When the sizing material is the sizing material, the material taking manipulator 104 places the sizing material on the left side of the sizing platform 103b, and is sucked by the suction hole 103j, then the second vision equipment 107 detects the offset of the sizing material, and feeds back to the rubberizing manipulator 105, offset compensation is carried out when the rubberizing manipulator 105 grabs, and finally the rubberizing manipulator 105 takes away the sizing material on the left side of the sizing platform 103 b.

As shown in fig. 24, the magazine 101 includes a drawer plate 101a slidably mounted on the lower stage 100, a lifting plate 101b provided above the drawer plate 101a, a pushing assembly 101c pushing the lifting plate 101b up and down, and a shaping assembly 101d slidably mounted on the drawer plate 101a, the right end of the drawer plate 101a extends out of the lower stage 100 and is provided with a leg 101e, and the bottom end of the leg 101e is provided with a caster 101f. Specifically, two or three material reservoirs 101 may be provided, and the actual number is set according to the production requirement; a pull handle is installed at the right end of the drawer plate 101 a.

As shown in fig. 25, the pushing assembly 101c includes a pushing rod frame 101c1 disposed below the lower frame 100, a plurality of pushing rods 101c2 mounted on the pushing rod frame 101c1, and a driving group 101c3 for driving the pushing rod frame 101c1 to move up and down, and rod holes 101c4 through which the pushing rods 101c2 pass are formed in both the lower frame 100 and the drawer plate 101 a. Specifically, the driving set 101c3 may be a linear module, an output end of which is connected to a left end of the pusher frame 101c1, and a right end of the pusher frame 101c1 is slidably connected to the lower frame 100.

As shown in fig. 25, the shaping assembly 101d includes a plurality of lateral side blocking rods 101d1 installed at a middle portion of one side of the drawer plate 101a, a side sliding plate 101d2 slidably installed at a middle portion of the drawer plate 101a, a plurality of lateral side blocking rods 101d3 installed on the side sliding plate 101d2, end sliding plates 101d4 slidably installed at both ends of the drawer plate 101a, and a plurality of end blocking rods 101d5 installed on the end sliding plate 101d4, a plurality of waist holes 101d6 are opened on the lifting plate 101b, and the lateral side blocking rods 101d3 and the end blocking rods 101d5 respectively pass through the waist holes 101d6 and move along a length direction of the waist holes 101d6, the lateral side blocking rods 101d1 correspond to the lateral side blocking rods 101d 3. Specifically, the number of the side reference bars 101d1 and the side bars 101d3 is three, and the side reference bars 101d1 and the side bars 101d3 are arranged in a convex shape; two end stop bars 101d5 are arranged on each end sliding plate 101d 4. By the arrangement of the shaping assembly 101d, the stock house 101 is made compatible with sizes of sizes. When the coil stock is discharged, the handle is pulled, the drawer plate 101a moves rightwards along the lower stand 100, the coil stock is stacked on the lifting plate 101b, then the side sliding plate 101d2 is driven to move towards the reference stop lever 101d1, the side stop lever 101d3 and the side reference stop lever 101d1 are used for shaping two sides of the middle part of the coil stock, meanwhile, the two end sliding plates 101d4 are driven to move oppositely, and the end stop lever 101d5 is used for shaping two ends of the coil stock. When the sheets are discharged, the sheets are stacked in two, and at this time, the middle side reference bar 101d1 and the middle side bar 101d3 correspond to the end reference bars, and each stack of sheets is placed between the middle side reference bar 101d1 and the end bar 101d 5.

In operation, the pick-up robot 104 moves over the stock bin 101 and picks up the stock in the stock bin 101. After grabbing, the driving group 101c3 drives the push rod frame 101c1 to ascend, and the push rod frame 101c1 synchronously drives the push rod 101c2 to penetrate through the rod hole 101c4 to lift the lifting plate 101b, so that automatic feeding of sizing materials is realized.

As shown in fig. 26 and 27, the bottom-tearing release paper station 102 is provided with a release paper bin 102a and a bottom-tearing release paper mechanism 102b, and the bottom-tearing release paper mechanism 102b comprises a plurality of rotary cylinders 102b1 installed on one side of the release paper bin 102a, a first clamping jaw cylinder 102b2 installed at the output end of the rotary cylinders 102b1, and two first clamping jaws 102b3 installed at the output end of the first clamping jaw cylinder 102b 2. Specifically, the number of first rotary cylinders 102b1 is two.

