CN115892995B - A feeding method for battery processing - Google Patents
A feeding method for battery processingInfo
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- CN115892995B CN115892995B CN202211500120.9A CN202211500120A CN115892995B CN 115892995 B CN115892995 B CN 115892995B CN 202211500120 A CN202211500120 A CN 202211500120A CN 115892995 B CN115892995 B CN 115892995B
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Abstract
本申请提供的一种电池加工的上料方法，应用于电池加工上料系统，包括机械臂移动至供料平台处抓取第一物料和第二物料，根据第一物料、第二物料的状态与加工平台的物料加工位的状态对比，确定吸取机构吸取第一物料，夹取机构夹取第二物料；吸取机构包括第一吸取机构和第二吸取机构；确定第一物料处于初始状态的情况下，第一吸取机构吸取第一物料；第一物料的初始状态变更，第一物料处于加工状态的情况下，第二吸取机构吸取第一物料；机械臂将第一物料、第二物料一起传送至加工平台的物料加工位，按加工顺序将第二物料、第一物料放入物料加工位。其使用单个机械臂，包括夹取与吸取两种拿取方式能够拿取至少两种物料一次运送至加工位。
The present application provides a battery processing feeding method, which is applied to the battery processing feeding system, including a robot arm moving to the feeding platform to grab the first material and the second material, and determining that the suction mechanism sucks the first material and the clamping mechanism clamps the second material according to the comparison of the state of the first material and the second material with the state of the material processing position of the processing platform; the suction mechanism includes a first suction mechanism and a second suction mechanism; when it is determined that the first material is in the initial state, the first suction mechanism sucks the first material; when the initial state of the first material changes and the first material is in the processing state, the second suction mechanism sucks the first material; the robot arm transfers the first material and the second material to the material processing position of the processing platform together, and puts the second material and the first material into the material processing position according to the processing order. It uses a single robot arm, including two picking methods of clamping and suction, to pick up at least two materials and transport them to the processing position at one time.
Description
Technical Field
The application relates to the technical field of battery processing, in particular to a battery processing feeding method.
Background
In the existing battery processing process, one processing procedure is to seal the top of the battery by welding in a laser welding mode under most conditions, in the process of sealing the top, top insulating materials are generally added before the top cover is added, in the prior art, the top cover component and the insulating materials are mostly taken in an assembly line mode for feeding, and in the process, a mechanical arm is used for respectively taking the two materials and sequentially placing the materials at a processing part.
In the prior art, in the industrial technology of battery processing, since the shapes and the qualities of the insulating material and the top cover component are different, most of insulating material levels are annular, and most of top cover components are disc-shaped in the existing cylindrical battery production process, in most cases, in order to enable the material to be better clamped, most of corresponding mechanical arms are selected according to the specific shape or quality of the material to be taken.
In general, a single mechanical arm which is used for taking the insulating material and the top cover assembly is used for taking the two materials back and forth twice, the transportation time of the taking mode is long, and the transportation time is long in the process of taking the two materials back and forth by the single mechanical arm due to the fact that the requirement on the position accuracy of the materials is high in battery processing, the action of the mechanical arm is increased, the error of the position of the finally placed materials is increased, and the single mechanical arm cannot have good adaptability for different materials due to a single clamping mechanism fixed on the single mechanical arm, so that the success rate of taking the materials is easy to be reduced;
In addition, in the existing production process of battery processing, in the process of discharging the top cover assembly, because the volume of materials is small, the initial state of being automatically placed through the feeding mechanism is inconsistent with the processing state required by the material processing, and most single mechanical arms do not have the function of taking the same materials in two states.
Or adopt two arms to take one of them respectively, put into processing department in order finally, and this kind of method that adopts two arms to take single material respectively, put into processing department in order finally, because it needs to hold two arms, increased the occupation space of material loading process greatly, in addition, need make two arms cooperate and take the material, put the material in order, the computational algorithm between this is comparatively complicated.
Disclosure of Invention
In view of this, the application provides a battery processing feeding method, which can realize automatic feeding, simultaneously can use a single mechanical arm to convey at least two materials from a feeding position to a processing position, and can take the same materials with two states, thereby reducing the transportation time in the feeding process and being beneficial to improving the production rate.
The application provides a battery processing feeding method, which is applied to a battery processing feeding system and comprises the following steps:
The mechanical arm moves to the feeding platform to grab the first material and the second material, and according to the states of the first material and the second material and the state of the material processing station of the processing platform, the suction mechanism is determined to suck the first material, and the clamping mechanism clamps the second material;
Wherein the suction mechanism comprises a first suction mechanism and a second suction mechanism;
under the condition that the first material is in an initial state, the first suction mechanism sucks the first material;
When the initial state of the first material is changed and the first material is in a processing state, the second suction mechanism sucks the first material;
The mechanical arm conveys the first material and the second material to a material processing station of the processing platform, and places the second material and the first material into the material processing station according to the processing sequence.
