A feeding method for battery processing

Abstract

A feeding method for battery processing provided by the present application is applied to a battery processing feeding system. It includes a robotic arm moving to a feeding platform to grasp a first material and a second material, and determining that a suction mechanism sucks the first material and a clamping mechanism clamps the second material according to the comparison between the states of the first material and the second material and the state of the material processing position on 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 an 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 a processing state, the second suction mechanism sucks the first material. The robotic arm conveys the first material and the second material together to the material processing position on the processing platform, and places the second material and the first material into the material processing position in the processing order. It uses a single robotic arm, and includes two taking methods of clamping and suction, and can take at least two materials and transport them to the processing position at one time.

Description

Technical Field

[0001] This application relates to the technical field of battery processing, and particularly relates to a feeding method for battery processing. Background Art

[0002] In the existing battery processing, one of the processing procedures is to seal the battery. In most cases, laser welding is used for welding and sealing. During the sealing process, generally, top insulation materials are added before adding the top cover. In the prior art, for the picking and placing of the top cover assembly and the insulation materials, most often a production line method is used for feeding. During this process, a robotic arm is used to pick the two materials separately and place them in sequence at the processing location.

[0003] In the prior art in the industrial technology of battery processing, since the shapes and masses of the insulation materials and the top cover assemblies are different. In the existing cylindrical battery production process, most of the insulation materials are annular, while the shapes of the top cover assemblies are mostly disc-shaped. Therefore, in most cases, in order to better pick the materials, most often a corresponding robotic arm is selected to pick the materials according to their specific shapes or masses.

[0004] Generally, for the picking of the insulation materials and the top cover assemblies, most often a single robotic arm picks the two materials back and forth twice. However, this picking method has a long transportation time. And because of the high precision requirement for the placement position of the materials during battery processing, during the process of the single robotic arm picking the two materials back and forth, the transportation time is long, the actions of the robotic arm increase, which will increase the error of the final placement position of the materials. Moreover, due to the single clamping mechanism fixed on the single robotic arm, for different materials, it cannot have good adaptability, which easily reduces the picking success rate of the materials.

[0005] In addition, in the existing production process of battery processing, during the process of the top cover assembly discharging, due to the small volume of the materials, the initial state automatically placed by the feeding mechanism is inconsistent with the processing state required during material processing. Most single robotic arms do not have the ability to pick the same material in two states.

[0006] Or two robotic arms are used to pick one of the materials separately and finally place them in sequence at the processing location. However, this method of using two robotic arms to pick single materials separately and then place them in sequence at the processing location requires accommodating two robotic arms, which greatly increases the floor space occupied during the feeding process. In addition, it is necessary to make the two robotic arms cooperate to pick the materials and place them in sequence, and the calculation algorithm between them is relatively complex. Summary of the Invention

[0007] In view of this, the present application provides a feeding method for battery processing. While enabling automatic feeding, it can use a single robotic arm to transfer at least two kinds of materials together from the feeding location to the processing location, and can pick up the same kind of material with two states, thereby reducing the transportation time during the feeding process and facilitating the improvement of production rate.

[0008] A feeding method for battery processing provided by the present application, the feeding method for battery processing is applied to a battery processing feeding system, and the feeding method includes:

[0009] The robotic arm moves to the feeding platform to grasp the first material and the second material. According to the comparison between the states of the first material and the second material and the state of the material processing position on the processing platform, it is determined that the suction mechanism sucks the first material and the clamping mechanism clamps the second material;

[0010] Wherein, the suction mechanism includes a first suction mechanism and a second suction mechanism;

[0011] When it is determined that the first material is in the initial state, the first suction mechanism sucks the first material;

[0012] 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;

[0013] The robotic arm transfers the first material and the second material together to the material processing position on the processing platform, and places the second material and the first material into the material processing position in the processing order.

[0014] Compared with the prior art feeding method for battery processing, the feeding method for battery processing provided by the present application uses a single robotic arm with two picking methods, namely a clamping mechanism and a suction mechanism. It can pick up at least two kinds of materials and transport two kinds of materials to the processing position at one time. Moreover, its suction mechanism includes a first suction mechanism and a second suction mechanism, which can pick up the same kind of material with two states. That is, it has three picking mechanisms and can pick up processing materials more flexibly to meet the feeding requirements of battery processing;

[0015] Compared with the method in the prior art of using a single robotic arm to pick up one at a time and making two round trips to pick up materials, the feeding method of the present application saves the transportation time of materials during the feeding process, matches the corresponding picking methods for different materials, improves the picking stability, and thus improves the production efficiency;

[0016] Compared with the method in the prior art of using two robotic arms to separately pick up single materials and then separately place them at the processing positions, the feeding method of the present application using a single robotic arm greatly saves the floor space during feeding. Moreover, since the two robotic arms need to cooperate with each other to reduce errors during use, the program settings of the robotic arms are relatively complex, while the present application has only one robotic arm, greatly simplifying the operation procedure.

