A fully compatible method and mechanism for depalletizing and loading battery cells

Abstract

This invention discloses a fully compatible method and mechanism for depalletizing and loading battery cells, relating to the field of battery cell production lines. It can adapt to depalletizing different batches, models, and quantities of battery cells, and ensures that the number of cells loaded onto the production line remains constant after depalletizing. The process involves the following steps: Step 1, initial depalletizing; Step 2, initial allocation; Step 3, initial loading; Step 4, depalletizing and allocation; Step 5, loading. This invention enables the final loading robot to transfer a fixed number of battery cells. Each robot's action is a grab-and-place motion, effectively ensuring efficiency and stability, and maximizing battery cell compatibility.

Description

Technical Field

[0001] The present invention relates to the field of production lines for battery cells. Background Art

[0002] Currently, due to different batches and models of incoming square battery cells, when they are packed in a packing box, the number of battery cells in each row is not fixed, and the distance between adjacent battery cells is also not fixed. Therefore, when taking out a whole row of them from the packing box, that is, during palletizing, the fixture needs to have sufficient length. However, after the battery cells are palletized and loaded onto the production line, the subsequent processing equipment can only process a fixed number of battery cells. Thus, how to complete the workpiece transfer and quantity configuration of the battery cells before they are loaded onto the production line after palletizing has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0003] In view of the above problems, the present invention provides a fully compatible method and mechanism for palletizing and loading battery cells onto the production line, which can adapt to palletizing of battery cells with different batches, different models, and different quantities, and can ensure that the number of battery cells loaded onto the production line remains fixed after palletizing.

[0004] The technical solution of the present invention is as follows: It is carried out according to the following steps:

[0005] Step 1: Initial palletizing;

[0006] The battery cells in the packing box are taken out as a whole row by a palletizing robot, and the number of each row is n, where n is an integer greater than 0. Then, the n battery cells are placed as a whole row in the first clamping device on the buffer table.

[0007] Step 2: Initial quantity allocation;

[0008] There are m battery cell accommodation areas on the tray of the conveyor line, where m is an integer greater than 0;

[0009] When n = m, directly proceed to the next step;

[0010] When n > m, the palletizing robot takes out n - m battery cells from the first clamping device and puts them into the second clamping device on the buffer table, so that there are m remaining battery cells in the first clamping device;

[0011] When n < m, the palletizing robot takes out another whole row of n battery cells from the packing box and puts them into the second clamping device on the buffer table. Then, the palletizing robot takes out m - n battery cells from the second clamping device and supplements them into the first clamping device on the buffer table, so that the number of battery cells in the first clamping device is supplemented to m;

[0012] Step 3: Initial loading onto the production line;

[0013] Use the loading robot to take out the m cells in rows from the first gripper, adjust the spacing between adjacent cells, and then place them in the trays on the conveyor line. End when all the cells have been unstacked and taken out;

[0014] Step 4: Unstack and allocate the number of cells;

[0015] At this time, the number of cells in the first gripper is 0. If the number of cells c in the second gripper is 0, return to Step 1;

[0016] If c > m or c = m, use the cell allocation robot to take out m cells from the second gripper and put them into the first gripper on the buffer table to replenish the first gripper to m cells;

[0017] If 0 < c < m, first use the unstacking robot to take out n cells in rows from the packing box and place the n cells in rows in the second gripper on the buffer table. If c is still less than m at this time, use the unstacking robot to take another n cells until c > m; thereafter, use the cell allocation robot to take out m cells from the second gripper and put them into the first gripper on the buffer table to replenish the first gripper to m cells;

[0018] Step 5: Loading;

[0019] Use the loading robot to take out the cells in rows from the first gripper, adjust the spacing between adjacent cells, and then place them in the trays on the conveyor line; return to Step 4 and end until all the cells have been unstacked and taken out.

[0020] To implement the above cell unstacking and loading method, this case also records a supporting unstacking and loading mechanism:

[0021] As Figure 1 shown, the unstacking and loading mechanism includes an unstacking robot 2 arranged between the unstacking workbench 1 and the buffer table 3, a cell allocation robot 4 arranged on the buffer table 3, and a loading robot 5 arranged between the buffer table 3 and the conveyor line 6;

[0022] An unstacking gripper 21 is installed on the output end of the unstacking robot 2, a single-cell gripper 41 is installed on the output end of the cell allocation robot 4, a variable-spacing gripper 51 is installed on the output end of the loading robot 5, a first gripper 31 and a second gripper 32 are installed on the buffer table 3, and the tray on the conveyor line 6 is a variable-spacing tray 61.

