WO2024032383A1

WO2024032383A1 - Pull-open device and boxing system

Info

Publication number: WO2024032383A1
Application number: PCT/CN2023/109700
Authority: WO
Inventors: 陈宗贤
Original assignee: 无锡先导智能装备股份有限公司
Priority date: 2022-08-10
Filing date: 2023-07-27
Publication date: 2024-02-15
Also published as: CN218849536U

Abstract

A pull-open device (20) and a boxing system (100). The pull-open device (20) comprises: a mounting base (21); and at least two pull-open mechanisms (22) mounted on the mounting base (21), all the pull-open mechanisms (22) being sequentially arranged in a first direction. Each pull-open mechanism (22) comprises two attachment assemblies (221) arranged at an interval in the first direction. Each attachment assembly (221) comprises a first driving member (2211) and a first attachment member (2212) connected to the first driving member (2211). An accommodating space (25) used for accommodating a fixed box (300) and communicated with the outside is formed between two first attachment members (2212) of each pull-open mechanism (22). The first attachment member (2212) is configured to attach a side plate (301) of the fixed box (300) accommodated in the corresponding accommodating space (25), and the first driving member (2211) is controlled to drive the first attachment member (2212) to move in the first direction so as to pull open the side plate (301). Compared with the mode in the prior art in which only one cell (200) can be loaded into the fixed box (300) each time, the pull-open device (20) and the boxing system (100) improve the efficiency of boxing the cell (200).

Description

Pulling device and box entry system

This application claims priority to the Chinese patent application with application number 202222100981. Public.

Technical field

The present application relates to the technical field of battery manufacturing equipment, and in particular to a pull-out device and a box entry system.

Background technique

Energy conservation and emission reduction are the key to achieving sustainable economic development, and electric vehicles have become an important part of the sustainable development of the automobile industry due to their advantages in energy conservation and environmental protection. For electric vehicles, battery technology is an important factor in their development.

In order to protect the soft-packed cells of the battery, the cells need to be installed in a fixed box. However, in traditional technology, there is a problem of low efficiency in inserting the cells into the box (fixed box).

Contents of the invention

Based on this, it is necessary to solve the problem of low battery box insertion efficiency and provide a pulling device and box insertion system that can improve the battery box insertion efficiency.

A pulling device, the pulling device includes:

mounting base;

At least two pulling mechanisms are installed on the mounting base, and all the pulling mechanisms are arranged sequentially in the first direction; each pulling mechanism includes two adsorption mechanisms spaced apart in the first direction. Components, each of the adsorption components includes a first driving member and a first adsorption member connected to the first driving member;

An accommodating space for accommodating a fixed box and communicating with the outside is formed between the two first adsorbing parts of each pull-out mechanism, and the first adsorbing parts are configured to be adsorbed and accommodated in the corresponding accommodating space. solidity of space The side panel of the box is fixed, and the first driving member is controlled to drive the first adsorption member to move along the first direction to pull apart the side panel.

In one of the embodiments, each of the adsorption components further includes a first mounting plate, and the first adsorption member is connected to the first driving member through the first mounting plate;

Each of the first adsorption parts includes at least two first adsorption parts; all the first adsorption parts are connected to the corresponding first mounting plates and are arranged sequentially along the second direction; the second direction is connected to the first installation plate. The first direction intersects.

In one embodiment, each of the adsorption components further includes a fixed block and a first guide extending along the first direction, and the fixed block is fixedly connected to the mounting base;

The first guide member is fixedly connected to one of the first mounting plate and the fixed block, and is slidingly connected to the other one in the first direction.

In one of the embodiments, the pulling device further includes at least two sets of positioning mechanisms installed on the mounting base, and each pulling mechanism is provided with a corresponding set of positioning mechanisms; the positioning mechanisms are configured It is used to position the fixed box for the pulling mechanism to pull.

In one embodiment, each of the positioning mechanisms includes a second driving member, a second positioning block and a first positioning block, and the second driving member and the first positioning block are both connected to the mounting base, The second positioning block is connected to the second driving member;

The second positioning block and the first positioning block are spaced apart in the first direction to form a positioning space for positioning the fixed box, and the second driving member is controlled to drive the second positioning block in the first direction. Move in one direction, so that the second positioning block and the first positioning block clamp the fixed box in the first direction.

In one embodiment, each group of the positioning mechanisms includes two positioning mechanisms spaced apart in the second direction;

The first positioning block is provided with a first positioning groove, and the groove wall of the first positioning groove forms an intersecting first positioning surface and a second positioning surface; the second positioning block is provided with a second positioning groove, and the The groove wall of the second positioning groove forms an intersecting third positioning surface and a fourth positioning surface;

The first positioning surface and the third positioning surface of each positioning mechanism are spaced apart from each other in the first direction; the second positioning surfaces of the two positioning mechanisms are in the second direction. The fourth positioning surfaces are spaced apart and opposed to each other in the second direction; the second direction intersects with the first direction.

In one embodiment, the first positioning groove has a first positioning surface connected to and intersecting with the first positioning surface. A guide surface and a second guide surface connected and intersecting with the second positioning surface, the first guide surface and the second guide surface cooperate to guide the fixed box into the first positioning groove; and/or

The second positioning groove has a third guide surface connected to and intersecting the fourth positioning surface, and the third guide surface is used to guide the fixing box into the second positioning groove.

In one embodiment, the mounting base includes a fixed base and a movable base, the pulling device further includes a third driving member, the third driving member is installed on the fixed base, and the movable base is connected with the movable base. The third driving member is connected, and all the pulling mechanisms are installed on the movable seat;

The third driving member is controlled to drive the movable seat to drive the pulling mechanism to move in a third direction; the third direction intersects with the first direction.

A box entry system, the box entry system includes:

a first conveying device for conveying the fixed box along the second direction;

The pulling device according to any one of the above, the pulling mechanism is provided above the first conveying device in the third direction, and is used to pull apart the side plate of the fixed box; the first direction, the The second direction and the third direction intersect in pairs;

The first transportation device includes a first transportation base and at least two first transportation components installed on the first transportation base. The first transportation components correspond to the pull-out mechanism one by one, and each of the first transportation components A handling component is used to grab the battery core and place it in the corresponding fixed box opened by the opening mechanism.

In one embodiment, the first handling component includes a first baffle, a second adsorption member, a second guide member, and a first elastic member; the second guide member extends along the third direction, and the The second guide member is fixedly connected to one of the first transport seat and the first baffle, and is slidingly connected to the other of the first transport seat and the first baffle; the first elastic The piece is elastically disposed between the first carrying seat and the first baffle;

The second adsorption member is installed on the first baffle for grabbing the battery core, and the battery core is attached to the first baffle.

In one embodiment, the first transport component further includes a fourth driving member and a first hook component, the fourth drive component is connected to the first transport base, and the first hook component is connected to the first transport base. The fourth driving member is connected;

The first hook assembly includes at least two first hooks, and all of the first hooks are used to receive the battery cores that are detached from the second adsorption part; the fourth driving part is controlled to drive the third A hook is closed to receive the battery core that has fallen off the second adsorption member, or the first hook is driven to open to allow the second adsorption member to place the battery core to a fixed position. Inside the box.

In one embodiment, the box entry system further includes:

a second conveying device used to convey the battery cells along the first direction;

The second conveying device includes a second conveying base and at least two second conveying components installed on the second conveying base. Each of the second conveying components is used to grab the electrical components on the second conveying device. core;

The positioning device has a number of positioning parts equal to the number of the pulling mechanisms; the positioning parts are configured to receive and position the electric cores transported by the second transporting device.