Compared with the feeding method for battery processing in the prior art, the feeding method for battery processing provided by the application has the advantages that a single mechanical arm comprises two modes of clamping mechanisms and suction mechanisms, at least two materials can be taken, and the two materials can be conveyed to a processing position at one time, and the suction mechanisms comprise the first suction mechanism and the second suction mechanism, so that the same materials in two states can be taken, namely, the feeding method for battery processing is provided with three taking mechanisms, so that the processed materials can be taken more flexibly, and the feeding requirement of battery processing can be met;
Compared with the method of taking materials one at a time and taking materials back and forth twice by adopting a single mechanical arm in the prior art, the feeding method saves the transportation time of the materials in the feeding process, and matches the corresponding taking modes of different materials, thereby improving the taking stability and the production efficiency;
Compared with the method that two mechanical arms are adopted to respectively take single materials and are respectively placed at a processing position in the prior art, the method for feeding the single mechanical arm greatly saves the occupied space during feeding, and because the two mechanical arms are matched with each other to reduce errors during use, the program setting of the mechanical arms is complex, and only one mechanical arm is adopted, so that the operation program is greatly simplified.
In some alternative embodiments of the present application, before the robotic arm moves to the feeding platform to grasp the first material and the second material, the method further comprises:
And determining that the mechanical arm is in an empty state, and determining that the last action of the mechanical arm is used as a second suction mechanism to put down the first material.
In some optional embodiments of the present application, in a case where the first material is determined to be in an initial state, the first sucking mechanism sucks the first material, specifically including:
And under the condition that the first suction mechanism is in the empty state, the first suction mechanism sucks N first materials.
In some optional embodiments of the present application, before determining that the initial state of the first material is changed, after the determining that the first material is in the initial state, the first suction mechanism sucks the first material, the method further includes:
And determining that all the suction positions of the first suction mechanism suck the first material.
In some optional embodiments of the present application, the initial state change of the first material specifically includes:
The first suction mechanism conveys and places the first materials on a distance separating mechanism, and the distance separating mechanism can adjust the arrangement distance of the placed first materials;
Wherein, the arrangement interval of the first materials in the initial state is L1.
In some alternative embodiments of the application, the first suction means place the first material transfer on a spacing means, comprising in particular:
The first suction mechanism uniformly divides the N materials sucked into M rows and is arranged on the distance separating mechanism.
In some alternative embodiments of the present application, determining that the gripping mechanism grips the second material specifically includes:
determining that the second suction mechanism is in an empty state, determining that the last action of the mechanical arm is that the first suction mechanism drops a first material, and the mechanical arm is displaced from the distance separating mechanism to a second material outlet level;
the clamping mechanism clamps the second materials in M rows for M times, and the number of the second materials clamped each time is N/M.
In some alternative embodiments of the present application, after determining that the second material is gripped by the gripping mechanism, the method specifically includes:
and determining that all the clamping stations of the clamping mechanism are full of the second material, and moving the mechanical arm to the distance separating mechanism.
In some optional embodiments of the present application, the determining the initial state change of the first material, when the first material is in the processing state, the second sucking mechanism sucks the first material specifically includes:
The second suction mechanism sucks the second materials in M rows for M times, and the number of the second materials sucked each time is N/M.
In some optional embodiments of the present application, before the mechanical arm conveys the first material and the second material together to the material processing station of the processing platform, after the second suction mechanism sucks the first material, the method specifically includes:
determining that the suction stations of the second suction mechanism are full of the first material, and determining that the clamping stations of the clamping mechanism are full of the second material.
In some optional embodiments of the present application, the placing the second material and the first material into the material processing station in the processing sequence specifically includes:
the mechanical arm breaks away from the second material from the clamping mechanism and places the second material into the material processing station, and then breaks away from the first material from the second suction mechanism and places the first material into the material processing station.
In some optional embodiments of the present application, in a case where the first material is determined to be in an initial state, the first sucking mechanism sucks the first material, specifically including:
The suction mechanism is located in the middle of the mechanical arm base, the first suction mechanism (22) comprises N multi-layer suction cups (221), the first suction mechanism (22) sucks first materials through the multi-layer suction cups (221), and the multi-layer suction cups are in linear arrangement and have an arrangement interval of L1.
In some alternative embodiments of the present application, determining that the gripping mechanism grips the second material specifically includes:
The clamping mechanism clamps the second material by using N clamping hands, the clamping hands in the clamping mechanism are respectively and uniformly divided into two rows of parallel arranged at two sides of the first suction mechanism, and the distance between the clamping hands in the same row is L2.
In some optional embodiments of the present application, the determining the initial state change of the first material, when the first material is in the processing state, the second sucking mechanism sucks the first material specifically includes:
The second suction mechanism sucks first materials through N single-layer suction cups, wherein the single-layer suction cups are arranged at the same row of intervals with the clamping hands, the distance between the single-layer suction cups is L2, and the distance between the single-layer suction cups and the adjacent clamping hands is L3, wherein L1 is less than L3 and L2.
