A small battery steel shell intelligent discrimination and carrying production equipment

Abstract

The application relates to a small battery steel shell intelligent distinguishing and carrying production device, and relates to the field of carrying production devices.The device comprises a portal unit fixedly arranged on a workbench, a moving piece arranged on the portal unit, a clamping jaw unit arranged on the moving piece, and a tray positioning unit arranged on the workbench.The clamping jaw unit can drive the clamping jaw unit to clamp a tray and convey the tray to a target work station.The tray positioning unit comprises a positioning frame and a positioning plate.The positioning frame is fixed on the workbench, a plurality of positioning cylinders are arranged on the positioning frame, the positioning cylinders are respectively arranged on the inner walls on the two sides of the positioning frame, and the positioning plate is fixed on the piston rods of the positioning cylinders.The application has the effect of improving the clamping jaw positioning precision and improving the working efficiency of the carrying production device.

Description

Technical Field

[0001] This application relates to the field of equipment for handling and commissioning production, and in particular to a device for intelligent identification, handling, and commissioning of small battery steel shells. Background Technology

[0002] Material handling and commissioning equipment typically refers to machinery used for moving, lifting, loading, unloading, and short-distance transport of materials or goods. It is the foundation for mechanizing material handling and commissioning work and is the most important equipment in the transportation process. Material handling and commissioning equipment has advantages such as strong adaptability and high working capacity, which can improve loading and unloading efficiency and shorten operation time.

[0003] When handling small battery steel casings, 64 pallets filled with lithium battery steel casings are usually divided into four stacks on a pallet, with each stack containing 16 layers of pallets. The length and width of the pallets are different, and the pallets are not uniform in their position when they arrive. Therefore, it is necessary to use handling and production equipment. If done manually, the same batch of small battery steel casings may need to be handled multiple times. However, by using handling and production equipment, the task can be completed quickly, labor costs can be reduced, and the probability of errors can be reduced.

[0004] Existing material handling and production equipment typically includes a moving part and grippers mounted on the moving part. The grippers hold the pallet, and the moving part moves the grippers to the appropriate position before releasing the pallet. However, because the pallets are not placed in a uniform manner when they arrive, it is difficult for the grippers to hold them, which affects the positioning accuracy of the grippers. The pallet posture needs to be manually adjusted to be uniform before the grippers can be used for material handling and production, which reduces work efficiency and increases labor costs. Summary of the Invention

[0005] To improve the positioning accuracy of grippers and thus increase the working efficiency of handling and production equipment, this application provides a device for intelligent identification, handling, and production of small battery steel shells.

[0006] The technical solution adopted in this application for a small-sized battery steel shell intelligent identification, handling and production equipment is as follows:

[0007] A small-scale intelligent identification, handling, and production equipment for steel-cased batteries includes a gantry unit fixedly mounted on a workbench. The gantry unit has a movable component with a gripper unit on it, capable of gripping a pallet and transporting it to a target workstation via the movable component. A pallet positioning unit is mounted on the workbench, comprising a positioning frame and a positioning plate. The positioning frame is fixed to the workbench, and several positioning cylinders are mounted on it, each positioned on one of the inner walls of the positioning frame. The positioning plate is fixed to the piston rod of each positioning cylinder.

[0008] By adopting the above technical solution, and utilizing the moving parts and gripper units, the moving parts can drive the gripper units to clamp and transport the pallet to the next workstation. By utilizing the positioning frame and positioning plate, the pallet can be placed in the positioning frame first, and the pallet's posture can be adjusted by the positioning plate to make it uniform, which helps to improve the positioning accuracy when the gripper is clamping, thereby improving the working efficiency of the equipment.

[0009] In one specific implementation, the movable component includes a first slide block, a second slide block, and a third slide block. A first slide rail is provided on the upper end of the gantry unit along the horizontal length direction. A first slider corresponding to the first slide rail is provided on the first slide block. A second slide rail is provided on the first slide block along the horizontal length direction. A second slider corresponding to the second slide rail is provided on the second slide block. A third slide rail is provided on the third slide block along the longitudinal length direction. A third slider corresponding to the third slide rail is provided on the second slide block.