In one embodiment, the second handling component includes a second mounting plate, a fifth driving member, a second baffle, a third adsorbing member, a third guide member and a second elastic member; the fifth driving member Connected to the second transport base, the second mounting plate is connected to the fifth driving member, the third guide member extends along the third direction, and the third guide member is connected to the second mounting plate. One of the plate and the second baffle is fixedly connected, and is slidingly connected to the other of the second mounting plate and the second baffle; the second elastic member elastically resists the second mounting plate. between the plate and the second baffle;

The third adsorption member is installed on the second baffle for grabbing the battery core located on the second conveying device, and the battery core is attached to the second baffle; the fifth drive The component is controlled to drive the second baffle, the third adsorption component, the third guide component and the second elastic component to move in the third direction.

In one embodiment, the second handling component further includes a sixth driving member and a second hook assembly, the sixth driving member is connected to the second mounting plate, and the second hook assembly is connected to the second mounting plate. The sixth driving component is connected;

The second hook assembly includes at least two second hooks, and all of the second hooks are used to receive the battery cores that have been dropped by the third adsorption member; the sixth driving member is controlled to drive the third The two hooks are closed to receive the electric core that has fallen off the third adsorbing part, or the second hook is driven to open to allow the third adsorbing part to place the electric core on the positioning device.

In one embodiment, the box entry system includes at least two of the pulling devices, and all of the pulling devices are arranged at intervals in the second direction;

The number of the first conveying devices is equal to the number of the pulling devices and corresponds one to one.

The above-mentioned pulling device and box entry system, because the pulling device includes at least two pulling mechanisms, when in use, the multiple pulling mechanisms of the pulling device can be controlled to pull apart the side panels of multiple fixed boxes at the same time, so as to facilitate the third A handling device loads multiple batteries into multiple fixed boxes at the same time. Compared with the prior art, only one battery core can be loaded into the fixed box at a time. The box method improves the efficiency of placing the battery core into the box.

Description of drawings

Figure 1 is the structural diagram of the battery cell;

Figure 2 is a structural diagram of the fixed box;

Figure 3 is a top view of the box entry system provided by an embodiment of the present application;

Figure 4 is an isometric view of the pulling device of the box entry system shown in Figure 3;

Figure 5 is a partial structural view of the pulling device shown in Figure 4;

Figure 6 is an isometric view of the two adsorption assemblies of the pulling device shown in Figure 4;

Figure 7 is a top view of the adsorption assembly shown in Figure 6;

Figure 8 is a side view of the adsorption assembly shown in Figure 6;

Figure 9 is another partial structural view of the pulling device shown in Figure 4;

Figure 10 is an isometric view of the first positioning block of the pulling device shown in Figure 4;

Figure 11 is an isometric view of the second positioning block of the pulling device shown in Figure 4;

Figure 12 is a partial structural view of the first conveying device of the box entry system shown in Figure 3;

Figure 13 is a structural diagram of the second conveying device of the box entry system shown in Figure 3;

Figure 14 is an enlarged view of position A of the second transport device shown in Figure 13;

Figure 15 is a bottom view of the second carrying component of the second carrying device shown in Figure 13;

Figure 16 is a side view of the second carrying component of the second carrying device shown in Figure 13;

Figure 17 is a front view of the second carrying component of the second carrying device shown in Figure 13;

Figure 18 is an isometric view of the positioning device of the box entry system shown in Figure 3;

Figure 19 is a top view of a box entry system provided by another embodiment of the present application;

Figure 20 is a top view of a box entry system provided by yet another embodiment of the present application.
100. Box entry system; 10. First conveying device; 20. Pulling device; 21. Mounting seat; 211. Fixed seat; 212. Movable seat; 22. Pulling mechanism; 221. Adsorption component; 2211. First drive 2212. First adsorption part; 22121. First adsorption part; 2213. First mounting plate; 2214. Fixed block; 2215. First guide part; 23. Third driving part; 24. Positioning mechanism; 241. No. Two driving parts; 242, first positioning block; 2421, first positioning groove; 2422, first positioning surface; 2423, second positioning surface; 2424, first guide surface; 2425, first positioning surface Two guide surfaces; 243, second positioning block; 2431, second positioning groove; 2432, third positioning surface; 2433, fourth positioning surface; 2434, third guide surface; 25, accommodation space; 30, first handling device ; 31. The first transport seat; 32. The first transport component; 321. The first baffle; 322. The second adsorption member; 3221. The second adsorption part; 323. The second guide member; 324. The first elastic member; 325. The fourth driving member; 326. The first hook assembly; 3261. The first hook; 3262. The first connecting plate; 33. The first manipulator; 34. The first light source; 35. The first camera; 40. The first Two conveying devices; 50, second conveying device; 51, second conveying seat; 52, second conveying component; 521, second mounting plate; 522, second baffle; 523, third adsorption member; 5231, third Adsorption part; 524, third guide member; 525, second elastic member; 526, sixth driving member; 527, second hook assembly; 5271, second hook; 5272, second connecting plate; 53, second Manipulator; 54. Fifth driving part; 55. Second camera; 60. Positioning device; 61. Positioning part; 70. Light source station; 200. Battery core; 300. Fixed box; 301. Side plate; 302. Opening.

Detailed ways

In order to make the above objects, features and advantages of the present application more obvious and easy to understand, the specific implementation modes of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described here. Those skilled in the art can make similar improvements without violating the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

In the description of this application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise", "Axis" The orientation or positional relationship indicated by "radial direction", "circumferential direction", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply the device or device referred to. Elements must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations on the application.

In addition, the terms “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. In the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

In this application, unless otherwise expressly stated and limited, the terms "installation", "connection", "connection", Terms such as "fixed" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary. Connection may be the internal communication between two elements or the interactive relationship between two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In this application, unless otherwise expressly stated and limited, 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 intermediary. touch. Furthermore, 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.

It should be noted that when an element is referred to as being "mounted" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may also be intervening elements present. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation manner.

As mentioned in the background art: there is a problem in traditional technology of low battery core insertion efficiency. The inventor found through research that the root cause of the above problem is: referring to FIGS. 1 and 2 , the fixing box 300 has an opening 302 , and the battery core 200 is loaded into the fixing box 300 through the opening 302 . When the battery core 200 is installed into the fixing box 300 through the opening 302, the sharp top of the side plate 301 can easily cut the battery core 200. In order to prevent the top of the side plate 301 from cutting the battery core 200, the side plate 301 needs to be pulled apart before the battery core 200 is installed in the fixing box 300. Generally, the opening device 20 can only open the side plate 301 of one fixed box 300 at a time, and the robot can load a single battery core 200 into the opened fixed box 300. In this way, only one side plate 301 of the fixed box 300 can be opened at a time. The battery core 200 is installed in a fixed box 300, resulting in low efficiency of loading the battery core 200 into the box.

It should be noted here that pulling the side plate 301 apart means to expand the opening 302 of the fixing box 300 to prevent the top of the side plate 301 from contacting the battery core 200 and causing the battery core 200 to be cut.

In order to solve the above problem, this application provides a box entry system 100. The box entry system 100 can pull apart the side plate 301 of the fixed box 300 and install the battery core 200 into the fixed box 300. Referring to Figure 3, the box entry system 100 It includes a first conveying device 10, a pulling device 20 and a first carrying device 30. The first conveying device 10 is used to convey the fixed box 300, and the opening device 20 is used to open the side plate 301 of the fixed box 300. The first conveying device 30 can grab the battery core 200 and transport it to the opened fixed box. into the box 300 to realize the insertion of the battery core 200 into the box.

Referring to Figures 4 and 5, the pulling device 20 includes a mounting base 21 and a pulling mechanism 22. The mounting base 21 is located next to the first conveying device 10 or connected to the first conveying device 10. The pulling mechanism 22 is installed on the mounting base 21. on, and used to pull apart the side panel 301 of the fixed box 300. The pulling device 20 includes at least two pulling mechanisms 22. All the pulling mechanisms 22 are arranged sequentially in the first direction and are arranged above the first conveying device 10 in the third direction. An opening mechanism 22 is used to open the side panel 301 of a fixed box 300 .

