Lateral flying rubberizing machine and rubberizing method thereof

Abstract

The invention relates to the technical field of battery cell rubberizing, in particular to a side-flying rubberizing machine and a rubberizing method thereof. Comprising a feeding module, a transfer module, a shaping mechanism, a stripping mechanism, a visual flying bat, a flying spider hand and a battery cell assembling position, the transferring module comprises a material taking gripper and a multi-separation-position transferring rotating disc, the material taking gripper, the shaping mechanism and the stripping mechanism are sequentially arranged on corresponding separation positions of the multi-separation-position transferring rotating disc, and materials of the feeding module are grabbed to the multi-separation-position transferring rotating disc through the material taking gripper; the multi-division transfer turntable rotates and drives the materials to sequentially enter the shaping mechanism and the stripping mechanism to finish shaping and stripping; and a structure for transferring a belt to an area where a visual flying photograph is located and taking a material by a flying spider hand from the transferring belt and moving the material to a battery cell assembling position to complete battery cell rubberizing is arranged behind the stripping mechanism, so that the effects of improving the battery cell rubberizing efficiency and precision, realizing full-process high-speed automatic operation and optimizing the space utilization rate and the system reliability are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery cell gluing, and in particular to a side gluing machine and a gluing method thereof. BACKGROUND

[0002] In the prior art, the battery cell side gluing process generally has the core problems of serious tact loss caused by dispersed process, high peeling failure rate caused by lack of glue ear shaping ability, space layout redundancy, weak dynamic processing ability, and precision control limitation, which is difficult to meet the comprehensive needs of efficiency, precision and space utilization of high-speed production lines. SUMMARY

[0003] The purpose of the present application is to provide a side gluing machine to improve the efficiency and precision of battery cell gluing, achieve high-speed automatic operation of the whole process, and optimize the space utilization and system reliability.

[0004] In order to achieve the above purpose, the technical scheme adopted by the present application is: comprising a feeding module, a transfer module, a shaping mechanism, a peeling mechanism, a visual flying shot, a flying spider hand, and a battery cell assembly position; the transfer module comprises a material taking gripper and a multi-position transfer turntable, the material taking gripper, the shaping mechanism, and the peeling mechanism are sequentially arranged on the corresponding positions of the multi-position transfer turntable, the material of the feeding module is grabbed by the material taking gripper and fed to the multi-position transfer turntable, the multi-position transfer turntable rotates and drives the material to sequentially enter the peeling position feeding device of the shaping mechanism and the peeling mechanism, respectively completing the shaping and peeling mechanism feeding; the peeling mechanism is inclined and set to cooperate with the peeling position feeding device feeding, a transfer belt is further arranged behind the peeling mechanism to the area where the visual flying shot is located, the glue material after the peeling mechanism peeling enters the transfer belt, the flying spider hand takes the material from the transfer belt and moves to the battery cell assembly position to complete the battery cell gluing.

[0005] Further, the feeding module comprises a plurality of feeding hoppers arranged around a servo-controlled indexing turntable.

[0006] Further, the feeding hopper is a vertically arranged hollow columnar structure.

[0007] Further, the material taking gripper is controlled by a servo to run back and forth along a material taking cam track at high speed, repeatedly grabbing the material of the feeding module to the multi-position transfer turntable and resetting.

[0008] Further, the shaping mechanism comprises a shaping clamp jaw and a shaping pulling mechanism, and the shaping pulling mechanism drives the shaping clamp jaw to pull backward.

[0009] Further, the servo control indexing turntable is an eight-division servo control indexing turntable, and the multi-division transfer turntable is a four-division servo control indexing turntable.

[0010] Further, the visual flying shot captures the film on the transfer belt and transmits position information to the flying spider hand through an algorithm.

[0011] Further, the stripping position feeding device comprises a stripping position feeding drive, an inclined feeding track groove and an L-shaped feeding gripper, the multi-division transfer turntable rotates and drives the material into the lower part of the L-shaped feeding gripper, and the L-shaped feeding gripper completes the material taking.

[0012] The L-shaped feeding gripper is movably arranged in the inclined feeding track groove, and the L-shaped feeding gripper is driven by the stripping position feeding drive to reciprocate between the multi-division transfer turntable and the obliquely arranged stripping mechanism along the track of the inclined feeding track groove.

[0013] Further, the stripping mechanism comprises a conveying system and a stripping system.

[0014] The conveying system is provided with a conveying synchronization device and a plurality of conveying rollers driven by the conveying synchronization device.

[0015] The stripping system comprises an upper release paper stripping mechanism, a lower release paper stripping mechanism, an upper release paper blowing mechanism and a lower release paper blowing mechanism, the upper release paper stripping mechanism and the lower release paper stripping mechanism are sequentially arranged above the conveying roller conveying track, the upper release paper stripping mechanism is arranged below the conveying roller corresponding to the position of the upper release paper stripping mechanism and blows upward, the lower release paper stripping mechanism is arranged above the conveying roller corresponding to the position of the lower release paper stripping mechanism and blows downward, and the upper and lower heights of the upper release paper stripping mechanism, the lower release paper stripping mechanism, the upper release paper blowing mechanism and the lower release paper blowing mechanism are adapted to the upper and lower heights of the film.

[0016] The upper release paper stripping mechanism is provided with a first rubber roller, a second rubber roller and an upper release paper rubber roller arranged between the two, the lower release paper stripping mechanism is provided with a lower release paper rubber roller and a third rubber roller, and the lower release paper rubber roller is arranged between the second rubber roller and the third rubber roller.

[0017] The film maintains a full conveying state through the conveying roller, the first rubber roller presses the film, the film tab is blown open by the upper release paper blowing mechanism and enters the upper release paper rubber roller, and the release paper is automatically stripped with the film conveying movement.