[0023] As Figure 1 shown, the unstacking robot and the loading robot are both six-axis robots, and the cell allocation robot is a four-axis robot.

[0024] As Figure 2As shown, the first and second clamps are detachably mounted on the buffer platform. The first and second clamps have several cell slots, and the spacing between the several cell slots is consistent with the spacing between adjacent cells in the same row in the packaging box.

[0025] Regarding variable pitch grippers, such as Figure 3-5 As shown:

[0026] The variable pitch gripper includes a base 511, a guide rail 512, an equidistant variable pitch slide module 513, and m single-cell grippers 514. The base 511 is fixedly installed on the output end of the online robot 5. The guide rail 512 is fixedly connected to the bottom surface of the base 511. The cylinder of the equidistant variable pitch slide module 513 is fixedly installed in the base 511 and arranged parallel to the guide rail 512. The equidistant variable pitch slide module 513 has m output sliders 5131.

[0027] m single-cell grippers 514 are slidably connected to the guide rail 512, and m output sliders 5131 are fixedly connected to each of them.

[0028] like Figure 4 As shown, the single-cell gripper 514 includes a C-shaped base 5141, a fixed gripper finger 5142, and a movable gripper finger 5143. The fixed gripper finger 5142 is fixedly connected to the C-shaped base 5141. The top end of the movable gripper finger 5143 is slidably connected to the bottom surface of the C-shaped base 5141 and is arranged opposite to the fixed gripper finger 5142. A linear power source 5144 for driving the movable gripper finger 5143 to reciprocate is also installed on the C-shaped base 5141.

[0029] Regarding variable pitch trays, such as Figure 5-12 As shown:

[0030] The variable pitch tray 61 includes a tray base 611, a fixed finger mounting platform 612, a movable finger mounting platform 613, a fixed stop finger 614 fixedly mounted on the fixed finger mounting platform 612, and a movable stop finger 615 fixedly mounted on the movable finger mounting platform 613.

[0031] There are two fixed finger mounting platforms 612, both arranged along the length of the tray base 611. An X-axis guide rail 6110 arranged along its width is fixedly mounted on the tray base 611. One fixed finger mounting platform 612 is slidably connected to the X-axis guide rail 6110, and an X-axis locking mechanism is provided between the fixed finger mounting platform 612 and the tray base 611. The other fixed finger mounting platform 612 is fixedly mounted on the tray base 611, so that the X-axis spacing between the two fixed finger mounting platforms 612 is adjustable. m cell support blocks 616 and m cell side blocks 617 are also fixedly mounted on the fixed finger mounting platform 612. The cell support blocks 616 are located on the side of the cell side blocks 617 facing the center of the tray base 611. The X-axis spacing between the oppositely arranged cell side blocks 617 on the two fixed finger mounting platforms 612 can be adjusted to accommodate cells of different widths.

[0032] Each fixed finger mounting platform 612 is equipped with a movable finger mounting platform 613, which is also arranged along the length of the tray base 611. A Y-guide rail 6120 arranged along the length of the fixed finger mounting platform 612 is fixedly mounted on it. The movable finger mounting platform 613 is slidably connected to the Y-guide rail 6120, and a Y-direction locking mechanism is provided between the movable finger mounting platform 613 and the fixed finger mounting platform 612. The fixed finger mounting platform 612 is equipped with m fixed stop fingers 614, and the movable finger mounting platform 613 is equipped with m movable stop fingers 615. The fixed stop fingers 614 and the movable stop fingers 615 correspond one-to-one. By adjusting the relative position of the movable finger mounting platform 613 and the fixed finger mounting platform 612 in the Y direction, the m movable stop fingers 615 are driven to move synchronously, thereby synchronously adjusting the Y-direction distance between the fixed stop fingers 614 and the movable stop fingers 615 to accommodate cells of different thicknesses.