[0010] By adopting the above technical solution, and utilizing the arrangement of the first slide block, the second slide block, and the third slide block, through the cooperation of the slider and the slide rail, the first slide block, the second slide block, and the third slide block can move relative to the gantry unit, thereby driving the gripper unit set on the third slide block to move along the length, width, and height of the gantry unit, which is beneficial to improving the gripping range of the gripper.

[0011] In one specific implementation scheme, a drive structure is further included, comprising a drive rack and a drive gear. Several drive racks are provided, each corresponding to a first slide rail, a second slide rail, and a third slide rail, and are respectively mounted on the gantry unit, the first slide block, and the third slide block. The first slide block and the second slide block are respectively equipped with drive motors corresponding to the first rack, the second rack, and the third rack. The output shafts of the drive motors are fixedly connected to the drive gears. The gripper unit is mounted on the third slide block. The drive gears can engage with the first rack, the second rack, and the third rack, thereby driving the gripper unit to move along the length, width, and height of the gantry unit.

[0012] By adopting the above technical solution and utilizing the configuration of the drive gear and drive rack, the drive motor can drive the drive gear, thereby precisely controlling the movement distance of the second slide, the third slide, and the third slide through the cooperation of the drive gear and drive rack. This helps to improve the positioning accuracy of the gripper unit set on the third slide.

[0013] In one specific implementation, the third slide is provided with a plurality of support holes, which are arranged side by side along the longitudinal axis of the third slide. The second slide is provided with a support motor, and the piston rod of the support motor can extend into the support holes and cooperate with the support holes to support the third slide.

[0014] By adopting the above technical solution, and utilizing the support hole and support motor, when the gripper unit picks up the tray, the support motor controls the piston rod to extend into the support hole and support the third slider, thus preventing the tray from being too heavy and causing excessive burden on the second and third slide rails during the tray movement process, thereby causing damage to the second and third slide rails.

[0015] In one specific implementation, the gripper unit includes a gripper mechanism, a gripper cylinder, and a gripper engaging cylinder. The gripper mechanism includes a gripper and a gripper mounting plate. The gripper cylinder and the gripper engaging cylinder are mounted on the gripper mounting plate. The output shafts of the gripper cylinder and the gripper engaging cylinder are respectively hinged to the corresponding gripper. The gripper mounting plate is provided with a mounting plate slide rail. The gripper is provided with a gripper slider. The gripper slider engages with the mounting plate slide rail to limit the movement direction of the gripper.

[0016] By adopting the above technical solution, and using the clamping cylinder and the clamping engagement cylinder, the clamping cylinder can drive the clamping jaws to position the pallet. Once the pallet position is confirmed, the clamping engagement cylinder drives the clamping jaws to grip the pallet, which helps to improve the accuracy of the clamping unit in gripping and positioning the pallet.

[0017] In one specific implementation, an auxiliary gripper unit is further included. The auxiliary gripper unit is disposed on the movable part at the upper end of the gripper unit. Two gripper cylinders are provided, which are mounted on the gripper mounting plate and hinged to the gripper. A mounting plate slide rail is disposed on the gripper mounting plate, and a gripper slider is disposed on the gripper and cooperates with the mounting plate slide rail. Both the gripper unit and the auxiliary gripper unit are provided with buffer cylinders on their mounting plates. The piston rod of the buffer cylinder abuts against the gripper to prevent the gripper from releasing the tray too quickly, causing the stacked trays to fall.

[0018] By adopting the above technical solution and using the auxiliary gripper unit, the pallet can be prevented from being too high. During the pallet clamping and handling process, the upper part of the pallet is clamped to improve the stability of the pallet and prevent it from falling during handling. The buffer cylinder can provide a certain buffering effect when the cylinder controls the gripper to release the pallet, preventing the pallet from being released too quickly and falling.

[0019] In one specific implementation scheme, the gripper unit is equipped with a laser sensor and a laser rangefinder. The laser sensor is used to determine the side length of the tray. The laser sensor is electrically connected to the gripper cylinder and the gripper engagement cylinder, and can control the relative movement distance of the grippers. The laser rangefinder is used to measure the distance from the gripper to the tray. The laser rangefinder is electrically connected to the moving component, and can control the moving component to drive the gripper to move along the width direction of the gantry unit. The auxiliary gripper unit is equipped with a through-beam fiber optic sensor. The through-beam fiber optic sensor is electrically connected to the gripper cylinder and to the gripper cylinder in the gripper auxiliary unit. The through-beam fiber optic sensor is used to determine whether the tray is gripped in place.