In some optional embodiments of the present application, when it is determined that the first material is in the initial state, the first suction mechanism sucks the first material, specifically including:
The first suction mechanism drives the sucker to move up and down through a displacement driving mechanism included in the first suction mechanism so as to suck the first material, and the displacement driving mechanism is higher than the multilayer sucker at the bottom of the clamping hand to move downwards beyond the bottom of the clamping hand so as to suck the first material.
In some alternative embodiments of the present application, determining that the gripping mechanism grips the second material specifically includes:
The clamping mechanism drives the clamping hand to open and close through a clamping hand driving mechanism included in the clamping mechanism so as to clamp the second material.
In some alternative embodiments of the present application, the gripping mechanism drives the gripper to open and close by a gripper driving mechanism included in the gripping mechanism so as to grip the second material, and specifically includes,
The driving mechanism controls the opening and closing of the clamping hand through a finger cylinder;
wherein, two fingers on the finger cylinder are opened to drive the opening and closing of two clamping fingers respectively connected with the two fingers.
In some optional embodiments of the present application, the opening of the two fingers on the finger cylinder drives the opening and closing of two clamping fingers respectively connected with the two fingers, specifically including,
The clamping fingers limit and fix the annular second material through the limiting grooves on the outer walls of the clamping fingers so as to clamp the annular second material.
The battery processing feeding method provided by the application has at least the following effects:
in a battery processing system, a single mechanical arm is used for taking two materials to a material processing station at a time, so that the transportation time of a material feeding process of battery processing can be saved, the state of the materials is changed by using a distance dividing mechanism to match with the state required by processing, the space is saved by helping a material feeding platform, the two materials can be taken by using the mechanical arm, the material taking mode is more, the functions are more flexible and complete, the multi-purpose one-arm is met, the transportation time is saved, the occupied space is saved, the operation and the control are simpler, and the production cost is saved;
In addition, through reasonable arrangement of the spatial positions of the first suction mechanism, the second suction mechanism and the clamping mechanism on the mechanical arm, unnecessary rotation of the mechanical arm can be reduced, so that the mechanical arm can take and place materials faster and more accurately;
In addition, the clamping mechanism can carry out more stable taking on annular materials through the limiting groove on the outer wall of the clamping hand, so that the taking stability of the materials is increased, and the first suction mechanism is driven to move up and down through the displacement driving of the displacement driving mechanism, so that the clamping mechanism is conveniently staggered with the second suction mechanism and the clamping hand as much as possible, the space position is saved, and the error rate is reduced.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present application;
Fig. 2 is a schematic perspective view of a battery processing apparatus according to an embodiment of the present application;
FIG. 3 is a schematic top view of a battery processing apparatus according to an embodiment of the present application;
FIG. 4 is a schematic perspective view of a mechanical arm according to an embodiment of the present application;
FIG. 5 is a schematic diagram showing a mechanical arm in a second perspective structure according to an embodiment of the application;
FIG. 6 is a bottom schematic view of a gripper of a robotic arm according to an embodiment of the application;
FIG. 7 is an enlarged partial schematic view of portion A of FIG. 2 in accordance with the present application;
FIG. 8 is a partially enlarged schematic illustration of portion B of FIG. 4 in accordance with the application;
FIG. 9 is an enlarged partial schematic view of portion C of FIG. 5 in accordance with the present application;
Fig. 10 is an enlarged partial schematic view of section D of fig. 9 in accordance with the present application.
The device comprises a feeding platform, a mechanical arm, a distance separating mechanism, a processing platform and a processing platform, wherein the reference numeral is 1;
11. a first material outlet level, a second material outlet level, 121, a second material;
21. a base;
22. A first suction means; 221, a multi-layer sucker, 222, a displacement driving mechanism;
23. 231, single-layer sucker;
24. Clamping mechanism 241, clamping hand 242, clamping hand driving mechanism 2411, clamping finger 2421, finger cylinder 2422, finger 24111 and limit groove.
Detailed Description
In order to better understand the technical solutions of the present disclosure, the present disclosure will be described in detail, clearly and completely with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present disclosure.
In the description of the present application, the description of the first and second is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated or the precedence of the technical features indicated.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present application.
The application is described in further detail below with reference to the accompanying drawings, see for example figures 1 to 10.