[0018] The upper adhesive film after the release paper is peeled off is pressed by the second glue pressing roller and continues to be conveyed, the lower adhesive film tear ear is blown off by the lower release paper blowing mechanism and enters the lower release paper peeling glue roller, the lower release paper is automatically peeled off with the conveying movement of the adhesive film, and the third glue pressing roller is matched to keep conveying.

[0019] A peeling detection system is further included, which is arranged below the conveying system and automatically detects the peeling of the release paper during the conveying of the adhesive film.

[0020] The peeling detection system is composed of a light source and a detection camera, both of which are arranged below the conveying system and are angle-adjustable.

[0021] An upper release paper guiding and collecting system is further included, which is arranged on the movement path of the upper release paper after being peeled off by the upper release paper peeling mechanism and guides and collects.

[0022] A lower release paper guiding and collecting system is further included, which is arranged on the movement path of the lower release paper after being peeled off by the lower release paper peeling mechanism and guides and collects.

[0023] A glue roller driving system is further included, which is arranged outside the conveying system close to the upper release paper peeling glue roller and the lower release paper peeling glue roller.

[0024] Additional glue pressing rollers can be added above the conveying roller according to different adhesive film forms.

[0025] A method for gluing according to the side fly gluing machine, the servo-controlled indexing turntable in the feeding module drives the multiple feeding hoppers arranged around to circulate and feed;

[0026] The material piece is grabbed by the material grabbing gripper along the material grabbing cam track in the transfer module and is transferred to the initial division of the multi-division transfer turntable.

[0027] The multi-division transfer turntable rotates to convey the material piece to the shaping mechanism, the shaping clamping jaw clamps the material piece ear, and the shaping pulling mechanism pulls backward to complete the ear shaping.

[0028] The multi-division transfer turntable rotates to convey the material piece with completed ear shaping to the peeling position of the peeling mechanism, and the L-shaped feeding gripper grabs the material piece.

[0029] The L-shaped feeding gripper reciprocally moves along the inclined feeding track groove, the inclined feeding track groove limits the inclined movement track of the L-shaped feeding gripper, the posture of the material piece matches the inclined angle of the peeling mechanism, the L-shaped feeding gripper transfers the material piece to the inclined peeling mechanism and returns to reset.

[0030] After the material piece enters the stripping mechanism, the conveying drum of the conveying system keeps continuous conveying, the first glue pressing roller presses the glue piece, the upper release paper blowing mechanism blows the upper glue piece tear tab upward and guides it to the upper release paper stripping roller, the upper release paper stripping roller strips the upper release paper, the second glue pressing roller presses the glue piece for continuous conveying, the lower release paper blowing mechanism blows the lower glue piece tear tab downward and into the lower release paper stripping roller, the lower release paper stripping roller strips the lower release paper, the third glue pressing roller assists in keeping the stability of subsequent conveying, and the stripping detection system monitors the release paper stripping state in real time through the angle-adjustable light source and the detection camera.

[0031] The stripped glue material is dynamically conveyed to the visual fly-shooting area through the transfer belt.

[0032] The visual fly-shooting shoots images under the motion state of the glue material, and generates position and angle coordinates through an algorithm; the fly-taking spider hand directly takes the glue material from the moving transfer belt according to the position and angle coordinate data.

[0033] The glue material is high-speed transferred to the battery cell assembly position, and the side glue pasting of the battery cell is completed in continuous motion.

[0034] The structure comprises a feeding module, a transfer module, a shaping mechanism, a stripping mechanism, a visual fly-shooting, a fly-taking spider hand, and a battery cell assembly position; the transfer module comprises a material taking gripper and a multi-division transfer turntable, the material taking gripper, the shaping mechanism, and the stripping mechanism are sequentially arranged on corresponding divisions of the multi-division transfer turntable, the material of the feeding module is taken by the material taking gripper to the multi-division transfer turntable, the multi-division transfer turntable rotates and drives the material to sequentially enter the shaping mechanism and the stripping mechanism to complete shaping and stripping; the stripping mechanism is provided with a transfer belt to the area where the visual fly-shooting is located, the fly-taking spider hand takes the material from the transfer belt and moves to the battery cell assembly position to complete the battery cell glue pasting, which improves the efficiency and precision of the battery cell glue pasting, realizes high-speed automatic operation of the whole process, and optimizes the space utilization rate and system reliability. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0036] Figure 1 It is a three-dimensional schematic view of the side fly-pasting machine of the present application.

[0037] Figure 2The side view of the side fly past glue machine of the application;

[0038] Figure 3 The schematic diagram of the feeding module of the application;

[0039] Figure 4 The schematic diagram of the transfer module of the application;

[0040] Figure 5 The schematic diagram of the stripping position feeding device of the application;

[0041] Figure 6 The schematic diagram of the automatic high-speed release paper stripping device of the application;

[0042] Figure 7 The schematic diagram of the lower release paper stripping mechanism of the application;

[0043] Figure 8 The schematic diagram of the lower release paper guiding and collecting system of the application;

[0044] Figure 9 The schematic diagram of the upper release paper guiding and collecting system of the application;

[0045] Figure 10 The schematic diagram of the upper release paper stripping mechanism of the application.

