WO2023241489A1 - 一种取料装置 - Google Patents

一种取料装置 Download PDF

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Publication number
WO2023241489A1
WO2023241489A1 PCT/CN2023/099491 CN2023099491W WO2023241489A1 WO 2023241489 A1 WO2023241489 A1 WO 2023241489A1 CN 2023099491 W CN2023099491 W CN 2023099491W WO 2023241489 A1 WO2023241489 A1 WO 2023241489A1
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WO
WIPO (PCT)
Prior art keywords
mounting base
clamping
component
mounting
picking
Prior art date
Application number
PCT/CN2023/099491
Other languages
English (en)
French (fr)
Inventor
赵兵
Original Assignee
无锡先导智能装备股份有限公司
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Publication date
Application filed by 无锡先导智能装备股份有限公司 filed Critical 无锡先导智能装备股份有限公司
Publication of WO2023241489A1 publication Critical patent/WO2023241489A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers

Definitions

  • the present invention relates to the technical field of battery manufacturing equipment, and in particular to a material taking device.
  • the top cover of the battery cell needs to be welded.
  • a protective cover needs to be installed on the top cover. Therefore, the battery core and protective cover need to be loaded before welding, and the battery core and protective cover need to be unloaded after welding is completed.
  • the battery loading and unloading robot is used to grab and transport the battery cells to the loading station
  • the protective cover loading and unloading robot is used to grab and transport the protective cover to the loading station.
  • the protective cover loading and unloading manipulator grabs and moves away the protective cover on the battery cells at the loading station
  • the battery cell loading and unloading manipulator grabs and moves away the battery cells at the loading station.
  • the problem is to provide a material picking device that improves the above defects.
  • a material-retrieving device includes a material-retrieving unit, and the material-retrieving unit includes:
  • the grabbing mechanism includes a first clamping component and a second clamping component arranged oppositely on the mounting frame along a first direction, and a gap is formed between the first clamping component and the second clamping component for a second clamping component.
  • a clamping space into which a component enters, and the first clamping component and the second clamping component can be controllably moved closer or farther away from each other;
  • a pick-up mechanism is provided on the mounting frame and has a pick-up piece located between the first clamping component and the second clamping component.
  • the pick-up piece is used to pick up the second component and transfer the second component to the second component.
  • the second element is released onto the first element located in the clamping space.
  • the pickup mechanism includes a first driving member and a first mounting base.
  • the first driving member is provided on the mounting frame.
  • the first mounting base is connected to the first driving member.
  • the driving end, the pickup piece is connected to the side of the first mounting base facing the clamping space;
  • the first driving member is used to drive the first mounting base to move in a second direction perpendicular to the first direction to drive the picking member closer to or away from the clamping space.
  • the pickup component is a magnetic suction component or a vacuum suction component.
  • the pickup mechanism further includes a limiting plate, which is installed on the side of the first mounting base where the pickup piece is provided, and has a hole for the pickup piece to pass through. A through hole is provided so that the pick-up piece can pick up the second component to the limiting plate.
  • a mounting groove is provided on a side of the limiting plate facing away from the first mounting seat
  • the pick-up mechanism also includes a first sensor disposed in the installation slot, and the first sensor is used to detect whether the pick-up piece picks up the second component.
  • a positioning post is protruding from a side of the limiting plate away from the first mounting base.
  • the positioning post is used to penetrate the second component and connect with the first component. Positioning holes fit.
  • the first clamping component includes a first sliding seat and a first clamping jaw, the first sliding seat is movably connected to the mounting frame along the first direction, and the third A clamping jaw is installed on the first sliding seat;
  • the second clamping assembly includes a second sliding seat and a second clamping jaw.
  • the second sliding seat is movably connected to the mounting frame along the first direction.
  • the second clamping jaw is installed on the On the second sliding seat, the clamping space is formed between the second sliding seat and the first clamping jaw;
  • the grabbing mechanism also includes a clamping driving member provided on the mounting frame, and the clamping driving member is drivingly connected to the first sliding seat and the second sliding seat.
  • the mounting bracket includes a second mounting base, a third mounting base and an elastic member, the third mounting base is movably connected to the second mounting base along a second direction, and the The elastic member abuts between the second mounting seat and the third mounting seat;
  • the pickup mechanism is disposed on the second mounting base, and both the first clamping component and the second clamping component are movably connected to the third mounting base along the first direction.
  • the material picking device further includes a fourth mounting base and a driving mechanism. Placed on the fourth mounting base, the driving mechanism is drivingly connected to the fourth mounting base to drive the fourth mounting base to move between multiple work stations.
  • the material-taking units include two or more, and the mounting bracket of each material-picking unit is provided on the fourth mounting base, and every two adjacent ones The distance between the mounting brackets is adjustable.