The application provides a battery processing feeding method, which is applied to a battery processing feeding system, and aims at the problem that in the existing cylindrical battery production process, an insulating material is annular, a top cover component is a basic cylinder, and a first material and a second material 121 can be better clamped based on the feeding method of a processing process provided by materials with larger shape differences, wherein the first material is the top cover component, and the second material 121 is the annular insulating material;
Fig. 1 is a schematic flow chart of a battery processing feeding method according to an embodiment of the present application, and fig. 2 is a schematic perspective structure diagram of a battery processing device, as shown in fig. 1, where the feeding method includes:
The mechanical arm 2 moves to the feeding platform 1 to grasp the first material and the second material 121, and according to the comparison between the states of the first material and the second material 121 and the state of the material processing station of the processing platform 4, the suction mechanism is determined to suck the first material, and the clamping mechanism 24 is determined to clamp the second material 121;
wherein the suction means comprises a first suction means 22 and a second suction means 23;
the first suction means 22 sucks the first material in the case where it is determined that the first material is in the initial state;
The second suction mechanism 23 sucks the first material when the initial state of the first material is changed and the first material is in a processing state;
The mechanical arm 2 conveys the first material and the second material 121 to a material processing station of the processing platform 4, and places the second material 121 and the first material into the material processing station according to the processing sequence, so as to finish the loading of the top cover assembly and the annular insulating material in the battery processing.
In this embodiment, the suction mechanism of the single mechanical arm 2 is used to suck the first material, the clamping mechanism 24 is used to clamp the second material 121, the feeding method enables the single mechanical arm 2 to have two modes of taking the materials, so that the multipurpose during feeding is increased, the mechanical arm 2 for transportation is reduced, the suction mechanism comprises the first suction mechanism 22 and the second suction mechanism 23, mainly for taking the materials in two different states, the application range is wider, the transportation cost is reduced, and on the basis of the above, the feeding method can convey the two processed materials to the material processing platform 4 together and put the materials into the material processing station in sequence, so that the transportation time is saved.
In an alternative embodiment of the application, before the mechanical arm 2 moves to the feeding platform 1 to grab the first material and the second material 121, the method further comprises determining that the mechanical arm 2 is in a vacant state and determining that the last action of the mechanical arm 2 is to take down the first material as the second suction mechanism 23. In this embodiment, the detection system is in an empty state for the first suction mechanism 22, the second suction mechanism 23 and the gripping mechanism 24 on the mechanical arm 2, the detection system is a visual detection system, which is very common in the prior art, and is not described in detail herein, and the basis for determining that the mechanical arm 2 moves to the feeding level to grip the material is also to determine that the first material is put down by the second suction mechanism 23 when the mechanical arm 2 moves.
In an alternative embodiment of the present application, the first sucking mechanism 22 sucks the first material when the first material is determined to be in the initial state, specifically includes that the first sucking mechanism 22 sucks N first materials when the first sucking mechanism 22 is determined to be in the idle state.
In this embodiment, before the mechanical arm 2 performs the first sucking mechanism 22 to suck the first material, the detecting system detects whether the first material is placed at the first material discharging position 11 completely, and if so, the first sucking mechanism 22 performs the action of sucking the first material, if not, the detecting system detects the next first material to be sucked in place, if so, the first sucking mechanism 22 sucks the first material, and if not, the above detection is repeated.
In an alternative embodiment of the present application, after the first suction mechanism 22 sucks the first material in the case that the first material is determined to be in the initial state before the initial state of the first material is determined to be changed, it further includes determining that the suction positions of the first suction mechanism 22 are all sucked into the first material.
In this embodiment, after the first suction mechanism 22 of the mechanical arm 2 sucks the first material at the first material outlet level 11, before the mechanical arm 2 enters the next execution action, further checking and checking are required for the suction stations of the first suction mechanism 22 to check whether all suction stations of the first suction mechanism 22 suck the first material, if all suction stations suck the first material, the mechanical arm 2 executes the next action, if not all suction stations detect whether the original material placement position has the first material left, if so, the mechanical arm 2 sucks the left material, if not, the mechanical arm 2 places the sucked first material at the recovery station, and the action that the first suction mechanism 22 sucks the N first materials is re-executed.
In an alternative embodiment of the present application, the change of the initial state of the first material specifically includes that the first suction mechanism 22 conveys and places the first material on the spacing mechanism 3, and the spacing mechanism 3 can adjust the arrangement interval of the placed first material, where the arrangement interval of the first material in the initial state is L1.
In this embodiment, as shown in fig. 2 and 3, the distance separating mechanism 3 is located on the feeding platform 1, the distance separating mechanism 3 can be used for adjusting the distance between materials, and a specific adjustable range can be set in advance, the mechanical arm 2 places the first material on the distance separating mechanism 3 with the distance of L1, the distance separating mechanism 3 will adjust L1, and the first material is in a preliminary test state, that is, the distance between the first material placed on the discharging tray is L1.
In an alternative embodiment of the application, the first suction mechanism 22 is used for conveying and placing the first materials on the distance separating mechanism 3, and specifically comprises that the first suction mechanism 22 is used for uniformly dividing N materials sucked into M rows and placing the M rows on the distance separating mechanism 3. In this embodiment, the first suction mechanism 22 places the first material sucked by the first suction mechanism on the distance separating mechanism 3M times, and the material placed each time is N/M.