Further, the first conveying device 10 conveys the fixed box 300 in the second direction, and the first direction, the second direction and the third direction intersect each other. In this way, the structural arrangement of the box entering system 100 is more reasonable, and the pulling device 20 is prevented from interfering with the first conveying device 10 in conveying the fixed box 300 .

Specifically, the first direction, the second direction and the third direction are perpendicular to each other. As shown in Figure 3, the first direction is the up and down direction in the figure, the second direction is the left and right direction in Figure 3, and the third direction is the direction perpendicular to the paper surface in Figure 3. At the same time, the first direction is also the width direction of the fixed box 300 , the second direction is the length direction of the fixed box 300 , and the third direction is the height direction of the fixed box 300 .

In the second direction, the first conveying device 10 can carry and transport at least one fixed box group. Each fixed box group includes a plurality of fixed boxes 300 arranged sequentially in the first direction, and each fixed box group contains The number of fixed boxes 300 included is equal to the number of pulling mechanisms 22 .

Each pulling mechanism 22 includes two adsorption assemblies 221 spaced apart in the first direction, so that the fixing box 300 can adsorb the side panels 301 on both sides in the first direction. Referring to FIGS. 5 and 6 , each adsorption component 221 includes a first driving member 2211 and a first adsorption member 2212 . The first driving member 2211 is installed on the mounting base 21 , and the first adsorption member 2212 is connected to the first driving member 2211 . A receiving space 25 is formed between the two first adsorbing parts 2212 of each pulling mechanism 22 , and a fixed box 300 transported by the first conveying device 10 is received in a receiving space 25 . The accommodating space 25 is connected to the outside world. When the fixed box 300 is received in the accommodating space 25, its opening 302 is exposed to the outside world, so that the battery core 200 can be loaded into the fixed box 300 through the opening 302. The first adsorption part 2212 is configured to be able to adsorb the side plate 301 of the fixed box 300 accommodated in the accommodation space 25 . The first driving part 2211 is controlled to drive the first adsorption part 2212 to move in the first direction to open the fixed box 300 . Side panels 301.

The box entering system 100 also includes a control device (not shown in the figure), and the control device is used to control the first conveying device. The device 10, the pulling device 20 and the first conveying device 30 work together.

During operation, the control device controls the first conveying device 10 to convey the fixed boxes 300 to the bottom of the corresponding opening mechanism 22, and controls each fixed box 300 to be received in the corresponding storage space. The first driving member 2211 of each pulling mechanism 22 is controlled to drive the first adsorbing member 2212 to move close to the fixed box 300 in the first direction until it adsorbs the side plate 301 . Then the first driving part 2211 drives the first adsorbing part 2212 to move in the opposite direction in the first direction to pull the side plate 301 outward, so that the opening 302 of the fixed box 300 is enlarged. The first transport device 30 loads the plurality of battery cores 200 into the corresponding fixing boxes 300 through the openings 302 .

The above arrangement can control the multiple opening mechanisms 22 of the opening device 20 to open the side plates 301 of multiple fixed boxes 300 at the same time, so that the first conveying device 30 can load multiple battery cores 200 into multiple fixed boxes 300 at the same time. Compared with the prior art method in which only one battery core 200 can be loaded into the fixed box 300 at a time, the efficiency of loading the battery core 200 into the box is improved.

In one embodiment, referring to FIGS. 4 and 5 , the mounting base 21 includes a fixed base 211 and a movable base 212 , and the pulling device 20 further includes a third driving member 23 . The fixed base 211 is provided next to the first conveying device 10 or is fixedly connected to the first conveying device 10. The third driving member 23 is installed on the fixed base 211. The movable base 212 is connected to the third driving member 23. All the pulling mechanisms 22 are Installed on the movable seat 212. The third driving member 23 is controlled to drive the movable seat 212 to drive the pulling mechanism 22 to move in the third direction. In this way, when the first conveying device 10 conveys the fixed box 300 to the bottom of the opening mechanism 22, the control device controls the third driving member 23 to drive the movable base 212 to move downward in the third direction relative to the fixed base 211, so as to facilitate the fixed box. 300 is received in the accommodation space 25 and is pulled apart by the pulling mechanism 22 to install the battery core 200 . At the same time, when the battery core 200 is installed in the fixed box 300, the control device controls the third driving member 23 to drive the movable base 212 to move upward in the third direction relative to the fixed base 211, thereby facilitating the first conveying device 10 to transport the fixed box 300 to Next station.

It should be understood that in other embodiments, other methods can be used to accommodate the fixed box 300 in the accommodation space 25 , such as configuring the first conveying device 10 to have a lifting mechanism, and the lifting mechanism can drive the fixed box 300 to rise and fall in a third direction. . When the lifting mechanism drives the fixed box 300 to rise in the third direction, the fixed box 300 can enter the accommodation space 25 . When the lifting mechanism drives the fixed box 300 to descend in the third direction, the fixed box 300 can be moved out of the accommodation space 25 .

The third driving member 23 is a cylinder. Of course, in some other embodiments, the type of the third driving member 23 is not limited. For example, the third driving member 23 may also include a motor and a transmission member, and the motor drives the movable member through the transmission member. The moving base 212 moves relative to the fixed base 211 in the third direction.

The first driving member 2211 is also a cylinder. In other embodiments, the type of the first driving member 2211 is not limited, and reference may be made to the arrangement of the third driving member 23 .

It should be noted here that the adjacent adsorption assemblies 221 in each two adjacent pulling mechanisms 22 can share the first driving member 2211, or the first driving member 2211 can be provided independently.

For example, in a specific embodiment, the pulling device 20 includes four pulling mechanisms 22 arranged sequentially in the first direction, which are sequentially defined as a first pulling mechanism, a second pulling mechanism, a third pulling mechanism and a third pulling mechanism. Four open the mechanism. The inner adsorption component 221 of the first pull-out mechanism is adjacent to one of the adsorption components 221 of the second pull-out mechanism; the other adsorption component 221 of the second pull-out mechanism is adjacent to one of the adsorption components 221 of the third pull-out mechanism. The other adsorption component 221 of the third pull-away mechanism is adjacent to the inner adsorption component 221 of the fourth pull-away mechanism. At this time, the first adsorption parts 2212 of adjacent adsorption assemblies 221 may be driven by a common cylinder, that is, the first driving part 2211 is a dual cylinder. Of course, the adjacent adsorption components 221 can also be driven by one cylinder respectively.

Although it is described above that the pulling device 20 includes four pulling mechanisms 22, it should be noted here that the number of pulling mechanisms 22 included in the pulling device 20 is not limited by the above introduction. In other embodiments, the pulling device 20 may also include two pulling mechanisms 22 , three pulling mechanisms 22 , or more than four pulling mechanisms 22 . Depending on the number of pull-out mechanisms 22 included in the pull-out device 20, the number of fixed boxes 300 included in each fixed box group can be adjusted accordingly.

In some embodiments, referring to FIG. 7 , each adsorption component 221 further includes a first mounting plate 2213 , the first mounting plate 2213 is connected to the first driving member 2211 , and the first adsorption member 2212 is installed on the first mounting plate 2213 . When the first driving member 2211 is controlled to drive the first mounting plate 2213 to move in the first direction, it synchronously drives the first adsorbing member 2212 to move.

Each first adsorption part 2212 includes at least two first adsorption parts 22121. All the first adsorption parts 22121 are connected to the corresponding first mounting plate 2213 and are sequentially arranged along the second direction. In this way, in the length direction of the fixed box 300, that is, in the longitudinal extension direction of the side plate 301, the plurality of first adsorption portions 22121 of the first adsorption member 2212 can adsorb the side plate 301 from different positions. When the plurality of first adsorption parts 22121 adsorb the side panel 301 from different positions, on the one hand, the adsorption force of the side panel 301 can be increased to facilitate pulling the side panel 301; on the other hand, it can also ensure that the side panel 301 is in the first position. The uniformity of the force in both directions prevents the side plate 301 from being damaged due to uneven force. bad.