During operation, the material taking manipulator 104 grabs and moves the sizing material in the stock bin 101 to the tearing bottom release paper station 102, then the two first clamping jaws 102b3 clamp the tearing lugs of the sizing material bottom release paper, the material taking manipulator 104 moves to finish tearing the bottom release paper, then the rotary cylinder 102b1 drives the first clamping jaw cylinder 102b2 to rotate, the two first clamping jaws 102b3 rotate towards the bin mouth direction of the release paper bin 102a, the two last clamping jaws 102b3 release the tearing lugs, and the bottom release paper falls into the release paper bin 102a.

As shown in fig. 28, the material taking manipulator 104 includes a material taking frame 104a, a buffer assembly 104b, a material taking suction cup 104c and a tear release paper assembly 104d, the material taking frame 104a is mounted at the execution end of the manipulator, the material taking suction cup 104c is connected with the bottom end of the material taking frame 104a through the buffer assembly 104b, and the tear release paper assembly 104d is mounted at the left end of the material taking frame 104 a. By the arrangement of the buffer assembly 104b, the situation that the material taking sucker 104c is over-pressed in the process of grabbing the sizing material is avoided.

As shown in fig. 29, the buffer assembly 104b includes a shaft sleeve 104b1 fixedly penetrating through the end of the material taking frame 104a, a sliding shaft 104b2 slidably penetrating through the shaft sleeve 104b1, a buffer member 104b3 sleeved at the bottom end of the sliding shaft 104b2, and a limiting member 104b4 installed at the top end of the sliding shaft 104b2, wherein the bottom end of the sliding shaft 104b2 is connected with the material taking sucker 104c, the top end of the buffer member 104b3 is in contact with the bottom surface of the shaft sleeve 104b1, and the bottom end is in contact with the top surface of the material taking sucker 104 c. Specifically, the buffer member 104b3 is a spring; the stopper 104b4 is a nut.

As shown in fig. 29, the take-out suction cup 104c includes a second mounting plate 104c1 mounted at the bottom end of the slide shaft 104b2, a plurality of second vacuum logic valves 104c2 mounted on the second mounting plate 104c1, and a second suction nozzle 104c3 mounted at the bottom end of the second vacuum logic valves 104c 2. The pick-up suction cup 104c operates in a similar manner to the sheet stock taping suction cup 105c3 and will not be described further herein.

As shown in fig. 30, the tear-off paper assembly 104d includes a lifting cylinder 104d1 mounted at the left end of the take-out frame 104a, a second jaw cylinder 104d2 mounted at the output end of the lifting cylinder 104d1, and two second jaws 104d3 mounted at the output end of the second jaw cylinder 104d 2.

During operation, after the material taking manipulator 104 places the coil stock on the left side of the glue separating platform 103b, the second vision equipment 107 detects the tearing lug position of the upper release paper, the material taking manipulator 104 moves according to feedback of the second vision equipment 107, the lifting cylinder 104d1 drives the second clamping jaw cylinder 104d2 to move downwards, the second clamping jaw 104d3 is located below the second suction nozzle 104c3, interference of the second suction nozzle 104c3 is avoided, then the second clamping jaw cylinder 104d2 drives the two second clamping jaws 104d3 to clamp the tearing lug of the release paper on the coil stock, the material taking manipulator 104 moves to finish tearing of the upper release paper, then the material taking manipulator 104 moves to the position right above the release paper bin 102a, the second clamping jaw cylinder 104d2 drives the second clamping jaw 104d3 to loosen the tearing lug, and the upper release paper falls into the release paper bin 102a.

Example 2.