In an alternative embodiment of the present application, determining that the gripping mechanism 24 grips the second material 121 specifically includes determining that the second suction mechanism 23 is in a blank state, determining that a previous action of the mechanical arm 2 is that the first suction mechanism 22 puts down the first material, the mechanical arm 2 is displaced from the spacing mechanism 3 to the second material discharging position 12, and gripping the second material 121 in M rows by the gripping mechanism 24 in M times, where the number of the second materials 121 gripped each time is N/M.
In this embodiment, before the gripping mechanism 24 grips the second material 121, the detection system detects that the gripping mechanism 24 is in an empty state, and one action of the mechanical arm 2 is that the first suction mechanism 22 puts down the first material, and the first suction mechanism 22 puts down the first material and then is in an empty state, then the mechanical arm 2 moves from the spacing mechanism 3 to the second material discharging position 12, and it should be noted that the first material and the second material 121 are both located on the feeding platform 1 but not in the same position, as shown in fig. 3, the first material is placed by the feeding tray, the second material 121 is automatically fed by the vibrating tray, the discharging positions of the two materials are oppositely arranged, and the spacing mechanism 3 is arranged between the two discharging positions, so that the occupied space is greatly saved.
In an alternative embodiment of the present application, after determining that the gripping mechanism 24 grips the second material 121, the method specifically includes determining that the gripping station of the gripping mechanism 24 is fully gripping the second material 121, and moving the mechanical arm 2 to the spacing mechanism 3. In this embodiment, after the gripping mechanism 24 grips the second material 121, before the mechanical arm 2 performs the next action, the detection system detects and determines that the gripping stations of the gripping mechanism 24 are fully gripping the second material 121, and the detection and execution principle and action are the same as the detection system detects whether the suction stations of the first suction mechanism 22 are fully suctioned.
In an alternative embodiment of the present application, the determining the change of the initial state of the first material, when the first material is in the processing state, the second sucking mechanism 23 sucks the first material, specifically includes that the second sucking mechanism 23 sucks the second material 121 arranged in M rows M times, where the number of the second materials 121 sucked each time is N/M.
In this embodiment, after the initial state of the first material is changed to the processing state, the first suction mechanism 22 is not suitable for sucking the first material, and the second suction mechanism 23 is capable of sucking the first material in the processing state, where the material arrangement interval of the first material is L2, and the material processing station interval is L2.
In an alternative embodiment of the present application, before the mechanical arm 2 conveys the first material and the second material 121 together to the material processing station of the processing platform 4, after the second suction mechanism 23 sucks the first material, the method specifically includes determining that the suction station of the second suction mechanism 23 is full of the first material, and determining that the gripping station of the gripping mechanism 24 is full of the second material 121. In this embodiment, before the mechanical arm 2 conveys the first and second materials 121 to the processing position, it is required to detect them by a detection system, it is determined that all the stations to be gripped and sucked should meet the requirements, if one of the materials is not met, the mechanical arm 2 moves to the recovery position of the respective material, the unsatisfied material is placed in the recovery position, sucked again, detected again, and the detection step is repeated, and if the condition is met, the mechanical arm 2 executes the next action.
In an alternative embodiment of the present application, the mechanical arm 2 firstly separates the second material 121 from the clamping mechanism 24 to be placed in the material processing station, and then separates the first material from the second suction mechanism 23 to be placed in the material processing station. In this embodiment, a first material and a second material 121 are placed in each material processing station, and the second material 121 is placed under the first material, that is, the mechanical arm 2 first places the second material 121 into the processing station, and then places the first material into the processing station.
In an alternative embodiment of the present application, the first sucking mechanism 22 sucks the first material when the first material is determined to be in the initial state, specifically including that the sucking mechanism is located in the middle of the base 21 of the mechanical arm 2, the first sucking mechanism 22 includes N multi-layer suction cups 221, the first sucking mechanism 22 sucks the first material through the multi-layer suction cups 221, and the multi-layer suction cups 221 are aligned with each other at an alignment interval L1. In this embodiment, as shown in fig. 6 and 8, the first sucking mechanism 22 uses multiple layers of sucking discs 221 to suck the first material, the multiple layers of sucking discs 221 are arranged in straight lines at equal intervals, and the interval between each of the multiple layers of sucking discs 221 is L1.
In an alternative embodiment of the present application, determining that the clamping mechanism 24 clamps the second material 121 specifically includes that the clamping mechanism 24 uses N clamping fingers 241 to clamp the second material 121, the clamping fingers 241 in the clamping mechanism 24 are respectively and uniformly divided into two rows and arranged in parallel on two sides of the first suction mechanism 22, and a distance between the clamping fingers 241 in the same row is L2. In this embodiment, the gripping mechanism 24 uses the gripping hands 241 to grip the second material 121, as shown in fig. 6, the gripping hands 241 are arranged in two rows parallel to two sides of the first suction mechanism 22, and the number of gripping hands 241 in each row is N/2, the total number of gripping hands 241 is equal to the total number of the multi-layer suction cups 221, and it should be understood that the spacing between the two rows of gripping hands 241 is L4 equal to the spacing between the two rows of processing stations.
