WO2019051990A1 - 电池自动组装装置及其组装方法 - Google Patents

电池自动组装装置及其组装方法 Download PDF

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Publication number
WO2019051990A1
WO2019051990A1 PCT/CN2017/110970 CN2017110970W WO2019051990A1 WO 2019051990 A1 WO2019051990 A1 WO 2019051990A1 CN 2017110970 W CN2017110970 W CN 2017110970W WO 2019051990 A1 WO2019051990 A1 WO 2019051990A1
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Prior art keywords
battery
foreign matter
pressing
tear film
robot
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PCT/CN2017/110970
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English (en)
French (fr)
Inventor
付冲
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江苏唯侓机器人科技有限公司
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Publication of WO2019051990A1 publication Critical patent/WO2019051990A1/zh

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

Definitions

  • the present invention relates to the field of automatic assembly, and in particular to a battery automatic assembly device and an assembly method thereof.
  • the assembly of mobile phone batteries the traditional production requires each person to work alone, with more manpower, low efficiency and uneven quality. And when the BTB terminal of the battery is assembled, if the position is not correct, the pressure of 5KG will cause damage to the product.
  • the technical problem to be solved by the present invention is to provide an automatic battery assembly device and an assembly method thereof, which have improved productivity and product quality through fully automated production, greatly improved battery assembly precision, reduced scrap rate, and reduced manpower.
  • a technical solution adopted by the present invention is to provide a battery automatic assembly device, comprising: a lower frame, an assembly platform located above the lower frame, a silo located on the assembly platform, a tear film and a foreign object a detecting mechanism, a secondary positioning mechanism, a battery pressing mechanism, a battery recompressing and unloading mechanism, a circulating conveying line, and a robot, wherein the silo is connected to the foreign body detecting mechanism and the secondary positioning mechanism, The secondary positioning mechanism is further connected to the battery pressing mechanism, and the battery pressing machine
  • the structure is connected to the battery re-pressing and unloading mechanism, and the robot is in the silo, the tear film and the foreign matter detecting mechanism, the secondary positioning mechanism, the battery pressing mechanism, the battery recompression and the feeding mechanism, and the circulating conveying.
  • the lines move freely and the endless conveyor line is connected to the elevator.
  • the lower frame is mounted with a control mechanism, the control mechanism and the silo, a tear film and a foreign matter detecting mechanism, a secondary positioning mechanism, a battery pressing mechanism, and a battery Pressing and unloading mechanism, circulating conveyor line, and mechanical hand connection.
  • the silo includes a housing fixed to the assembly platform, a motor mounted in the housing, a screw module, and a plurality of trays stacked on top of each other, the lead screw
  • the module is electrically connected to the motor, and the plurality of trays are connected to the screw rod module, and the screw rod module is located at a side of the plurality of trays, and a sensor is mounted above the tray.
  • the tear film and foreign matter detecting mechanism includes a tear film mechanism and a foreign matter detecting mechanism controlled by a servo module, and the foreign matter detecting mechanism includes a plurality of displacements installed on each corner of the silo
  • the sensor, the tear film mechanism includes a film blowing device and a tear film device that cooperate with each other.
  • the secondary positioning mechanism includes a fixed block surrounding the battery, a terminal positioning block, a left and right positioning block, and a front and rear positioning block, and the left and right positioning blocks and the front and rear positioning blocks are both Connected to the cylinder.
  • the battery pressing mechanism includes a BTB terminal suction cup, a battery suction cup, a bending mechanism, a robot mounting R-axis, and a pressure sensor, and the BTB terminal suction cup passes between the bending mechanism and the bending mechanism.
  • the robot is mounted on the R-axis, and the BTB terminal suction cup and the battery suction cup are also connected by the robot mounting R-axis, and the pressure sensor is mounted on the BTB terminal suction cup.