[0033] like Figure 9 As shown, the X-direction locking mechanism includes a locking pin 6121, a spring 6122, a spring seat 6123, a insert plate 6124, and a toothed plate 6125. The toothed plate 6125 is fixedly mounted on the tray seat 611 along the X direction. The spring seat 6123 is located above the toothed plate 6125 and is fixedly connected to the fixed finger mounting platform 612. The locking pin 6121 passes through the spring seat 6123 and its bottom end is fixedly connected to the insert plate 6124. The bottom surface of the insert plate 6124 has locking teeth that are adapted to the toothed plate 6125. The spring 6122 abuts between the spring seat 6123 and the insert plate 6124, so that the insert plate 6124 maintains a tendency to move towards the toothed plate 6125.

[0034] like Figure 12As shown, the Y-direction locking mechanism includes a second locking pin 6131, a second spring 6132, a second spring seat 6133, a second insert plate 6134, and a second toothed plate 6135. The second toothed plate 6135 is fixedly mounted on the fixed finger mounting platform 612 along the Y direction. The second spring seat 6133 is located above the second toothed plate 6135 and is fixedly connected to the movable finger mounting platform 613. The second locking pin 6131 passes through the second spring seat 6133, and its bottom end is fixedly connected to the second insert plate 6134. The bottom surface of the second insert plate 6134 has locking teeth that are adapted to the second toothed plate 6135. The second spring 6132 abuts between the second spring seat 6133 and the second insert plate 6134, so that the second insert plate 6134 maintains a tendency to move towards the second toothed plate 6135.

[0035] In terms of compatibility, the depalletizing robot can grab a row of square-shell battery cells at a time, and the external dimensions of the square-shell battery cells are compatible within a certain range. The battery cell placement clamp on the buffer platform also meets the compatibility of battery cell sizes within a certain range. The online robot can ultimately complete the transfer of a fixed number of battery cells. It has good compatibility and can adapt to the depalletizing of different batches, models and quantities of battery cells. Moreover, it can ensure that the number of battery cells on the online platform remains unchanged after depalletizing.

[0036] Overall, this project achieved the goal of compatible cell grabbing and unpacking within a certain size range. Through the buffering of the buffer station and the allocation of the allocation robot, the final online robot can complete the transfer of a fixed number of cells. The actions of each robot are grabbing and releasing, which effectively ensures efficiency and stability and achieves cell compatibility to the maximum extent. Attached Figure Description

[0037] Figure 1 This is a structural diagram of the destacking and loading mechanism in this case.

[0038] Figure 2 This is a schematic diagram of the cache platform.

[0039] Figure 3 It is a three-dimensional variable pitch gripper Figure 1 ,

[0040] Figure 4 It is a three-dimensional variable pitch gripper Figure 2 ,

[0041] Figure 5 This is a 3D view of the equidistant variable pitch slide module in the variable pitch gripper.

[0042] Figure 6 This is a 3D view of a variable pitch tray.

[0043] Figure 7 This is a 3D view of a single battery cell placed on a variable pitch tray.

[0044] Figure 8 This is a top view of the variable pitch tray.

[0045] Figure 9 yes Figure 8 Sectional view along line AA,

[0046] Figure 10 This is a 3D view showing a movable mounting platform hidden on the variable pitch tray.

[0047] Figure 11 This is a top view of the variable pitch tray with a hidden movable finger mounting platform.

[0048] Figure 12 yes Figure 11 BB-direction sectional view;

[0049] In the figure, 1 is the depalletizing workbench, 2 is the depalletizing robot, 21 is the depalletizing gripper, 3 is the buffer platform, 31 is the first material clamp, 32 is the second material clamp, 4 is the dispensing robot, and 41 is the single cell gripper.

[0050] 5 is the online robot, 51 is the variable pitch gripper, 511 is the base, 512 is the guide rail, 513 is the equidistant variable pitch slide module, 5131 is the output slider, 514 is the single cell gripper, 5141 is the C-shaped base, 5142 is the fixed gripper finger, 5143 is the movable gripper finger, and 5144 is the linear power source.

[0051] 6 is the conveyor line, 61 is the variable pitch pallet, 611 is the pallet seat, and 6110 is the X-axis guide rail.

[0052] 612 is the fixed mounting platform, 6120 is the Y-guide rail, 6121 is the locking pin, 6122 is the spring, 6123 is the spring seat, 6124 is the insert plate, and 6125 is the toothed plate.