  • the picking-up mechanism of the material-retrieving device picks up the protective cover, and the first clamping component and the second clamping component clamp the battery core to be welded. Then, the first clamping component and the second clamping component of the picking device release the battery core to be welded to the loading station, and the pickup part of the picking mechanism releases the protective cover onto the battery core so that the battery core can be The protective cover protects the poles on the top cover during welding.
  • the first clamping component and the second clamping component of the material picking device clamp the welded electric core, and the pick-up mechanism picks up the protective cover on the electric core. Then, the first clamping component and the second clamping component of the picking device release the welded electric core to the downstream station. At this time, the picking mechanism does not release the protective cover. Then, the first clamping assembly and the second clamping assembly of the unloading device clamp the new battery core at the unloading station, and perform loading and unloading in sequence according to the above steps to complete the continuous welding operation.
  • the unloading device can unload the welded battery core and protective cover at the same time, and the protective cover can be kept on the pick-up mechanism, so when loading materials, it only needs to be reloaded at the unloading station. Grasp the battery core without having to re-pick up the protective cover at the retrieving station, thus saving the time of frequently re-picking the protective cover at the retrieving station and greatly improving production efficiency.
  • Figure 1 is a schematic structural diagram of a material taking unit in an embodiment of the present invention
  • Figure 2 is a side view of the material taking unit shown in Figure 1;
  • Figure 3 is a rear view of the material taking unit shown in Figure 1;
  • Figure 4 is a schematic structural view of the limiting plate of the picking mechanism of the picking unit shown in Figure 1;
  • Figure 5 is a bottom view of the limiting plate shown in Figure 4.
  • Figure 6 is a schematic structural diagram of the material taking device in one embodiment of the present invention.
  • FIG. 7 is a side view of the material picking device shown in FIG. 6 .
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.
  • connection In the present invention, unless otherwise clearly stated and limited, the terms “installation”, “connection”, “connection”, “fixing” and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated into one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise specified limitations. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
  • a first feature being “on” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. touch.
  • the terms “above”, “above” and “above” the first feature is above the second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature.
  • "Below”, “below” and “beneath” the first feature to the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature has a smaller horizontal height than the second feature.
  • one embodiment of the present invention provides a material picking device for loading and unloading the first component and the second component.
  • the first component may be battery core A
  • the second component may be protective cover B.
  • the protective cover B is used to protect the poles on the top cover of battery cell A to prevent the poles from being burned when welding the top cover of battery cell A.
  • the first component and the second component may also be other components, which are not limited here.
  • the following description takes the first component as battery core A and the second component as protective cover B as an example.
  • the material picking device includes a material picking unit 1, and the material picking unit 1 includes a mounting frame 10, a grabbing mechanism (not labeled) and a picking mechanism 30.
  • the grabbing mechanism includes a first clamping component 21 and a second clamping component 22 .
  • the first clamping component 21 and the second clamping component 22 are arranged relatively along the first direction X, and a clamping space D is formed between them for the power supply core A to enter.
  • the first clamping component 21 and the second clamping component 22 can controllably approach or move away from each other along the first direction X, thereby clamping or releasing the electric core A in the clamping space D.
  • the pickup mechanism 30 is disposed on the mounting frame 10 and has a pickup part 31 located between the first clamping component 21 and the second clamping component 22 .
  • the pick-up part 31 is used to pick up the protective cover B and release the picked-up protective cover B onto the battery core A located in the clamping space D.
  • the pickup part 31 may be a magnetic attraction part, such as an electromagnet.
  • the pick-up part 31 may also be a vacuum suction part, such as a vacuum suction cup, as long as it can suck and release the protective cover B, and is not limited here.
  • the pickup mechanism 30 of the material pickup device picks up the protective cover B, and the first clamping component 21 and the second clamping component 22 clamp the parts to be welded. Cell A. Then, the first clamping component 21 and the second clamping component 22 of the picking device release the battery core A to be welded to the loading station, and the picking part 31 of the picking mechanism 30 releases the protective cover B onto the battery core A. , so that protective cover B can protect the poles on the top cover when welding battery core A.
  • the first clamping component 21 and the second clamping component 22 of the material picking device clamp the welded battery core A, and the pickup mechanism 30 picks up the protective cover B on the battery core A. Then, the first clamping component 21 and the second clamping component 22 of the material picking device release the welded battery core A to the downstream station. At this time, the picking mechanism 30 does not release the protective cover B. Then, the first clamping component 21 and the second clamping component 22 of the picking device clamp the new battery core A at the picking station, and perform loading and unloading in sequence according to the above steps to complete the continuous welding operation.