This example is a method of rubberizing a coil stock mix rubberizing machine of example 1, comprising the steps of,

s1, taking glue: the material taking manipulator 104 grabs the sizing material in the material taking warehouse 101, moves to the bottom tearing release paper station 102 for tearing off the bottom release paper, then moves to the first vision equipment 106 for addressing the sizing material position and detecting the tearing off of the bottom release paper, and finally is placed on the sizing separating mechanism 103;

S2, pretreatment before rubberizing: when the sizing material is a coil stock, the material taking manipulator 104 tears off upper release paper from the coil stock on the sizing material distributing mechanism 103, the second vision equipment 107 performs position addressing of the coil stock, tear off detection of the upper release paper and detection of the absence of the adhesive tape, and the sizing material distributing mechanism 103 distributes the sizing material; when the sizing material is sheet material, the second vision equipment 107 performs position addressing of the sheet material;

s3, rubberizing: the rubberizing manipulator 105 grabs the sizing material on the rubberizing mechanism 103, moves to the position of the cell to be rubberized, and the third vision equipment 108 performs position addressing of the cell to be rubberized, and finally the rubberizing manipulator 105 performs rubberizing action.

s21, positioning a fifth adhesive tape: the driving assembly 103d drives the moving seat 103c to move left until the pressing plate assembly 103h corresponds to the fifth adhesive tape on the coiled material, and then the pressing plate assembly 103h presses down to press the fifth adhesive tape on the adhesive separating platform 103b;

s22, separating the first four adhesive tapes from the fifth adhesive tape up and down: the pressing component 103f presses down to press the front four adhesive tapes on the adhesive separating platform 103b, and then the jacking component 103g jacks up to enable the front four adhesive tapes to be separated from the adhesive separating platform 103b;

s23, left-right separation among the first four adhesive tapes: the driving component 103d drives the moving seat 103c to move rightwards, and in the process of moving the moving seat 103c rightwards, the pressing component 103f and the jacking component 103g synchronously expand so that the first four adhesive tapes are separated from each other.

Specifically, in step S1, when the first vision device 106 detects that there is a positional deviation of the glue stock on the material taking manipulator 104, feeding back to the material taking manipulator 104, and when the material taking manipulator 104 places the glue stock on the glue distributing platform 103b, performing correction adjustment of the X axis, the Y axis and the angle, so as to implement positional deviation compensation, so as to ensure that the glue stock is properly placed at a designated position on the glue distributing platform 103b, and meanwhile, judging whether the release paper at the bottom of the glue stock is completely torn off or not through comparison of color gray values; in step S2, when the glue stock is a roll stock, if the second vision device 107 detects that there is a position offset of the roll stock on the glue dispensing platform 103b, the position offset is fed back to the cam divider 103k, the cam divider 103k drives the moving seat 103c to rotate to perform offset compensation, and meanwhile, whether glue exists on the glue dispensing platform 103b, whether the upper release paper is torn clean or not and whether the glue strip is missing or not are judged through comparison of color gray values; when the sizing material is the sheet material, if the second vision equipment 107 detects that the sheet material has a position offset on the sizing platform 103b, the position offset is fed back to the rubberizing manipulator 105, and the rubberizing manipulator 105 adjusts an X axis, a Y axis and an angle so as to ensure that the sheet material is accurately and rightly grabbed by the rubberizing manipulator 105. Wherein, the step of the second vision equipment 107 for addressing the glue on the dispensing platform 103b is: photographing the sizing material to obtain coordinate values of characteristic points of the image; comparing the coordinate values of the image characteristic points with the coordinate values of preset reference positions, and calculating the deviation value of the coordinates; and feeding back the deviation value of the coordinates correspondingly.

Example 3.

As shown in fig. 31 and 32, a sheet rubberizing machine comprises a stock box a 201, a tearing bottom release paper station a 202, a secondary positioning table 203, a material taking manipulator a 204 and a rubberizing manipulator a 205 which are arranged on a lower stand a 200, wherein the stroke of the material taking manipulator a 204 covers the stock box a 201, the tearing bottom release paper station a 202 and the secondary positioning table 203, and the stroke of the rubberizing manipulator a 205 covers the secondary positioning table 203 and a battery core to be rubberized; the first vision device 106 in embodiment 1 is disposed between the bottom-tearing release paper station a 202 and the secondary positioning table 203, and is used for position addressing of the sheet material and detection of tearing of the bottom release paper, and the third vision device 108 in embodiment 1 is disposed above the to-be-glued battery cell and is used for position addressing of the to-be-glued battery cell. The position of the sheet material is addressed by the first vision equipment 106, the mechanical positioning of the sheet material by the secondary positioning table 203 and the position of the battery cell is addressed by the third vision equipment 108, so that the sheet material can be accurately adhered on the battery cell. Specifically, the stock bin a 201 is the stock bin 101 in embodiment 1, and the tear-off release paper station a 202 is the tear-off release paper station 102 in embodiment 1.