[0053] 613 is the movable mounting platform, 6131 is the second locking pin, 6132 is the second spring, 6133 is the second spring seat, 6134 is the second insert plate, and 6135 is the second toothed plate.

[0054] 614 is a fixed stop finger, 615 is a movable stop finger, 616 is a cell support block, and 617 is a cell side stop block. Detailed Implementation

[0055] To clearly illustrate the technical features of this patent, the following detailed description is provided through specific embodiments and in conjunction with the accompanying drawings.

[0056] This invention is carried out according to the following steps:

[0057] Step 1: Initial destacking;

[0058] The unstacking robot takes out a whole row of battery cells from the packing box, and the number of cells in each row is n, where n is an integer greater than 0. Then, the n battery cells are placed as a whole row in the first clamping device on the buffer table.

[0059] Step 2: Initial cell allocation;

[0060] There are m battery cell accommodating areas on the tray of the conveyor line, where m is an integer greater than 0.

[0061] When n = m, directly proceed to the next step;

[0062] When n > m, the cell allocation robot takes out n - m battery cells from the first clamping device and places them in the second clamping device on the buffer table, leaving m battery cells in the first clamping device.

[0063] When n < m, the unstacking robot takes out another whole row of n battery cells from the packing box and places them in the second clamping device on the buffer table. Then, the cell allocation robot takes out m - n battery cells from the second clamping device and supplements them into the first clamping device on the buffer table to make the number of battery cells in the first clamping device reach m.

[0064] Step 3: Initial feeding onto the line;

[0065] The feeding - onto - line robot takes out the m battery cells after cell allocation as a whole row from the first clamping device, adjusts the spacing between adjacent battery cells, and then places them in the tray on the conveyor line, and ends when all the battery cells are taken out by unstacking.

[0066] Step 4: Unstacking and cell allocation;

[0067] At this time, the number of battery cells in the first clamping device is 0. If the number of battery cells c in the second clamping device is 0, return to Step 1;

[0068] If c > m or c = m, the cell allocation robot takes out m battery cells from the second clamping device and places them in the first clamping device on the buffer table to make the number of battery cells in the first clamping device reach m.

[0069] If 0 < c < m, first the unstacking robot takes out a whole row of n battery cells from the packing box and places the n battery cells as a whole row in the second clamping device on the buffer table. If c is still less than m at this time, the unstacking robot takes another n battery cells until c > m; thereafter, the cell allocation robot takes out m battery cells from the second clamping device and places them in the first clamping device on the buffer table to make the number of battery cells in the first clamping device reach m.

[0070] Step 5: Feeding onto the line;

[0071] The robot takes the battery cells out of the first clamp in a row, adjusts the spacing between adjacent cells, and then places them in a tray on the conveyor line; return to step 4 until all battery cells have been destacking and removed.

[0072] In this way, the depalletizing robot, the dispensing robot, and the online robot operate according to the above process. In terms of compatibility, the depalletizing robot can pick up a row of square-shell cells at a time, and the size of the square-shell cells is compatible within a certain range. The cell placement clamp on the buffer table also meets the compatibility of cell sizes within a certain range. The online robot can ultimately complete the transfer of a fixed number of cells. It has good compatibility and can adapt to the depalletizing of different batches, models, and quantities of cells. Moreover, it can ensure that the number of cells on the online system remains fixed after depalletizing.

[0073] To implement the above-mentioned method for unpacking and loading battery cells, this case also describes a corresponding unpacking and loading mechanism:

[0074] like Figure 1 As shown, the depalletizing and loading mechanism includes a depalletizing robot 2 set between the depalletizing workbench 1 and the buffer platform 3, a dispensing robot 4 set on the buffer platform 3, and a loading robot 5 set between the buffer platform 3 and the conveyor line 6.

[0075] The depalletizing robot 2 is equipped with a depalletizing gripper 21 at its output end, the dispensing robot 4 is equipped with a single cell gripper 41 at its output end, the loading robot 5 is equipped with a variable-pitch gripper 51 at its output end, the buffer platform 3 is equipped with a first clamp 31 and a second clamp 32, and the pallet on the conveyor line 6 is a variable-pitch pallet 61. During operation, the depalletizing robot 2, positioned between the depalletizing workbench 1 and the buffer platform 3, can grip and transfer an entire row of cells during depalletizing. The dispensing robot 4 can efficiently configure the number of cells on the first clamp 31 and the second clamp 32 according to the aforementioned working logic. Finally, the loading robot 5, under the action of the variable-pitch gripper 51, can quantitatively remove a fixed number of cells and place them at a fixed distance on the variable-pitch pallet 61, achieving a fixed number of cells output on the conveyor line.