[0017] In some alternative embodiments of the present application, before the robotic arm moves to the feeding platform to pick up the first material and the second material, it further includes:

[0018] Determine that the robotic arm is in an empty state, and determine that the previous action of the robotic arm is the second suction mechanism putting down the first material.

[0019] In some alternative embodiments of the present application, when it is determined that the first material is in the initial state, the specific process of the first suction mechanism sucking the first material includes:

[0020] When it is determined that the first suction mechanism is in an empty state, the first suction mechanism sucks N first materials.

[0021] In some alternative embodiments of the present application, before it is determined that the initial state of the first material changes, after it is determined that the first material is in the initial state and the first suction mechanism sucks the first material, it further includes:

[0022] Determine that all the suction positions of the first suction mechanism have sucked the first material.

[0023] In some alternative embodiments of the present application, the change of the initial state of the first material specifically includes:

[0024] The first suction mechanism conveys and places the first material on the spacing adjustment mechanism, and the spacing adjustment mechanism can adjust the arrangement spacing of the placed first materials;

[0025] Among them, the arrangement spacing of the first materials in the initial state is L1.

[0026] In some alternative embodiments of the present application, the process of the first suction mechanism conveying and placing the first material on the spacing adjustment mechanism specifically includes:

[0027] The first suction mechanism evenly divides the N sucked materials into M rows and places them on the spacing adjustment mechanism.

[0028] In some alternative embodiments of the present application, determining that the clamping mechanism clamps the second material specifically includes:

[0029] Determine that the second suction mechanism is in an idle state, determine that the previous action of the robotic arm is for the first suction mechanism to put down the first material, and the robotic arm displaces from the spacing mechanism to the second material discharging position;

[0030] The clamping mechanism clamps the second material in M times and arranges it in M rows, and the number of the second materials clamped each time is N / M.

[0031] In some alternative embodiments of the present application, after determining that the clamping mechanism clamps the second material, it specifically includes:

[0032] Determine that all the clamping positions of the clamping mechanism are fully filled with the second material, and the robotic arm moves to the spacing mechanism.

[0033] In some alternative embodiments of the present application, when determining that the initial state of the first material changes and the first material is in a processing state, the second suction mechanism sucks the first material, which specifically includes:

[0034] The second suction mechanism sucks the second material arranged in M rows in M times, and the number of the second materials sucked each time is N / M.

[0035] In some alternative embodiments of the present application, before the robotic arm conveys the first material and the second material to the material processing position of the processing platform together, after the second suction mechanism sucks the first material, it specifically includes:

[0036] Determine that all the suction positions of the second suction mechanism are fully filled with the first material, and determine that all the clamping positions of the clamping mechanism are fully filled with the second material.

[0037] In some alternative embodiments of the present application, and putting the second material and the first material into the material processing position in the processing order, it specifically includes:

[0038] The robotic arm first disengages the second material from the clamping mechanism and puts it into the material processing position, and then disengages the first material from the second suction mechanism and puts it into the material processing position.

[0039] In some alternative embodiments of the present application, when determining that the first material is in an initial state, the first suction mechanism sucks the first material, which specifically includes:

[0040] The suction mechanism is located in the middle of the base of the robotic arm. The first suction mechanism (22) includes N multi-layer suction cups (221). The first suction mechanism (22) sucks the first material through the multi-layer suction cups (221). The multi-layer suction cups are arranged in a straight line and the arrangement spacing is L1.

[0041] In some alternative embodiments of the present application, determining that the clamping mechanism clamps the second material specifically includes:

[0042] The clamping mechanism uses N grippers to clamp the second material. The grippers in the clamping mechanism are evenly divided into two rows and arranged in parallel on both sides of the first suction mechanism. The distance between the grippers in the same row is L2.

[0043] In some alternative embodiments of the present application, when determining that the initial state of the first material has changed and the first material is in a processing state, the second suction mechanism sucks the first material, specifically including:

[0044] The second suction mechanism sucks the first material through N single-layer suction cups included therein. Among them, the single-layer suction cups are arranged at intervals in the same column as the grippers. The distance between the single-layer suction cups is L2, and the distance between the single-layer suction cup and the adjacent gripper is L3, where L1 < L3 < L2.