As shown in fig. 33, the secondary positioning table 203 includes a base frame 203a mounted on the lower frame a 200, a positioning platform 203b mounted on the top end of the base frame 203a, a plurality of positioning seats 203c mounted on the positioning platform 203b, and an end push assembly 203d and a side push assembly 203e provided on the positioning platform 203 b. By the arrangement of the end pushing assembly 203d and the side pushing assembly 203e, the sheet placed on the positioning seat 203c is mechanically positioned, so that the precise grabbing of the sheet by the rubberizing mechanical arm A205 is realized.

As shown in fig. 34, the end pushing assembly 203d includes an end block i 203d1 mounted in the middle of the positioning platform 203b, end pushing plates i 203d2 respectively provided at both ends of the positioning platform 203b, and end pushing cylinders i 203d3 for moving the end pushing plates i 203d2 laterally toward the end block i 203d 1; the side pushing assembly 203e includes a side reference block i 203e1 mounted on one side of the positioning platform 203b, a side pushing plate i 203e2 provided on the other side of the positioning platform 203b, and a side pushing cylinder i 203e3 driving the side pushing plate i 203e2 to move longitudinally toward the side reference block i 203e 1. Specifically, there are two positioning seats 203c, and an end reference block i 203d1 is provided between the two positioning seats 203 c. During operation, the material taking manipulator A204 places two sheets on the positioning seat 203c, then the end pushing cylinder I203 d3 drives the end pushing plate I203 d2 to move transversely to the end standard block I203 d1, and the side pushing cylinder I203 e3 drives the side pushing plate I203 e2 to move longitudinally to the side standard block I203 e1 until the sheets are respectively contacted with the end standard block I203 d1 and the side standard block I203 e1, so that mechanical positioning of the sheets is realized.

As shown in fig. 35, the material taking manipulator a 204 includes a material taking frame i 204a, a first buffer assembly i 204b, and a material taking suction cup i 204c, where the material taking frame i 204a is mounted at the execution end of the manipulator, and the material taking suction cup i 204c is connected to the bottom end of the material taking frame i 204a through the first buffer assembly i 204 b. The first buffering component I204 b is arranged, so that the situation that the material taking sucker I204 c is over-pressed in the process of grabbing the sizing material is avoided. Specifically, the two material taking suction cups I204 c are arranged at the bottom end of the material taking frame I204 a.

As shown in fig. 36, the first buffering component i 204b includes a first shaft sleeve i 204b1 fixedly penetrating through the end of the material taking frame i 204a, a first sliding shaft i 204b2 slidably penetrating through the first shaft sleeve i 204b1, a first buffering member i 204b3 sleeved at the bottom end of the first sliding shaft i 204b2, and a first limiting member i 204b4 installed at the top end of the first sliding shaft i 204b2, wherein the bottom end of the first sliding shaft i 204b2 is connected with the material taking sucker i 204c, the top end of the first buffering member i 204b3 is in contact with the bottom surface of the first shaft sleeve i 204b1, and the bottom end is in contact with the top surface of the material taking sucker i 204 c. Specifically, the first buffer member i 204b3 is a spring; the first limiting member i 204b4 is a nut.

As shown in fig. 36, the material taking suction cup i 204c includes a first mounting plate i 204c1 mounted at the bottom end of the first slide shaft i 204b2, a plurality of first vacuum logic valves i 204c2 mounted on the first mounting plate i 204c1, and a first suction nozzle i 204c3 mounted at the bottom end of the first vacuum logic valve i 204c 2. The working principle of the material taking suction cup i 204c is similar to that of the material taking suction cup 104c of embodiment 1, and will not be described again.

As shown in fig. 37, the rubberizing manipulator a 205 includes a rubberizing frame i 205a mounted at the execution end of the manipulator, a lifting cylinder i 205b mounted at the bottom end of the rubberizing frame i 205a, and a rubberizing gripper i 205c mounted at the output end of the lifting cylinder i 205 b. Specifically, the number of the lifting cylinders I205 b is two, the output ends of the lifting cylinders I205 b are vertically downward, and the lifting cylinders I are arranged at the bottom end of the rubberizing frame I205 a.