[0020] By adopting the above technical solution, and utilizing the laser sensor and laser rangefinder, the laser sensor and laser rangefinder can respectively determine the side length of the tray and measure the distance from the gripper to the tray. Through the electrical connection between the laser sensor and the gripper cylinder and the gripper engagement cylinder, and the electrical connection between the laser rangefinder and the moving parts, the stroke of the gripper can be precisely controlled to position and clamp the tray, which helps to improve work efficiency. By utilizing the through-beam fiber optic sensor, the through-beam fiber optic sensor can determine whether the gripper is holding the tray in place, and control the gripper through electrical connection with the gripper cylinder, thereby preventing the tray from falling.

[0021] In one specific implementation, a plurality of pallet positioning units are provided, arranged side by side. A plurality of positioning slide rods are provided on the positioning plate. A positioning sleeve corresponding to the slide rods is provided on the positioning frame. The positioning slide rods are slidably connected to the positioning sleeves. A through-beam sensor is provided on the positioning frame. The through-beam sensor is electrically connected to the moving part and is used to adjust the height of the gripper unit installed on the moving part.

[0022] By adopting the above technical solution and using several pallet positioning units, the waiting time required for a single pallet positioning unit can be saved; by using positioning slide rods and positioning sleeves, uneven force on the positioning plate during the pallet positioning process can be avoided, preventing damage to the positioning plate, and the force can be shared by the cooperation of the positioning slide rods and positioning sleeves; by using through-beam sensors, the height of the pallet can be determined, thereby electrically connecting with the moving parts to control the height of the gripper unit and improve the positioning accuracy of the gripper unit.

[0023] In one specific implementation scheme, a layering unit is further included. The layering unit includes a layering frame and a layering gripper mechanism. The layering frame is set on a workbench, and a layering cylinder is set on the layering frame. The piston rod of the layering cylinder is fixed to the layering gripper mechanism and is used to drive the layering gripper mechanism to move vertically. The layering gripper mechanism includes a layering gripper, a layering gripper cylinder, and a layering gripper mounting plate. The layering gripper mounting plate is connected to the piston rod of the layering cylinder. Two layering gripper cylinders are provided. The layering gripper cylinders are set on the layering gripper mounting plate, and the output shaft of the layering gripper cylinder is hinged to the layering gripper.

[0024] By adopting the above technical solution, and utilizing the layered frame and layered gripper mechanism, multi-layered overlapping pallets can be divided into several parts, preventing the pallets from falling off during the transportation of the pallets to the next workstation and causing the workpieces inside the pallets to scatter.

[0025] In one specific implementation scheme, the system further includes guide plates, of which a plurality of guide plates are provided. The guide plates are respectively located at the inlet of the positioning frame. Multiple guide pulleys are provided on both sides of the positioning frame relative to the entry of the pallet, and the guide pulleys are rotatably connected to the positioning frame.

[0026] By adopting the above technical solution, the guide plate and guide pulley are designed so that the guide pulley can quickly install the pallet containing the pallet into the pallet positioning unit, while the guide plate can quickly align with the inlet of the pallet positioning unit.

[0027] In summary, this application includes at least one of the following beneficial technical effects:

[0028] By setting up the moving parts and gripper units, the moving parts can drive the gripper units to pick up the pallet and transport it to the next work station. By setting up the positioning frame and positioning plate, the pallet can be placed in the positioning frame first, and the pallet's posture can be adjusted by the positioning plate to make it uniform, which helps to improve the positioning accuracy when the gripper picks up the pallet, thereby improving the working efficiency of the equipment.

[0029] By incorporating laser sensors and laser rangefinders, the laser sensors and rangefinders can determine the side length of the tray and measure the distance from the gripper to the tray. Electrically connected to the gripper cylinder and gripper engagement cylinder, the laser sensors and rangefinders precisely control the gripper's stroke, positioning and clamping the tray, thus improving work efficiency. Furthermore, by incorporating a through-beam fiber optic sensor, the sensor can determine whether the gripper is properly holding the tray and controls the gripper via electrical connection to the gripper cylinder, thereby preventing the tray from falling.