[0046] Reference signs:

[0047] Feeding module 1, servo control indexing turntable 1-1, feeding bin 1-2, transfer module 2, material taking gripper 2-1, material taking cam track 2-1-1, multi-division transfer turntable 2-2, shaping mechanism 3, shaping clamping jaw 3-1, shaping pulling mechanism 3-2, stripping mechanism 4, transfer belt 4-1, stripping position feeding device 4-2, stripping position feeding drive 4-2-1, inclined feeding track groove 4-2-2, L-shaped feeding gripper 4-2-3, conveying system 4-3, conveying synchronization device 4-3-1, conveying roller 4-3-2, stripping system 4-4, upper release paper stripping mechanism 4-4-2, first rubber roller 4-4-2-1, second rubber roller 4-4-2-2, upper release paper rubber roller 4-4-2-3, lower release paper stripping mechanism 4-4-3, lower release paper rubber roller 4-4-3-1, third rubber roller 4-4-3-2, upper release paper air blowing mechanism 4-4-4, lower release paper air blowing mechanism 4-4-5, stripping detection system 4-4-6, upper release paper guiding and collecting system 4-4-7, lower release paper guiding and collecting system 4-4-8, rubber roller transmission system 4-4-9, visual fly shooting 5, fly taking spider hand 6, electric core assembly position 7. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0049] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by “center”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “inside” and “outside” are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0050] A side flying glue machine, such as Figures 1-10 As shown, it includes a feeding module 1, a transfer module 2, a shaping mechanism 3, a stripping mechanism 4, a visual flying camera 5, a flying spider hand 6, and a battery cell assembly position 7; the transfer module 2 includes a material grabbing gripper 2-1 and a multi-position transfer turntable 2-2, the material grabbing gripper 2-1, the shaping mechanism 3, and the stripping mechanism 4 are sequentially arranged on the corresponding positions of the multi-position transfer turntable 2-2, the material of the feeding module 1 is grabbed by the material grabber 2-1 to the multi-position transfer turntable 2-2, and the multi-position transfer turntable 2-2 rotates And drive the material into the shaping mechanism 3 and the stripping position feeding device 4-2 of the stripping mechanism 4 in turn, completing the shaping and stripping mechanism feeding respectively; the stripping mechanism 4 is set in an inclined posture to cooperate with the stripping position feeding device 4-2 to feed the material, and a transfer belt 4-1 is also provided behind the stripping mechanism 4 to the area where the visual flying camera 5 is located. After the stripping mechanism 4 strips the material, the glue enters the transfer belt 4-1, and the flying spider hand 6 takes the material from the transfer belt 4-1 and moves it to the battery cell assembly position 7 to complete the battery cell gluing.

[0051] Specifically, the three key processes of the taking gripper 2-1, the shaping mechanism 3 and the stripping mechanism 4 are closely integrated on a rotating platform through the multi-quantile transfer turntable 2-2. The material of the feeding module 1 is first grabbed by the taking gripper 2-1 and placed on the turntable, then the turntable rotates, the material is sequentially taken to the shaping mechanism 3 for ear trimming, and then to the stripping mechanism 4 for ear stripping. Significantly reduces the independent manipulator or complex transfer mechanism required for material transfer between processes, greatly simplifies the equipment structure, improves the space utilization and action efficiency; the stripping mechanism 4 is arranged in an inclined posture, which is accurately matched with the motion track of the stripping position feeding device 4-2. Ensure that the sheet enters the stripping station smoothly at a specific angle, solve the misalignment problem of traditional horizontal feeding and inclined stripping process, reduce the risk of material jamming, and at the same time, the sheet only needs to move about 45° short stroke to complete the conversion from horizontal transfer state to inclined stripping posture, greatly shortens the feeding stroke, avoids the complex action and additional space occupation required by the traditional 90° overturning mechanism, and the release paper material slides down along the inclined direction under the action of gravity and is collected without additional power traction, simplifying the collection structure, and the inclined angle design is in line with the process requirements of the side adhesive of the battery cell. The adhesive material keeps an inclined posture after stripping and enters the transfer belt 4-1, and its space orientation can be adjusted to be consistent with the adhesive angle of the subsequent flying spider hand 6 at the battery cell assembly position 7, reducing the posture adjustment link before pasting, and improving the accuracy and efficiency of dynamic adhesive; a transfer belt 4-1 is arranged after the stripping mechanism 4 to transport the material to the visual flying camera 5 area, and the belt conveying provides a stable and continuous material conveying mode, allowing the stripping mechanism 4 and the visual flying camera 5 to be reasonably separated in space, while providing a basic condition for the visual flying camera 5 to dynamically capture the position and posture of the material, which is more conducive to ensuring the accuracy and efficiency of the subsequent flying positioning; the visual flying camera 5 dynamically photographs and positions the material on the transfer belt 4-1 to obtain its accurate position and angle information. The flying spider hand 6 directly grabs the material from the moving transfer belt 4-1 according to the real-time information provided by the visual flying camera 5, and moves at high speed to the battery cell assembly position 7 to complete the adhesive action. The dynamic grabbing and pasting method avoids the need for the material to completely stop and wait before grabbing or pasting, significantly shortens the production cycle time, and improves the running speed and production efficiency of the overall equipment; the scheme organically connects the feeding, transfer, dynamic conveying, visual positioning, dynamic grabbing and high-speed pasting links through the multi-quantile transfer turntable 2-2, the transfer belt 4-1, the visual flying camera 5 and the flying spider hand 6, from the feeding module 1 to the final adhesive at the battery cell assembly position 7, the material flows smoothly, the functions of each module are clear and efficient, reducing manual intervention and improving system reliability and capacity.

[0052] As a preferred embodiment of the above-mentioned embodiment, as shown in Figures 1-10 The feeding module 1 comprises a plurality of feeding hoppers 1-2 arranged around the servo-controlled indexing turntable 1-1.

[0053] As a preferred embodiment of the above, as shown in Figures 1-10 The feeding bin 1-2 is a vertically arranged hollow columnar structure.