[0076] like Figure 1 As shown, the destacking robot and the line loading robot are both six-axis robots, and the dispensing robot is a four-axis robot.

[0077] like Figure 2As shown, the first and second clamps are detachably mounted on the buffer platform. Each clamp contains several cell slots, the spacing of which matches the spacing between adjacent cells in the same row within the packaging box. In terms of quantity, at most n+m cell slots are required on the first and second clamps. After the same batch of incoming materials and cells of the same model are destacking and loading, the first and second clamps can be manually removed. Then, the corresponding first and second clamps can be selected for the next batch of incoming materials and reinstalled on the buffer platform.

[0078] Regarding variable pitch grippers, such as Figure 3-5 As shown:

[0079] The variable pitch gripper includes a base 511, a guide rail 512, an equidistant variable pitch slide module 513, and m single-cell grippers 514. The base 511 is fixedly installed on the output end of the online robot 5. The guide rail 512 is fixedly connected to the bottom surface of the base 511. The cylinder of the equidistant variable pitch slide module 513 is fixedly installed in the base 511 and arranged parallel to the guide rail 512. The equidistant variable pitch slide module 513 has m output sliders 5131.

[0080] m single-cell grippers 514 are slidably connected to guide rail 512 and respectively fixedly connected to m output sliders 5131. In this way, after the m single-cell grippers 514 grasp the m cells placed in a row on the buffer platform, the m single-cell grippers 514 can adjust the adjacent spacing of the m cells under the drive of the equidistant variable pitch slide module 513, so that it is consistent with the adjacent cell spacing manually preset on the variable pitch tray 61. This allows the robot to quickly remove the m cells from the buffer platform and accurately insert them into the variable pitch tray for subsequent quantitative delivery.

[0081] like Figure 4 As shown, the single-cell gripper 514 includes a C-shaped base 5141, a fixed gripper finger 5142, and a movable gripper finger 5143. The fixed gripper finger 5142 is fixedly connected to the C-shaped base 5141. The top end of the movable gripper finger 5143 is slidably connected to the bottom surface of the C-shaped base 5141 and is arranged opposite to the fixed gripper finger 5142. A linear power source 5144 for driving the movable gripper finger 5143 to reciprocate is also installed on the C-shaped base 5141.

[0082] The linear power source 5144 mentioned above can be a servo electric cylinder, a pneumatic cylinder, etc., with its cylinder body fixedly installed on the outer wall of the C-shaped base 5141. Its output end is inserted into the interior of the C-shaped base 5141 and fixedly connected to the movable gripper finger 5143. Thus, through the relative movement of the fixed gripper finger 5142 and the movable gripper finger 5143, a single battery cell can be gripped efficiently and stably.

[0083] Regarding variable pitch trays, such as Figure 5-12 As shown:

[0084] The variable pitch tray 61 includes a tray base 611, a fixed finger mounting platform 612, a movable finger mounting platform 613, a fixed stop finger 614 fixedly mounted on the fixed finger mounting platform 612, and a movable stop finger 615 fixedly mounted on the movable finger mounting platform 613.

[0085] There are two fixed finger mounting platforms 612, both arranged along the length of the tray base 611. An X-axis guide rail 6110 arranged along its width is fixedly mounted on the tray base 611. One fixed finger mounting platform 612 is slidably connected to the X-axis guide rail 6110, and an X-axis locking mechanism is provided between the fixed finger mounting platform 612 and the tray base 611. The other fixed finger mounting platform 612 is fixedly mounted on the tray base 611, so that the X-axis spacing between the two fixed finger mounting platforms 612 is adjustable. m cell support blocks 616 and m cell side blocks 617 are also fixedly mounted on the fixed finger mounting platform 612. The cell support blocks 616 are located on the side of the cell side blocks 617 facing the center of the tray base 611. The X-axis spacing between the oppositely arranged cell side blocks 617 on the two fixed finger mounting platforms 612 can be adjusted to accommodate cells of different widths.

