CN216186216U - Automatic butt joint equipment for lithium salt packaging barrel - Google Patents
Automatic butt joint equipment for lithium salt packaging barrel Download PDFInfo
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- CN216186216U CN216186216U CN202122592165.0U CN202122592165U CN216186216U CN 216186216 U CN216186216 U CN 216186216U CN 202122592165 U CN202122592165 U CN 202122592165U CN 216186216 U CN216186216 U CN 216186216U
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Abstract
The utility model discloses automatic butt joint equipment for lithium salt packaging barrels, which comprises a frame platform, a rotary calibration platform, a laser positioning system and a butt joint control platform, wherein the rotary calibration platform comprises a rotary mechanism and a ball valve operating mechanism; the ball valve operating mechanism and the laser positioning system are fixed on the frame, and the rotating mechanism is arranged below the frame; rotating the lithium salt packaging barrel by the rotary calibration platform, enabling the ball valve operating mechanism to penetrate through an operating window of a ball valve on the lithium salt packaging barrel, and realizing accurate butt joint with a handle of the ball valve by utilizing laser ranging so as to open or close the ball valve; the laser positioning system enables the docking control platform to perform three-dimensional moving positioning by utilizing laser ranging so as to enable the docking control platform to be accurately docked with the material inlet and outlet of the ball valve; and after the butt joint control platform is in butt joint with the material inlet and the material outlet of the ball valve, preset pressure is applied to the butt joint position. The lithium salt packaging method has the advantages that the lithium salt packaging efficiency is improved, the corresponding labor force is reduced, and the full automation of the lithium hexafluorophosphate from production to packaging is finally realized.
Description
Technical Field
The utility model relates to the technical field of packaging equipment, in particular to automatic butt joint equipment for lithium salt packaging barrels.
Background
Lithium hexafluorophosphate (LiPF)6) Is a widely used conductive lithium salt in commercial liquid lithium ion batteries, but has poor chemical stability, and complex autocatalytic decomposition can occur particularly under the conditions of protonic impurities or high temperature. Thus LiPF6Transportation and storage need to be isolated from air and water molecules, and currently LiPF6The packaging of the utility model adopts stainless steel packaging barrels with different specifications. A150 kg lithium bucket is currently more commonly used.
The packing of current lithium hexafluorophosphate all is through artifical butt joint mode, this kind of mode needs to correspond the station arrangement special messenger and carries out the calibration of position, the butt joint of hose, the action such as the switch of product is weighed, the ball valve, though there has been automatic packing production line on horse at present, but only solved the lithium bucket from placing the automatic conveying of presetting the position to the stack, still need set up a plurality of artifical station in the packing link of product conveying and carry out the packing of product, receive the manpower restriction and led to the fact the efficiency of product packing actually still can't obtain very big improvement.
Therefore, those skilled in the art are dedicated to develop an automatic docking apparatus for lithium salt packaging barrels, which improves the efficiency of lithium salt packaging, reduces the corresponding labor force, and finally realizes full automation of lithium hexafluorophosphate from production to packaging.
SUMMERY OF THE UTILITY MODEL
In view of the above defects in the prior art, the technical problem to be solved by the present invention is how to provide an automatic docking apparatus for lithium salt packaging barrels, which has a full-automatic mode of position calibration, hose docking, product weighing, and ball valve switching, improves the efficiency of lithium salt packaging, reduces the corresponding labor force, and finally realizes full automation of lithium hexafluorophosphate from production to packaging.
In order to achieve the purpose, the utility model provides automatic butt joint equipment for a lithium salt packaging barrel, which comprises a frame platform, a rotary calibration platform, a laser positioning system and a butt joint control platform, wherein the rotary calibration platform comprises a rotating mechanism and a ball valve operating mechanism; the ball valve operating mechanism and the laser positioning system are fixed on the frame, and the rotating mechanism is arranged below the frame; the rotary calibration platform is configured to rotate the lithium salt packaging barrel through the rotating mechanism, so that the ball valve operating mechanism penetrates through an operating window of a ball valve on the lithium salt packaging barrel, and accurate butt joint is achieved with a handle of the ball valve through laser ranging to open or close the ball valve; the laser positioning system is configured to enable the docking control platform to perform three-dimensional moving positioning by using laser ranging so as to enable the docking control platform to be accurately docked with the material inlet and outlet of the ball valve; the docking control platform is configured to apply a predetermined pressure at the docking location after docking with the inlet/outlet of the ball valve.