[0054] Specifically, the multiple feeding bins 1-2 are driven to rotate around by the servo-controlled indexing turntable 1-1. When the material in one feeding bin 1-2 is used up by the feeding module 1, the turntable can quickly and accurately rotate to position the next full feeding bin 1-2 to the material taking position. This significantly reduces the downtime caused by manual bin replacement or traditional linear material replacement, ensuring continuous and efficient feeding of the material taking gripper 2-1 and the multi-position intermediate transfer turntable 2-2. The multiple bin arrangement around the turntable makes full use of the radial space in the center of the turntable, saving more floor space than the side-by-side linear layout. The preloading of multiple feeding bins 1-2 and the quick switching of the servo-controlled indexing turntable 1-1 enable the feeding module 1 to provide material to the intermediate transfer module 2 almost continuously. This effectively supports the high-speed continuous operation of the subsequent shaping mechanism 3, stripping mechanism 4, transfer belt 4-1, visual fly shooting 5, and fly shooting spider hand 6, avoiding the loss of overall line rhythm caused by interrupted feeding, thereby improving the overall production efficiency of the entire side face fly taping machine system. At the same time, the bin can be compatible with multiple blueprints by using an adjusting mechanism.

[0055] As a preferred embodiment of the above, as shown in Figures 1-10 The material taking gripper 2-1 is driven to move along the material taking cam track 2-1-1 by a servo motor, repeatedly grabbing the material from the feeding module 1 to the multi-position intermediate transfer turntable 2-2 and returning to the original position.

[0056] Specifically, by adopting servo control to drive the material taking gripper 2-1 to strictly follow the preset material taking cam track 2-1-1 movement, high-speed, high-repetition-precision reciprocating movement from grabbing material from the feeding module 1 to placing it into the designated sub-position of the multi-sub-position transfer turntable 2-2 can be realized. The material taking cam track 2-1-1 itself has a certain movement characteristic, combined with servo control, to ensure that the gripper has accurate track and smooth action at high speed, and the grabbing and placing positions are highly consistent, significantly improving the reliability and efficiency of the grabbing and placing action; the material taking cam track 2-1-1 further optimizes the movement path of the material taking gripper 2-1, so that it can move to the placing point of the multi-sub-position transfer turntable 2-2 with the shortest and most efficient track after grabbing the material, and quickly reset for the next grabbing. This high-speed reciprocating running mode maximizes the shortening of the single taking and placing cycle time, and its high beat characteristic perfectly matches the rotation rhythm of the multi-sub-position transfer turntable 2-2 and the high-speed dynamic mounting process constructed by the subsequent shaping mechanism 3, stripping mechanism 4, transfer belt 4-1, visual snapshot 5 and fly grabbing spider hand 6, eliminating the possible beat bottleneck here; servo control with the material taking cam track 2-1-1 has controllable and compliant movement characteristics, reducing vibration and impact at high speed, reducing the risk of damage to the gripper and the material, while also reducing mechanical wear, improving the long-term running stability and reliability of the material taking gripper 2-1 and the entire transfer module 2, and ensuring continuous and efficient production of the entire line.

[0057] As a preferred embodiment of the above embodiment, as shown in Figures 1-10 The shaping mechanism 3 includes a shaping gripper 3-1 and a shaping pulling mechanism 3-2, and the shaping pulling mechanism 3-2 drives the shaping gripper 3-1 to pull backward.

[0058] Specifically, by driving the shaping clamping jaw 3-1 to perform a backward pulling action in a specific direction through the shaping pulling mechanism 3-2, the glue ear can be accurately acted on a specific part, effectively eliminating the possible curling, wrinkling or position deviation of the glue ear, and straightening, flattening and accurately positioning it to the required state, so that the shaping effect on the glue ear is more direct and reliable, and the consistency and position accuracy of the glue ear shape are significantly improved. By ensuring that the glue ear is straightened, flattened and accurately positioned through the shaping clamping jaw 3-1 and the shaping pulling mechanism 3-2, a stable and predictable working basis is provided for the stripping mechanism 4. This greatly reduces the risk of material jamming, incomplete stripping or glue material damage caused by poor glue ear state during the stripping process, thereby directly improving the success rate and stability of stripping, laying a solid foundation for subsequent visual flying shot 5 positioning, flying spider hand 6 grabbing and final gluing quality at the battery assembly position 7, and helping to improve the overall gluing yield; The shaping mechanism 3 is directly integrated on the corresponding sub-position of the multi-sub-position transfer turntable 2-2. When the material enters the station with the turntable, the shaping clamping jaw 3-1 clamps the glue ear, and the shaping pulling mechanism 3-2 quickly performs a backward pulling action, and is released after completion. The turntable rotates to send the material to the stripping mechanism 4, so that the shaping action is completed synchronously during the material transfer process without additional transfer or pause, and the action is efficient and compact, perfectly matching the high-speed cycle of the multi-sub-position transfer turntable 2-2 driven by the multi-sub-position transfer turntable 2-2, avoiding additional time loss caused by the shaping process.

[0059] As a preferred embodiment of the above embodiment, as shown in Figures 1-10 The servo-controlled indexing turntable 1-1 is an eight-sub-position servo-controlled indexing turntable, and the multi-sub-position transfer turntable 2-2 is a four-sub-position servo-controlled indexing turntable.

[0060] Specifically, by arranging eight loading bins 1-2 around the eight-sub-position servo-controlled indexing turntable 1-1, the capacity of the material loaded at a time is significantly increased, the continuous operation time of the equipment is greatly prolonged, and the frequency of manual intervention to replace the bin is reduced. At the same time, the servo indexing technology ensures quick switching and accurate positioning between multiple stations, and only needs to be rotated to accurately send the next full bin to the material taking position of the material taking gripper 2-1, thereby efficiently supporting the continuous feeding demand of the feeding module 1.