[0086] Each fixed finger mounting platform 612 is equipped with a movable finger mounting platform 613, which is also arranged along the length of the tray base 611. A Y-guide rail 6120 arranged along the length of the fixed finger mounting platform 612 is fixedly mounted on it. The movable finger mounting platform 613 is slidably connected to the Y-guide rail 6120, and a Y-direction locking mechanism is provided between the movable finger mounting platform 613 and the fixed finger mounting platform 612. The fixed finger mounting platform 612 is equipped with m fixed stop fingers 614, and the movable finger mounting platform 613 is equipped with m movable stop fingers 615. The fixed stop fingers 614 and the movable stop fingers 615 correspond one-to-one. By adjusting the relative position of the movable finger mounting platform 613 and the fixed finger mounting platform 612 in the Y direction, the m movable stop fingers 615 are driven to move synchronously, thereby synchronously adjusting the Y-direction distance between the fixed stop fingers 614 and the movable stop fingers 615 to accommodate cells of different thicknesses.

[0087] like Figure 9As shown, the X-direction locking mechanism includes a locking pin 6121, a spring 6122, a spring seat 6123, a insert plate 6124, and a toothed plate 6125. The toothed plate 6125 is fixedly mounted on the tray seat 611 along the X direction. The spring seat 6123 is located above the toothed plate 6125 and is fixedly connected to the fixed finger mounting platform 612. The locking pin 6121 passes through the spring seat 6123 and its bottom end is fixedly connected to the insert plate 6124. The bottom surface of the insert plate 6124 has locking teeth that are adapted to the toothed plate 6125. The spring 6122 abuts between the spring seat 6123 and the insert plate 6124, so that the insert plate 6124 maintains a tendency to move towards the toothed plate 6125. In this way, the operator can pull up the locking pin 6121 to separate the insert plate 6124 from the toothed plate 6125, allowing the operator to easily adjust the position of the fixed finger mounting platform 612 in the X direction. This adjusts the X-axis distance between the opposing cell-side stops 617 on the two fixed finger mounting platforms 612, thus accommodating cells of different widths. Releasing the locking pin 6121 allows the insert plate 6124 to engage with the toothed plate 6125 under the action of the spring 6122, achieving X-axis locking.

[0088] like Figure 12 As shown, the Y-direction locking mechanism includes a second locking pin 6131, a second spring 6132, a second spring seat 6133, a second insert plate 6134, and a second toothed plate 6135. The second toothed plate 6135 is fixedly mounted on the fixed finger mounting platform 612 along the Y direction. The second spring seat 6133 is located above the second toothed plate 6135 and is fixedly connected to the movable finger mounting platform 613. The second locking pin 6131 passes through the second spring seat 6133, and its bottom end is fixedly connected to the second insert plate 6134. The bottom surface of the second insert plate 6134 has locking teeth that are adapted to the second toothed plate 6135. The second spring 6132 abuts between the second spring seat 6133 and the second insert plate 6134, so that the second insert plate 6134 maintains a tendency to move towards the second toothed plate 6135. In this way, the operator can pull up the locking pin 6131 to separate the insert plate 6134 from the toothed plate 6135, allowing the operator to easily adjust the position of the movable finger mounting platform 613 along the Y direction. This achieves the purpose of synchronously adjusting the Y-direction position of the m movable stop fingers 615, thereby accommodating battery cells of different thicknesses. After releasing the locking pin 6131, the insert plate 6134, under the action of the spring 6132, presses against the toothed plate 6135 and engages with it, achieving Y-direction locking.

[0089] There are many depalletizing grippers mentioned above in the prior art. For example, there is a Chinese utility model patent entitled "Intelligent Depalletizing Gripper for Power Cells" published on December 2, 2022, with the publication number "CN217946826U". Such depalletizing grippers can complete the operation of grabbing and transferring a whole row of cells in the packaging box. Therefore, the structure of the depalletizing gripper will not be described in detail in this case.

[0090] The single cell gripper mentioned above can be a conventional gripper, or it can have the same structure as the single cell gripper in the variable pitch gripper, so that its C-shaped base can be directly installed on the output end of the distribution robot.