As shown in fig. 38, the rubberizing gripper i 205c includes a rubberizing support i 205c1, a second buffer component i 205c2 and a rubberizing sucker i 205c3, the rubberizing support i 205c1 is mounted at the output end of the lifting cylinder i 205b, and the rubberizing sucker i 205c3 is connected with the bottom end of the rubberizing support i 205c1 through the second buffer component i 205c 2. Through the setting of second buffer assembly I205 c2, avoid rubberizing sucking disc I205 c3 to snatch the circumstances that the excessive pressure appears in the in-process of sizing material and rubberizing.

As shown in fig. 38, the second buffering component i 205c2 includes a second sleeve i 205c21 fixedly penetrating through the rubberizing support i 205c1, a second sliding shaft i 205c22 slidably penetrating through the second sleeve i 205c21, a second buffering component i 205c23 sleeved at the bottom end of the second sliding shaft i 205c22, and a second limiting component i 205c24 mounted at the top end of the second sliding shaft i 205c22, wherein the bottom end of the second sliding shaft i 205c22 is connected with the rubberizing sucker i 205c3, the top end of the second buffering component i 205c23 is in contact with the bottom surface of the second sleeve i 205c21, and the bottom end is in contact with the top surface of the rubberizing sucker i 205c 3. Specifically, the second buffer member i 205c23 is a spring; the second limiting member i 205c24 is a nut.

As shown in fig. 38, the rubberizing suction cup i 205c3 includes a second mounting plate i 205c31 mounted at the bottom end of the second slide shaft i 205c22, a plurality of second vacuum logic valves i 205c32 mounted on the second mounting plate i 205c31, and a second suction nozzle i 205c33 mounted at the bottom end of the second vacuum logic valves i 205c 32. The operation of the glue suction cup i 205c3 is similar to that of the pick-up suction cup i 204c and will not be described in detail here.

As shown in fig. 38, a buffer plate 205d is disposed below the rubberizing support i 205c1, and the buffer plate 205d is connected to the rubberizing support i 205c1 through a third buffer assembly i 205 e. The entire rubberizing gripper i 205c is buffered by the arrangement of the buffer plate 205d and the third buffer assembly i 205 e. Specifically, the buffer plate 205d is provided with a through hole i 205f for the second vacuum logic valve i 205c32 and the second suction nozzle i 205c33 to pass through.

As shown in fig. 38, the third buffering component i 205e includes a third shaft sleeve i 205e1 fixedly penetrating through the rubberizing support i 205c1, a third sliding shaft i 205e2 slidably penetrating through the third shaft sleeve i 205e1, a third buffering component i 205e3 sleeved at the bottom end of the third sliding shaft i 205e2, and a third limiting component i 205e4 installed at the top end of the third sliding shaft i 205e2, wherein the bottom end of the third sliding shaft i 205e2 is connected with the buffering plate 205d, the top end of the third buffering component i 205e3 is in contact with the bottom surface of the third shaft sleeve i 205e1, and the bottom end is in contact with the top surface of the buffering plate 205 d. Specifically, the third buffer member i 205e3 is a spring; the third limiting member i 205e4 is a nut.

During operation, the material taking manipulator A204 grabs two pieces of glue in the material taking warehouse A201, moves to the position of the tearing bottom release paper station A202 to tear the bottom release paper, then moves to the position of the first vision equipment 106 to address the positions of the glue and tear detection of the bottom release paper, then moves to the secondary positioning table 203, places the glue on the positioning seat 203c, mechanically positions the two pieces of glue by the secondary positioning table 203, and finally the glue sticking manipulator A205 grabs the two pieces of glue on the secondary positioning table 203, and carries out glue sticking of the electric core according to feedback of the third vision equipment 108.

Example 4.

The main difference between this embodiment and embodiment 3 is that the specific structures of the shaping component ii 201d, the tear-off paper mechanism ii 202b on the tear-off paper station a 202, the end pushing component 203d and the side pushing component 203e in the secondary positioning table 203, the material taking manipulator a 204 and the rubberizing manipulator a 205 in the magazine a 201 are different.