[0061] As a preferred embodiment of the above embodiment, as shown in Figures 1-10 The visual flying shot 5 captures the film on the transfer belt 4-1 and transmits the position information to the flying spider hand 6 through an algorithm.

[0062] Specifically, the visual snapshot 5 is used to capture the film at a high speed while the film is continuously moving along the transport belt 4-1. Through existing image processing algorithms, the current position and angle of the film on the moving belt are analyzed in real time, and the dynamic positioning capability completely avoids the time loss caused by stopping the film at a fixed shooting position in the traditional way, laying a technical foundation for subsequent high-speed grabbing.

[0063] As a preferred embodiment of the above, as shown in Figures 1-10 The stripping position feeding device 4-2 includes a stripping position feeding drive 4-2-1, an inclined feeding track groove 4-2-2, and an L-shaped feeding gripper 4-2-3. The multi-division transfer turntable 2-2 rotates and drives the material into the lower part of the L-shaped feeding gripper 4-2-3, and the L-shaped feeding gripper 4-2-3 completes the material taking. The L-shaped feeding gripper 4-2-3 is movably arranged in the inclined feeding track groove 4-2-2, and is driven by the stripping position feeding drive 4-2-1 to move back and forth along the track of the inclined feeding track groove 4-2-2 between the multi-division transfer turntable 2-2 and the inclined stripping mechanism 4.

[0064] Specifically, the L-shaped feeding gripper 4-2-3 moves along the pre-set inclined feeding track groove 4-2-2, and the physical track constraint ensures that the path of the material sheet from the horizontal multi-division transfer turntable 2-2 to the inclined stripping mechanism 4 is unique and stable in posture, and replaces the complex control of the traditional multi-axis mechanical arm, reducing the risk of motion deviation. The stripping position feeding drive 4-2-1 drives the L-shaped feeding gripper 4-2-3 to move back and forth in the inclined feeding track groove 4-2-2 only for a short distance and a small angle, which can complete the actions of taking material, transferring to the stripping mechanism 4, and resetting. The compact stroke significantly shortens the single feeding time, efficiently matches the rotation rhythm of the multi-division transfer turntable 2-2, and the inclination angle of the inclined feeding track groove 4-2-2 is consistent with the inclination posture of the stripping mechanism 4, so that the material sheet naturally conforms to the direction of gravity during the transfer process, reducing the mechanical clamping force required for the material sheet, and creating initial stripping posture conditions for the release paper in the subsequent stripping mechanism 4.

[0065] As a preferred embodiment of the above, as shown in Figures 1-10 The stripping mechanism 4 includes a conveying system 4-3 and a stripping system 4-4.

[0066] The conveying system 4-3 is provided with a conveying synchronization device 4-3-1 and a plurality of conveying rollers 4-3-2 driven by the conveying synchronization device 4-3-1.

[0067] The stripping system comprises an upper release paper stripping mechanism 4-4-2, a lower release paper stripping mechanism 4-4-3, and an upper release paper blowing mechanism 4-4-4 and a lower release paper blowing mechanism 4-4-5, the upper release paper stripping mechanism 4-4-2 and the lower release paper stripping mechanism 4-4-3 are sequentially arranged above the conveying track of the conveying roller 4-3-2, the upper release paper stripping mechanism 4-4-2 is arranged below the conveying roller 4-3-2 corresponding to the position of the upper release paper stripping mechanism 4-4-2 and blows upward, the lower release paper stripping mechanism 4-4-3 is arranged above the conveying roller 4-3-2 corresponding to the position of the lower release paper stripping mechanism 4-4-3 and blows downward, the upper release paper stripping mechanism 4-4-2, the lower release paper stripping mechanism 4-4-3, the upper release paper blowing mechanism 4-4-4, and the lower release paper blowing mechanism 4-4-5 are arranged at positions corresponding to the upper and lower heights of the film.

[0068] The upper release paper stripping mechanism 4-4-2 is provided with a first rubber roller 4-4-2-1, a second rubber roller 4-4-2-2, and an upper release paper stripping rubber roller 4-4-2-3 arranged therebetween, and the lower release paper stripping mechanism 4-4-3 is provided with a lower release paper stripping rubber roller 4-4-3-1 and a third rubber roller 4-4-3-2, the lower release paper stripping rubber roller 4-4-3-1 is arranged between the second rubber roller 4-4-2-2 and the third rubber roller 4-4-3-2.

[0069] The film is kept in a conveying state throughout the conveying process by the conveying roller 4-3-2, the first rubber roller 4-4-2-1 presses the film, the film tab is blown open by the upper release paper blowing mechanism 4-4-4 and enters the upper release paper stripping rubber roller 4-4-2-3, and the upper release paper is automatically stripped along with the film conveying movement.

[0070] The film after the upper release paper is stripped is pressed by the second rubber roller 4-4-2-2 and continues to be conveyed, the lower film tab is blown open by the lower release paper blowing mechanism 4-4-5 and enters the lower release paper stripping rubber roller 4-4-3-1, the lower release paper is automatically stripped along with the film conveying movement, and the third rubber roller 4-4-3-2 cooperates to keep conveying.

[0071] It also comprises a stripping detection system 4-4-6, which is arranged below the conveying system 4-3 and automatically detects the stripping of the release paper during the film conveying process.

[0072] The stripping detection system 4-4-6 is composed of a light source and a detection camera, both of which are angle-adjustably arranged below the conveying system 4-3.

[0073] The upper release paper guiding and collecting system 4-4-7 is arranged on the movement path of the upper release paper after being peeled off by the upper release paper peeling mechanism 4-4-2 and guides and collects the upper release paper.

[0074] The lower release paper guiding and collecting system 4-4-8 is arranged on the movement path of the lower release paper after being peeled off by the lower release paper peeling mechanism 3 and guides and collects the lower release paper.