[0091] There are many specific ways to implement this invention. The above description is only a preferred embodiment of this invention. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of this invention, and these improvements should also be considered within the scope of protection of this invention.

Claims

1. A fully compatible cell destacking online method, characterized in that, The following steps are taken: Step 1, initial unstacking; The battery cells in the packaging box are taken out in a row by the unstacking robot, and the number of each row is n, n is an integer greater than 0, and then n battery cells are placed in the first clamp on the buffer table; Step 2, initial number matching; The tray on the conveying line has m battery cell accommodation areas, m is an integer greater than 0; When n=m, go to the next step directly; When n>m, take out n-m battery cells from the first clamp by the number matching robot and place them in the second clamp on the buffer table, leaving m battery cells in the first clamp; When n<m, take out another row of n battery cells from the packaging box by the unstacking robot and place them in the second clamp on the buffer table, and then take out m-n battery cells from the second clamp by the number matching robot and place them in the first clamp on the buffer table to supplement the first clamp to m battery cells; Step 3, initial online; The m battery cells after number matching are taken out in a row from the first clamp by the online robot, the spacing between adjacent battery cells is adjusted, and then placed in the tray on the conveying line, and when all battery cells are unstacked, the process ends; Step 4, unstacking and number matching; At this time, the number of battery cells in the first clamp is 0, if the number of battery cells in the second clamp is c=0, return to step 1; If c>m or c=m, take out m battery cells from the second clamp by the number matching robot and place them in the first clamp on the buffer table to supplement the first clamp to m battery cells; If 0<c<m, first take out n battery cells from the packaging box by the unstacking robot and place them in the second clamp on the buffer table, if c is still less than m at this time, take out n battery cells by the unstacking robot, until c>m; thereafter, take out m battery cells from the second clamp by the number matching robot and place them in the first clamp on the buffer table to supplement the first clamp to m battery cells; Step 5, online; The battery cells are taken out in a row from the first clamp by the online robot, the spacing between adjacent battery cells is adjusted, and then placed in the tray on the conveying line; Return to step 4 until all battery cells are unstacked.

2. A cell depalletizing and in-line mechanism for implementing the method of depalletizing and in-line of claim 1, characterized by, The unstacking and online mechanism includes an unstacking robot (2) arranged between the unstacking workbench (1) and the buffer table (3), a number matching robot (4) arranged on the buffer table (3), and an online robot (5) arranged between the buffer table (3) and the conveying line (6); The output end of the unstacking robot (2) is provided with an unstacking gripper (21), the output end of the number matching robot (4) is provided with a single battery cell gripper (41), the output end of the online robot (5) is provided with a variable spacing gripper (51), and the buffer table (3) is provided with a first clamp (31) and a second clamp (32). The tray on the conveying line (6) is a variable spacing tray (61).

3. A de-palletizing on-line mechanism according to claim 2, characterized in that, The unstacking robot and the online robot are both six-axis robots, and the number matching robot is a four-axis robot.

4. A de-palletizing on-line mechanism according to claim 2, wherein The first material clamp and the second material clamp are detachably mounted on the buffer table, and the first material clamp and the second material clamp have a plurality of battery cell slots, and the spacing of the plurality of battery cell slots is consistent with the spacing of adjacent battery cells in the same row in the packaging box.

5. A de-palletizing on-line mechanism according to claim 2, wherein, The variable-distance gripper comprises a base (511), a guide rail (512), an equidistant variable-distance sliding table module (513), and m single battery cell grippers (514), the base (511) is fixedly installed on the output end of the upper line robot (5), the guide rail (512) is fixedly connected to the bottom surface of the base (511), the cylinder body of the equidistant variable-distance sliding table module (513) is fixedly installed in the base (511) and is arranged parallel to the guide rail (512), and the equidistant variable-distance sliding table module (513) has m output sliding blocks (5131). The m single battery cell grippers (514) are slidingly connected to the guide rail (512) and are fixedly connected to the m output sliding blocks (5131) respectively.

6. A de-palletizing on-line mechanism according to claim 5, wherein, The single battery cell gripper (514) comprises a C-shaped base (5141), a fixed clamping finger (5142), and a movable clamping finger (5143), the fixed clamping finger (5142) is fixedly connected in the C-shaped base (5141), the top end of the movable clamping finger (5143) is slidingly connected to the bottom surface of the C-shaped base (5141) and is arranged opposite to the fixed clamping finger (5142), and a linear power source (5144) for driving the movable clamping finger (5143) to reciprocate is further installed on the C-shaped base (5141).