[0045] In some alternative embodiments of the present application, when determining that the first material is in an initial state, the first suction mechanism sucks the first material, specifically including:

[0046] The first suction mechanism drives the suction cup to move up and down through the displacement driving mechanism included therein to suck the first material. The multi-layer suction cup higher than the bottom of the gripper moves down beyond the bottom of the gripper to suck the first material.

[0047] In some alternative embodiments of the present application, determining that the clamping mechanism clamps the second material specifically includes:

[0048] The clamping mechanism drives the grippers to open and close through the gripper driving mechanism included therein to clamp the second material.

[0049] In some alternative embodiments of the present application, the clamping mechanism drives the grippers to open and close through the gripper driving mechanism included therein to clamp the second material, specifically including,

[0050] The driving mechanism controls the opening and closing of the grippers through the finger cylinder included therein;

[0051] Among them, the two fingers on the finger cylinder open and close to drive the opening and closing of the two gripper fingers respectively connected to the two fingers.

[0052] In some alternative embodiments of the present application, the two fingers on the finger cylinder open and close to drive the opening and closing of the two gripper fingers respectively connected to the two fingers, specifically including,

[0053] The gripper finger limits and fixes the circular second material through the limiting groove on its outer wall to clamp the circular second material.

[0054] A feeding method for battery processing in the present application has at least the following effects:

[0055] In a battery processing system, using a single robotic arm to pick up two kinds of materials to the material processing position at one time can save the transportation time of the feeding process in battery processing. Moreover, by using a spacing mechanism to change the state of the materials to match the state required for processing, it helps the feeding platform save space. The robotic arm used can pick up two kinds of materials, and there are many ways to pick up materials, with relatively flexible and complete functions, meeting the requirement of multi-purpose of one arm, saving transportation time, saving floor space, being relatively simple to operate, and saving production costs;

[0056] In addition, through the reasonable setting of the spatial positions of the first suction mechanism, the second suction mechanism and the clamping mechanism on the robotic arm, unnecessary rotation of the robotic arm can be reduced, enabling the robotic arm to pick up and place materials faster and more accurately;

[0057] In addition, the clamping mechanism can stably pick up annular materials through the limiting grooves on the outer wall of the clamping hands it is provided with, increasing the stability of material picking; The first suction mechanism is driven to move up and down through the displacement drive of the displacement drive mechanism, facilitating staggering with the second suction mechanism and the clamping hands as much as possible, saving spatial positions and reducing the error rate. Description of the Drawings

[0058] Figure 1 is a schematic flow chart of an embodiment of the present application;

[0059] Figure 2 is a three-dimensional structural schematic diagram of a battery processing device according to an embodiment of the present application;

[0060] Figure 3 is a top view schematic diagram of a battery processing device according to an embodiment of the present application;

[0061] Figure 4 is a three-dimensional structural schematic of a robotic arm according to an embodiment of the present application Figure 1 ;

[0062] Figure 5 is a three-dimensional structural schematic of a robotic arm according to an embodiment of the present application Figure 2 ;

[0063] Figure 6 is a bottom view schematic diagram of a fixture of a robotic arm according to an embodiment of the present application;

[0064] Figure 7 is of the present application Figure 2 a partial enlarged schematic diagram of part A;

[0065] Figure 8 is of the present application Figure 4 a partial enlarged schematic diagram of part B;

[0066] Figure 9 is a partial enlarged schematic view of part C of Figure 5 of this application;

[0067] Figure 10 is a partial enlarged schematic view of part D of Figure 9 of this application.

[0068] Reference numerals: 1, feeding platform; 2, robotic arm; 3, spacing mechanism; 4, processing platform;

[0069] 11, first material discharge position; 12, second material discharge position; 121, second material;

[0070] 21, base;

[0071] 22, first suction mechanism; 221, multi-layer suction cup; 222, displacement driving mechanism;

[0072] 23, second suction mechanism; 231, single-layer suction cup;

[0073] 24, clamping mechanism; 241, clamping hand; 242, clamping hand driving mechanism; 2411, clamping finger; 2421, finger cylinder; 2422, finger; 24111, limiting groove. Detailed implementation manners

[0074] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the present disclosure will be described in detail, clearly and completely below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not used to limit the present disclosure.

[0075] In the description of this application, if the first and second are described only for the purpose of distinguishing technical features, they should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0076] Those skilled in the art should understand that in the disclosure of this application, the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting this application.

[0077] The following further describes this application in detail with reference to the accompanying drawings. See Figures 1 to 10 description.