[0075] The rubber peeling roller driving system 4-4-9 is arranged outside the conveying system 4-3 near the upper release paper peeling roller 4-4-2-3 and the lower release paper peeling roller 4-4-3-1.

[0076] Additional rubber pressing rollers can be added above the conveying roller 4-3-2 according to different film forms.

[0077] Specifically, the conveying system 4-3 drives the plurality of conveying rollers 4-3-2 to keep the film continuously conveyed through the conveying synchronization device 4-3-1, and the upper release paper peeling mechanism 4-4-2 and the lower release paper peeling mechanism 4-4-3 complete the double-side peeling in turn. The peeling action is continuously performed in the film movement without stopping and segmented operation, which significantly improves the peeling efficiency; the upper release paper blowing mechanism 4-4-4 and the lower release paper blowing mechanism 4-4-5 blow away the film tabs from below and above, respectively, in combination with the alternate pressing and conveying of the first rubber pressing roller 4-4-2-1, the second rubber pressing roller 4-4-2-2 and the third rubber pressing roller 4-4-3-2, to realize the accurate guidance of the tabs and the stable peeling of the release paper and avoid the damage of the film caused by the traditional mechanical prying; the peeling detection system 4-4-6 monitors the release paper peeling state in real time in the continuous conveying process of the film through the angle-adjustable light source and the detection camera, ensures the instant alarm in the abnormal condition and guarantees the stability of the peeling quality; the upper release paper guiding and collecting system 4-4-7 and the lower release paper guiding and collecting system 4-4-8 are located above and below the conveying system 4-3, respectively, and the lower release paper guiding and collecting system 4-4-8 makes the release paper slide and fall along the gravity direction in cooperation with the guidance by the inclined posture of the peeling mechanism 4, and the rubber peeling roller driving system 4-4-9 is independently arranged outside the conveying system 4-3, which is convenient for maintenance and speed adjustment; the design of the additional rubber pressing rollers above the conveying roller 4-3-2 enhances the adaptability to the films with different thicknesses or sizes, the inclined posture of the peeling mechanism 4 is completely matched with the transfer path of the L-shaped loading gripper 4-2-3 in the inclined loading track groove 4-2-2 of the peeling position loading device 4-2, to form the seamless conversion from the regular shape to the inclined peeling posture, which lays a foundation for the dynamic conveying of the subsequent transfer belt 4-1.

[0078] A method for gluing according to the side gluing machine of claim 1, the servo-controlled indexing turntable 1-1 in the feeding module 1 drives the multiple feeding hoppers 1-2 arranged around it to circulate and supply materials;

[0079] The material grabbing hand 2-1 in the transfer module 2 grabs the material sheet along the material grabbing cam track 2-1-1 and moves it to the initial indexing position of the multi-indexing transfer turntable 2-2;

[0080] The multi-indexing transfer turntable 2-2 rotates to transport the material sheet to the shaping mechanism 3, the shaping clamping jaw 3-1 clamps the material tab, and the shaping pulling mechanism 3-2 pulls it backward to complete the tab shaping;

[0081] The multi-indexing transfer turntable 2-2 rotates to transport the material sheet with completed tab shaping to the L-shaped feeding hand 4-2-3 at the stripping position feeding device 4-2 in the stripping mechanism 4;

[0082] The L-shaped feeding hand 4-2-3 reciprocally moves along the inclined feeding track groove 4-2-2, which limits the inclined movement track of the L-shaped feeding hand 4-2-3, so that the posture of the material sheet matches the inclined angle of the stripping mechanism 4, and the L-shaped feeding hand 4-2-3 moves the material sheet into the inclined stripping mechanism 4 and returns to the reset position;

[0083] After the material sheet enters the stripping mechanism 4, the conveying roller 4-3-2 of the conveying system 4-3 keeps continuous conveying, the first glue roller 4-4-2-1 presses the glue sheet, the upper release paper blowing mechanism 4-4-4 blows the upper glue sheet tear tab upward and guides it to the upper release paper stripping roller 4-4-2-3, the upper release paper stripping roller 4-4-2-3 strips the upper release paper, the second glue roller 4-4-2-2 presses the glue sheet for continuous conveying, the lower release paper blowing mechanism 4-4-5 blows the lower glue sheet tear tab downward and into the lower release paper stripping roller 4-4-3-1, the lower release paper stripping roller 4-4-3-1 strips the lower release paper, the third glue roller 4-4-3-2 assists in maintaining the stability of subsequent conveying, and the stripping detection system 4-4-6 monitors the release paper stripping state in real time through the angle-adjustable light source and detection camera;

[0084] The stripped glue material is dynamically conveyed to the visual fly shooting 5 area through the transfer belt 4-1;

[0085] The visual fly shooting 5 captures images under the motion state of the glue material and generates position and angle coordinates through algorithms; the fly grabbing spider hand 6 directly grabs the glue material from the moving transfer belt 4-1 according to the position and angle coordinate data;

[0086] The glue material is moved at high speed to the battery cell assembly position 7 to complete the side gluing of the battery cell in continuous motion.