In a specific embodiment, the first adsorption part 22121 is a suction cup. It is conceivable that in other embodiments, the first adsorption part 22121 may also be a magnet, etc., as long as it can achieve the purpose of adsorbing the side plate 301, and the specific first adsorption part 22121 is not specified. limited.

Referring to FIGS. 7 and 8 , each adsorption component 221 also includes a fixed block 2214 and a first guide member 2215 . The fixed block 2214 is fixedly connected to the mounting base 21 . Specifically, the first guide member 2215 extends along the first direction, is fixedly connected to one of the first mounting plate 2213 and the fixing block 2214, and is slidingly connected to the other one in the first direction. With this arrangement, when the first driving member 2211 is controlled to drive the first mounting plate 2213 to drive the first adsorbing member 2212 to move in the first direction, the first guide member 2215 can guide the first mounting plate 2213.

In a specific implementation, one end of the first guide member 2215 is fixedly connected to the first mounting plate 2213, and the other end is slidingly connected to the fixing block 2214. In this way, when the first installation plate 2213 moves, the first guide member 2215 can slide with the first installation plate 2213 relative to the fixed block 2214 to guide the first installation plate 2213 and ultimately guide the first adsorption member. 2212 purpose. In another specific implementation, one end of the first guide member 2215 is fixedly connected to the fixed block 2214, and the other end is slidingly connected to the first mounting plate 2213. In this way, when the first installation plate 2213 moves, the first guide member 2215 slides relative to the first installation plate 2213. At this time, the first guide member 2215 can still play a role in guiding the first installation plate 2213, thereby achieving the goal of guiding the first installation plate 2213. The purpose of the adsorption piece 2212.

The first guide member 2215 can be configured as a first guide rod, that is, the first guide member 2215 is configured as a rod-shaped structure to facilitate the first guide member 2215 to move smoothly relative to the first mounting plate 2213 or the fixed block 2214, thereby Have a better guiding effect. It can be understood that in other embodiments, the specific shape of the first guide member 2215 is not limited, as long as it can play a guiding role.

Referring to FIG. 5 , the pulling device 20 further includes at least two sets of positioning mechanisms 24 . Each pulling mechanism 22 is provided with a corresponding set of positioning mechanisms 24 , and all positioning mechanisms 24 are installed on the movable seat 212 . The positioning mechanism 24 is configured to position the fixed box 300 for pulling by the pulling mechanism 22 .

When it is necessary to pull open the side plate 301 of the fixed box 300 to install the battery core 200, first, the control device controls the positioning mechanism 24 to position the fixed box 300, and then controls the corresponding pulling mechanism 22 to position the fixed box 300. The side panel 301 is pulled open. In this way, before the pulling mechanism 22 pulls open the side plate 301, the positioning mechanism 24 can first position the fixing box 300. On the one hand, it can prevent the fixing box 300 from deflecting, so as to facilitate the assembly of the battery core 200. In the fixed box 300, on the other hand, it is avoided that the fixed box 300 becomes unstable and follows the movement of the opening mechanism 22, resulting in the side plate 301 being unable to be opened.

Each positioning mechanism 24 includes a second driving member 241, a first positioning block 242 and a second positioning block 243. The second driving member 241 and the first positioning block 242 are both connected to the movable base 212. The second positioning block 243 is connected to the second positioning block 243. The driver 241 is connected. The second positioning block 243 and the first positioning block 242 are spaced apart in the first direction to form a positioning space for positioning the fixed box 300. The second driving member 241 is controlled to drive the second positioning block 243 to move in the first direction. The second positioning block 243 and the first positioning block 242 clamp the fixed box 300 in the first direction.

During operation, the first conveying device 10 transports the fixed box 300 to below the corresponding positioning mechanism 24 . The control device controls the third driving member 23 to drive the movable seat 212 to move downward in the third direction. At this time, the fixed box 300 enters the positioning space and the accommodation space 25 . The control device controls the second driving member 241 to drive the second positioning block 243 to move, so that the second positioning block 243 and the first positioning block 242 jointly clamp the fixed box 300 in the first direction. The control device controls the first driving member 2211 to drive the first adsorbing member 2212 to move to absorb the side panel 301 and pull the side panel 301 apart.

It should be noted here that when the fixed box 300 enters the positioning space and the accommodating space 25, the first positioning block 242 has contacted one side of the fixed box 300 in the first direction, and the second driving member 241 drives the second positioning block 242. The block 243 contacts the other side of the fixed box 300 in the first direction. It should also be noted here that the first positioning block 242 and the second positioning block 243 are not in contact with the side plate 301 , that is, although the first positioning block 242 and the second positioning block 243 are in contact with the fixed box 300 in the first direction, But it does not restrict the opening mechanism 22 from opening the side panel 301 .

With the above arrangement, the positioning mechanism 24 can clamp the fixed box 300 more conveniently through the cooperation of the first positioning block 242 and the second positioning block 243, and can ensure the clamping effect of the fixed box 300.

It is conceivable that in other embodiments, the positioning mechanism 24 can also be improved as needed, and it is not limited to the above-mentioned method. All conceivable positioning methods are included in the protection scope of this application.

The second driving member 241 is a cylinder. In some other embodiments, the type of the second driving member 241 is not limited, and the arrangement of the third driving member 23 may also be referred to.

In one embodiment, referring to FIG. 9 , each group of positioning mechanisms 24 includes two positioning mechanisms 24 spaced apart in the second direction. Referring to FIG. 10 , the first positioning block 242 is provided with a first positioning groove 2421 , and the groove wall of the first positioning groove 2421 forms an intersecting first positioning surface 2422 and a second positioning surface 2423 . Specifically, the first positioning surface 2422 and the second positioning surface 2423 are perpendicular to each other, and both the first positioning surface 2422 and the second positioning surface 2423 are consistent with the shape of the fixing box 300 . shape matches. Referring to FIG. 11 , the second positioning block 243 is provided with a second positioning groove 2431 , and the groove wall of the second positioning groove 2431 forms an intersecting third positioning surface 2432 and a fourth positioning surface 2433 . The third positioning surface 2432 and the fourth positioning surface 2433 are perpendicular to each other, and both the third positioning surface 2432 and the fourth positioning surface 2433 match the shape of the fixing box 300 .

The first positioning surface 2422 and the third positioning surface 2432 of each positioning mechanism 24 are spaced apart from each other in the first direction. The second positioning surfaces 2423 of the two positioning mechanisms 24 are spaced apart from each other in the second direction, and the fourth positioning surfaces 2433 are spaced apart from each other in the second direction.

With the above arrangement, when the fixed box 300 enters the positioning space, the second driving parts 241 of the two positioning mechanisms 24 drive the second positioning block 243 to move close to the first positioning block 242, so that the fixed box 300 can be clamped in the first direction. The first positioning surface 2422 and the third positioning surface 2432 of the two positioning mechanisms 24 are sandwiched between the two second positioning surfaces 2423 and the two fourth positioning surfaces 2433 in the second direction. That is, the first positioning surface 2422 and the third positioning surface 2432 position the fixing box 300 in the first direction, and the second positioning surface 2423 and the fourth positioning surface 2433 position the fixing box 300 in the second direction. In this way, each set of positioning mechanisms 24 can position the fixed box 300 in the first direction and the second direction, ensuring the positioning stability of the fixed box 300.

Furthermore, the groove wall of the first positioning groove 2421 also forms a fifth positioning surface that intersects with the first positioning surface 2422 and the second positioning surface 2423. The groove wall of the second positioning groove 2431 also forms a fifth positioning surface that intersects with the third positioning surface 2432 and the third positioning surface 2432. The sixth positioning surface where the four positioning surfaces 2433 all intersect. The fifth positioning surface and the sixth positioning surface jointly position the fixing box 300 in the third direction. The upper surface of the fixed box 300 can contact the fifth positioning surface and the sixth positioning surface. Since the fixed box 300 is supported on the first conveying device 10, it is restricted and fixed under the joint action of the first conveying device 10 and the positioning mechanism 24. The box 300 moves up and down along the third party to achieve better positioning effect.