  • the battery recompression and unloading mechanism includes mounting on a bracket The voltage detecting device, the battery flatness detecting device and the unloading device, the bracket is fixed on the assembly platform, the battery flatness detecting device is a laser displacement sensor, and the unloading device comprises a plurality of suction cups.
  • the robot is a four-axis robot.
  • the invention also provides a method for assembling a battery automatic assembly device, comprising the following steps:
  • the foreign matter is detected by the tear film and the foreign matter detecting mechanism. If there is a foreign matter, the displacement sensor on the foreign matter detecting mechanism feeds back the data to the control mechanism, and judges the height of the foreign matter; if there is no foreign matter, the tear is removed.
  • the membrane mechanism performs automatic tear film;
  • the robot transports the battery after the tear film from the silo to the secondary positioning mechanism for secondary positioning;
  • the robot transports the secondary positioned battery from the secondary positioning mechanism to the battery pressing mechanism, and presses the BTB terminal of the battery;
  • the pressed battery is sent to the battery re-pressing and unloading mechanism to detect the voltage value of the battery and the flatness of the battery. If there is no problem, it is transferred to the next process. If there is a problem, the material is cut. Several suction cups on the device place the battery on the return line for recycling.
  • the automatic tear film in the step (100) is specifically: first, the release paper is blown up and raised by the film blowing device, and then the clamping method is adopted by the tear film device. The release paper is torn off.
  • the beneficial effects of the invention are: through the reasonable design of the structure, the robot is used for carrying the battery, and the tear film and the foreign matter detecting mechanism are used to detect the foreign matter in the silo and the tearing of the battery release paper, and the positioning is performed by the secondary positioning mechanism.
  • the battery BTB terminal is pressed by the battery pressing mechanism, and the battery is tested by the battery recompression and the unloading mechanism, and the production capacity and product quality are improved by fully automated production.
  • the battery assembly accuracy is greatly improved, the scrap rate is reduced, and the manpower is reduced.
  • FIG. 1 is a schematic structural view of a battery automatic assembly device according to a preferred embodiment of the present invention.
  • Figure 2 is a plan view of Figure 1;
  • Figure 3 is a schematic structural view of the silo shown in Figure 1;
  • Figure 4 is a schematic structural view of the tear film and foreign matter detecting mechanism shown in Figure 1;
  • Figure 5 is a schematic structural view of the secondary positioning mechanism shown in Figure 1;
  • FIG 6 is a schematic structural view of the battery pressing mechanism shown in Figure 1;
  • Figure 7 is a schematic view showing the structure of the battery re-pressing and unloading mechanism shown in Figure 1;
  • an embodiment of the present invention includes:
  • a battery automatic assembly device comprises: a lower frame 1, an assembly platform located above the lower frame 1, a silo 3 on the assembly platform 2, a tear film and foreign matter detecting mechanism 4, a secondary positioning mechanism 5, and a battery a pressing mechanism 6, a battery re-pressing and unloading mechanism 7, a circulating conveying line 9, and a robot 8, the silo 3 being connected to the foreign body detecting mechanism 4 and the secondary positioning mechanism 5, the second
  • the positioning mechanism 5 is further connected to the battery pressing mechanism 6, and the battery pressing mechanism 6 is connected to the battery re-pressing and unloading mechanism 7, and the robot 8 is in the silo 3, tear film and foreign matter.
  • the detecting mechanism 4, the secondary positioning mechanism 5, the battery pressing mechanism 6, the battery re-pressing and unloading mechanism 7, and the circulating conveying line 9 are freely movable, and the circulating conveying line 9 is connected to the elevator 10.
  • the endless conveying line 9 includes an upper conveying line and a lower return line, and the conveying line or the return line is controlled by the elevator 10.
  • the lower frame 1 is mounted with a control mechanism 101, the control mechanism 101 and the silo 3, the tear film and foreign matter detecting mechanism 4, the secondary positioning mechanism 5, the battery pressing mechanism 6, the battery recompression and the lower
  • the material mechanism 7, the circulation conveyor line 9, and the robot 8 are electrically connected to control the operation of each mechanism.