[0030] By setting up several pallet positioning units, the waiting time required for a single pallet positioning unit can be saved; by setting up positioning slide rods and positioning sleeves, uneven force on the positioning plate during the pallet positioning process can be avoided, preventing damage to the positioning plate, and the positioning slide rods and positioning sleeves can share some of the force; by using through-beam sensors, the height of the pallet can be determined, thereby electrically connecting with the moving parts to control the height of the gripper unit and improve the positioning accuracy of the gripper unit. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of an embodiment of this application.

[0032] Figure 2 This is a schematic diagram of the gantry unit in an embodiment of this application.

[0033] Figure 3 This is a schematic diagram of the gantry unit in an embodiment of this application.

[0034] Figure 4 This is a schematic diagram of the structure of the first slide in the embodiment of this application.

[0035] Figure 5 This is a schematic diagram of the structure of the second slide in the embodiment of this application.

[0036] Figure 6 This is a schematic diagram of the structure of the third slide in the embodiment of this application.

[0037] Figure 7 This is a schematic diagram of the gripper unit in an embodiment of this application.

[0038] Figure 8 This is a schematic diagram of the gripper unit from another angle in an embodiment of this application.

[0039] Figure 9 This is a schematic diagram of the pallet positioning unit in an embodiment of this application.

[0040] Figure 10 This is a schematic diagram of the structure of the layered unit in an embodiment of this application.

[0041] Figure 11 This is a schematic diagram of the conveying unit in an embodiment of this application.

[0042] Figure 12 for Figure 1 A magnified view of part A in the middle.

[0043] Explanation of reference numerals in the attached drawings: 1. Gantry unit; 11a. First slide rail; 2. Moving component; 21. First slide block; 211. Second slide rail; 212. First slider; 22. Second slide block; 221. Second slider; 222. Third slider; 223. Support motor; 23. Third slide block; 231. Third slide rail; 232. Support hole; 24. Drive structure; 241. Drive rack; 242. Drive gear; 243. Drive motor; 3. Gripper unit; 31. Gripper mechanism; 311. Gripper mounting plate; 3111. Buffer cylinder; 3112. Mounting plate slide rail; 312. Gripper; 3121. Gripper slider; 32. Gripper cylinder; 33. Gripper mating cylinder; 4. Pallet positioning unit; 41. Positioning frame; 411. Positioning cylinder; 412. Positioning sleeve; 42. Positioning plate; 421. Positioning slide rod; 5. Auxiliary gripper unit; 6. Laser sensor; 7. Laser rangefinder; 8. Through-beam fiber optic sensor; 9. Through-beam sensor; 10. Layering unit; 101. Layering frame; 1011. Layering cylinder; 102. Layering gripper mechanism; 1021. Layering gripper; 1022. Layering gripper cylinder; 1023. Layering gripper mounting plate; 11. Conveying unit; 12. Cable chain; 13. Guide plate; 14. Guide pulley. Implementation

[0044] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] In this specification, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of the stated features.