[0087] Specifically, by rotating the turntable, the material sheet is sequentially sent to the shaping mechanism 3 and the stripping site upper feeding device 4-2, so that the glue ear is regularized and the stripping upper feeding is continuously completed on the single turntable, eliminating the mechanical hand transfer link between the traditional multiple stations, shortening the material flow time; the L-shaped upper feeding gripper 4-2-3 moves along the fixed track of the inclined upper feeding track groove 4-2-2, so that the material sheet is directly converted from the horizontal transfer state to the posture matched with the inclination angle of the stripping mechanism 4, the additional turnover mechanism is saved, the positioning deviation risk is reduced, and only a short distance and a small angle of reciprocating movement is required in the inclined upper feeding track groove 4-2-2, that is, the material taking, transferring to the stripping mechanism 4 and resetting actions can be completed. The compact stroke significantly shortens the single upper feeding time, efficiently matches the rotation rhythm of the multi-station transfer turntable 2-2, the inclination angle of the inclined upper feeding track groove 4-2-2 is consistent with the inclination posture of the stripping mechanism 4, so that the material sheet naturally conforms to the direction of gravity during the transferring process, which not only reduces the requirement of mechanical clamping force on the material sheet, but also creates initial stripping posture conditions for the subsequent stripping mechanism 4, the upper and lower release paper blowing mechanisms 4-4-4 and 4-4-5 blow the tear ears from the bottom to the top and from the top to the bottom respectively, avoiding mechanical contact damage, the first, second and third glue pressing rollers 4-4-2-1, 4-4-2-2 and 4-4-3-2 are alternately pressed and conveyed, ensuring the continuity and stability of the stripping process, the stripping detection system 4-4-6 is monitored in real time by the angle-adjustable light source and the camera, ensuring the stripping quality, the transfer belt 4-1 keeps the dynamic conveying of the glue material, the visual flying shot 5 captures images and generates coordinates in motion, eliminating the pause time of the traditional secondary positioning, the flying spider hand 6 directly grabs the glue material from the moving transfer belt 4-1 according to the visual coordinates, realizing seamless connection of conveying, positioning and grabbing, from the circulating feeding of the servo-controlled indexing turntable 1-1 to the continuous motion of the flying spider hand 6 at the battery cell assembly site 7, the whole process of the modules cooperates to form a high-speed operation closed loop, significantly improving the assembly rhythm.

[0088] The basic principles, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A side flying glue machine, characterized by: It includes a loading module (1), a transfer module (2), a shaping mechanism (3), a stripping mechanism (4), a visual flying camera (5), a flying spider hand (6), and a battery cell assembly position (7); The transfer module (2) comprises a material taking gripper (2-1) and a multi-position transfer turntable (2-2); the material taking gripper (2-1), the shaping mechanism (3), and the stripping mechanism (4) are sequentially arranged at corresponding positions of the multi-position transfer turntable (2-2); the material of the feeding module (1) is grabbed by the material taking gripper (2-1) and transferred to the multi-position transfer turntable (2-2); the multi-position transfer turntable (2-2) rotates and drives the material to sequentially enter the shaping mechanism (3) and the stripping position feeding device (4-2) of the stripping mechanism (4), completing the shaping and stripping mechanism feeding respectively; The peeling mechanism (4) is arranged in an inclined posture to cooperate with the peeling position feeding device (4-2) to feed the material. A transfer belt (4-1) is also arranged behind the peeling mechanism (4) to the area where the visual flying camera (5) is located. After the peeling mechanism (4) peels the material, the glue enters the transfer belt (4-1). The flying spider hand (6) takes the material from the transfer belt (4-1) and moves it to the battery cell assembly position (7) to complete the battery cell gluing.

2. A side flying glue machine according to claim 1, characterized in that: The loading module (1) comprises a plurality of loading bins (1-2) arranged around a servo-controlled indexing turntable (1-1).

3. A side flying glue machine according to claim 2, characterized in that: The loading silo (1-2) is a vertically arranged hollow columnar structure.

4. The side flying glue machine according to claim 1, characterized in that: The material grabbing gripper (2-1) reciprocates along a material grabbing cam track (2-1-1) through servo control, repeatedly grabbing the material from the loading module (1) to the multi-position transfer turntable (2-2) and performing a reset action.

5. The side flying glue machine according to claim 2, characterized in that: The shaping mechanism (3) comprises a shaping clamping jaw (3-1) and a shaping pulling mechanism (3-2), and the shaping pulling mechanism (3-2) pulls the shaping clamping jaw (3-1).

6. The side flying glue machine according to claim 2, characterized in that: The servo-controlled indexing turntable (1-1) is an eight-position servo-controlled indexing turntable, and the multi-position transfer turntable (2-2) is a four-position servo-controlled indexing turntable.

7. The side flying glue machine according to claim 1, characterized in that: The visual flying camera (5) captures the film on the transfer belt (4-1) and transmits the position information to the flying spider hand (6) through an algorithm.

8. The side flying glue machine according to claim 1, characterized in that: The stripping position feeding device (4-2) comprises a stripping position feeding drive (4-2-1), an inclined feeding track groove (4-2-2) and an L-shaped feeding gripper (4-2-3); the multi-position transfer turntable (2-2) rotates and drives the material to enter under the L-shaped feeding gripper (4-2-3); and the L-shaped feeding gripper (4-2-3) completes the material removal; The L-shaped feeding gripper (4-2-3) is movably arranged in the inclined feeding track groove (4-2-2), and the L-shaped feeding gripper (4-2-3) is driven by the stripping position feeding drive (4-2-1) to move back and forth along the track of the inclined feeding track groove (4-2-2) between the multi-position transfer turntable (2-2) and the inclined stripping mechanism (4).