[0078] A feeding method for battery processing provided by the present application is applied to a battery processing feeding system. In the existing cylindrical battery production process, the insulating material is annular and the top cover assembly is basically cylindrical. The feeding method for the processing process provided for materials with a large difference in shape can better grasp the first material and the second material 121. Among them, the first material is the top cover assembly, and the second material 121 is the annular insulating material;

[0079] Figure 1 It is a schematic flow chart of the feeding method for battery processing according to an embodiment of the present application, Figure 2 It is a three-dimensional structural schematic diagram of a battery processing device, as Figure 1 shown. The feeding method includes:

[0080] The robotic arm 2 moves to the feeding platform 1 to grasp the first material and the second material 121. According to the comparison between the states of the first material and the second material 121 and the state of the material processing position on the processing platform 4, it is determined that the suction mechanism sucks the first material, and the clamping mechanism 24 clamps the second material 121;

[0081] Among them, the suction mechanism includes a first suction mechanism 22 and a second suction mechanism 23;

[0082] When it is determined that the first material is in the initial state, the first suction mechanism 22 sucks the first material;

[0083] When the initial state of the first material changes and the first material is in the processing state, the second suction mechanism 23 sucks the first material;

[0084] The robotic arm 2 conveys the first material and the second material 121 together to the material processing position on the processing platform 4, and places the second material 121 and the first material into the material processing position in the processing order to complete the feeding of the top cover assembly and the annular insulating material in battery processing.

[0085] In this embodiment, the suction mechanism of a single robotic arm 2 sucks the first material, and the clamping mechanism 24 clamps the second material 121. The feeding method enables a single robotic arm 2 to have two ways of picking up materials, increasing the versatility during feeding and reducing the number of robotic arms for transportation; and the suction mechanism includes a first suction mechanism 22 and a second suction mechanism 23, mainly for picking up the same material in two different states, having a wide applicable range and reducing transportation costs; on this basis, the feeding method can transport two processing materials to the material processing platform 4 together and place them into the material processing position in sequence, saving transportation time.

[0086] In an alternative embodiment of the present application, before the robotic arm 2 moves to the feeding platform 1 to grasp the first material and the second material 121, it further includes: determining that the robotic arm 2 is in an idle state, and determining that the previous action of the robotic arm 2 is the second suction mechanism 23 putting down the first material. In this embodiment, the detection system detects that the first suction mechanism 22, the second suction mechanism 23, and the clamping mechanism 24 on the robotic arm 2 are all in an idle state. The detection system is a vision detection system, which is very common in the prior art and will not be elaborated here. The basis for the robotic arm 2 to move to the feeding platform to grasp the material is also to determine that the previous action of the robotic arm 2 is the second suction mechanism 23 putting down the first material.

[0087] In an alternative embodiment of the present application, when it is determined that the first material is in the initial state, the first suction mechanism 22 sucking the first material specifically includes: when it is determined that the first suction mechanism 22 is in an idle state, the first suction mechanism 22 sucks N first materials.

[0088] In this embodiment, before the robotic arm 2 executes the first suction mechanism 22 to suck the first material, the detection system detects whether the materials at the first material discharge position 11 are placed completely. If they are placed completely, the first suction mechanism 22 executes the action of sucking the first material. If they are not placed completely, the detection system detects the next column of the first material placement positions to be sucked. If they are complete, they are sucked by the first suction mechanism 22. If they are not complete, the above detection of the next column is repeated.

[0089] In an alternative embodiment of the present application, before it is determined that the initial state of the first material changes, after the first suction mechanism 22 sucks the first material when it is determined that the first material is in the initial state, it further includes: determining that all the suction positions of the first suction mechanism 22 are sucked with the first material.

[0090] In this embodiment, after the first suction mechanism 22 of the robotic arm 2 sucks the first material at the first material discharge position 11, before the robotic arm 2 enters the next execution action, it is necessary to further inspect and verify the suction positions of the first suction mechanism 22 to check whether all the suction positions of the first suction mechanism 22 are sucked with the first material. If all are sucked, the robotic arm 2 executes the next action; if not all are sucked, it is detected whether there is any first material left at the original material placement position. If there is any left, the robotic arm 2 sucks the remaining material. If not, the robotic arm 2 places the first material that has been sucked but not fully sucked at the recycling position and re-executes the action of the first suction mechanism 22 sucking N first materials.

[0091] In an alternative embodiment of the present application, the change in the initial state of the first material specifically includes: the first suction mechanism 22 conveys and places the first material on the spacing adjustment mechanism 3, and the spacing adjustment mechanism 3 can adjust the arrangement spacing of the placed first material; wherein, the arrangement spacing of the first material in the initial state is L1.