  • the silo 3 includes a housing 301 fixed to the assembly platform 2 and a motor mounted in the housing 301 302, the screw module 303 and a plurality of trays 304 stacked on top of each other, as shown in FIG. 3, the screw module 303 is electrically connected to the motor 302, the motor 302 and the control mechanism 101 In the electrical connection, a plurality of the trays 304 are connected to the screw module 303, and the screw module 303 is located at a side of the plurality of trays 304.
  • a sensor 305 is mounted above the trays 304. The sensor 305 automatically recognizes the presence or absence of material in the tray 304, and activates an alarm prompt; the screw module 303 realizes the up and down movement of the tray 304 to complete the automatic collection of the empty tray.
  • the tear film and foreign matter detecting mechanism 4 includes a tear film mechanism 401 and a foreign matter detecting mechanism 402 controlled by a servo module. As shown in FIG. 4, the foreign matter detecting mechanism 402 includes a plurality of corners mounted on the corners of the silo 3. A displacement sensor, the tear film mechanism 401 includes a film blowing device and a tear film device that cooperate with each other.
  • the foreign matter detecting mechanism 402 mounts a displacement sensor at four corners of the silo 3, and when it is pressed down, if there is a foreign matter, the displacement sensor feeds back data to the control mechanism 101 and judges the height of the foreign matter;
  • the mechanism 401 first raises the angle of the release paper by blowing, and then tears the release paper by the clamp type; the tear film and the foreign matter detecting mechanism 4 are controlled by the servo module. The motion of the XYZ axis.
  • the secondary positioning mechanism 5 includes a fixed block 501 surrounding the battery 506, a terminal positioning block 502, a left and right positioning block 503, and a front and rear positioning block 504. As shown in FIG. 5, the left and right positioning blocks 503 and the front and rear positioning blocks 503 Positioning blocks 504 are all connected to the cylinders. The BTB terminals of the battery 506 are clamped by the terminal positioning block 502, and then the left and right positioning blocks 503 and the front and rear positioning blocks 504 are pushed by the cylinders, so that the left and right positioning blocks 503 and the front and rear positioning blocks 504 push the two sides of the battery to perform positioning; , left and right positioning block Both the 503 and the front and rear positioning blocks 504 include a buffer mechanism 505 that protects the battery.
  • the battery pressing mechanism 6 includes a BTB terminal suction cup 601, a battery suction cup 602, a bending mechanism 603, a robot mounting R-axis 604, and a pressure sensor 605. As shown in FIG. 6, the BTB terminal suction cup 601 and the bending mechanism are provided. Between the 603 is connected by the robot mounting R-axis 604, and the BTB terminal suction cup 601 and the battery suction cup 602 are also connected by the robot-mounted R-axis 604, and the pressure sensor 605 is mounted on the BTB terminal suction cup. 601.
  • the BTB terminal is fastened by the BTB terminal suction cup 601, and then the BTB terminal is bent by the bending mechanism 603, and then the battery is pressed by the battery suction cup 602, and the pressure sensor 605 is controlled when the BTB terminal is fastened.
  • the battery recompression and unloading mechanism 7 includes a voltage detecting device 702 mounted on the bracket 701, a battery flatness detecting device 703, and a blanking device 704. As shown in FIG. 7, the bracket 701 is fixed to the assembly platform. 2, the voltage detecting device 702 is used to detect the voltage value of the mobile phone voltage, the battery flatness detecting device 703 is a laser displacement sensor, and the value of the four corners of the battery is detected by the laser displacement sensor to detect the flatness of the battery.
  • the unloading device 704 includes a plurality of suction cups. In the embodiment, the suction cups have four. When the defective products are found, the unqualified batteries are sucked by the four suction cups, and are placed on the return line for recovery.