7. A de-palletizing on-line mechanism according to claim 2, wherein, The variable-distance tray (61) comprises a tray base (611), a fixed finger mounting table (612), a movable finger mounting table (613), a fixed blocking finger (614) fixedly installed on the fixed finger mounting table (612), and a movable blocking finger (615) fixedly installed on the movable finger mounting table (613); The fixed finger mounting table (612) has two and is arranged along the length direction of the tray base (611), the X-direction guide rail (6110) arranged along the width direction of the tray base (611) is fixedly installed on the tray base (611), one of the fixed finger mounting tables (612) is slidingly connected to the X-direction guide rail (6110), and an X-direction locking mechanism is arranged between the fixed finger mounting table (612) and the tray base (611), and the other fixed finger mounting table (612) is fixedly installed on the tray base (611), so that the X-direction spacing of the two fixed finger mounting tables (612) is adjustable, and m battery cell supporting blocks (616) and m battery cell side blocking blocks (617) are further fixedly installed on the fixed finger mounting table (612), the battery cell supporting block (616) is located on the side of the battery cell side blocking block (617) facing the center of the tray base (611), and the X-direction spacing between the battery cell side blocking blocks (617) arranged opposite to each other on the two fixed finger mounting tables (612) is adjusted to adapt to battery cells of different widths. An active finger mounting base (613) is arranged above each fixed finger mounting base (612), the active finger mounting base (613) is also arranged along the length direction of the tray seat (611), a Y-direction guide rail (6120) arranged along the length direction is fixedly mounted on the fixed finger mounting base (612), the active finger mounting base (613) is slidingly connected on the Y-direction guide rail (6120), and a Y-direction locking mechanism is arranged between the active finger mounting base (613) and the fixed finger mounting base (612), the fixed finger mounting base (612) is provided with m fixed blocking fingers (614), the active finger mounting base (613) is provided with m active blocking fingers (615), the fixed blocking finger (614) and the active blocking finger (615) correspond one by one, by adjusting the relative position of the active finger mounting base (613) and the fixed finger mounting base (612) in the Y-direction, the m active blocking fingers (615) are driven to move synchronously, and then the Y-direction spacing of the fixed blocking finger (614) and the active blocking finger (615) is adjusted synchronously to adapt to the battery cells of different thicknesses.

8. A de-palletizing on-line mechanism according to claim 7, characterized in that, The X-direction locking mechanism comprises a lock pin one (6121), a spring one (6122), a spring seat one (6123), an insertion plate one (6124) and a tooth plate one (6125), the tooth plate one (6125) is fixedly mounted on the tray seat (611) along the X-direction, the spring seat one (6123) is above the tooth plate one (6125) and is fixedly connected on the fixed finger mounting base (612), the lock pin one (6121) penetrates through the spring seat one (6123), and the bottom end thereof is fixedly connected with the insertion plate one (6124), the bottom surface of the insertion plate one (6124) is provided with a lock tooth one matched with the tooth plate one (6125), and the spring one (6122) is abutted between the spring seat one (6123) and the insertion plate one (6124), so that the insertion plate one (6124) keeps a movement trend towards the tooth plate one (6125).

9. A de-palletizing on-line mechanism according to claim 7, wherein, The Y-direction locking mechanism comprises a lock pin two (6131), a spring two (6132), a spring seat two (6133), an insertion plate two (6134) and a tooth plate two (6135), the tooth plate two (6135) is fixedly mounted on the fixed finger mounting base (612) along the Y-direction, the spring seat two (6133) is above the tooth plate two (6135) and is fixedly connected on the active finger mounting base (613), the lock pin two (6131) penetrates through the spring seat two (6133), and the bottom end thereof is fixedly connected with the insertion plate two (6134), the bottom surface of the insertion plate two (6134) is provided with a lock tooth two matched with the tooth plate two (6135), and the spring two (6132) is abutted between the spring seat two (6133) and the insertion plate two (6134), so that the insertion plate two (6134) keeps a movement trend towards the tooth plate two (6135).

Images