[0092] In this embodiment, as Figure 2 , Figure 3 shown, the spacing adjustment mechanism 3 is located on the feeding platform 1. The spacing adjustment mechanism 3 can be used to adjust the spacing between materials, and the specific adjustable range can be set in advance; the robotic arm 2 places the first material on the spacing adjustment mechanism 3 with a spacing of L1, and the spacing adjustment mechanism 3 will adjust L1; the first material is in the initial state, that is, the material spacing of the first material placed on the discharge tray is L1.

[0093] In an alternative embodiment of the present application, the first suction mechanism 22 conveys and places the first material on the spacing adjustment mechanism 3, specifically including: the first suction mechanism 22 evenly divides the N materials it sucks into M rows and places them on the spacing adjustment mechanism 3. In this embodiment, the first suction mechanism 22 places the first material it sucks on the spacing adjustment mechanism 3 in M times, and the number of materials placed each time is N / M.

[0094] In an alternative embodiment of the present application, determining that the clamping mechanism 24 clamps the second material 121 specifically includes: determining that the second suction mechanism 23 is in an idle state, determining that the previous action of the robotic arm 2 is that the first suction mechanism 22 puts down the first material, and the robotic arm 2 displaces from the spacing adjustment mechanism 3 to the second material discharge position 12; the clamping mechanism 24 clamps the second material 121 arranged in M rows in M times, and the number of the second materials 121 clamped each time is N / M.

[0095] In this embodiment, before the clamping mechanism 24 clamps the second material 121, it is necessary to detect through the detection system that the clamping mechanism 24 is in an idle state, and the previous action of the robotic arm 2 is that the first suction mechanism 22 puts down the first material, and the first suction mechanism 22 is in an idle state after putting down the first material. Then the robotic arm 2 moves from the spacing adjustment mechanism 3 to the second material discharge position 12. It should be noted that the first material and the second material 121 are both located on the feeding platform 1 but are not in the same position. As Figure 3 shown, the first material is placed by the feeding tray, and the second material 121 is automatically fed by the vibrating tray. The discharge positions of the two materials are arranged oppositely, and the spacing adjustment mechanism 3 is arranged between the two discharge positions, which greatly saves the occupied space.

[0096] In an alternative embodiment of the present application, after determining that the clamping mechanism 24 has clamped the second material 121, it specifically includes: determining that all the clamping stations of the clamping mechanism 24 are fully filled with the second material 121, and the robotic arm 2 moves to the spacing mechanism 3. In this embodiment, after the clamping mechanism 24 clamps the second material 121 and before the robotic arm 2 performs the next action, the detection system detects and determines that all the clamping stations of the clamping mechanism 24 are fully filled with the second material 121. The principles and actions of detection and execution are the same as those of the detection system detecting whether all the suction stations of the first suction mechanism 22 are fully suctioned, and will not be elaborated here.

[0097] In an alternative embodiment of the present application, when determining that the initial state of the first material has changed and the first material is in the processing state, the second suction mechanism 23 sucks the first material, which specifically includes: the second suction mechanism 23 sucks the second materials 121 arranged in M rows in M times, and the number of the second materials 121 sucked each time is N / M.

[0098] In this embodiment, after the initial state of the first material changes to the processing state, the first suction mechanism 22 is no longer suitable for sucking the first material, while the second suction mechanism 23 can suck the first material in the processing state. The so-called processing state means that the material arrangement spacing of the first material is L2, and the spacing of the material processing positions is also L2.

[0099] In an alternative embodiment of the present application, before the robotic arm 2 conveys the first material and the second materials 121 to the material processing positions of the processing platform 4 together, after the second suction mechanism 23 sucks the first material, it specifically includes: determining that all the suction stations of the second suction mechanism 23 are fully suctioned with the first material, and determining that all the clamping stations of the clamping mechanism 24 are fully clamped with the second materials 121. In this embodiment, before the robotic arm 2 conveys the grabbed first material and the second materials 121 to the processing positions together, it needs to be detected by the detection system to ensure that all the stations to be clamped and suctioned meet the requirements. If one of the materials does not meet the requirements, the robotic arm 2 moves to the recycling positions of their respective materials, places the non-conforming materials at the recycling positions, sucks them again, and repeats the detection steps; if they meet the requirements, the robotic arm 2 performs the next action.