In one embodiment, the first positioning groove 2421 has a first guide surface 2424 and a second guide surface 2425. The first guide surface 2424 is connected to the first positioning surface 2422, and the second guide surface 2425 is connected to the second positioning surface 2423. The first guide surface 2424 intersects with the first positioning surface 2422 and expands outwards. The second guide surface 2425 intersects with the second positioning surface 2423 and expands outwards. The first positioning surface 2422 and the second positioning surface 2423 cooperate to guide the fixed box 300 to the first positioning surface 2423 . in a certain positioning groove 2421. When the third driving member 23 drives the movable seat 212 to drive the positioning mechanism 24 to move, the first guide surface 2424 and the second guide surface 2425 are both in guiding contact with the fixed box 300, so as to guide the fixed box 300 into the first positioning groove 2421. .

The second positioning groove 2431 has a third guide surface 2434 connected to the fourth positioning surface 2433. The third guide surface 2434 intersects and expands outwardly with the fourth positioning surface 2433 to guide the fixing box 300 into the second positioning groove 2431. when When the second driving member 241 drives the second positioning block 243 to move closer to the first positioning block 242 , the third guide surface 2434 comes into guide contact with the fixed box 300 to guide the fixed box 300 into the second positioning groove 2431 .

In one embodiment, referring to FIG. 12 , the first transportation device 30 includes a first transportation base 31 and at least two first transportation components 32 . The first conveying device 30 also includes a first manipulator 33. The first conveying base 31 is connected to the first manipulator 33. All the first conveying components 32 are installed on the first conveying base 31. Each first conveying assembly 32 is used for grasping. Take one battery cell 200. The first conveying components 32 correspond to the opening mechanisms 22 one-to-one, that is, the number of the first conveying components 32 is equal to that of the opening mechanisms 22, and the position arrangement of each first conveying component 32 can exactly satisfy the requirement that the first conveying components 32 can move the The captured battery core 200 is placed in the fixed box 300 opened by the corresponding opening mechanism 22 .

During operation, the control device controls all the first transport components 32 to grasp the battery core 200 at the same time, and controls the movement of the first manipulator 33. The first robot 33 drives the first transport base 31 to move, thereby driving the first transport component 32 to move. When the first robot 33 drives the first transportation component 32 to move to the preset position through the first transportation base 31 , the first transportation component 32 releases the battery core 200 to install it into the fixed box 300 .

It should be noted here that the above-mentioned first manipulator 33 can not only drive the first transport base 31 to move in the first direction, the second direction and the third direction, but also drive the first transport seat 31 to rotate around the third direction.

In the above arrangement, since the first conveying device 30 is provided with the same number of first conveying assemblies 32 as the pulling mechanism 22 and one-to-one correspondence, the control device can control the plurality of first conveying assemblies 32 to pick up and discharge the electric cores 200, which improves efficiency. The efficiency of putting 200 cells into the box.

The first transport component 32 includes a first baffle 321 , a second adsorption member 322 , a second guide member 323 and a first elastic member 324 . The second guide member 323 extends along the third direction, and is fixedly connected to one of the first transport base 31 and the first baffle 321 , and is fixedly connected to the other of the first transport base 31 and the first baffle 321 . or sliding connection. The first elastic member 324 is elastically disposed between the first transport base 31 and the first baffle 321 . The second adsorption member 322 is installed on the first baffle 321 for grabbing the battery core 200 , and the battery core 200 is attached to the first baffle 321 .

When the first transport assembly 32 needs to transport the battery core 200, the second adsorption member 322 attracts the battery core 200, and the upper surface of the battery core 200 contacts the lower surface of the first baffle 321 to ensure that the battery core 200 is grasped. It will not shake, ensuring the stability of grabbing the battery cell 200. At the same time, since the first elastic member 324 is disposed between the first transport base 31 and the first baffle 321, when the first baffle 321 contacts and grabs the battery core 200, if the battery core 200 exerts force on the first baffle 321, Baffle 321, the first baffle 321 can compress the first elastic member 324, and the first elastic member 324 undergoes elastic deformation, Ensure that the battery core 200 is in soft contact (elastic contact) with the first baffle 321 to avoid damaging the battery core 200 .

The second adsorption member 322 includes at least two second adsorption parts 3221 , and all the second adsorption parts 3221 are sequentially spaced on the first baffle 321 , thereby ensuring the adsorption effect of the first transport component 32 on adsorbing the battery core 200 . Specifically, the second adsorption part 3221 is a suction cup. It is conceivable that in other embodiments, the second adsorption part 3221 can be a magnet, etc., as long as it can achieve the purpose of adsorbing the battery core 200, and there is no specific limit on what the second adsorption part 3221 is. .

The second guide member 323 can be configured as a second guide rod, that is, the second guide member 323 is configured as a rod-shaped structure, so that the second guide member 323 can move smoothly relative to the first baffle 321 or the first transport seat 31 , thereby achieving a better guiding effect. It can be understood that in other embodiments, the specific shape of the second guide member 323 is not limited, as long as it can play a guiding role.

Furthermore, the first elastic member 324 is sleeved outside the second guide member 323 to limit the first elastic member 324 . Specifically, the first elastic member 324 is a spring. In other embodiments, the first elastic member 324 may not be sleeved outside the second guide member 323. For example, first assembly slots may be provided on both the first transport base 31 and the first baffle 321. Both ends of the elastic member 324 are limited into the two first assembly grooves. At the same time, the type of the first elastic member 324 is not limited. For example, the first elastic member 324 may also be a rubber ring.

The first transport component 32 also includes a fourth driving component 325 and a first hook component 326 . The fourth driving component 325 is connected to the first transport base 31 , and the first hook component 326 is connected to the fourth driving component 325 . The first hook assembly 326 includes at least two first hooks 3261 , and all the first hooks 3261 are used to receive the battery core 200 that has fallen off the second adsorption member 322 . The fourth driving member 325 is controlled to drive the first hook 3261 to close to accept the battery core 200 that has fallen off the second adsorption member 322, or to drive the first hook 3261 to open to allow the second adsorption member 32 to place the battery core 200 in the fixed box. Within 300.

With the above arrangement, during the process of transporting the battery core 200 after the second adsorption part 322 absorbs the battery core 200, the fourth driving part 325 is controlled to drive the first hook 3261 to close. If the battery core 200 falls off from the second adsorption part 322, it will be The first hook 3261 takes over to prevent the battery core 200 from falling off randomly. When the second adsorption member 322 needs to absorb the battery core 200 from other equipment (such as the positioning device 60 described below) or place the battery core 200 in the fixed box 300, the fourth driving member 325 is controlled to drive the first hook 3261 in reverse. To allow the second adsorption member 322 to absorb the battery core 200 from other devices or to place the battery core 200 in the fixed box 300, this is the setting of the first hook assembly 326, which will not hinder the normal pickup and discharge of the second adsorption member 322. Core 200.

In a specific embodiment, each first hook assembly 326 includes four first hooks 3261, and the first baffle 321 has four connected rectangular corners. Four first hooks 3261 are respectively provided corresponding to the four corners of the first baffle 321 , and one first hook 3261 is provided outside one corner to surround the first baffle 321 . In this way, when the second adsorption member 322 falls off the battery core 200, the battery core 200 is received by the four first hooks 3261 to ensure the stability of the reception.

It can be understood that in other embodiments, the number of first hooks 3261 included in each first hook assembly 326 is not limited.