  • the unloading device can unload the welded battery core A and the protective cover B at the same time, and the protective cover B can be kept on the pick-up mechanism 30 , so it only needs to be loaded again when loading.
  • the picking station grabs the battery cell A without having to pick up the protective cover B again at the picking station. This saves the time of frequently picking up the protective cover B at the picking station and greatly improves production efficiency.
  • the protective cover B can be reused, which greatly reduces the usage of the protective cover B, which is beneficial to reducing production costs.
  • the mounting bracket 10 includes a second mounting base 11 , a third mounting base 12 and an elastic member 15 .
  • the third mounting base 12 is movably connected to the second mounting base 11 along the second direction Y.
  • the elastic member 15 abuts between the second mounting base 11 and the third mounting base 12 to provide a pre-tightening force that causes the third mounting base 12 to have a tendency to move away from the second mounting base 11 .
  • the pick-up mechanism 30 is disposed on the second mounting base 11, and the first clamping assembly 21 and the second clamping group
  • the components 22 are all movably connected to the third mounting base 12 along the first direction X.
  • the elastic member 15 can play a buffering role to avoid causing greater damage to the battery core A. Damage to the battery core due to impact.
  • the elastic member 15 may be a spring.
  • the second direction is perpendicular to the first direction X.
  • the mounting frame 10 also includes a guide bush or linear bearing 14 and a guide column 13 .
  • the guide bush or linear bearing 14 is fixedly connected to the third mounting base 12 .
  • the guide post 13 is in sliding fit with the guide bush or linear bearing 14, and one end of the guide post 13 is fixedly connected to the second mounting seat 11, so that the guide post 13 and the guide bush or linear bearing 14 are used to align the third mounting seat 12 with respect to the second mounting seat 11. The movement of the mounting base 11 in the second direction Y is guided.
  • the pickup mechanism 30 includes a first driving member 34 and a first mounting base 32.
  • the first driving member 34 is provided on the second mounting base 11 of the mounting frame 10.
  • the first mounting base 32 is connected to the first mounting base 32.
  • the driving end of the driving member 34 enables the first driving member 34 to drive the first mounting base 32 to move along the second direction Y.
  • the pickup part 31 is connected to the side of the first mounting base 32 facing the clamping space D, so that when the first driving part 34 drives the first mounting base 32 to move in the second direction Y, the first mounting base 32 drives the pickup part 31 toward the
  • the battery core A in the clamping space D is moved closer or farther away, so as to absorb the protective cover B on the battery core A located in the clamping space D, or to release the protective cover B onto the battery core A located in the clamping space D.
  • the first drive member 34 may be a cylinder.
  • the pickup mechanism 30 also includes a limiting plate 33.
  • the limiting plate 33 is installed on the side of the first mounting base 32 where the pickup piece 31 is provided, and has a
  • the pick-up part 31 has a through hole 333 so that the pick-up part 31 can pick up the protective cover B to the limiting plate 33 .
  • the protective cover B is attached to the limiting plate 33 under the action of the attraction force provided by the pick-up part 31, making the adsorption of the protective cover B more stable and reliable.
  • the pickup mechanism 30 also includes a first sensor (not shown) disposed in the installation groove 331 .
  • the first sensor is used to detect whether the protective cover B is adsorbed by the pickup 31 .
  • the first sensor may be a photoelectric sensor.
  • a positioning post 332 is protruding from a side of the limiting plate 33 away from the first mounting base 32 .
  • the positioning post 332 is used to penetrate the protective cover B and cooperate with the positioning hole on the battery core A.
  • the positioning post 332 is used to position the protective cover B and the battery core A to ensure that the protective cover B can be accurately sucked or released.
  • the first clamping component 21 includes a first sliding seat 210 and a first clamping jaw 211 .
  • the first sliding base 210 is movably connected to the third mounting base 12 of the mounting frame 10 along the first direction X.
  • the first clamping claw 211 is installed on the first sliding base 210 so as to move along the first direction X along with the first sliding base 210 .
  • the second clamping component 22 includes a second sliding seat 220 and a second clamping claw 221 .
  • the second sliding base 220 is movably connected to the third mounting base 12 of the mounting frame 10 along the first direction X.
  • Second jaw 221 It is installed on the second sliding base 220 so as to move along the first direction X along with the second sliding base 220 .
  • the first clamping claw 211 and the second clamping claw 221 are arranged relatively along the first direction X, and the above-mentioned clamping space D is formed between them.
  • the grabbing mechanism also includes a clamping driving member 23 provided on the third mounting base 12 of the mounting frame 10.
  • the clamping driving member 23 is drivingly connected with the first sliding base 210 and the second sliding base 220 to drive the first sliding base.