As shown in fig. 39 and 40, the shaping assembly ii 201d includes a plurality of side reference bars ii 201d1 installed in the middle of one side of the drawer plate ii 201a, a plurality of side stop bars ii 201d3 installed in the middle of the drawer plate ii 201a, a plurality of side stop bars ii 201d3 installed on the side of the side slide plate ii 201d2, a plurality of end reference bars ii 201d4 installed in the middle of one side of the drawer plate ii 201a, end slide plates ii 201d5 installed at both ends of the drawer plate ii 201a, a connecting plate ii 201d6 connecting the two end slide plates ii 201d5, and a plurality of end stop bars ii 201d7 installed on the connecting plate ii 201d6, a plurality of waist holes ii 201d8 are opened on the lifting plate ii 201b, the side stop bars ii 201d3 and the end stop bars ii 201d6 are respectively penetrated through the waist holes ii 201d8, and are moved in the length direction of the waist holes ii 201d8, the side reference bars ii 201d1 correspond to the side stop bars ii 201d3, and the end reference bars ii 201d4 correspond to the end stop bars ii 201d 7. Specifically, the number of the side blocking rods II 201d1 and the number of the side blocking rods II 201d3 are four; the number of the end reference stop lever II 201d4 and the end stop lever II 201d7 is four. During discharging, the handle is pulled, the drawer plate II 201a moves rightwards along the lower stand A200, four stacks of sheets are stacked on the lifting plate II 201b, the stacks are separated by the end reference stop lever II 201d4, then the side sliding plate II 201d2 is driven to move towards the side reference stop lever II 201d1, the side stop lever II 201d3 is enabled to reshape two sides of the middle of the sheets, meanwhile the two end sliding plates II 201d5 are driven to move towards the end reference stop lever II 201d4, the end stop lever II 201d7 is enabled to reshape two ends of the sheets, and at the moment, each stack of sheets is located in an area surrounded by the reference stop lever II 201d1, the side stop lever II 201d3, the end reference stop lever II 201d4 and the end stop lever II 201d 7.

As shown in fig. 41 and 42, the tear-off release paper mechanism ii 202b includes a first rotary cylinder ii 202b1 mounted on one side of the release paper bin ii 202a, a rotary shaft ii 202b2 mounted on an output end of the first rotary cylinder ii 202b1, a plurality of jaw cylinders ii 202b3 mounted on the rotary shaft ii 202b2, and two jaws ii 202b4 mounted on an output end of the jaw cylinders ii 202b 3. Specifically, the number of the clamping jaw cylinders II 202b3 is four, and the tearing of the release paper at the bottom of four sheets of sheets is completed.

As shown in fig. 43 and 44, the end pushing assembly 203d includes a plurality of end reference blocks ii 203d4 arranged on the positioning base 203c at intervals, an end pushing plate ii 203d5 arranged below the positioning platform 203b, a plurality of end pushing blocks ii 203d6 arranged on the end pushing plate ii 203d5 at intervals, and an end pushing cylinder ii 203d7 for moving the end pushing plate ii 203d5 laterally toward the end reference blocks ii 203d4, wherein the top end of the end pushing block ii 203d6 sequentially passes through a through hole ii 203d8 formed in the positioning platform 203b and the positioning base 203c, and moves laterally along the through hole ii 203d 8; the side pushing assembly 203e includes a plurality of side reference blocks ii 203e4 installed at intervals on one side of the positioning seat 203c, a side pushing plate ii 203e5 provided on the other side of the positioning seat 203c, a plurality of side pushing blocks ii 203e6 provided at intervals on the side pushing plate ii 203e5, and a side pushing cylinder ii 203e7 driving the side pushing plate ii 203e5 to move longitudinally toward the side reference blocks ii 203e 4. Specifically, two positioning seats 203c are arranged at intervals along the width direction of the positioning platform 203b, and four sheets can be placed on each positioning seat 203c and are separated by an end reference block II 203d 4; the number of the end pushing plates II 203d5 is two, and the two end pushing plates II are driven by the same end pushing cylinder II 203d 7; the two side pushing plates II 203e5 are driven by the same group of side pushing cylinders II 203e7. During operation, four pieces of sheet materials are placed on each positioning seat 203c, then an end pushing cylinder II 203d7 drives a driving end pushing plate II 203d5 to further synchronously drive an end pushing block II 203d6 to transversely move towards an end standard block II 203d4, and a side pushing cylinder II 203e7 drives a side pushing plate II 203e5 to further synchronously drive a side pushing block II 203e6 to longitudinally move towards a side standard block II 203e4 until each piece of sheet material is respectively contacted with the end standard block II 203d4 and the side standard block II 203e4, so that mechanical positioning of the sheet materials is realized.