The fourth driving member 325 is a double cylinder, that is, the cylinder has two driving ends. The first hook assembly 326 also includes two first connecting plates 3262. The first connecting plates 3262 include a first connecting part and a second connecting part that are connected to each other. The first connecting part and the second connecting part are connected in a T-shape. Each first connecting portion is connected to a driving end of the fourth driving member 325. The four first hooks 3261 form two groups, and each group of first hooks 3261 is connected to a second connecting portion. The fourth driving member 325 drives the two sets of first hooks 3261 to move backward or toward each other through the two first connecting plates 3262, so that the first hooks 3261 open or close.

It should be considered that in other embodiments, the type of the fourth driving member 325 is not limited, as long as it can achieve the purpose of driving the first hook 3261.

Further, the first transport device 30 also includes a first light source 34 and a first camera 35. The first light source 34 is used to fill the first camera 35 with light. The first camera 35 is used to photograph the battery core 200 to determine whether the battery core 200 is It is accurately loaded into the fixed box 300.

In one embodiment, referring to FIG. 3 , the box entering system 100 further includes a second conveying device 40 , a second carrying device 50 and a positioning device 60 . The second transport device 40 is used to transport the battery core 200. Specifically, the second transport device 40 transports the battery core 200 along the first direction. The second transport device 50 is used to transport the battery core 200 transported by the second transport device 40 and can place the battery core 200 into the positioning device 60 . The positioning device 60 is used to position the battery core 200 .

Since the second conveying device 40 conveys the battery core 200 along the first direction and the second conveying device 40 conveys the fixing box 300 along the second direction, it is convenient to dispose the first conveying device 30, the second conveying device 50 and the positioning device 60 in the second direction. A conveying device 10 is located in the space formed by the second conveying device 40, so that the structure of the entire box entering system 100 is compact and the occupied space is reduced.

Referring to FIGS. 13 and 14 , the second transport device 50 includes a second transport base 51 and a second transport component 52 . The second conveying device 50 also includes a second manipulator 53. The second conveying base 51 is connected to the second manipulator 53. All the second conveying components 52 are installed on the second conveying base 51. Each second conveying assembly 52 is used for grasping. Get an electricity Core 200. Specifically, the number of second conveying assemblies 52 included in the second conveying device 50 is set to be smaller than the number of first conveying assemblies 32 included in the first conveying device 30 . In a specific embodiment, the first conveying device 30 includes four first conveying assemblies 32 , and the second conveying device 50 includes two second conveying assemblies 52 .

In other specific implementations, there are no specific limitations on the number of first transport components 32 included in the first transport device 30 and the number of second transport components 52 included in the second transport device 50 . For example, the number of the second transport components 52 included in the second transport device 50 may be equal to the number of the first transport components 32 included in the first transport device 30 . Or the number of the second transport components 52 included in the second transport device 50 is greater than the number of the first transport components 32 included in the first transport device 30 .

During operation, the control device controls all second transport assemblies 52 to grasp the battery core 200 at the same time, and controls the movement of the second manipulator 53. The second manipulator 53 drives the second transport base 51 to move, thereby driving the second transport assembly 52 to move. When the second robot arm 53 drives the second transport component 52 to move to the preset position through the second transport base 51 , the second transport component 52 releases the battery core 200 to place it into the positioning device 60 for positioning.

It should be noted here that the above-mentioned second manipulator 53 can not only drive the second transport seat 51 to move along the first direction, the second direction and the third direction, but also drive the second transport seat 51 to rotate around the third direction.

Referring to FIGS. 14 to 16 , the second transport component 52 includes a second mounting plate 521 , a second baffle 522 , a third adsorption member 523 , a third guide member 524 and a second elastic member 525 . The second installation plate 521 is connected to the second transport base 51 , the third guide member 524 extends along the third direction, and the third guide member 524 is fixedly connected to one of the second installation plate 521 and the second baffle 522 , and is connected with the third guide member 524 . The other one of the two mounting plates 521 and the second baffle 522 is slidingly connected. The second elastic member 525 is elastically disposed between the second mounting plate 521 and the second baffle 522 . The third adsorption member 523 is installed on the second baffle 522 for grabbing the battery core 200 located on the second conveying device 40 , and the battery core 200 is attached to the second baffle 522 .

When the second transport assembly 52 needs to transport the battery core 200, the third adsorption member 523 attracts the battery core 200, and the upper surface of the battery core 200 contacts the lower surface of the second baffle 522 to ensure that the battery core 200 is grasped. It will not shake, ensuring the stability of grabbing the battery cell 200. At the same time, since the second elastic member 525 is disposed between the second mounting plate 521 and the second baffle 522, when the second baffle 522 contacts and grabs the battery core 200, if the battery core 200 exerts force on the second baffle 522, The baffle 522 and the second baffle 522 can compress the second elastic member 525, and the second elastic member 525 undergoes elastic deformation to ensure soft contact (elastic contact) between the battery core 200 and the second baffle 522 to avoid damage to the battery core 200.

Referring to Figures 15-17, the third adsorption member 523 includes at least two third adsorption parts 5231, and all third adsorption parts 5231 are The attachment portions 5231 are sequentially spaced on the second baffle 522 to ensure the adsorption effect of the second transport assembly 52 on adsorbing the battery core 200 . Specifically, the third adsorbing member 523 is a suction cup. It is conceivable that in other embodiments, the third adsorption member 523 may be a magnet, etc., as long as it can achieve the purpose of adsorbing the battery core 200 , and there is no specific limitation on what the third adsorption part 5231 is. .

The third guide member 524 can be configured as a third guide rod, that is, the third guide member 524 is configured as a rod-shaped structure, so that the third guide member 524 can move smoothly relative to the second baffle 522 or the second mounting plate 521 , thereby achieving a better guiding effect. It is conceivable that in other embodiments, the specific shape of the second guide member 323 is not limited, as long as it can play a guiding role.

Further, the second elastic member 525 is sleeved outside the third guide member 524 to define the second elastic member 525 . Specifically, the second elastic member 525 is a spring. In other embodiments, the second elastic member 525 may not be sleeved outside the third guide member 524. For example, a second assembly slot may be provided on both the second mounting plate 521 and the second baffle 522. Both ends of the elastic member 525 are limited into the two second assembly grooves. At the same time, the type of the second elastic member 525 is not limited. For example, the second elastic member 525 may also be a rubber ring.

Referring to Figure 14, the second transport component 52 also includes a sixth driving component 526 and a second hook component 527. The sixth driving component 526 is connected to the second mounting plate 521, and the second hook component 527 is connected to the sixth driving component 526. . The second hook assembly 527 includes at least two second hooks 5271 , and all of the second hooks 5271 are used to receive the battery core 200 that has been detached from the third adsorbing member 523 . The sixth driving member 526 is controlled to drive the second hook 5271 to close to receive the battery core 200 that has fallen off the third adsorption member 523 , or to drive the second hook 5271 to open to allow the third adsorption member 523 to be removed from the second conveying device 40 Adsorb the battery core 200 or place the battery core 200 on the positioning device 60 .

With the above arrangement, during the process of transporting the battery core 200 after the third adsorption part 523 has adsorbed the battery core 200, the sixth driving part 526 is controlled to drive the second hook 5271 to close. If the battery core 200 falls off from the third adsorption part 523, it will be The second hook 5271 takes over to prevent the battery core 200 from falling off randomly. When the third adsorption member 523 needs to absorb the battery core 200 from the second conveying device 40 or place the battery core 200 on the positioning device 60 , the sixth driving member 526 is controlled to drive the second hook 5271 to move in reverse to allow The third adsorption member 523 adsorbs the battery core 200 from the second conveying device 40 or places the battery core 200 on the positioning device 60 , which is the arrangement of the second hook 5271 , which will not hinder the third adsorption member 523 from normally picking up and discharging the battery core 200 . .

In a specific embodiment, each second hook assembly 527 includes four second hooks 5271, and the second baffle 522 has four connected rectangular corners. The four second hooks 5271 respectively correspond to the four second baffles 522 A second hook 5271 is provided outside a corner to surround the second baffle 522 . In this way, when the third adsorbing member 523 falls off the battery core 200, the battery core 200 is received by the four second hooks 5271 to ensure the stability of the reception.