[0046] This application discloses an intelligent identification, handling, and production-ready device for small battery steel casings. For example... Figures 1 to 12As shown, the system includes a gantry unit 1, a moving component 2, a gripper unit 3, a pallet positioning unit 4, an auxiliary gripper unit 5, a layering unit 10, and a conveying unit 11. The gantry unit 1 is formed by connecting a rectangular frame and several support seats. The support seats are fixedly connected to the worktable. First slide rails 11a are provided on the two sides of the rectangular frame at the upper end of the gantry frame along its length. The moving component 2 includes a first slide block 21, a second slide block 22, a third slide block 23, and a driving structure 24. The first slide block 21 can be configured as a rectangular slider. A rectangular through hole is provided on the first slide block 21 along its length. A first slider 212 corresponding to the first slide rail 11a is provided on the first slide block 21. The first slide block 21 is mounted on the gantry unit 1 through the cooperation of the first slider 212 and the first slide rail 11a, and can slide relative to the width direction of the gantry unit 1. Second slide rails 211 are provided on both sides of the first slide block 21 along its length. The second slide block 22... A second slider 221 is provided corresponding to the second slide rail 211. The second slide block 22 is mounted on the first slide block 21 through the cooperation of the second slider 221 and the second slide rail 211, and can slide relative to the length direction of the gantry unit 1. The third slide block 23 is provided along the height direction of the gantry unit 1. A third slide rail 231 is provided on the third slide block 23 along the length direction. A third slider 222 is provided corresponding to the second slide block 22. The third slide block 23 is mounted on the second slide block 22 through the cooperation of the third slide rail 231 and the third slider 222, and can slide relative to the height direction of the gantry unit 1. The drive structure 24 includes a drive rack 241 and a drive gear 242. Multiple drive gears 242 are provided. The drive racks 241 are respectively mounted on the gantry unit 1, the first slide block 21, and the third slide block 23, corresponding to the first slide rail 11a, the second slide rail 211, and the third slide rail 231. A drive motor 243 is mounted on the first slide block corresponding to the drive racks 241 on the gantry unit 1. The output shaft of the drive motor 243 is connected to the drive gear 242. Drive motors 243 are also mounted on the second slide block 22 corresponding to the drive racks 241 mounted on the first slide block 21 and the third slide block 23. The output shafts of the drive motors 243 are connected to the drive gears 242. The drive motors 243 drive the drive gears 242, and the drive gears 242 cooperate, thereby causing the first slide block 21, the second slide block 22, and the third slide block 23 to move relative to the gantry unit 1. The gantry unit 1, the first slide 21 and the third slide 23 are equipped with cable carriers 12. The cable carriers 12 are used to install cables and can prevent damage to the cables when the first slide 21, the second slide 22 and the third slide 23 slide relative to the gantry unit 1.

[0047] The gripper unit 3 is mounted on the third slide block 23. The gripper unit 3 includes a gripper mechanism 31, a gripper cylinder 32, and a gripper engaging cylinder 33. The gripper mechanism 31 includes a gripper mounting plate 311 and grippers 312. The gripper mounting plate 311 is mounted on the third slide block 23, and a mounting plate slide rail 3112 is provided on the gripper mounting plate 311. A gripper slider 3121 is provided on the gripper 312, and the gripper slider 3121 engages with the mounting plate slide rail 3112 to... The gripper 312 is mounted on the gripper mounting plate 311. The gripper cylinder 32 and the gripper engaging cylinder 33 are mounted side by side on the gripper mounting plate 311. The piston rods of the gripper cylinder 32 and the gripper engaging cylinder 33 are hinged to the corresponding grippers 312. Several buffer cylinders 3111 are provided on the gripper mounting plate 311. The piston rods of the buffer cylinders 3111 contact the grippers 312 to prevent the grippers 312 from releasing the tray too quickly, which could cause the tray to fall. The auxiliary gripper unit 5 is mounted on the third slide block 23 above the gripper unit 3. The auxiliary gripper unit 5 includes a gripper mechanism 31 and gripper cylinders 32. There are two gripper cylinders 312, which are mounted side by side on the gripper mounting plate 311. The grippers 312 mounted on the gripper mounting plate 311 are all hinged to the piston rods of the gripper cylinders 32.

[0048] A laser sensor 6 and a laser rangefinder 7 are installed on the gripper unit 3. The laser sensor 6 is respectively installed on the two grippers 312 and is electrically connected to the gripper cylinder 32 and the gripper engagement cylinder 33. The laser sensor 6 is used to determine the side length of the tray and control the process of the gripper 312 gripping the tray. The laser rangefinder 7 is installed on the gripper mounting plate 311 and is electrically connected to the drive motor 243 that controls the movement of the second slide 22 relative to the first slide 21. The laser rangefinder 7 is used to measure the distance from the gripper 312 to the tray and can control the moving part 2 to drive the gripper unit 3 to move along the width direction of the gantry unit 1. The auxiliary gripper unit 5 is equipped with four through-beam fiber optic sensors 8, which are respectively located at the front and rear ends of the grippers 312 on both sides. The through-beam fiber optic sensors 8 are electrically connected to the gripper cylinders 32 on the auxiliary gripper unit 5. The through-beam fiber optic sensors 8 are used to determine whether the grippers 312 are holding the tray in place. The position of the grippers 312 can be finely adjusted by controlling the gripper cylinders 312, thereby ensuring the firmness of the gripper on the tray.