In an alternative embodiment of the present application, the determining the initial state change of the first material, where the first material is in a processing state, the second sucking mechanism 23 sucks the first material, specifically includes that the second sucking mechanism 23 sucks the first material through N single-layer suction cups 231 that are included in the second sucking mechanism, where the single-layer suction cups 231 are arranged in the same column with the clamping hands 241, a distance between the single-layer suction cups 231 is L2, and a distance between the single-layer suction cups 231 and an adjacent clamping hand 241 is L3, where L1< L3< L2. In this embodiment, as shown in fig. 6 and 8, the total number of the single-layer suction cups 231 is N, the number of single-layer suction cups 231 in each row is N/2, the single-layer suction cups 231 are equidistantly spaced from the clamping hand 241, and the spacing between the single-layer suction cups 231 and the clamping hand 241 is L3, and L1< L2< l3=l4.
In practical use, the lengths of L1, L2, L3 or L4 can be set as needed.
In an alternative embodiment of the present application, the first sucking mechanism 22 sucks the first material when the first material is determined to be in the initial state, specifically including that the first sucking mechanism 22 drives the suction cup to move up and down by a displacement driving mechanism 222 included in the first sucking mechanism to suck the first material, and the displacement drives the multi-layer suction cup 221 higher than the bottom of the clamping hand 241 to move down beyond the bottom of the clamping hand 241 to suck the first material. In this embodiment, as shown in fig. 8, the first suction mechanism 22 in the initial state is higher than the bottom of the clamping hand 241, and when the first suction mechanism 22 needs to suck the first material, the displacement driving mechanism 222 drives the first suction mechanism 22 to move downward, protruding lower than the bottom of the clamping hand 241, so as to suck the first material. Further, after the first material is placed by the first suction mechanism 22, the first suction mechanism 22 is driven to rise by the displacement driving mechanism 222, and returns to the original position, so that the first suction mechanism 22, the clamping hand 241 and the second suction mechanism 23 can be staggered, the first suction mechanism 22 is reasonably avoided, and other influences on the grabbing of the first suction mechanism 22 and the second suction mechanism are avoided. It should be noted that, as shown in fig. 8, the bottoms of the multi-layer suction cup 221, the single-layer suction cup 231 and the clamping hand 241 are not in the same plane, the bottom of the multi-layer suction cup 221 is slightly higher than the bottom of the clamping hand 241, and the bottom of the clamping hand 241 is slightly higher than the single-layer suction cup 231.
In an alternative embodiment of the present application, the determining that the clamping mechanism 24 clamps the second material 121 specifically includes that the clamping mechanism 24 drives the clamping hand 241 to open and close by a clamping hand driving mechanism 242 included in the clamping mechanism to clamp the second material 121. In this embodiment, as shown in fig. 9 and 10, a grip driving mechanism 242 is connected to the grip 241, and the grip driving mechanism 242 is used for driving the grip 241 to open and close.
In an alternative embodiment of the present application, the gripping mechanism 24 drives the gripper 241 to open and close by a gripper driving mechanism 242 included therein to grip the second material 121, and specifically includes that the driving mechanism controls the gripper 241 to open and close by a finger cylinder 2421 included therein, where two fingers 2422 on the finger cylinder 2421 open to drive two gripper fingers 2411 respectively connected to the two fingers 2422 to open and close. In this embodiment, as shown in fig. 9 and 10, each finger cylinder 2421 includes two fingers 2422, each finger 241 includes two fingers 2411, each finger 2411 is connected to one finger 2422, and when the finger cylinders 2421 are opened, the fingers 2411 are driven to open and close.
In an alternative embodiment of the present application, the two fingers 2422 on the finger cylinder 2421 are opened to drive the two clamping fingers 2411 connected with the two fingers 2422 to open and close respectively, specifically, the clamping fingers 2411 limit and fix the annular second material 121 through the limiting groove 24111 on the outer wall of the clamping fingers 2411 so as to clamp the annular second material 121. In this embodiment, as shown in fig. 10, an annular limiting groove 24111 is provided on an outer wall of each clamping finger 2411, and when the clamping fingers 241 are opened, the annular material can be clamped in the limiting groove 24111, so as to clamp the annular material, and it is noted that in the present application, the second material 121 is the annular material.
According to the battery processing feeding method provided by the application, in the battery processing feeding, aiming at the condition that a top cover component is a basic cylinder, an insulating material is annular, wherein a first material is the top cover component, and a second material 121 is the insulating material, a single mechanical arm 2 is used, the method comprises two modes of taking a clamping mechanism 24 and a sucking mechanism, at least two materials can be taken at one time, and the two materials can be conveyed to a processing position, and the sucking mechanism comprises a first sucking mechanism 22 and a second sucking mechanism 23, so that the same materials in two states can be taken, namely, the battery processing feeding method is provided with three taking mechanisms, the processing materials can be taken more flexibly, the battery processing feeding requirement can be met, the method is time-saving and labor-saving, the processing cost is saved, and the processing efficiency is improved.