It can be understood that in other embodiments, the number of second hooks 5271 included in each second hook assembly 527 is not limited.

The sixth driving member 526 is a double cylinder, that is, the cylinder has two driving ends. The second hook assembly 527 also includes two second connecting plates 5272. The second connecting plates 5272 include a third connecting part and a fourth connecting part that are connected to each other. The third connecting part and the fourth connecting part are connected in a T-shape. Each third connecting portion is connected to a driving end of the sixth driving member 526. The four second hooks 5271 form two groups, and each group of second hooks 5271 is connected to a fourth connecting portion. The sixth driving member 526 drives the two sets of second hooks 5271 to move backward or toward each other through the two second connecting plates 5272, so that the second hooks 5271 open or close.

It should be considered that in other embodiments, the type of the sixth driving member 526 is not limited, as long as it can achieve the purpose of driving the second hook 5271.

Preferably, referring to FIG. 14 , the second conveying device 50 further includes a fifth driving member 54 , the fifth driving member 54 is connected to the second conveying base 51 , and the second mounting plate 521 is connected to the fifth driving member 54 . The fifth driving member 54 is controlled to drive the second baffle 522, the third adsorbing member 523, the third guide member 524 and the second elastic member 525 to move in the third direction. In this way, the fifth driving member 54 can drive the second mounting plate 521 to drive the second baffle 522, the third adsorption member 523, the third guide member 524 and the second elastic member 525 to move in the third direction, thereby facilitating the adjustment of the third adsorption member. The position of the component 523 in the third direction is adjusted to facilitate the adjustment of the position of the battery core 200 placed in the positioning device 60 .

The fifth driving member 54 is a cylinder. In some other embodiments, the type of the fifth driving member 54 is not limited, and the arrangement of the third driving member 23 may also be referred to.

Furthermore, referring to FIG. 13 , the second transport device 50 further includes a second camera 55 , and the second camera 55 is used to photograph the battery core 200 . The second manipulator 53 can drive the second transport device 50 to move according to the position of the battery core 200 photographed by the second camera 55, thereby adjusting the position of the battery core 200 so that it can be placed on the positioning device 60 in a correct position. The second carrying device 50 also includes a second light source. The second light source is used to supplement the light for the second camera 55 so that the second camera 55 takes pictures more clearly. When taking pictures, the second light source is located below the battery core 200 and the second camera 55 is located above the battery core 200 .

In other embodiments, the second transport device 50 can also omit the second light source, and the box entry system 100 is provided to include a light source station 70 (see FIG. 3 ). The light source station 70 is provided with a second light source, and the second light source is located on the second carry The device 50 carries the battery core 200 to the moving path of the positioning device 60 so that the second light source can also fill the second camera 55 with light.

Referring to FIG. 18 , the positioning device 60 has a number of positioning parts 61 equal to the number of the pulling mechanisms 22 . The positioning parts 61 are configured to carry and position the electric cores 200 transported by the second transporting device 50 . Specifically, the positioning portion 61 is a positioning groove formed on the positioning device 60 .

The second transport component 52 positions the grasped battery core 200 on the positioning part 61 so that before the battery core 200 is transported by the first transport device 30 , the orientation of the battery core 200 on all the positioning parts 61 is the same, so as to facilitate the second transport assembly 52 . A transporting device 30 grabs and transfers all the electric cores 200 located on the positioning device 60 to the fixed box 300 at one time, thereby improving the efficiency of placing the electric cores 200 into the box.

Furthermore, all positioning parts 61 are arranged sequentially along the second direction. It should be understood that in other embodiments, all the positioning portions 61 can also be arranged sequentially along the first direction, or in the same plane as the first direction and the second direction, all the positioning portions 61 can be arranged along the first direction and the second direction. Directions with all intersecting directions are laid out in sequence, which is not limited here.

In one embodiment, referring to FIG. 19 , the box entry system 100 includes at least two pulling devices 20 . All the pulling devices 20 are arranged at intervals in the second direction. The number of the first conveying devices 30 is equal to the number of the pulling devices 20 . Equal and one-to-one correspondence.

Furthermore, the box entry system 100 includes a plurality of second conveying devices 40 , a plurality of second conveying devices 50 and a plurality of positioning devices 60 that are equal to the number of the first conveying devices 30 . Each first conveying device 30 corresponds to a second conveying device 40 , a second conveying device 50 and a positioning device 60 .

With the above arrangement, when the battery cores 200 need to be loaded into the box, the second transport assembly 52 of each second transport device 50 transports the battery cores 200 transported by the corresponding second transport device 40, and the second robot 53 passes through the second transport base. 51 drives the second carrying component 52 to move to its corresponding positioning device 60 . The battery core 200 is placed and positioned by the positioning device 60 of the second transport component 52, and then the first transport component 32 of each first transport device 30 transports the battery core 200 positioned by its corresponding positioning device 60. The pulling device 20 pulls open the side plate 301 of the fixed box 300 of the fixed box set, and the first conveying device 30 puts the battery core 200 into the corresponding fixed box 300 opened by the pulling device 20 . Through the cooperation of the plurality of second conveying devices 40 , the second conveying device 50 , the positioning device 60 , the first conveying device 30 and the pulling device 20 , the efficiency of placing the battery cores 200 into the box is further improved.

In a specific embodiment, referring to Figure 19, the box entering system 100 includes two second conveying devices 40, two two second conveying devices 50, two positioning devices 60, two first conveying devices 30 and two pulling devices 20.

The two second conveying devices 40 both extend along the first direction and are spaced apart from each other in the second direction. Each second conveying device 40 is provided with a corresponding second conveying device 50 , and the two second conveying devices 40 are respectively disposed on the sides of the two second conveying devices 50 away from each other. The first conveying device 10 extends along the second direction and is spaced apart from the second conveying device 40 in the first direction. The two positioning devices 60 and the two first conveying devices 30 are both located between the first conveying device 10 and the second conveying device 40 . And the first conveying device 30 is located between the corresponding positioning device 60 and the first conveying device 10 .

The two pulling devices 20 are spaced apart in the second direction. Specifically, two sets of fixed box sets can be accommodated between the two pulling devices 20 . Alternatively, referring to Figure 20, two pulling devices 20 are adjacent. When the first conveying device 10 transports the fixed box group in the second direction, the first conveying device 10 travels the distance of two fixed box groups each time to ensure that the fixed box 300 of the fixed box group can only be opened by one of them. When the device 20 is pulled apart, the problem of being pulled apart repeatedly to install the battery core 200 will not occur.

It should be understood that in other embodiments, the number of the second conveying device 40 , the second carrying device 50 , the positioning device 60 , the first carrying device 30 and the pulling device 20 included in the box entering system 100 is not specifically limited. . At the same time, the positional relationship between the various devices is not specifically limited, as long as the purpose of placing the battery core 200 in the box can be achieved.

The technical features of the above-described embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, All should be considered to be within the scope of this manual.

The above-described embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the scope of protection of this patent application should be determined by the appended claims.