  • the base 210 and the second sliding base 220 move closer to or farther away from each other, thereby driving the first clamping jaw 211 and the second clamping jaw 221 to move closer to or farther away from each other to clamp or release the battery core A located in the clamping space D.
  • the clamping driver 23 may use a clamping jaw cylinder.
  • the first sliding base 210 is provided with a first slide rail 2101 extending longitudinally along the first direction X
  • the third mounting base 12 is provided with a first slide block 121 that slides with the first slide rail 2101 .
  • the movement of the first sliding base 210 relative to the third mounting base 12 along the first direction X is guided by the sliding of the first sliding block 121 along the first sliding rail 2101 .
  • the second sliding base 220 is provided with a second slide rail 2201 extending longitudinally along the first direction X
  • the third mounting base 12 is provided with a second slide block 122 that slides with the second slide rail 2201 .
  • the second sliding block 122 slides along the second slide rail 2201 to guide the movement of the second sliding base 220 relative to the third mounting base 12 along the first direction X.
  • a second sensor (not shown) is installed on the side of the first clamping jaw 211 and/or the second clamping jaw 221 facing the clamping space D.
  • the second sensor is used to detect whether the clamping space D is There is battery cell A.
  • the second sensor may be a photoelectric sensor.
  • the material picking device also includes a fourth mounting base 2 and a driving mechanism (not shown).
  • the second mounting base 11 of the mounting frame 10 is arranged on the fourth mounting base 2, and the driving mechanism is drivingly connected to the fourth mounting base 2 to drive the fourth mounting base 2 to move between various work stations, that is, to realize the grabbing mechanism
  • the pick-up mechanism 30 moves between various work stations to realize the loading and unloading of the battery core A and the protective cover B.
  • the driving mechanism can be a manipulator or a multi-axis moving module, which is not limited here.
  • the material retrieval device includes two or more material retrieval units 1.
  • the second mounting base 11 of each material retrieval unit 1 is provided on the fourth mounting base 2, and every two adjacent second mounting bases 11