  • the robot 8 is a four-axis robot to realize material handling.
  • the robot 8 contains 9 million CCD vision systems, so that the assembly accuracy can reach 0.02 mm.
  • the battery automatic assembly device of the invention can be transformed into a camera assembly or assembly of other parts by simply changing the carrier and the clamp, and has high versatility. At the same time, this equipment can be produced in a single machine or multiple machines. The station is connected and the equipment does not need to be changed.
  • the assembly method is as follows:
  • the foreign matter is detected by the tear film and the foreign matter detecting mechanism 4, and if there is a foreign matter, the displacement sensor on the foreign matter detecting mechanism 402 feeds back the data to the control mechanism 101, and determines the height of the foreign matter; if there is no foreign matter , the tear film mechanism 401 automatically tears the film; when the film is automatically peeled off, the release paper is blown up by the film blowing device, and then the release paper is peeled off by the tear film device;
  • the robot 8 transports the battery after the tear film from the silo 3 to the secondary positioning mechanism 5 for secondary positioning;
  • the robot 8 transports the secondary positioned battery from the secondary positioning mechanism 5 to the battery pressing mechanism 6 to press the BTB terminal of the battery;
  • the pressed battery is sent to the battery recompression and unloading mechanism 7, and the battery voltage value detection and the battery flatness detection are performed. If there is no problem, the battery is transferred to the next process, and if there is a problem, the lower pass is passed. A plurality of suction cups on the material handling device 704 place the battery on a return line for recovery.