As shown in fig. 45, the material taking manipulator a 204 includes a material taking frame ii 204d, a first buffer assembly ii 204e, and a material taking suction cup ii 204f, where the material taking frame ii 204d is mounted at the execution end of the manipulator, and the material taking suction cup ii 204f is connected to the bottom end of the material taking frame ii 204d through the first buffer assembly ii 204 e. Through the setting of first buffer assembly II 204e, avoid getting the situation that material sucking disc II 204f appears excessive pressure in the in-process of snatching the sizing material. Specifically, the specific structure of the first buffer assembly ii 204e is similar to that of the first buffer assembly i 204b, and will not be described in detail herein; the take out suction cups ii 204f are four and their specific construction is similar to the take out suction cups i 204c and will not be described in detail here.

As shown in fig. 46, the rubberizing manipulator a 205 includes a rubberizing frame ii 205g mounted at the execution end of the manipulator, a rotary cylinder ii 205h mounted at the bottom end of the rubberizing frame ii 205g in an inclined manner, and two rubberizing grippers ii 205i mounted at the output end of the rotary cylinder ii 205h, wherein the rubberizing grippers ii 205i are mutually perpendicular, and one of the rubberizing grippers ii 205i is horizontally disposed. When the electric core rubberizing device works, after the electric core rubberizing is completed by the horizontal rubberizing gripper II 205i, the rotary cylinder II 205h drives the two rubberizing grippers II 205i to rotate, so that the vertical rubberizing gripper II 205i becomes horizontal.

The rubberizing tongs II 205i includes rubberizing support II 205i1, second buffer assembly II 205i2 and rubberizing sucking disc II 205i3, and rubberizing support II 205i1 installs the output at revolving cylinder II 205h, and rubberizing sucking disc II 205i3 passes through second buffer assembly II 205i2 and is connected with the bottom of rubberizing support II 205i 1. Through the setting of second buffer assembly II 205i2, avoid rubberizing sucking disc II 205i3 to snatch the circumstances that the in-process of sizing material and rubberizing appears. Specifically, two rubberizing sucking discs II 205i3 are arranged on each rubberizing tongs II 205i, so that grabbing of two sheets is realized.

The second buffer assembly II 205i2 comprises a second sliding shaft II 205i21 which is arranged in the middle of the rubberizing support II 205i1 in a sliding mode and a second buffer piece II 205i22 which is sleeved on the second sliding shaft II 205i21, the bottom end of the second sliding shaft II 205i21 is connected with the rubberizing sucker II 205i3, the top end of the second buffer piece II 205i22 is in contact with the bottom surface of the rubberizing support II 205i1, and the bottom end of the second buffer piece II is in contact with the top surface of the rubberizing sucker II 205i 3. Specifically, the second cushioning member ii 205i22 is a spring.

The rubberizing suction cup ii 205i3 comprises a suction cup ii 205i31 arranged at the bottom end of the second sliding shaft ii 205i21 and a plurality of second suction nozzles ii 205i32 arranged at the bottom end of the suction cup ii 205i 31. Specifically, the suction cup ii 205i31 is in communication with a vacuum apparatus.

The two ends of the rubberizing support II 205i1 are provided with guide assemblies II 205i4, the guide assemblies II 205i4 comprise guide sleeves II 205i41 arranged on the rubberizing support II 205i1, guide shafts II 205i42 penetrating through the guide sleeves II 205i41 in a sliding mode and limiting pieces II 205i43 arranged at the top ends of the guide shafts II 205i42, and the bottom ends of the guide shafts II 205i42 are connected with sucking discs II 205i 31. Specifically, the limiting member ii 205i43 is a nut. The buffer movement of the suction cup ii 205i31 is guided by the arrangement of the guide assembly ii 205i 4.

During operation, the material taking manipulator A204 grabs four piece adhesive tapes in the material taking warehouse A201, moves to the position of the tearing bottom release paper station A202 to tear off the bottom release paper, then moves to the position of the first vision equipment 106 to address the piece adhesive tapes and tear off and detect the bottom release paper, then moves to the secondary positioning table 203, places the piece adhesive tapes on the positioning seat 203c, mechanically positions the four piece adhesive tapes by the secondary positioning table 203, and finally the adhesive tape sticking manipulator A205 grabs the piece adhesive tapes on the secondary positioning table 203, and carries out adhesive sticking of the electric core according to feedback of the third vision equipment 108.