  • the distance between the two mounting bases 11 is adjustable, so that the distance between two adjacent clamping mechanisms can be adjusted to cooperate with grabbing battery cells A of different specifications, which is beneficial to improving the compatibility of the device.
  • the picking device includes two picking units 1.
  • the two picking units 1 are spaced apart on the fourth mounting base 2 along the third direction Z perpendicular to the first direction X and the second direction Y. .
  • the second mounting base 11 of each picking unit 1 is movably connected to the fourth mounting base 2 along the third direction Z.
  • Each picking unit 1 also includes a second driving member 40, which is disposed on the fourth mounting base 2 and is drivingly connected with the second mounting base 11 to drive the second mounting base 11 relative to the fourth mounting base.
  • Seat 2 moves along the third direction Z, thereby realizing two picking orders Adjustment of the spacing between elements 1.
  • the second driving member 40 may be a cylinder.
  • each picking unit 1 also includes a limiting member 50 provided on the fourth mounting base 2.
  • the limiting member 50 is used to limit the position of the second mounting base 11 relative to the fourth mounting base 2 along the third direction Z. movement range, thereby preventing the distance between the two picking units 1 from being too close and damaging the battery core A.
  • the limiting member 50 may be a limiting screw.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Battery Mounting, Suspending (AREA)

Abstract

一种取料装置包括取料单元（1），取料单元（1）包括：安装架（10）；抓取机构，包括沿第一方向（X）相对地设置在安装架（10）上的第一夹持组件（21）和第二夹持组件（22），第一夹持组件（21）和第二夹持组件（22）之间形成一夹持空间（D），且第一夹持组件（21）和第二夹持组件（22）可受控地彼此靠近或远离；及拾取机构（30），设置在安装架（10）上，且具有拾取件（31），拾取件（31）用于拾取第二元件，并将第二元件释放至位于夹持空间（D）的第一元件上。如此，取料装置能够对焊接完成的电芯（A）和保护盖（B）同时进行下料，并且保护盖（B）可保持在拾取机构（30）上，因此在进行上料时仅需重新在取料工位抓取电芯（A），而不需要重新在取料工位拾取保护盖（B），从而节省了需要频繁在取料工位重新拾取保护盖（B）的时间，大大提高了生产效率。

Description

一种取料装置
本公开要求于2022年06月17日提交中国专利局，申请号为202221538033.8，申请名称为“一种取料装置”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本发明涉及电池制造设备技术领域，特别是涉及一种取料装置。
背景技术
在电池生产过程中，需要对电芯的顶盖进行焊接，为了防止顶盖上的极柱被烧伤，需要在顶盖上设置保护盖。因此，在焊接之前需要对电芯和保护盖进行上料，在焊接完成之后需要对电芯和保护盖进行下料。
传统地，需要配置电芯上下料机械手和保护盖上下料机械手，电芯上下料机械手用于抓取并搬运电芯至上料工位，保护盖上下料机械手用于抓取并搬运保护盖至上料工位的电芯上。焊接完成后，保护盖上下料机械手再抓取并搬离上料工位的电芯上的保护盖，电芯上下料机械手在抓取并搬离上料工位的电芯。如此，在对电芯进行焊接作业的过程中，需要频繁的进行取放电芯的动作和取放保护盖的动作，导致耗费大量的时间，导致生产效率较低。