The foregoing has outlined rather broadly the more detailed description of the application in order that the detailed description of the application that follows may be better understood, and in order that the present application may be better understood. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.
Claims (18)
1. The battery processing feeding method is applied to a battery processing feeding system and is characterized by comprising the following steps of:
the mechanical arm (2) moves to the feeding platform (1) to grasp the first material and the second material (121), and the suction mechanism is determined to suck the first material according to the comparison between the states of the first material and the second material (121) and the state of a material processing station of the processing platform (4), and the clamping mechanism (24) clamps the second material (121);
The clamping mechanism (24) clamps the second materials (121) in M rows for M times, and the number of the second materials (121) clamped each time is N/M;
Wherein the suction means comprises a first suction means (22) and a second suction means (23);
The first suction mechanism (22) sucks the first material and conveys and places the first material on the distance separating mechanism (3) under the condition that the first material is determined to be in an initial state;
the initial state of the first material is changed, and when the first material is in a processing state, the second suction mechanism (23) sucks the first material;
the arrangement interval of the first materials in the initial state is L1, and the arrangement interval of the first materials in the processing state is L2;
The mechanical arm (2) conveys the first material and the second material (121) to a material processing station of the processing platform (4) together, and places the second material (121) and the first material into the material processing station according to the processing sequence.
2. The method for loading battery processing according to claim 1, wherein,
Before the mechanical arm (2) moves to the feeding platform (1) to grab the first material and the second material (121), the device further comprises:
And determining that the mechanical arm (2) is in an empty state, and determining that the last action of the mechanical arm (2) is used as a second suction mechanism (23) to put down the first material.
3. The method for loading battery processing according to claim 1, wherein,
The first sucking mechanism (22) sucks the first material under the condition that the first material is determined to be in an initial state, and specifically comprises:
and under the condition that the first suction mechanism (22) is in the empty state, the first suction mechanism (22) sucks N first materials.
4. The method for loading battery processing according to claim 1, wherein,
Before determining the change of the initial state of the first material, after the first suction mechanism (22) sucks the first material under the condition that the first material is determined to be in the initial state, the method further comprises:
Determining that all suction positions of the first suction mechanism (22) suck the first material.
5. The method for loading battery processing according to claim 1, wherein,
The initial state change of the first material specifically comprises:
The distance separating mechanism (3) can adjust the arrangement distance of the placed first materials.
6. The method for loading battery processing according to claim 5, wherein,
The first suction mechanism (22) is used for conveying and placing the first material on the distance separating mechanism (3), and specifically comprises the following steps:
The first suction mechanism (22) uniformly divides the N sucked materials into M rows and is arranged on the distance separating mechanism (3).
7. The method for loading battery processing according to claim 6, wherein,
Determining the gripping mechanism (24) to grip the second material (121) specifically includes:
Determining that the second suction mechanism (23) is in an empty state, determining that the last action of the mechanical arm (2) is used as a first suction mechanism (22) to put down a first material, and displacing the mechanical arm (2) from the distance separating mechanism (3) to a second material discharging level (12).
8. The method for loading battery processing according to claim 7, wherein,
After determining that the gripping mechanism (24) grips the second material (121), specifically comprising:
Determining that the clamping stations of the clamping mechanism (24) are fully clamped with the second material (121), and moving the mechanical arm (2) to the distance separating mechanism (3).
9. The method for loading battery processing according to claim 8, wherein,
The determining the initial state change of the first material, when the first material is in the processing state, the second sucking mechanism (23) sucks the first material, specifically including:
The second suction mechanism (23) sucks the second materials (121) which are arranged in M rows for M times, and the number of the second materials (121) sucked each time is N/M.
10. The method for loading battery processing according to claim 1, wherein,
Before the mechanical arm (2) conveys the first material and the second material (121) to a material processing station of the processing platform (4), the second suction mechanism (23) sucks the first material, and the device specifically comprises:
and determining that the suction stations of the second suction mechanism (23) are full of the first material, and determining that the clamping stations of the clamping mechanism (24) are full of the second material (121).
11. The method for loading battery processing according to claim 1, wherein,
The second material (121) and the first material are placed in the material processing station according to the processing sequence, and the method specifically comprises the following steps:
The mechanical arm (2) firstly breaks away from the second material (121) from the clamping mechanism (24) and places the second material into the material processing station, and then breaks away from the first material from the second suction mechanism (23) and places the first material into the material processing station.