[0100] In an alternative embodiment of the present application, placing the second material 121 and the first material in the material processing position according to the processing sequence specifically includes: the robotic arm 2 first disengages the second material 121 from the clamping mechanism 24 and places it in the material processing position, and then disengages the first material from the second suction mechanism 23 and places it in the material processing position. In this embodiment, one first material and one second material 121 are placed in each material processing position, and the second material 121 is placed below the first material. That is, the robotic arm 2 first places the second material 121 into the processing position and then places the first material into the processing position.

[0101] In an alternative embodiment of the present application, when it is determined that the first material is in the initial state, the first suction mechanism 22 sucks the first material, specifically including: the suction mechanism is located in the middle of the base 21 of the robotic arm 2, the first suction mechanism 22 includes N multi-layer suction cups 221, the first suction mechanism 22 sucks the first material through the multi-layer suction cups 221, and the multi-layer suction cups 221 are arranged in a straight line with a spacing of L1. In this embodiment, as Figure 6 、 Figure 8 shown, the first suction mechanism 22 selects multi-layer suction cups 221 to suck the first material. The multi-layer suction cups 221 are arranged in a straight line at equal intervals, and the spacing between each multi-layer suction cup 221 is L1.

[0102] In an alternative embodiment of the present application, determining that the clamping mechanism 24 clamps the second material 121 specifically includes: the clamping mechanism 24 uses N clamping hands 241 to clamp the second material 121. The clamping hands 241 in the clamping mechanism 24 are evenly divided into two rows and arranged in parallel on both sides of the first suction mechanism 22, and the spacing between the clamping hands 241 in the same row is L2. In this embodiment, the clamping mechanism 24 uses the clamping hands 241 to clamp the second material 121. As Figure 6 shown, the clamping hands 241 are arranged in two rows parallel to both sides of the first suction mechanism 22, and the number of clamping hands 241 in each row is N / 2. The total number of clamping hands 241 is equal to the total number of multi-layer suction cups 221. It should be noted that the spacing L4 between the two rows of clamping hands 241 is equal to the spacing between the two rows of processing positions.

[0103] In an alternative embodiment of the present application, when it is determined that the initial state of the first material changes and the first material is in the processing state, the second suction mechanism 23 sucks the first material, specifically including: the second suction mechanism 23 sucks the first material through the N single-layer suction cups 231 it includes. Among them, the single-layer suction cups 231 are arranged at intervals in the same column as the clamping hands 241, the spacing between the single-layer suction cups 231 is L2, and the spacing between the single-layer suction cups 231 and the adjacent clamping hands 241 is L3, where L1 < L3 < L2. In this embodiment, as Figure 6 、Figure 8 As shown, the total number of 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 and the grippers 241 are arranged at equal intervals, and the distances between the single-layer suction cups 231 and the grippers 241 are L3, L1 <L2<L3=L4。

[0104] It should be noted that in actual use, the length of L1, L2, L3 or L4 can be reasonably set according to needs.

[0105] In an optional embodiment of the present application, when it is determined that the first material is in the initial state, the first suction mechanism 22 sucks the first material, specifically comprising: the first suction mechanism 22 drives the suction cup to move up and down through the displacement driving mechanism 222 included therein to suck the first material, and the displacement drives the multi-layer suction cup 221 higher than the bottom of the gripper 241 to move downward beyond the bottom of the gripper 241 to suck the first material. In this embodiment, Figure 8 As shown, the first suction mechanism 22 in the initial state is higher than the bottom of the gripper 241. When the first suction mechanism 22 needs to suck the first material, the displacement drive mechanism 222 will drive the first suction mechanism 22 to move downward, protruding below the bottom of the gripper 241, to suck the first material. Furthermore, after the first suction mechanism 22 places the first material, the displacement drive mechanism 222 will drive the first suction mechanism 22 to rise and return to its original position. The advantage of such a setting is that the first suction mechanism 22 can be staggered with the gripper 241 and the second suction mechanism 23, and reasonably avoided to prevent the first suction mechanism 22 from having other effects on the gripping of the latter two. It should be known that, Figure 8 As shown, the multi-layer suction cup 221 , the single-layer suction cup 231 and the bottom of the gripper 241 are not in the same plane, the bottom of the multi-layer suction cup 221 is slightly higher than the bottom of the gripper 241 , and the bottom of the gripper 241 is slightly higher than the single-layer suction cup 231 .

[0106] In an optional embodiment of the present application, determining that the gripping mechanism 24 grips the second material 121 specifically includes: the gripping mechanism 24 drives the gripping hand 241 to open and close to grip the second material 121 through the gripping hand driving mechanism 242 included therein. Figure 9 , Figure 10 As shown, the gripper driving mechanism 242 is connected to the gripper 241 , and the gripper driving mechanism 242 is used to drive the gripper 241 to open and close.