9. The side flying glue machine according to claim 1, characterized in that: The stripping mechanism (4) comprises a conveying system (4-3) and a stripping system (4-4); The conveying system (4-3) is provided with a conveying synchronization device (4-3-1) and a plurality of conveying rollers (4-3-2) driven by the conveying synchronization device (4-3-1); The peeling system comprises an upper release paper peeling mechanism (4-4-2), a lower release paper peeling mechanism (4-4-3), an upper release paper blowing mechanism (4-4-4), and a lower release paper blowing mechanism (4-4-5). The upper release paper peeling mechanism (4-4-2) and the lower release paper peeling mechanism (4-4-3) are sequentially arranged above the conveying track of the conveying roller (4-3-2). The upper release paper peeling mechanism (4-4-2) is arranged below the conveying roller (4-3-2) and corresponds to the upper release paper. The paper peeling mechanism (4-4-2) is positioned and blows air upwards, the lower release paper peeling mechanism (4-4-3) is arranged above the conveying roller (4-3-2) and corresponds to the position of the lower release paper peeling mechanism (4-4-3) and blows air downwards, and the upper and lower height positions of the upper release paper peeling mechanism (4-4-2), the lower release paper peeling mechanism (4-4-3), the upper release paper blowing mechanism (4-4-4), and the lower release paper blowing mechanism (4-4-5) are adapted to the upper and lower height positions of the film; The upper release paper peeling mechanism (4-4-2) is provided with a first rubber pressing roller (4-4-2-1), a second rubber pressing roller (4-4-2-2) and an upper release paper peeling roller (4-4-2-3) arranged therebetween; the lower release paper peeling mechanism (4-4-3) is provided with a lower release paper peeling roller (4-4-3-1) and a third rubber pressing roller (4-4-3-2); the lower release paper peeling roller (4-4-3-1) is arranged between the second rubber pressing roller (4-4-2-2) and the third rubber pressing roller (4-4-3-2); The film is kept in a full-length conveying state by the conveying roller (4-3-2), the first pressing roller (4-4-2-1) presses the film, the tearing ear of the upper film is blown open by the upper release paper blowing mechanism (4-4-4) and enters the upper release paper stripping roller (4-4-2-3), and the upper release paper is automatically peeled off as the film is conveyed; The film after the upper release paper is peeled off is pressed by the second pressure roller (4-4-2-2) and continues to be transported, and the tearing ear of the lower film is blown open by the lower release paper blowing mechanism (4-4-5) and enters the lower release paper peeling roller (4-4-3-1), and the lower release paper is automatically peeled off as the film is transported, and the third pressure roller (4-4-3-2) cooperates to maintain the transport. It also includes a peeling detection system (4-4-6), which is arranged below the conveying system (4-3) and automatically performs peeling detection of the release paper during the film conveying process. The peeling detection system (4-4-6) is composed of a light source and a detection camera, and the light source and the detection camera are both arranged below the conveying system (4-3) with adjustable angles. It also includes an upper release paper guiding and collecting system (4-4-7), which is arranged on the movement path of the upper release paper above the conveying system (4-3) after being peeled off by the upper release paper peeling mechanism (4-4-2) and guides and collects the upper release paper. It also includes a lower release paper guiding and collecting system (4-4-8), which is arranged on the movement path of the lower release paper below the conveying system (4-3) after being peeled off by the lower release paper peeling mechanism (3) and guides and collects the lower release paper. It also includes a stripping roller transmission system (4-4-9), which is arranged on the outside of the conveying system (4-3) near the upper release paper stripping roller (4-4-2-3) and the lower release paper stripping roller (4-4-3-1). Additional pressing rollers can be added at various locations above the conveying roller (4-3-2) according to different film forms.

10. A method for gluing the side flying gluing machine according to claim 1, characterized in that: The servo-controlled indexing turntable (1-1) in the feeding module (1) drives a plurality of surrounding feeding bins (1-2) to circulate and feed materials; The material grabbing gripper (2-1) in the transfer module (2) grabs the material piece along the material grabbing cam track (2-1-1) and transfers it to the initial position of the multi-position transfer turntable (2-2); The multi-position transfer turntable (2-2) rotates to transport the sheet to the shaping mechanism (3), the shaping clamping claws (3-1) clamp the sheet rubber ears, and the shaping pulling mechanism (3-2) pulls backward to complete the regularization of the rubber ears; The multi-position transfer turntable (2-2) rotates to transport the sheet with neatly arranged rubber ears to the stripping position loading device (4-2) in the stripping mechanism (4), and an L-shaped loading gripper (4-2-3) grabs the sheet; The L-shaped feeding gripper (4-2-3) moves back and forth along the inclined feeding track groove (4-2-2), and the inclined feeding track groove (4-2-2) limits the inclined motion track of the L-shaped feeding gripper (4-2-3), so that the posture of the material sheet matches the inclined angle of the stripping mechanism (4). The L-shaped feeding gripper (4-2-3) transfers the material sheet into the inclined stripping mechanism (4) and returns to reset; After the material sheet enters the stripping mechanism (4), the conveying roller (4-3-2) of the conveying system (4-3) maintains continuous conveying, the first pressing roller (4-4-2-1) presses the film, the upper release paper blowing mechanism (4-4-4) blows the upper film tearing ear upwards and guides it to the upper release paper stripping roller (4-4-2-3), the upper release paper stripping roller (4-4-2-3) strips the upper release paper, the second pressing roller (4-4-2-2) presses the film and continues to convey it, the lower release paper blowing mechanism (4-4-5) blows the lower film tearing ear downwards and enters the lower release paper stripping roller (4-4-3-1), the lower release paper stripping roller (4-4-3-1) strips the lower release paper, the third pressing roller (4-4-3-2) assists in maintaining subsequent conveying stability, and the stripping detection system (4-4-6) monitors the release paper stripping state in real time through an angle-adjustable light source and a detection camera; The peeled rubber material is dynamically transported to the visual flying camera (5) area via the transport belt (4-1); The visual flying camera (5) captures images when the rubber material is in motion and generates position and angle coordinates through an algorithm; The flying spider hand (6) directly grabs the rubber material from the moving transfer belt (4-1) according to the position and angle coordinate data; The adhesive is transferred to the battery core assembly position (7) at high speed, and the adhesive bonding on the battery core side is completed in a continuous motion.

Images