  • the battery automatic assembly device of the invention helps the customer to realize multi-station integration in one device production through analysis of the customer's production process, and the main functions include foreign matter detection, tear film removal, battery loading and unloading, battery assembly, visual inspection and positioning, Flatness detection, voltage detection. Increased productivity, quality and manpower through fully automated production.
  • the battery automatic assembly device of the present invention is combined with a high-precision pressure sensor by an ABB robot. Even if there is a deviation in position, it will not damage the product and greatly reduce the scrap rate.
  • the invention discloses a battery automatic assembly device and an assembly method thereof.
  • the reasonable design of the structure, the robot is used for carrying the battery, and the tear film and the foreign matter detecting mechanism are used for detecting the foreign matter in the silo and the tearing of the battery release paper.
  • the secondary positioning mechanism is used for positioning, the battery BTB terminal is pressed by the battery pressing mechanism, the battery is detected by the battery recompression and the feeding mechanism, and the production capacity and product quality are improved by fully automated production, and the battery is greatly improved.
  • the assembly accuracy reduces the scrap rate and reduces manpower.

Abstract

一种电池自动组装装置及其组装方法，电池自动组装装置包括下机架（1）、位于下机架（1）上方的组装平台（2）、位于组装平台（2）上的料仓（3）、撕膜与异物检测机构（4）、二次定位机构（5）、电池压合机构（6）、电池复压与下料机构（7）、循环输送线（9）以及机械手（8），料仓（3）同撕膜与异物检测机构（4）、二次定位机构（5）相连，二次定位机构（5）又同电池压合机构（6）相连，电池压合机构（6）又同电池复压与下料机构（7）相连，机械手（8）在料仓（3）、撕膜与异物检测机构（4）、二次定位机构（5）、电池压合机构（6）、电池复压与下料机构（7）、循环输送线（9）之间自由移动，循环输送线（9）与升降机（10）相连。

Description

电池自动组装装置及其组装方法 技术领域
本发明涉及自动装配领域，特别是涉及一种电池自动组装装置及其组装方法。
背景技术
随着科技的迅猛发展以及人们对产品品质的不断提高。电子类产品更新换代也越来越快，同时对装配精度要求也越来越高。然而，目前电子类产品的装配在我国还属于劳动密集型产业，主要以人工作业为主。
如手机电池的组装，传统生产是每个工位需要一个人单独作业，人力多，效率低，品质不统一。且电池的BTB端子在组装的时候，如果位置对不准，5KG的压力就会造成产品损坏。
发明内容
本发明主要解决的技术问题是提供一种电池自动组装装置及其组装方法，通过全自动化地生产提高了产能和产品品质，大大提高了电池的组装精度，降低了报废率，减少了人力。