[0107] In an optional embodiment of the present application, the gripping mechanism 24 drives the gripping hand 241 to open and close to grip the second material 121 through the gripping hand driving mechanism 242 included therein, specifically, the driving mechanism controls the opening and closing of the gripping hand 241 through the finger cylinder 2421 included therein; wherein the opening and closing of the two fingers 2422 on the finger cylinder 2421 drives the opening and closing of the two gripping fingers 2411 respectively connected to the two fingers 2422. In this embodiment, as Figure 9 , Figure 10 As shown, each finger cylinder 2421 includes two fingers 2422, each clamping hand 241 includes two clamping fingers 2411, each clamping finger 2411 is connected to a finger 2422, and the finger cylinder 2421 drives the clamping fingers 2411 to open and close when opening and closing.

[0108] In an optional embodiment of the present application, the two fingers 2422 on the finger cylinder 2421 open and close to drive the opening and closing of the two clamping fingers 2411 respectively connected to the two fingers 2422, specifically including that the clamping fingers 2411 limit and fix the annular second material 121 through the limiting grooves 24111 on the outer wall thereof to clamp the annular second material 121. In this embodiment, Figure 10 As shown, an annular limiting groove 24111 is provided on the outer wall of each clamping finger 2411. When the clamping finger 241 is opened, the annular material can be clamped in the limiting groove 24111, thereby clamping the annular material. It should be noted that in the present application, the second material 121 is an annular material.

[0109] The present application provides a material feeding method for battery processing. In the material feeding of battery processing, the top cover component is basically cylindrical, and the insulating material is annular, wherein the first material is the top cover component, and the second material 121 is the insulating material. The method of the present application uses a single robot arm 2 including two picking methods, namely a clamping mechanism 24 and a suction mechanism, which can pick up at least two materials and transport the two materials to the processing position at one time. Moreover, its suction mechanism includes a first suction mechanism 22 and a second suction mechanism 23, which can pick up the same material in two states, that is, it has three picking mechanisms, which can more flexibly pick up processing materials and meet the material feeding requirements of battery processing. This method saves time and effort, saves processing costs, and improves processing efficiency.

[0110] The present application is described in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the present application and its core ideas. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A feeding method for battery processing, the feeding method for battery processing being applied to a battery processing feeding system, characterized in that, The feeding method includes: The robotic arm (2) moves to the feeding platform (1) to grasp the first material and the second material (121), and determines that the suction mechanism sucks the first material and the clamping mechanism (24) clamps the second material (121) according to the comparison between the states of the first material and the second material (121) and the state of the material processing position on the processing platform (4); Wherein, the clamping mechanism (24) clamps the second material (121) arranged in M rows in M times, and the number of the second materials (121) clamped each time is N / M; Wherein, the suction mechanism includes a first suction mechanism (22) and a second suction mechanism (23); When it is determined that the first material is in the initial state, the first suction mechanism (22) sucks the first material and conveys and places the first material on the spacing mechanism (3); When the initial state of the first material changes and the first material is in the processing state, the second suction mechanism (23) sucks the first material; The arrangement spacing of the first materials in the initial state is L1, and the arrangement spacing of the first materials in the processing state is L2; The robotic arm (2) conveys the first material and the second material (121) to the material processing position on the processing platform (4) together, and places the second material (121) and the first material into the material processing position in the processing order.

2. The feeding method for battery processing according to claim 1, wherein Before the robotic arm (2) moves to the feeding platform (1) to grasp the first material and the second material (121), it further includes: Determining that the robotic arm (2) is in the idle state, and determining that the previous action of the robotic arm (2) is that the second suction mechanism (23) puts down the first material.

3. The feeding method for battery processing according to claim 1, wherein When it is determined that the first material is in the initial state, the first suction mechanism (22) sucks the first material, which specifically includes: When it is determined that the first suction mechanism (22) is in the idle state, the first suction mechanism (22) sucks N first materials.

4. The feeding method for battery processing according to claim 1, wherein Before determining that the initial state of the first material changes, after it is determined that the first material is in the initial state and the first suction mechanism (22) sucks the first material, it further includes: Determining that all the suction positions of the first suction mechanism (22) suck the first materials.

5. The feeding method for battery processing according to claim 1, wherein The change of the initial state of the first material specifically includes: The spacing mechanism (3) can adjust the arrangement spacing of the first materials placed.

6. The feeding method for battery processing according to claim 5, wherein The first suction mechanism (22) conveys and places the first material on the spacing mechanism (3), which specifically includes: The first suction mechanism (22) evenly divides the N sucked materials into M rows and places them on the spacing mechanism (3).