Further, rotary mechanism includes chassis, mechanical fixture, raceway, centre gripping motor, rotating electrical machines, chassis and mechanical fixture fixed connection, the raceway is located between chassis and the mechanical fixture, rotating electrical machines sets up the chassis below, the raceway is configured to with the lithium packing barrel transports to the operating position, the centre gripping motor is configured to the drive the mechanical fixture centre gripping lithium packing barrel, rotating electrical machines is configured to work as when the lithium packing barrel is held, rotatory the chassis is so that the lithium packing barrel rotates.
Further, the rotating mechanism further comprises a weighing module disposed below the bottom frame, the weighing module being configured to weigh the lithium salt packaging barrel.
Further, the ball valve operating mechanism comprises a telescopic guide rail, a telescopic motor, a ball valve operating motor, a mechanical arm, a handle operator and a first laser ranging device, wherein the fixed end of the telescopic guide rail is fixed on the frame platform, the ball valve operating motor is fixed on the moving end of the telescopic guide rail, the first laser ranging device is arranged above the mechanical arm, the telescopic motor is configured to drive the telescopic guide rail to do telescopic motion, the ball valve operating motor is connected to the handle operator through the mechanical arm, the handle operator is configured to operate the handle of the ball valve to open or close the ball valve, the first laser ranging device is configured to determine whether the mechanical arm is aligned with the handle position of the ball valve by measuring the distance between the mechanical arm and the ball valve so as to control the rotating mechanism to rotate, and enabling the mechanical arm to penetrate through an operation window of the ball valve on the lithium salt packaging barrel and be accurately butted with a handle of the ball valve.
Furthermore, the laser positioning system comprises a support, a three-dimensional positioning device and a second laser ranging device, wherein the support is fixed on the frame platform, the three-dimensional positioning device is arranged on the support, the butt joint control platform is installed at the tail end of the three-dimensional positioning device, and the second laser ranging device is horizontally arranged at a material inlet and outlet of the butt joint control platform corresponding to the ball valve in a relative mode.
Further, the three-dimensional positioning device comprises an X-direction linear guide rail, a Y-direction linear guide rail, a Z-direction linear guide rail, an X-direction driving motor, a Y-direction driving motor and a Z-direction driving motor, wherein the X-direction driving motor and the Y-direction driving motor are configured to drive the X-direction linear guide rail and the Y-direction linear guide rail to move along the horizontal X direction and the horizontal Y direction respectively, the Z-direction driving motor is configured to drive the Z-direction linear guide rail to move along the vertical Z direction, and the docking control platform is installed on the Z-direction linear guide rail.
Further, butt joint control platform includes hose, first flange, pushes down the motor, the business turn over material mouth of ball valve includes the second flange, first flange is fixed on the Z is to linear guide, hose one end is connected to first flange, and the other end is connected to lithium salt business turn over material system, first flange and second flange phase-match, it is configured to drive to push down the motor first flange downstream, in order to exert between first flange and the second flange predetermined pressure.
Further, the docking control platform further comprises a gasket disposed between the first flange and the second flange.
Further, the docking control platform further comprises a pressure sensor configured to measure a pressure between the first and second flanges.
Furthermore, the number of the second laser ranging devices is four, and the second laser ranging devices are respectively located on two sides of the first flange in the X direction and the Y direction.
The utility model has the advantages that:
(1) utilize laser rangefinder effectively to realize the automatic butt joint of lithium bucket, set up four laser rangefinder at butt joint flange dish for the improvement precision, set up the algorithm through the shortest characteristic of laser rangefinder and lithium bucket ball valve top flange distance, reach the realization of quick butt joint.
(2) Through setting up pressure sensor, the dynamics of flange butt joint is pushed down in the control, and this kind of mode has walked around the step of original fixed screw on the butt joint back, can reach the requirement of butt joint, has broken through the difficult point of this process again very well, has improved degree of automation.
(3) The butt joint flange plate is provided with the liner, the liner is fixed on the inner wall of the butt joint port of the flange plate, and the liner is made of polytetrafluoroethylene, so that the condition of inaccurate butt joint caused by the deformation of the lithium barrel is avoided, and the reliability of butt joint is ensured.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.