为解决上述技术问题，本发明采用的一个技术方案是：提供一种电池自动组装装置，包括：下机架、位于下机架上方的组装平台、位于组装平台上的料仓、撕膜与异物检测机构、二次定位机构、电池压合机构、电池复压与下料机构、循环输送线、以及机械手，所述料仓同所述撕膜与异物检测机构、二次定位机构相连，所述二次定位机构又同所述电池压合机构相连，所述电池压合机 构又同所述电池复压与下料机构相连，所述机械手在所述料仓、撕膜与异物检测机构、二次定位机构、电池压合机构、电池复压与下料机构、循环输送线之间自由移动，所述循环输送线与升降机相连。
在本发明一个较佳实施例中，所述下机架上安装有控制机构，所述控制机构与所述料仓、撕膜与异物检测机构、二次定位机构、电池压合机构、电池复压与下料机构、循环输送线、机械手电连。
在本发明一个较佳实施例中，所述料仓包括固定在组装平台上的壳体、安装在壳体内的电机、丝杆模组和若干上下层整齐叠放的料盘，所述丝杆模组与所述电机电连，若干所述料盘又与所述丝杆模组相连，且所述丝杆模组位于所述若干料盘的侧面，所述料盘的上方安装有传感器。
在本发明一个较佳实施例中，所述撕膜与异物检测机构包括通过伺服模组控制的撕膜机构和异物检测机构，所述异物检测机构包括安装在料仓各边角上的若干位移传感器，所述撕膜机构包括相互配合的吹膜装置和撕膜装置。
在本发明一个较佳实施例中，所述二次定位机构包括围绕在电池四周的固定块、端子定位块、左右定位块、以及前后定位块，所述左右定位块和所述前后定位块皆与气缸相连。
在本发明一个较佳实施例中，所述电池压合机构包括BTB端子吸盘、电池吸盘、折弯机构、机械手安装R轴和压力传感器，所述BTB端子吸盘与所述折弯机构之间通过所述机械手安装R轴相连，所述BTB端子吸盘与所述电池吸盘之间也通过所述机械手安装R轴相连，所述压力传感器安装在所述BTB端子吸盘上。
在本发明一个较佳实施例中，所述电池复压与下料机构包括安装在支架上 的电压检测装置、电池平整度检测装置和下料装置，所述支架固定在所述组装平台上，所述电池平整度检测装置为激光位移传感器，所述下料装置包括若干吸盘。
在本发明一个较佳实施例中，所述机械手为四轴机械手。
本发明还提供一种电池自动组装装置的组装方法，包括以下步骤：
(100)首先通过撕膜与异物检测机构对料仓进行异物检测，若有异物，则由异物检测机构上的位移传感器反馈数据给控制机构，并判断异物的高低；若无异物，则由撕膜机构进行自动撕膜；
(200)机械手将撕膜后的电池从料仓搬运至二次定位机构，进行二次定位；
(300)机械手将二次定位后的电池从二次定位机构搬运至电池压合机构，对电池的BTB端子进行压合；
(400)压合后的电池传送至电池复压与下料机构，进行电池的电压值检测与电池的平整度检测，若无问题，则传送至下道工序，若有问题，则通过下料装置上的若干吸盘将电池放置在回流线上回收。
在本发明一个较佳实施例中，所述步骤(100)中的自动撕膜具体为：先通过吹膜装置把离型纸吹起抬高，再通过撕膜装置采用夹持式的方式把离型纸撕下来。
本发明的有益效果是：通过结构的合理设计，采用机械手进行电池的搬运，并采用撕膜与异物检测机构进行料仓内异物检测和电池离型纸的撕取，采用二次定位机构定位，采用电池压合机构对电池BTB端子进行压合，采用电池复压与下料机构对电池进行检测，通过全自动化地生产提高了产能和产品品质，大 大提高了电池的组装精度，降低了报废率，减少了人力。
附图说明
图1是本发明一种电池自动组装装置一较佳实施例的结构示意图；
图2是图1所示的俯视图；
图3是图1所示料仓的结构示意图；
图4是图1所示撕膜与异物检测机构的结构示意图；
图5是图1所示二次定位机构的结构示意图；
图6是图1所示电池压合机构的结构示意图；
图7是图1所示电池复压与下料机构的结构示意图；
附图中各部件的标记如下：1、下机架，101、控制机构，2、组装平台，3、料仓，301、壳体，302、电机，303、丝杆模组，304、料盘，305、传感器，4、撕膜与异物检测机构，401、撕膜机构，402、异物检测机构，5、二次定位机构，501、固定块，502、端子定位块，503、左右定位块，504、前后定位块，505、缓冲机构，506、电池，6、电池压合机构，601、BTB端子吸盘，602、电池吸盘，603、折弯机构，604、机械手安装R轴，605、压力传感器，7、电池复压与下料机构，701、支架，702、电压检测装置，703、电池平整度检测装置，704、下料装置，8、机械手，9、循环输送线，10、升降机。
具体实施方式
下面结合附图对本发明的较佳实施例进行详细阐述，以使本发明的优点和特征能更易于被本领域技术人员理解，从而对本发明的保护范围做出更为清楚明确的界定。