发明内容
基于此，有必要针对现有技术中在对电芯进行焊接作业的过程中，需要频繁的进行取放电芯的动作和取放保护盖的动作，导致耗费大量的时间，导致生产效率较低的问题，提供一种改善上述缺陷的取料装置。
一种取料装置，包括取料单元，所述取料单元包括：
安装架；
抓取机构，包括沿第一方向相对地设置在安装架上的第一夹持组件和第二夹持组件，所述第一夹持组件和所述第二夹持组件之间形成一供第一元件进入的夹持空间，且所述第一夹持组件和所述第二夹持组件可受控地彼此靠近或远离；及
拾取机构，设置在所述安装架上，且具有位于所述第一夹持组件和所述第二夹持组件之间的拾取件，所述拾取件用于拾取第二元件，并将所述第二元件释放至位于所述夹持空间的第一元件上。
在其中一个实施例中，所述拾取机构包括第一驱动件及第一安装座，所述第一驱动件设置在所述安装架上，所述第一安装座连接在所述第一驱动件的驱动端，所述拾取件连接在所述第一安装座朝向所述夹持空间的一侧；
所述第一驱动件用于驱动所述第一安装座沿与所述第一方向垂直的第二方向移动，以带动所述拾取件靠近或远离所述夹持空间。
在其中一个实施例中，所述拾取件为磁吸件或真空吸附件。
在其中一个实施例中，所述拾取机构还包括限位板，所述限位板安装在所述第一安装座设置有所述拾取件的一侧，且具有供所述拾取件穿设的贯穿孔，以使所述拾取件能够吸取所述第二元件至所述限位板上。
在其中一个实施例中，所述限位板背离所述第一安装座的一侧开设有安装槽；
所述拾取机构还包括设置在所述安装槽内的第一传感器，所述第一传感器用于检测所述拾取件是否吸取有所述第二元件。
在其中一个实施例中，所述限位板背离所述第一安装座的一侧凸设有定位柱，所述定位柱用于贯穿所述第二元件，并与所述第一元件上的定位孔配合。
在其中一个实施例中，所述第一夹持组件包括第一滑动座及第一夹爪，所述第一滑动座沿所述第一方向可移动地连接在所述安装架，所述第一夹爪安装在所述第一滑动座上；
所述第二夹持组件包括第二滑动座及第二夹爪，所述第二滑动座沿所述第一方向可移动地连接在所述安装架，所述第二夹爪安装在所述第二滑动座上，且与所述第一夹爪之间形成所述夹持空间；
所述抓取机构还包括设置在所述安装架上的夹持驱动件，所述夹持驱动件与所述第一滑动座和所述第二滑动座驱动连接。
在其中一个实施例中，所述安装架包括第二安装座、第三安装座及弹性件，所述第三安装座沿第二方向可移动地连接在所述第二安装座上，所述弹性件抵接在所述第二安装座和所述第三安装座之间；
所述拾取机构设置在所述第二安装座上，所述第一夹持组件和所述第二夹持组件均沿所述第一方向可移动地连接在所述第三安装座上。
在其中一个实施例中，所述取料装置还包括第四安装座及驱动机构，所述安装架设 置在所述第四安装座上，所述驱动机构与所述第四安装座驱动连接，以驱动所述第四安装座在多个工位之间运动。
在其中一个实施例中，所述取料单元包括两个或两个以上，每一所述取料单元的所述安装架均设置在所述第四安装座上，且每相邻两个所述安装架之间的间距可调节。
上述取料装置，在实际上下料作业时，首先，在取料工位，取料装置的拾取机构拾取保护盖，第一夹持组件和第二夹持组件夹取待焊接的电芯。然后，取料装置的第一夹持组件和第二夹持组件将待焊接的电芯释放至上料工位，拾取机构的拾取件将保护盖释放至该电芯上，以使在对电芯进行焊接时保护盖对顶盖上的极柱进行防护。焊接完成后，取料装置的第一夹持组件和第二夹持组件夹持焊接完成的电芯，拾取机构拾取该电芯上的保护盖。再然后，取料装置的第一夹持组件和第二夹持组件将焊接完成的电芯释放至下游工位，此时拾取机构不释放保护盖。再然后，取料装置的第一夹持组件和第二夹持组件在取料工位夹取新的电芯，并按照上述步骤依次进行上下料，以完成连续的焊接作业。
如此，在焊接作业过程中，取料装置能够对焊接完成的电芯和保护盖同时进行下料，并且保护盖可保持在拾取机构上，因此在进行上料时仅需重新在取料工位抓取电芯，而不需要重新在取料工位拾取保护盖，从而节省了需要频繁在取料工位重新拾取保护盖的时间，大大提高了生产效率。
附图说明
图1为本发明一实施例中取料单元的结构示意图；
图2为图1所示的取料单元的侧视图；
图3为图1所示的取料单元的后视图；
图4为图1所示的取料单元的拾取机构的限位板的结构示意图；
图5为图4所示的限位板的仰视图；
图6为本发明一实施例中取料装置的结构示意图；
图7为图6所示的取料装置的侧视图。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在 不违背本发明内涵的情况下做类似改进，因此本发明不受下面公开的具体实施例的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
请参阅图1至图3所示，本发明一实施例提供了一种取料装置，用于对第一元件和第二元件进行上下料。该第一元件可以是电芯A，第二元件可以是保护盖B，该保护盖 B用于对电芯A的顶盖上的极柱进行防护，防止在对电芯A的顶盖进行焊接时烧伤极柱。当然，第一元件和第二元件也可以是其它部件，在此不作限定。为便于描述，下文以第一元件为电芯A，第二元件为保护盖B为例进行说明。