Fig. 2 is a front view of a preferred embodiment of the present invention.
Fig. 3 is a top view of a preferred embodiment of the present invention.
Fig. 4 is a left side view of a preferred embodiment of the present invention.
The device comprises a frame platform, a mechanical clamp, a 3-roller path, a 4-clamping motor, a 5-lithium barrel, a 6-bottom frame, a 7-rotating motor, an 8-telescopic guide rail, a 9-ball valve operating motor, a 10-mechanical arm, a 11-first laser distance measuring device, a 12-ball valve, a 13-telescopic motor, a 14-handle operator, a 15-bracket, a 16-first flange, a 17-second laser distance measuring device, an 18-X-direction linear guide rail, a 19-Y-direction linear guide rail, a 20-Z-direction linear guide rail, a 21-X-direction driving motor, a 22-Y-direction driving motor, a 23-Z-direction driving motor, a 24-pressing motor and a 25-weighing module.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings for clarity and understanding of technical contents. The present invention may be embodied in many different forms of embodiments and the scope of the utility model is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
The utility model provides automatic butt joint equipment for lithium salt packaging barrels, which comprises a rotary calibration platform, a laser positioning system, a butt joint control platform and the like. The rotary calibration platform comprises a pair of mechanical clamps, a rotary mechanism, a telescopic mechanical arm, a servo drive motor and a laser ranging device; the laser positioning system comprises a support, XYZ three linear guide rails, a servo drive motor and four laser ranging sensors; the flange plate butt joint after the butt joint control platform realizes the location is realized to its function, adopts pressure sensor control butt joint dynamics, through the weighing module of base setting, realizes the closed loop control of packing. The automatic butt joint device is mainly used for automatic butt joint of 150kg lithium hexafluorophosphate packaging barrels, and has the full-automatic modes of position calibration, hose butt joint, product weighing and ball valve switch opening and closing, the lithium salt packaging efficiency is improved, the corresponding labor force is reduced, and finally the full automation of lithium hexafluorophosphate from production to packaging is realized.
As shown in fig. 1-4, the utility model provides an automatic butt joint device for lithium salt packaging barrels, wherein an automatic operation station is preset, a corresponding frame platform 1 is built above the station, and butt joint mechanisms of a lithium barrel feeding and discharging port and a ball valve are all arranged on the platform.
(1) The rotary calibration platform includes: the pair of mechanical clamps 2 are driven by a clamping motor 4 to extend out to tightly hold the lithium barrel 5 after the lithium barrel 5 is conveyed to a preset station through the roller path 3; the bottom of the station is provided with an underframe 6, the underframe 6 is connected with the mechanical clamp 2, and the lithium barrel 5 can be clamped by a rotating motor 7 below the underframe 6 to rotate in a plane; a telescopic guide rail 8 is hoisted on the station frame platform 1, a billiard valve operation motor 9 is installed on the telescopic guide rail 8 and connected with a mechanical arm 10, two first laser ranging devices 11 are arranged above the mechanical arm 10, and whether the mechanical arm 10 is aligned with the position of a ball valve handle or not is judged by measuring the distance between the mechanical arm 10 and a ball valve 12 in the lithium barrel 5; through control system's instruction, can start the flexible motor 13 of telescopic guide 8, stretch into lithium bucket 5 with arm 10 through the opening of 5 protective casings of lithium bucket inside, after handle manipulator 14 that the arm 10 front end was made coincided with the ball valve handle, the rotation of ball valve operation motor 9 control arm 10 on the telescopic guide 8 has realized the switching of lithium bucket business turn over material mouth.
(2) The laser positioning system includes: the three-dimensional positioning device is arranged on the support 15 and consists of three linear guide rails XYZ and corresponding servo drive motors, and a first flange 16 matched with the ball valve 12 is arranged on a tail end support of the three-dimensional positioning device and is controlled to move by the three-dimensional positioning device. Four second laser ranging devices 17 (A-D) are arranged on the first flange 16 in an XY axis alignment mode, wherein A, C is arranged along the X direction, B, D is arranged along the Y direction, an algorithm is set through uninterrupted ranging of the four second laser ranging devices 17, when the distance of the point A reaches a contact distance, the three-dimensional positioning device is controlled to axially translate towards the point C until the distance of the point A is greatly increased, and when the point C inevitably reaches the contact distance during movement, the three-dimensional positioning device is controlled to axially translate towards the point A; similarly, when the distance measurement is necessarily carried out on the point B or the point D while the Y-direction movement is carried out, the three-dimensional positioning device is controlled to axially translate towards the point D or the point B respectively, and the three-dimensional positioning device is controlled to reciprocate in such a way that the first flange 16 is moved to be coincided with the top end of the lithium barrel ball valve 12 through the algorithm, and the distances of the four second laser distance measuring devices 17 reach the contact distance.