12. A battery processing feeding method according to any one of claims 1 to 11, wherein,
The first sucking mechanism (22) sucks the first material under the condition that the first material is determined to be in an initial state, and specifically comprises:
The suction mechanism is located in the middle of the base (21) of the mechanical arm (2), the first suction mechanism (22) comprises N multi-layer suction cups (221), the first suction mechanism (22) sucks first materials through the multi-layer suction cups (221), and the multi-layer suction cups are in linear arrangement and have an arrangement interval of L1.
13. The method for loading battery processing according to claim 12, wherein,
Determining the gripping mechanism (24) to grip the second material (121) specifically includes:
The clamping mechanism (24) clamps the second material (121) by using N clamping hands (241), the clamping hands (241) in the clamping mechanism (24) are respectively and uniformly divided into two rows and are arranged at two sides of the first suction mechanism (22) in parallel, and the distance between the clamping hands (241) in the same row is L2.
14. The method for loading battery processing according to claim 13, wherein,
The determining the initial state change of the first material, when the first material is in the processing state, the second sucking mechanism (23) sucks the first material, specifically including:
the second suction mechanism (23) sucks first materials through N single-layer suction cups (231) comprising the second suction mechanism, wherein the single-layer suction cups (231) and the clamping hands (241) are arranged at the same row at intervals, the distance between the single-layer suction cups (231) is L2, the distance between the single-layer suction cups (231) and the adjacent clamping hands (241) is L3, and L1 is less than L3 and less than L2.
15. The method for loading battery processing according to claim 14, wherein,
Under the condition that the first material is determined to be in an initial state, the first suction mechanism (22) sucks the first material, and specifically comprises:
the first suction mechanism (22) drives the sucker to move up and down through a displacement driving mechanism (222) included in the first suction mechanism so as to suck the first material, and the displacement drives the multi-layer sucker (221) higher than the bottom of the clamping hand (241) to move downwards beyond the bottom of the clamping hand (241) so as to suck the first material.
16. The method for loading battery processing according to claim 12, wherein,
Determining the gripping mechanism (24) to grip the second material (121) specifically includes:
The clamping mechanism (24) drives the clamping hand (241) to open and close through a clamping hand (241) driving mechanism included in the clamping mechanism so as to clamp the second material (121).
17. The method for loading battery processing according to claim 16, wherein,
The clamping mechanism (24) drives the clamping hand (241) to open and close by a driving mechanism of the clamping hand (241) so as to clamp the second material (121), and specifically comprises,
The driving mechanism controls the opening and closing of the clamping hand (241) through a finger cylinder (2421) included in the driving mechanism;
Wherein, two fingers (2422) on the finger cylinder (2421) are opened and closed to drive the two clamping fingers (2411) respectively connected with the two fingers (2422) to be opened and closed.
18. The method for loading battery processing according to claim 17, wherein,
Two fingers (2422) on the finger cylinder (2421) are opened and closed to drive two clamping fingers (2411) respectively connected with the two fingers (2422) to be opened and closed, and the method specifically comprises the steps of,
The clamping fingers (2411) limit and fix the annular second material (121) through limit grooves (24111) on the outer wall of the clamping fingers so as to clamp the annular second material (121).
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| CN202211500120.9A CN115892995B (en) | 2022-11-28 | 2022-11-28 | A feeding method for battery processing |
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| CN202211500120.9A CN115892995B (en) | 2022-11-28 | 2022-11-28 | A feeding method for battery processing |
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| CN115972234B (en) * | 2022-11-28 | 2025-11-25 | 浙江君睿智能装备有限公司 | A gripper and robotic arm |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2003159687A (en) * | 2001-11-27 | 2003-06-03 | Denso Corp | Work transfer device |
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| JP2000351443A (en) * | 1999-06-09 | 2000-12-19 | Matsushita Electric Ind Co Ltd | Battery feeding and feeding device |
| JP3673117B2 (en) * | 1999-06-14 | 2005-07-20 | 和泉電気株式会社 | Assembly apparatus and tray system therefor |
| KR100923252B1 (en) * | 2007-08-22 | 2009-10-27 | 세크론 주식회사 | Method and apparatus for transferring semiconductor devices in a test handler |
| CN207404477U (en) * | 2017-10-23 | 2018-05-25 | 昆山墨佳工业设备有限公司 | A kind of convertible double-station material gripping device |
| CN110015556B (en) * | 2019-03-04 | 2021-10-08 | 惠州亿纬锂能股份有限公司 | Linkage type battery positioning and clamping mechanism and lithium battery manufacturing equipment thereof |
| JP7669015B2 (en) * | 2019-10-15 | 2025-04-28 | ＴｅｃｈＭａｇｉｃ株式会社 | Automatic food supply unit, automatic food supply method, and cooking system |
| KR102222548B1 (en) * | 2020-12-10 | 2021-03-04 | 주식회사 네오넌트 | Automatic supply system of materials for belt grinder |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2003159687A (en) * | 2001-11-27 | 2003-06-03 | Denso Corp | Work transfer device |
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