本发明的实施例中，取料装置包括取料单元1，该取料单元1包括安装架10、抓取机构(图未标)及拾取机构30。抓取机构包括第一夹持组件21和第二夹持组件22。该第一夹持组件21和第二夹持组件22沿第一方向X相对布设，且二者之间形成供电芯A进入的夹持空间D。该第一夹持组件21和第二夹持组件22可受控地沿第一方向X彼此靠近或远离，从而夹持或松开夹持空间D内的电芯A。拾取机构30设置在安装架10上，且具有位于第一夹持组件21和第二夹持组件22之间的拾取件31。该拾取件31用于拾取保护盖B，并将拾取的保护盖B释放至位于夹持空间D的电芯A上。可选地，该拾取件31可以是磁吸件，例如电磁铁。当然，该拾取件31也可以是真空吸附件，例如真空吸盘，只要能够实现吸取和释放保护盖B即可，在此不作限定。
上述取料装置，在实际上下料作业时，首先，在取料工位，取料装置的拾取机构30拾取保护盖B，第一夹持组件21和第二夹持组件22夹取待焊接的电芯A。然后，取料装置的第一夹持组件21和第二夹持组件22将待焊接的电芯A释放至上料工位，拾取机构30的拾取件31将保护盖B释放至该电芯A上，以使在对电芯A进行焊接时保护盖B对顶盖上的极柱进行防护。焊接完成后，取料装置的第一夹持组件21和第二夹持组件22夹持焊接完成的电芯A，拾取机构30拾取该电芯A上的保护盖B。再然后，取料装置的第一夹持组件21和第二夹持组件22将焊接完成的电芯A释放至下游工位，此时拾取机构30不释放保护盖B。再然后，取料装置的第一夹持组件21和第二夹持组件22在取料工位夹取新的电芯A，并按照上述步骤依次进行上下料，以完成连续的焊接作业。
如此，在焊接作业过程中，取料装置能够对焊接完成的电芯A和保护盖B同时进行下料，并且保护盖B可保持在拾取机构30上，因此在进行上料时仅需重新在取料工位抓取电芯A，而不需要重新在取料工位拾取保护盖B，从而节省了需要频繁在取料工位重新拾取保护盖B的时间，大大提高了生产效率。
需要说明的是，由于在焊接作业过程中，不需要频繁的在取料工位重新拾取保护盖B，即保护盖B能够重复利用，大大降低了保护盖B的用量，有利于降低生产成本。
本发明的实施例中，安装架10包括第二安装座11、第三安装座12及弹性件15。第三安装座12沿第二方向Y可移动地连接第二安装座11上。弹性件15抵接在第二安装座11和第三安装座12之间，以提供使得第三安装座12具有远离第二安装座11的移动趋势的预紧力。拾取机构30设置在第二安装座11上，第一夹持组件21和第二夹持组 件22均沿第一方向X可移动地连接在第三安装座12上。如此，在将被第一夹持组件21和第二夹持组件22夹持的电芯A转移至上料工位时，该弹性件15可起到缓冲作用，避免对电芯A造成较大的冲击而损坏电芯。可选地，该弹性件15可以是弹簧。该第二方向与第一方向X垂直。
可选地，安装架10还包括导套或直线轴承14和导向柱13。导套或直线轴承14固定连接在第三安装座12上。导向柱13与导套或直线轴承14滑动配合，且导向柱13的一端与第二安装座11固定连接，从而利用该导向柱13和导套或直线轴承14对第三安装座12相对第二安装座11沿第二方向Y的移动进行导向。
本发明的实施例中，拾取机构30包括第一驱动件34和第一安装座32，第一驱动件34设置在安装架10的第二安装座11上，第一安装座32连接在第一驱动件34的驱动端，使得第一驱动件34能够驱动第一安装座32沿第二方向Y移动。拾取件31连接在第一安装座32朝向夹持空间D的一侧，使得第一驱动件34驱动第一安装座32沿第二方向Y移动时，第一安装座32带动拾取件31朝向位于夹持空间D的电芯A靠近或远离，以便于吸取位于夹持空间D的电芯A上的保护盖B、或者将保护盖B释放至位于夹持空间D的电芯A上。可选地，第一驱动件34可以是气缸。
请参见图4及图5所示，具体到实施例中，拾取机构30还包括限位板33，该限位板33安装在第一安装座32设置有拾取件31的一侧，且具有供该拾取件31穿设的贯穿孔333，以使拾取件31能够吸取保护盖B至限位板33上。如此，在拾取件31吸取保护盖B时，在拾取件31提供的吸引力的作用下，保护盖B贴合在限位板33上，使得对保护盖B的吸附更加稳定可靠。
进一步地，限位板33背离第一安装座32的一侧开设有安装槽331。拾取机构30还包括设置在该安装槽331内的第一传感器(图未示)。该第一传感器用于检测拾取件31是否吸附有保护盖B。可选地，该第一传感器可以是光电传感器。
进一步地，限位板33背离第一安装座32的一侧凸设有定位柱332。该定位柱332用于贯穿保护盖B，并与电芯A上的定位孔配合，从而利用该定位柱332对保护盖B和电芯A进行定位，确保能够准确的吸取或释放保护盖B。
请继续参见图1至图3所示，本发明的实施例中，第一夹持组件21包括第一滑动座210及第一夹爪211。该第一滑动座210沿第一方向X可移动地连接在安装架10的第三安装座12上。第一夹爪211安装在第一滑动座210上，从而跟随第一滑动座210一同沿第一方向X移动。第二夹持组件22包括第二滑动座220及第二夹爪221。该第二滑动座220沿第一方向X可移动地连接在安装架10的第三安装座12上。第二夹爪221 安装在第二滑动座220上，从而跟随第二滑动座220一同沿第一方向X移动。该第一夹爪211和第二夹爪221沿第一方向X相对布设，且二者之间形成上述夹持空间D。
抓取机构还包括设置在安装架10的第三安装座12上的夹持驱动件23，该夹持驱动件23与第一滑动座210和第二滑动座220驱动连接，以驱动第一滑动座210和第二滑动座220彼此靠近或远离，从而带动第一夹爪211和第二夹爪221彼此靠近或远离，以夹持或松开位于夹持空间D的电芯A。可选地，该夹持驱动件23可以采用夹爪气缸。
可选地，第一滑动座210上设置有沿第一方向X纵长延伸的第一滑轨2101，第三安装座12上设置有与第一滑轨2101滑动配合的第一滑块121。如此，利用第一滑块121沿第一滑轨2101的滑动对第一滑动座210相对第三安装座12沿第一方向X的移动进行导向。