[0049] Two pallet positioning units 4 are provided, and the pallet positioning units 4 are arranged side by side on the worktable. The pallet positioning unit 4 includes a positioning frame 41 and a positioning plate 42. There are two positioning plates 42. The positioning frame 41 is fixedly set on the worktable. Several positioning cylinders 411 are provided on the two side frames of the positioning frame 41 opposite to the pallet feeding direction. The piston rod of the positioning cylinder 411 is fixedly connected to the positioning plate 42. Several positioning slide rods 421 are provided on the positioning plate 42. Positioning slide sleeves 412 are provided on the positioning frame 41 corresponding to the positioning slide rods 421. The positioning slide rods 421 cooperate with the positioning slide sleeves 412 and can move relative to the positioning slide sleeves 412. The positioning frame 41 is equipped with several through-beam sensors 9, which are respectively installed on the two side frames of the positioning frame 41 in the feeding direction. The through-beam sensors 9 are used to confirm whether the pallet is in place and to determine the height of the pallet. The through-beam sensors 9 are electrically connected to the drive motor 243 that controls the movement of the third slide 23 relative to the second slide 22, and can control the moving part 2 to drive the gripper unit 3 to move along the height direction of the gantry unit 1. Guide plates 13 are provided on the worktables on both sides of the pallet inlet of the positioning frame 41. The guide plates 13 can be made of rectangular metal plates. The guide plates 13 are preferably set at 45° relative to the pallet inlet, but can also be set at other angles. The guide plates 13 facilitate the guidance of the pallet into the pallet positioning unit 4. Multiple guide pulleys are provided on the two side frames of the positioning frame 41 in the pallet feeding direction, and the guide pulleys are rotatably connected to the positioning frame 41.

[0050] The conveying unit 11 includes a conveying frame and a conveying track. Multiple conveying rollers are rotatably connected to the conveying frame. The conveying rollers can be configured as cylindrical metal rollers. A conveying motor is installed on the conveying frame. The output shaft of the conveying motor is fixedly connected to the conveying rollers. The conveying track is installed on the conveying rollers and can drive the conveying track to transport the pallet to the next work station as the conveying rollers rotate.

[0051] The layering unit 10 includes a layering frame 101 and a layering gripper mechanism 102. A layering cylinder 1011 is mounted on the layering frame 101 and is vertically positioned. The layering gripper mechanism 102 includes a layering gripper 1021, a layering gripper cylinder 1022, and a layering gripper mounting plate 1023. The layering gripper mounting plate 1023 is connected to the piston rod of the layering cylinder 1011. Two layering gripper cylinders 1022 are provided, arranged side-by-side on the layering gripper mounting plate 1023. The layering gripper mounting plate 1023 is equipped with… A layered mounting plate slide rail is provided, and a layered gripper slider is provided on the layered gripper 1021 corresponding to the layered mounting plate slide rail. The layered gripper slider cooperates with the layered mounting plate slide rail to enable the layered gripper 1021 to be mounted on the layered gripper mounting plate 1023. The piston rod of the layered gripper cylinder 1022 is hinged to the layered gripper 1021. A plurality of layered mounting plate slide rods are provided on the layered gripper mounting plate 1023. A layered mounting bracket is provided with a layered sliding sleeve corresponding to the layered mounting plate slide rods. The layered mounting plate slide rods pass through the layered sliding sleeves and can slide relative to the layered sliding sleeves.

[0052] The implementation principle of the intelligent identification and handling equipment for small battery steel shells in this application embodiment is as follows: The operator places a pallet filled with a tray into the pallet positioning unit 4, and uses a through-beam sensor 9 to determine whether the pallet is in place and to determine the height of the pallet. If it is not in place, the operator fine-tunes the position of the pallet. When the pallet is in place, the pallet positioning unit 4 is activated to adjust the posture of the pallet on the pallet to make it uniform. The side length of the pallet is determined by the laser sensor 6, and the actual distance from the gripper 312 to the pallet is measured by the laser rangefinder 7. The moving part 2 set on the gantry unit 1 is controlled to drive the gripper unit 3 and the auxiliary gripper unit 5 to clamp the pallet. The through-beam fiber optic sensor 8 is used to evaluate whether the pallet is clamped in place. If it is not in place, the position of the gripper 312 is fine-tuned by controlling the gripper cylinder 32 to ensure that the pallet is firmly clamped. The pallet is transported to the conveying unit 11, and after the 16-layer pallet is divided into 6 layers, 6 layers and 4 layers by the layering unit 10, the pallet is transported to the next work station.