The three-dimensional positioning device includes: a bracket 15 fixedly arranged on the frame platform 1; an X-direction linear guide 18 horizontally arranged on the bracket 15; a Y-direction linear guide 19 vertically provided on the carriage 15; a Z-direction linear guide 20 slidably provided on a side surface of the Y-direction linear guide 19; an X-direction drive motor 21; a Y-direction drive motor 22; the Z-direction drives the motor 23. The X-direction drive motor 21 and the Y-direction drive motor 22 drive the X-direction linear guide 18 and the Y-direction linear guide 19 to move in the horizontal X-direction and the Y-direction, respectively, and the Z-direction drive motor 23 drives the Z-direction linear guide 20 to move in the vertical Z-direction.
(3) The butt joint control platform includes: the hose, first flange 16, the setting is at Z to linear guide 20's motor 24 that pushes down, the one end of hose links to each other with first flange 16, the other end links to each other with lithium salt business turn over material system, first flange 16 after motor 24 control location pushes down, and install the liner at the flange dish mouth of butt joint, the liner is made by polytetrafluoroethylene, the action of pushing down of Z axle just accomplishes and lasts when predetermineeing the pressure requirement and keeps, should predetermine the pressure value and set up after carrying out the repetition measurement test in advance through the pressure sensor who installs at the ring flange. After the flange butt joint is completed, the control system opens the ball valve 12 through an instruction, finished lithium salt is filled, meanwhile, the progress of discharging is controlled through four weighing modules 25 symmetrically arranged below the underframe 6, the real-time controllability of the packaging progress is achieved, and the ball valve 12 is controlled to be closed and the Z shaft is released to be pressed downwards after the packaging is completed, so that the closed-loop control of the packaging is realized.
The utility model uses the positioning system based on the laser ranging technology to realize the automatic butt joint of the charging and discharging ports of the lithium salt packaging barrel, has the advantages of relatively simple mechanism and accurate positioning, and is provided with four laser ranging devices to further improve the positioning accuracy.
The scheme has strong applicability, the automatic equipment can be applied to ton barrel equipment quickly through size transformation, and transformation cost is not high for enterprises with special requirements on product specifications.
The foregoing detailed description of the preferred embodiments of the utility model has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. An automatic butt joint device for lithium salt packaging barrels is characterized by comprising a frame platform, a rotary calibration platform, a laser positioning system and a butt joint control platform, wherein the rotary calibration platform comprises a rotary mechanism and a ball valve operating mechanism; the ball valve operating mechanism and the laser positioning system are fixed on the frame, and the rotating mechanism is arranged below the frame; the rotary calibration platform is configured to rotate the lithium salt packaging barrel through the rotating mechanism, so that the ball valve operating mechanism penetrates through an operating window of a ball valve on the lithium salt packaging barrel, and accurate butt joint is achieved with a handle of the ball valve through laser ranging to open or close the ball valve; the laser positioning system is configured to enable the docking control platform to perform three-dimensional moving positioning by using laser ranging so as to enable the docking control platform to be accurately docked with the material inlet and outlet of the ball valve; the docking control platform is configured to apply a predetermined pressure at the docking location after docking with the inlet/outlet of the ball valve.
2. The automatic docking apparatus for lithium salt packaging barrel of claim 1, wherein the rotating mechanism comprises a chassis, a mechanical clamp, a raceway, a clamping motor, a rotating motor, the chassis and the mechanical clamp are fixedly connected, the raceway is located between the chassis and the mechanical clamp, the rotating motor is disposed under the chassis, the raceway is configured to transport the lithium salt packaging barrel to a working position, the clamping motor is configured to drive the mechanical clamp to clamp the lithium salt packaging barrel, and the rotating motor is configured to rotate the chassis to rotate the lithium salt packaging barrel when the lithium salt packaging barrel is clamped.