可选地，第二滑动座220上设置有沿第一方向X纵长延伸的第二滑轨2201，第三安装座12上设置有与第二滑轨2201滑动配合的第二滑块122。如此，利用第二滑块122沿第二滑轨2201的滑动对第二滑动座220相对第三安装座12沿第一方向X的移动进行导向。
具体到实施例中，第一夹爪211和/或第二夹爪221朝向夹持空间D的一侧安装有第二传感器(图未示)，该第二传感器用于检测夹持空间D是否有电芯A。可选地，该第二传感器可以是光电传感器。
请参见图6至图7所示，本发明的实施例中，取料装置还包括第四安装座2及驱动机构(图未示)。安装架10的第二安装座11设置在第四安装座2上，驱动机构与该第四安装座2驱动连接，以驱动第四安装座2在各个工位之间运动，即实现抓取机构和拾取机构30在各个工位之间运动，进而实现对电芯A和保护盖B的上下料。可选地，该驱动机构可以是机械手或多轴移动模组，在此不作限定。
具体到实施例中，取料装置包括两个或两个以上取料单元1，每一取料单元1的第二安装座11均设置在第四安装座2上，且每相邻两个第二安装座11之间的间距可调节，从而实现相邻两个夹取机构之间的距离可调，以配合抓取不同规格的电芯A，有利于提升装置的兼容性。
具体到一个实施例中，取料装置包括两个取料单元1，两个取料单元1沿与第一方向X和第二方向Y垂直的第三方向Z间隔设置在第四安装座2上。每一取料单元1的第二安装座11均沿第三方向Z可移动地连接在第四安装座2上。每一取料单元1还包括第二驱动件40，该第二驱动件40设置在第四安装座2上，并与第二安装座11驱动连接，以驱动第二安装座11相对第四安装座2沿第三方向Z移动，从而实现两个取料单 元1之间的间距的调节。可选地，第二驱动件40可以是气缸。
进一步地，每一取料单元1还包括设置在第四安装座2上的限位件50，该限位件50用于限定第二安装座11相对第四安装座2沿第三方向Z的移动范围，从而避免两个取料单元1之间的间距过近而撞伤电芯A。可选地，限位件50可以采用限位螺钉。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种取料装置，其特征在于，包括取料单元，所述取料单元包括：
    安装架；
    抓取机构，包括沿第一方向相对地设置在安装架上的第一夹持组件和第二夹持组件，所述第一夹持组件和所述第二夹持组件之间形成一用于供第一元件进入的夹持空间，且所述第一夹持组件和所述第二夹持组件可受控地彼此靠近或远离；及
    拾取机构，设置在所述安装架上，且具有位于所述第一夹持组件和所述第二夹持组件之间的拾取件，所述拾取件用于拾取第二元件，并将所述第二元件释放至位于所述夹持空间的第一元件上。
  2. 根据权利要求1所述取料装置，其特征在于，所述拾取机构包括第一驱动件及第一安装座，所述第一驱动件设置在所述安装架上，所述第一安装座连接在所述第一驱动件的驱动端，所述拾取件连接在所述第一安装座朝向所述夹持空间的一侧；
    所述第一驱动件用于驱动所述第一安装座沿与所述第一方向垂直的第二方向移动，以带动所述拾取件靠近或远离所述夹持空间。
  3. 根据权利要求2所述的取料装置，其特征在于，所述拾取件为磁吸件或真空吸附件。
  4. 根据权利要求3所述的取料装置，其特征在于，所述拾取机构还包括限位板，所述限位板安装在所述第一安装座设置有所述拾取件的一侧，且具有供所述拾取件穿设的贯穿孔，以使所述拾取件能够将所述第二元件吸附在所述限位板上。
  5. 根据权利要求4所述的取料装置，其特征在于，所述限位板背离所述第一安装座的一侧开设有安装槽；
    所述拾取机构还包括设置在所述安装槽内的第一传感器，所述第一传感器用于检测所述拾取件是否吸取有所述第二元件。
  6. 根据权利要求4所述的取料装置，其特征在于，所述限位板背离所述第一安装座的一侧凸设有定位柱，所述定位柱用于贯穿所述第二元件，并与所述第一元件上的定位孔配合。
  7. 根据权利要求1所述的取料装置，其特征在于，所述第一夹持组件包括第一滑动座及第一夹爪，所述第一滑动座沿所述第一方向可移动地连接在所述安装架，所述第 一夹爪安装在所述第一滑动座上；
    所述第二夹持组件包括第二滑动座及第二夹爪，所述第二滑动座沿所述第一方向可移动地连接在所述安装架，所述第二夹爪安装在所述第二滑动座上，且与所述第一夹爪之间形成所述夹持空间；
    所述抓取机构还包括设置在所述安装架上的夹持驱动件，所述夹持驱动件与所述第一滑动座和所述第二滑动座驱动连接。
  8. 根据权利要求1所述的取料装置，其特征在于，所述安装架包括第二安装座、第三安装座及弹性件，所述第三安装座沿第二方向可移动地连接在所述第二安装座上，所述弹性件抵接在所述第二安装座和所述第三安装座之间；
    所述拾取机构设置在所述第二安装座上，所述第一夹持组件和所述第二夹持组件均沿所述第一方向可移动地连接在所述第三安装座上。
  9. 根据权利要求1所述的取料装置，其特征在于，所述取料装置还包括第四安装座及驱动机构，所述安装架设置在所述第四安装座上，所述驱动机构与所述第四安装座驱动连接，以驱动所述第四安装座在多个工位之间转移。
  10. 根据权利要求9所述的取料装置，其特征在于，所述取料装置包括两个或两个以上所述取料单元，每一所述取料单元的所述安装架均设置在所述第四安装座上，且每相邻两个所述安装架之间的间距可调节。
PCT/CN2023/099491 2022-06-17 2023-06-09 一种取料装置 WO2023241489A1 (zh)

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