[0053] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A device for intelligent identification, handling, and production of small battery steel casings, characterized in that: The system includes a gantry unit (1), which is fixedly mounted on a workbench. A movable component (2) is mounted on the gantry unit (1), and a gripper unit (3) is mounted on the movable component (2). The movable component (2) can drive the gripper unit (3) to clamp the pallet and transport the pallet to the target work station. A pallet positioning unit (4) is mounted on the workbench. The pallet positioning unit (4) includes a positioning frame (41) and a positioning plate (42). The positioning frame (41) is fixed on the workbench. A plurality of positioning cylinders (411) are mounted on the positioning frame (41). The positioning cylinders (411) are respectively mounted on the inner walls of both sides of the positioning frame (41). The positioning plate (42) is fixed on the piston rod of the positioning cylinder (411). The gripper unit (3) includes a gripper mechanism (31), a gripper cylinder (32), and a gripper engagement cylinder (33). The gripper mechanism (31) includes a gripper (312) and a gripper mounting plate (311). The gripper cylinder (32) and the gripper engagement cylinder (33) are mounted on the gripper mounting plate (311). The piston rods of the gripper cylinder (32) and the gripper engagement cylinder (33) are respectively hinged to the corresponding gripper (312). The gripper mounting plate (311) is provided with a mounting plate slide rail (3112). The gripper (312) is provided with a gripper slider (3121). The gripper slider (3121) slides with the mounting plate slide rail (3112) to limit the movement direction of the gripper (312). It also includes an auxiliary gripper unit (5), which is disposed on the moving part (2) at the upper end of the gripper unit (3). Two gripper cylinders (32) are provided, each mounted on the gripper mounting plate (311) and hinged to the gripper (312). A mounting plate slide rail (3112) is disposed on the gripper mounting plate (311). The gripper slider (31... 21) The gripper slider (3121) is mounted on the gripper (3122), and the gripper slider (3121) cooperates with the mounting plate slide rail (3112). Both the gripper unit (3) and the auxiliary gripper unit (5) are equipped with buffer cylinders (3111). The piston rod of the buffer cylinder (3111) abuts against the gripper (312), which can prevent the gripper (312) from releasing the tray too quickly, causing the stacked trays to fall. It also includes a layering unit (10), which includes a layering frame (101) and a layering gripper mechanism (102). The layering frame (101) is set on the worktable, and a layering cylinder (1011) is set on the layering frame (101). The piston rod of the layering cylinder (1011) is fixed to the layering gripper mechanism (102) and is used to drive the layering gripper mechanism (102) to move vertically. The layering gripper mechanism (102) includes... It includes a layered gripper (1021), a layered gripper cylinder (1022), and a layered gripper mounting plate (1023). The layered gripper mounting plate (1023) is connected to the piston rod of the layered cylinder (1011). There are two layered gripper cylinders (1022). The layered gripper cylinders (1022) are mounted on the layered gripper mounting plate (1023). The piston rod of the layered gripper cylinder (1022) is hinged to the layered gripper (1021). The positioning frame (41) is provided with a through-beam sensor (9), which is electrically connected to the moving part (2); The gripper unit (3) is equipped with a laser sensor (6) and a laser rangefinder (7). The laser sensor (6) is used to determine the side length of the tray. The laser rangefinder (7) is used to measure the distance from the gripper (312) to the tray; The auxiliary gripper unit (5) is equipped with a through-beam fiber optic sensor (8), which is used to determine whether the tray is gripped in place. The staff places the pallet filled with trays into the pallet positioning unit (4) and uses the through-beam sensor (9) to determine whether the pallet is in place and to determine the height of the pallet. If it is not in place, the staff fine-tunes the position of the pallet. When the pallet is in place, the pallet positioning unit (4) is activated to adjust the posture of the pallets on the pallet to make them uniform. Then, the laser sensor (6) determines the side length of the pallet, and the laser rangefinder (7) measures the actual distance from the gripper (312) to the pallet, controlling the setting in place. The moving part (2) on the gantry unit (1) drives the gripper unit (3) and the auxiliary gripper unit (5) to clamp the tray. The through-beam fiber sensor (8) evaluates whether the tray is in place. If it is not in place, the gripper cylinder (32) is controlled to finely adjust the position of the gripper (312) to ensure that the tray is firmly clamped. The tray is then transported to the conveying unit (11). The 16-layer tray is divided into 6 layers, 6 layers and 4 layers by the layering unit (10) and then the tray is transported to the next work station.