3. The automatic docking apparatus for lithium salt packaging barrels of claim 2, wherein the rotating mechanism further comprises a weighing module disposed under the chassis, the weighing module configured to weigh the lithium salt packaging barrel.
4. The automatic docking apparatus for lithium salt packaging barrels of claim 1, wherein the ball valve operating mechanism comprises a telescopic guide rail, a telescopic motor, a ball valve operating motor, a robot arm, a handle manipulator, a first laser ranging device, a fixed end of the telescopic guide rail is fixed on the frame platform, the ball valve operating motor is fixed on a moving end of the telescopic guide rail, the first laser ranging device is disposed above the robot arm, the telescopic motor is configured to drive the telescopic guide rail to make telescopic motion, the ball valve operating motor is connected to the handle manipulator through the robot arm, the handle manipulator is configured to operate a handle of the ball valve to open or close the ball valve, the first laser ranging device is configured to determine whether the robot arm is aligned with a handle position of the ball valve by measuring a distance between the robot arm and the ball valve, thereby control rotary mechanism is rotatory for the arm passes the operating window of lithium salt pail pack on the ball valve, with the accurate butt joint of handle realization of ball valve.
5. The automatic docking apparatus for lithium salt packaging barrels of claim 1, wherein the laser positioning system comprises a bracket, a three-dimensional positioning device and a second laser ranging device, the bracket is fixed on the frame platform, the three-dimensional positioning device is arranged on the bracket, the docking control platform is installed at the tail end of the three-dimensional positioning device, and the second laser ranging device is horizontally arranged at the inlet and outlet of the docking control platform corresponding to the ball valve.
6. The automatic docking apparatus for lithium salt packaging barrels of claim 5, wherein the three-dimensional positioning device comprises an X-direction linear guide rail, a Y-direction linear guide rail, a Z-direction linear guide rail, an X-direction driving motor, a Y-direction driving motor and a Z-direction driving motor, the X-direction driving motor and the Y-direction driving motor are configured to drive the X-direction linear guide rail and the Y-direction linear guide rail to move along a horizontal X direction and a horizontal Y direction respectively, the Z-direction driving motor is configured to drive the Z-direction linear guide rail to move along a vertical Z direction, and the docking control platform is mounted on the Z-direction linear guide rail.
7. The automatic docking apparatus for lithium salt packaging barrel of claim 6, wherein the docking control platform comprises a hose, a first flange, and a down-press motor, wherein the feeding and discharging port of the ball valve comprises a second flange, the first flange is fixed on the Z-direction linear guide rail, one end of the hose is connected to the first flange, the other end of the hose is connected to the lithium salt feeding and discharging system, the first flange and the second flange are matched, and the down-press motor is configured to drive the first flange to move downwards so as to apply the predetermined pressure between the first flange and the second flange.
8. The automatic docking apparatus for lithium salt packaging barrels of claim 7, wherein the docking control platform further comprises a gasket disposed between the first flange and the second flange.
9. The automatic docking apparatus for lithium salt packaging barrels of claim 8, wherein the docking control platform further comprises a pressure sensor configured to measure a pressure between the first and second flanges.
10. The automatic docking apparatus for lithium salt packaging barrels of claim 7, wherein the number of the second laser ranging devices is four, respectively located at both sides of the first flange in the X-direction and the Y-direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122592165.0U CN216186216U (en) | 2021-10-27 | 2021-10-27 | Automatic butt joint equipment for lithium salt packaging barrel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122592165.0U CN216186216U (en) | 2021-10-27 | 2021-10-27 | Automatic butt joint equipment for lithium salt packaging barrel |
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| CN216186216U true CN216186216U (en) | 2022-04-05 |
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| CN202122592165.0U Active CN216186216U (en) | 2021-10-27 | 2021-10-27 | Automatic butt joint equipment for lithium salt packaging barrel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771997A (en) * | 2022-06-20 | 2022-07-22 | 常州市万佳智能装备有限公司 | Full-automatic lithium salt canning machine |
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2021
- 2021-10-27 CN CN202122592165.0U patent/CN216186216U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771997A (en) * | 2022-06-20 | 2022-07-22 | 常州市万佳智能装备有限公司 | Full-automatic lithium salt canning machine |
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