7. A feeding method for battery processing according to claim 6, characterized in that determining that the clamping mechanism (24) clamps the second material (121) specifically includes: determining that the second suction mechanism (23) is in an idle state, determining that the previous action of the robotic arm (2) is for the first suction mechanism (22) to put down the first material, and the robotic arm (2) displaces from the spacing mechanism (3) to the second material discharge position (12).

8. A feeding method for battery processing according to claim 7, characterized in that after determining that the clamping mechanism (24) clamps the second material (121), it specifically includes: determining that all the clamping positions of the clamping mechanism (24) are fully filled with the second material (121), and the robotic arm (2) moves to the spacing mechanism (3).

9. A feeding method for battery processing according to claim 8, characterized in that determining that the initial state of the first material changes, and when the first material is in a processing state, the second suction mechanism (23) sucks the first material, specifically includes: the second suction mechanism (23) sucks the second materials (121) arranged in M rows in M times, and the number of second materials (121) sucked each time is N / M.

10. A feeding method for battery processing according to claim 1, characterized in that before the robotic arm (2) conveys the first material and the second material (121) to the material processing position of the processing platform (4) together, after the second suction mechanism (23) sucks the first material, it specifically includes: determining that all the suction positions of the second suction mechanism (23) are fully filled with the first material, and determining that all the clamping positions of the clamping mechanism (24) are fully filled with the second material (121).

11. A feeding method for battery processing according to claim 1, characterized in that and putting the second material (121) and the first material into the material processing position in the processing order, specifically includes: the robotic arm (2) first detaches the second material (121) from the clamping mechanism (24) and puts it into the material processing position, and then detaches the first material from the second suction mechanism (23) and puts it into the material processing position.

12. A feeding method for battery processing according to any one of claims 1 to 11, characterized in that when determining that the first material is in an initial state, the first suction mechanism (22) sucks the first material, specifically includes: the suction mechanism is located in the middle of the base (21) of the robotic arm (2), the first suction mechanism (22) includes N multi-layer suction cups (221), the first suction mechanism (22) sucks the first material through the multi-layer suction cups (221), and the multi-layer suction cups are arranged in a straight line with a spacing of L1.

13. A feeding method for battery processing according to claim 12, characterized in that determining that the clamping mechanism (24) clamps the second material (121) specifically includes: The clamping mechanism (24) uses N grippers (241) to clamp the second material (121). The grippers (241) in the clamping mechanism (24) are evenly divided into two rows and arranged in parallel on both sides of the first suction mechanism (22). The distance between the grippers (241) in the same row is L2.

14. A feeding method for battery processing according to claim 13, wherein when determining the initial state change of the first material and the first material is in the processing state, the second suction mechanism (23) sucks the first material, which specifically includes: The second suction mechanism (23) sucks the first material through N single-layer suction cups (231) included therein. Among them, the single-layer suction cups (231) are arranged at intervals in the same column as the grippers (241). The distance between the single-layer suction cups (231) is L2, and the distance between the single-layer suction cups (231) and the adjacent grippers (241) is L3, where L1 < L3 < L2.

15. A feeding method for battery processing according to claim 14, wherein when determining that the first material is in the initial state, the first suction mechanism (22) sucks the first material, which specifically includes: The first suction mechanism (22) drives the suction cup to move up and down through the displacement driving mechanism (222) included therein to suck the first material. The multi-layer suction cups (221) above the bottom of the grippers (241) move down beyond the bottom of the grippers (241) to suck the first material.

16. A feeding method for battery processing according to claim 12, wherein when determining that the clamping mechanism (24) clamps the second material (121), it specifically includes: The clamping mechanism (24) drives the grippers (241) to open and close through the gripper (241) driving mechanism included therein to clamp the second material (121).

17. A feeding method for battery processing according to claim 16, wherein the clamping mechanism (24) drives the grippers (241) to open and close through the gripper (241) driving mechanism included therein to clamp the second material (121), which specifically includes, the driving mechanism controls the opening and closing of the grippers (241) through the finger cylinder (2421) included therein; wherein, the two fingers (2422) on the finger cylinder (2421) open and close to drive the opening and closing of the two finger clips (2411) respectively connected to the two fingers (2422).

18. A feeding method for battery processing according to claim 17, wherein the two fingers (2422) on the finger cylinder (2421) open and close to drive the opening and closing of the two finger clips (2411) respectively connected to the two fingers (2422), which specifically includes, the finger clip (2411) limits and fixes the circular second material (121) through the limit groove (24111) on its outer wall to clamp the circular second material (121).

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