Claims

A pulling device, characterized in that the pulling device includes:

Mounting base(21);

There are at least two pulling mechanisms (22) installed on the mounting base (21), and all the pulling mechanisms (22) are arranged sequentially in the first direction; each pulling mechanism (22) includes two There are two adsorption components (221) spaced apart in the first direction. Each of the adsorption components (221) includes a first driving member (2211) and a first adsorption assembly connected to the first driving member (2211). items(2212);

An accommodating space (25) for accommodating the fixed box (300) and communicating with the outside is formed between the two first adsorbing parts (2212) of each pulling mechanism (22). The first adsorbing part (2212) is configured to be able to adsorb the side plate (301) of the fixed box (300) accommodated in the corresponding accommodation space (25), and the first driving member (2211) is controlled to drive the first adsorbing member (2212) moves along the first direction to pull apart the side panel (301).
The pulling device according to claim 1, characterized in that each of the adsorption components (221) further includes a first installation plate (2213), and the first adsorption member (2212) passes through the first installation plate. (2213) is connected to the first driving member (2211);

Each first adsorption part (2212) includes at least two first adsorption parts (22121); all the first adsorption parts (22121) are connected to the corresponding first mounting plate (2213), and are arranged along the first installation plate (2213). The two directions are arranged in sequence; the second direction intersects the first direction.
The pulling device according to claim 2, characterized in that each of the adsorption components (221) further includes a fixed block (2214) and a first guide member (2215) extending along the first direction, The fixed block (2214) is fixedly connected to the mounting base (21);

The first guide member (2215) is fixedly connected to one of the first mounting plate (2213) and the fixed block (2214), and is slidingly connected to the other in the first direction.
The pulling device according to claim 1, characterized in that the pulling device further includes at least two sets of positioning mechanisms (24) installed on the mounting base (21), each of the pulling mechanisms (24) 22) A corresponding set of positioning mechanisms (24) is provided; the positioning mechanism (24) is configured to position the fixed box (300) for pulling by the pulling mechanism (22).
The pulling device according to claim 4, characterized in that each positioning mechanism (24) includes a second driving member (241), a second positioning block (243) and a first positioning block (242). The second driving member (241) and the first positioning block (242) are both connected to the mounting base (21), and the second positioning block (243) is connected to the second driving member (241);

The second positioning block (243) and the first positioning block (242) are spaced apart in the first direction to form a positioning space for positioning the fixed box (300). The second driving member (241) is Control and drive the second positioning block (243) to move in the first direction, so that the second positioning block (243) and the first positioning block (242) are clamped in the first direction. Fixed box (300).
The pulling device according to claim 5, characterized in that each group of the positioning mechanisms (24) includes two positioning mechanisms (24) spaced apart in the second direction;

The first positioning block (242) is provided with a first positioning groove (2421), and the groove wall of the first positioning groove (2421) forms an intersecting first positioning surface (2422) and a second positioning surface (2423); The second positioning block (243) is provided with a second positioning groove (2431), and the groove wall of the second positioning groove (2431) forms an intersecting third positioning surface (2432) and a fourth positioning surface (2433);

The first positioning surface (2422) and the third positioning surface (2432) of each positioning mechanism (24) are spaced apart from each other in the first direction; all positions of the two positioning mechanisms (24) The second positioning surfaces (2423) are spaced apart from each other in the second direction, and the fourth positioning surfaces (2433) are spaced apart from each other in the second direction; the second direction intersects with the first direction.
The pulling device according to claim 6, characterized in that the first positioning groove (2421) has a first guide surface (2424) connected and intersecting with the first positioning surface (2422) and a second positioning surface (2424). The first guide surface (2424) and the second guide surface (2425) cooperate to guide the fixed box (300) to the first positioning groove (2425). 2421); and/or

The second positioning groove (2431) has a third guide surface (2434) connected and intersecting with the fourth positioning surface (2433). The third guide surface (2434) is used to guide the fixed box (300) to inside the second positioning groove (2431).
The pull-out device according to any one of claims 1-7, characterized in that the mounting base (21) includes a fixed base (211) and a movable base (212), and the pull-out device further includes a third drive component (23), the third driving component (23) is installed on the fixed seat (211), the movable seat (212) and the third driving component The parts (23) are connected, and all the pulling mechanisms (22) are installed on the movable seat (212);

The third driving member (23) controls the movable seat (212) to drive the pulling mechanism (22) to move in a third direction; the third direction intersects with the first direction.
A box entry system, characterized in that the box entry system includes:

The first conveying device (10) is used to convey the fixed box (300) along the second direction;

The opening device according to any one of claims 1 to 8, the opening mechanism (22) is provided above the first conveying device (10) in the third direction and is used to open the fixed box (300). ) of the side plate (301); the first direction, the second direction and the third direction intersect each other;

The first transportation device (30) includes a first transportation base (31) and at least two first transportation components (32) installed on the first transportation base (31). The first transportation components (32) Corresponding to the pull-out mechanism (22) one-to-one, each of the first handling components (32) is used to grab the battery core (200) and place it on the corresponding pull-out mechanism (22). in the fixed box (300).
The box entry system according to claim 9, characterized in that the first carrying component (32) includes a first baffle (321), a second adsorption member (322), a second guide member (323) and a third An elastic member (324); the second guide member (323) extends along the third direction, the second guide member (323), the first carrying seat (31) and the first baffle One of (321) is fixedly connected and slidingly connected to the other of the first transport seat (31) and the first baffle (321); the first elastic member (324) is elastically resisted on the Between the first carrying seat (31) and the first baffle (321);

The second adsorption part (322) is installed on the first baffle (321) for grabbing the battery core (200), and the battery core (200) is attached to the first baffle (321) .
The box entry system according to claim 10, characterized in that the first carrying component (32) further includes a fourth driving component (325) and a first hook component (326), and the fourth driving component (325) 325) is connected to the first carrying seat (31), and the first hook assembly (326) is connected to the fourth driving member (325);

The first hook assembly (326) includes at least two first hooks (3261), and all of the first hooks (3261) are used to receive the batteries ( 200); the fourth driving member (325) is controlled to drive the first hook (3261) to close to receive the battery core (200) that has fallen off the second adsorbing member (322), or to drive the first The hooks (3261) are opened to allow the second adsorption member (322) to place the battery core (200) in the fixing box (300).
The box entry system according to claim 9, characterized in that the box entry system further includes:

The second conveying device (40) is used to convey the battery core (200) along the first direction;

The second transportation device (50) includes a second transportation base (51) and at least two second transportation components (52) installed on the second transportation base (51). Each of the second transportation components (52) 52) Used to grab the battery core (200) on the second conveying device (40);

The positioning device (60) has a number of positioning parts (61) equal to the number of the pulling mechanisms (22); the positioning parts (61) are configured to receive and position the second carrying device (50) Cells being transported (200).
The box entry system according to claim 12, characterized in that the second carrying component (52) includes a second mounting plate (521), a fifth driving member (54), a second baffle (522), a third Three adsorption parts (523), a third guide part (524) and a second elastic part (525); the fifth driving part (54) is connected to the second transport base (51), and the second mounting plate (521) is connected to the fifth driving member (54), the third guide member (524) extends along the third direction, and the third guide member (524) is connected to the second mounting plate (521 ) is fixedly connected to one of the second baffle (522), and is slidingly connected to the other of the second mounting plate (521) and the second baffle (522); the second elastic member (525) is elastically positioned between the second mounting plate (521) and the second baffle (522);

The third adsorption part (523) is installed on the second baffle (522) for grabbing the battery core (200) located on the second conveying device (40). The battery core (200) Fitted to the second baffle (522); the fifth driving member (54) is controlled to drive the second baffle (522), the third adsorption member (523), and the third guide The member (524) and the second elastic member (525) move in the third direction.
The box entry system according to claim 13, wherein the second carrying component (52) further includes a sixth driving component (526) and a second hook component (527), and the sixth driving component (527) 526) is connected to the second mounting plate (521), and the second hook assembly (527) is connected to the sixth driving member (526);

The second hook assembly (527) includes at least two second hooks (5271), and all of the second hooks (5271) are used to receive the batteries ( 200); the sixth driving member (526) is controlled to drive the second hook (5271) to close to receive the battery core (200) that has fallen off the third adsorbing member (523), or to drive the second The hooks (5271) are opened to allow the third adsorption member (523) to place the battery core (200) on the positioning device (60).
The box entry system according to any one of claims 9-14, characterized in that, the box entry system It includes at least two said pulling devices, all of which are arranged at intervals in the second direction;

The number of the first conveying devices (30) is equal to the number of the pulling devices and corresponds one to one.