请参阅图1和图7，本发明实施例包括：
一种电池自动组装装置，包括：下机架1、位于下机架1上方的组装平台2、位于组装平台2上的料仓3、撕膜与异物检测机构4、二次定位机构5、电池压合机构6、电池复压与下料机构7、循环输送线9、以及机械手8，所述料仓3同所述撕膜与异物检测机构4、二次定位机构5相连，所述二次定位机构5又同所述电池压合机构6相连，所述电池压合机构6又同所述电池复压与下料机构7相连，所述机械手8在所述料仓3、撕膜与异物检测机构4、二次定位机构5、电池压合机构6、电池复压与下料机构7、循环输送线9之间自由移动，所述循环输送线9与升降机10相连。
所述循环输送线9包括上层的输送线和下层的回流线，通过升降机10控制输送线或回流线的连通。
所述下机架1上安装有控制机构101，所述控制机构101与所述料仓3、撕膜与异物检测机构4、二次定位机构5、电池压合机构6、电池复压与下料机构7、循环输送线9、机械手8电连，用于控制各机构的动作。
所述料仓3包括固定在组装平台2上的壳体301、安装在壳体301内的电机 302、丝杆模组303和若干上下层整齐叠放的料盘304，如图3所示，所述丝杆模组303与所述电机302电连，所述电机302与所述控制机构101电连，若干所述料盘304又与所述丝杆模组303相连，且所述丝杆模组303位于所述若干料盘304的侧面，所述料盘304的上方安装有传感器305。通过传感器305自动识别料盘304内的物料有无，并启动报警提示；丝杆模组303实现料盘304的上下升降运动，完成空料盘的自动收集。
所述撕膜与异物检测机构4包括通过伺服模组控制的撕膜机构401和异物检测机构402，如图4所示，所述异物检测机构402包括安装在料仓3各边角上的若干位移传感器，所述撕膜机构401包括相互配合的吹膜装置和撕膜装置。所述异物检测机构402通过在料仓3四个角安装位移传感器，当其下压的时候，如果有异物，位移传感器就会反馈数据到控制机构101，并判断异物的高低；所述撕膜机构401先通过吹气的方式，把离型纸角抬高，再通过夹持式的方式，把离型纸撕下来；所述撕膜与异物检测机构4通过伺服模组控制的方式，实现XYZ轴的运动。
所述二次定位机构5包括围绕在电池506四周的固定块501、端子定位块502、左右定位块503、以及前后定位块504，如图5所示，所述左右定位块503和所述前后定位块504皆与气缸相连。通过端子定位块502对电池506的BTB端子进行夹持，然后左右定位块503和前后定位块504通过气缸推动，使左右定位块503和前后定位块504推电池的两个边，进行定位；同时，左右定位块 503和前后定位块504上都含有缓冲机构505，能够保护电池。
所述电池压合机构6包括BTB端子吸盘601、电池吸盘602、折弯机构603、机械手安装R轴604和压力传感器605，如图6所示，所述BTB端子吸盘601与所述折弯机构603之间通过所述机械手安装R轴604相连，所述BTB端子吸盘601与所述电池吸盘602之间也通过所述机械手安装R轴604相连，所述压力传感器605安装在所述BTB端子吸盘601上。首先通过BTB端子吸盘601扣合BTB端子，然后通过折弯机构603将BTB端子折弯，再通过电池吸盘602压合电池，扣合BTB端子时通过压力传感器605控制。
所述电池复压与下料机构7包括安装在支架701上的电压检测装置702、电池平整度检测装置703和下料装置704，如图7所示，所述支架701固定在所述组装平台2上，所述电压检测装置702用于检测手机电压的电压值，所述电池平整度检测装置703为激光位移传感器，通过激光位移传感器检测电池四个角的数值，来检测电池的平整度，所述下料装置704包括若干吸盘，本实施例中，所述吸盘有4个，当发现不合格品时，通过4个吸盘吸住不合格电池，将其放置到回流线上回收。
所述机械手8为四轴机械手，实现物料的搬运。所述机械手8上含有900万CCD视觉系统，使组装精度可以达到0.02mm。
本发明的电池自动组装装置，只需换载具和夹具就可以变身成摄像头组装或其它零件的组装，通用性强。同时此设备既可以单机生产，也可以实现多机 台连线生产，并且设备不需要做任何的改变。
其组装方法如下：
(100)首先通过撕膜与异物检测机构4对料仓3进行异物检测，若有异物，则由异物检测机构402上的位移传感器反馈数据给控制机构101，并判断异物的高低；若无异物，则由撕膜机构401进行自动撕膜；自动撕膜时，先通过吹膜装置把离型纸吹起抬高，再通过撕膜装置采用夹持式的方式把离型纸撕下来；
(200)机械手8将撕膜后的电池从料仓3搬运至二次定位机构5，进行二次定位；
(300)机械手8将二次定位后的电池从二次定位机构5搬运至电池压合机构6，对电池的BTB端子进行压合；