The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a sheet stock rubberizing machine, includes that establish on lower frame platform A (200) stock house A (201), tear end and leave type paper station A (202), secondary location platform (203), get material manipulator A (204) and rubberizing manipulator A (205), the stroke of getting material manipulator A (204) covers stock house A (201), tear end and leave type paper station A (202) and secondary location platform (203), the stroke of rubberizing manipulator A (205) covers secondary location platform (203) and waits to rubberize electric core; characterized in that it also comprises

The first vision equipment (106) is arranged between the tearing bottom release paper station A (202) and the secondary positioning table (203) and is used for addressing the position of the sheet material and detecting the tearing of the bottom release paper,

and a third vision device (108) arranged above the cell to be rubberized and used for addressing the position of the cell to be rubberized.

2. The sheet stock rubberizing machine according to claim 1, wherein said secondary positioning table (203) comprises a base frame (203 a) mounted on a lower frame a (200), a positioning platform (203 b) mounted on top of the base frame (203 a), a plurality of positioning seats (203 c) mounted on the positioning platform (203 b), and an end pushing assembly (203 d) and a side pushing assembly (203 e) provided on the positioning platform (203 b).

3. The sheet stock rubberizing machine according to claim 2, wherein said end pushing assembly (203 d) comprises an end reference block i (203 d 1) mounted in the middle of the positioning platform (203 b), end pushing plates i (203 d 2) respectively provided at both ends of the positioning platform (203 b), and end pushing cylinders i (203 d 3) for driving the end pushing plates i (203 d 2) to move laterally toward the end reference block i (203 d 1); the side pushing assembly (203 e) comprises a side standard block I (203 e 1) arranged on one side of the positioning platform (203 b), a side pushing plate I (203 e 2) arranged on the other side of the positioning platform (203 b) and a side pushing cylinder I (203 e 3) for driving the side pushing plate I (203 e 2) to longitudinally move towards the side standard block I (203 e 1).

4. The sheet stock rubberizing machine according to claim 2, wherein the end pushing assembly (203 d) comprises a plurality of end reference blocks II (203 d 4) arranged on the positioning seat (203 c) at intervals, an end pushing plate II (203 d 5) arranged below the positioning platform (203 b), a plurality of end pushing blocks II (203 d 6) arranged on the end pushing plate II (203 d 5) at intervals, and an end pushing cylinder II (203 d 7) for enabling the end pushing plate II (203 d 5) to transversely move towards the end reference blocks II (203 d 4), wherein the top ends of the end pushing blocks II (203 d 6) sequentially penetrate through holes II (203 d 8) formed in the positioning platform (203 b) and the positioning seat (203 c), and transversely move along the through holes II (203 d 8); the side pushing assembly (203 e) comprises a plurality of side reference blocks II (203 e 4) arranged on one side of the positioning seat (203 c) at intervals, a side pushing plate II (203 e 5) arranged on the other side of the positioning seat (203 c), a plurality of side pushing blocks II (203 e 6) arranged on the side pushing plate II (203 e 5) at intervals and a side pushing cylinder II (203 e 7) for driving the side pushing plate II (203 e 5) to longitudinally move towards the side reference blocks II (203 e 4).

5. A sheet stock taping machine according to claim 3, wherein the taping robot a (205) comprises a taping frame i (205 a) mounted at the end of the robot arm, a lifting cylinder i (205 b) mounted at the bottom end of the taping frame i (205 a), and a taping gripper i (205 c) mounted at the output end of the lifting cylinder i (205 b).

6. The sheet stock taping machine of claim 4, wherein the taping robot a (205) includes a taping frame ii (205 g) mounted at an execution end of the robot arm, a rotary cylinder ii (205 h) obliquely mounted at a bottom end of the taping frame ii (205 g), and two taping grippers ii (205 i) mounted at an output end of the rotary cylinder ii (205 h), the taping grippers ii (205 i) are perpendicular to each other, and one of the taping grippers ii (205 i) is horizontally disposed.