2. The equipment for intelligent identification, handling, and production of small battery steel casings according to claim 1, characterized in that: The movable component (2) includes a first slide block (21), a second slide block (22) and a third slide block (23). The upper end of the gantry unit (1) is provided with a first slide rail (11a) along the horizontal length direction. The first slide block (21) is provided with a first slider (212) corresponding to the first slide rail (11a). The first slide block (21) is provided with a second slide rail (211) along the horizontal length direction. The second slide block (22) is provided with a second slider (221) corresponding to the second slide rail (211). The third slide block (23) is provided with a third slide rail (231) along the longitudinal length direction. The second slide block (22) is provided with a third slider (222) corresponding to the third slide rail (231).

3. The equipment for intelligent identification, handling, and production of small battery steel casings according to claim 2, characterized in that: It also includes a drive structure (24), which includes a drive rack (241) and a drive gear (242). Several drive racks (241) are provided, and each drive rack (241) is respectively disposed on the gantry unit (1), the first slide block (21), and the third slide block (23) corresponding to the first slide rail (11a), the second slide rail (211), and the third slide rail (231). The first slide block (21) and the second slide block (22) are respectively disposed on the gantry. The drive racks (241) on the unit (1), the first slide (21) and the third slide (23) are equipped with drive motors (243). The output shafts of the drive motors (243) are fixedly connected to the drive gears (242). The gripper unit (3) is located on the third slide (23). The drive gears (242) can cooperate with the drive racks (241) to drive the gripper unit (3) to move along the length, width and height of the gantry unit (1).

4. The equipment for intelligent identification, handling, and production of small battery steel casings according to claim 3, characterized in that: The third slide (23) is provided with a plurality of support holes (232), which are arranged side by side along the longitudinal length of the third slide (23). The second slide (22) is provided with a support motor (223), and the piston rod of the support motor (223) can extend into the support hole (232) and cooperate with the support hole (232) to support the third slide (23).

5. The equipment for intelligent identification, handling, and production of small battery steel casings according to claim 1, characterized in that: The laser sensor (6) is electrically connected to the gripper cylinder (32) and the gripper (312) cylinder. The laser rangefinder (7) is electrically connected to the moving part (2). The through-beam fiber sensor (8) is electrically connected to the gripper (312) cylinder. The through-beam fiber sensor (8) is electrically connected to the gripper (312) cylinder in the auxiliary gripper unit (5).

6. The equipment for intelligent identification, handling, and production of small battery steel casings according to claim 1, characterized in that: The pallet positioning unit (4) is provided in a plurality of units, which are arranged side by side. The positioning plate (42) is provided with a plurality of positioning slide rods (421), and the positioning frame (41) is provided with a positioning sleeve (412) corresponding to the positioning slide rod (421). The positioning slide rod (421) and the positioning sleeve (412) are slidably connected. The height of the gripper unit (3) installed on the moving part (2) is adjusted by the moving part (2).

7. The equipment for intelligent identification, handling, and production of small battery steel casings according to claim 1, characterized in that: It also includes guide plates (13), of which a plurality of guide plates (13) are provided. The guide plates (13) are respectively provided on the worktables on both sides of the inlet of the positioning frame (41). Multiple guide pulleys (14) are provided on the two side frames of the positioning frame (41) relative to the pallet, and the guide pulleys (14) are rotatably connected to the positioning frame (41).

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