(400)压合后的电池传送至电池复压与下料机构7，进行电池的电压值检测与电池的平整度检测，若无问题，则传送至下道工序，若有问题，则通过下料装置704上的若干吸盘将电池放置在回流线上回收。
本发明的电池自动组装装置，通过对客户生产工艺的分析，帮助客户实现了多工位集成在一台设备生产，主要功能包括异物检测、撕膜、电池上下料、电池组装、视觉检测定位、平面度检测、电压检测。通过全自动化生产提高了产能、品质，降低了人力。
本发明的电池自动组装装置，通过ABB机器人结合高精度的压力传感器， 即使位置有偏差的时候，也不会损坏产品，大大降低了报废率。
本发明揭示了一种电池自动组装装置及其组装方法，通过结构的合理设计，采用机械手进行电池的搬运，并采用撕膜与异物检测机构进行料仓内异物检测和电池离型纸的撕取，采用二次定位机构定位，采用电池压合机构对电池BTB端子进行压合，采用电池复压与下料机构对电池进行检测，通过全自动化地生产提高了产能和产品品质，大大提高了电池的组装精度，降低了报废率，减少了人力。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (10)

  1. 一种电池自动组装装置，其特征在于，包括：下机架、位于下机架上方的组装平台、位于组装平台上的料仓、撕膜与异物检测机构、二次定位机构、电池压合机构、电池复压与下料机构、循环输送线、以及机械手，所述料仓同所述撕膜与异物检测机构、二次定位机构相连，所述二次定位机构又同所述电池压合机构相连，所述电池压合机构又同所述电池复压与下料机构相连，所述机械手在所述料仓、撕膜与异物检测机构、二次定位机构、电池压合机构、电池复压与下料机构、循环输送线之间自由移动，所述循环输送线与升降机相连。
  2. 根据权利要求1所述的电池自动组装装置，其特征在于，所述下机架上安装有控制机构，所述控制机构与所述料仓、撕膜与异物检测机构、二次定位机构、电池压合机构、电池复压与下料机构、循环输送线、机械手电连。
  3. 根据权利要求1所述的电池自动组装装置，其特征在于，所述料仓包括固定在组装平台上的壳体、安装在壳体内的电机、丝杆模组和若干上下层整齐叠放的料盘，所述丝杆模组与所述电机电连，若干所述料盘又与所述丝杆模组相连，且所述丝杆模组位于所述若干料盘的侧面，所述料盘的上方安装有传感器。
  4. 根据权利要求1所述的电池自动组装装置，其特征在于，所述撕膜与异物检测机构包括通过伺服模组控制的撕膜机构和异物检测机构，所述异物检测机构包括安装在料仓各边角上的若干位移传感器，所述撕膜机构包括相互配合的吹膜装置和撕膜装置。
  5. 根据权利要求1所述的电池自动组装装置，其特征在于，所述二次定位机构包括围绕在电池四周的固定块、端子定位块、左右定位块、以及前后定位块，所述左右定位块和所述前后定位块皆与气缸相连。
  6. 根据权利要求1所述的电池自动组装装置，其特征在于，所述电池压合机构包括BTB端子吸盘、电池吸盘、折弯机构、机械手安装R轴和压力传感器，所述BTB端子吸盘与所述折弯机构之间通过所述机械手安装R轴相连，所述BTB端子吸盘与所述电池吸盘之间也通过所述机械手安装R轴相连，所述压力传感器安装在所述BTB端子吸盘上。
  7. 根据权利要求1所述的电池自动组装装置，其特征在于，所述电池复压与下料机构包括安装在支架上的电压检测装置、电池平整度检测装置和下料装置，所述支架固定在所述组装平台上，所述电池平整度检测装置为激光位移传感器，所述下料装置包括若干吸盘。
  8. 根据权利要求1所述的电池自动组装装置，其特征在于，所述机械手为四轴机械手。
  9. 一种如权利要求1-8任一所述的电池自动组装装置的组装方法，其特征在于，包括以下步骤：
    (100)首先通过撕膜与异物检测机构对料仓进行异物检测，若有异物，则由异物检测机构上的位移传感器反馈数据给控制机构，并判断异物的高低；若无异物，则由撕膜机构进行自动撕膜；
    (200)机械手将撕膜后的电池从料仓搬运至二次定位机构，进行二次定位；
    (300)机械手将二次定位后的电池从二次定位机构搬运至电池压合机构，对电池的BTB端子进行压合；
    (400)压合后的电池传送至电池复压与下料机构，进行电池的电压值检测与电池的平整度检测，若无问题，则传送至下道工序，若有问题，则通过下料装置上的若干吸盘将电池放置在回流线上回收。
  10. 根据权利要求9所述的电池自动组装装置的组装方法，其特征在于，所述步骤(100)中的自动撕膜具体为：先通过吹膜装置把离型纸吹起抬高，再通过撕膜装置采用夹持式的方式把离型纸撕下来。
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