Battery cell welding and shell-entering machine and battery cell welding and shell-entering method

Abstract

The invention relates to the technical field of battery production, in particular to a machine and a method for welding and loading a battery cell into a shell, in the process of welding and loading the battery cell into the shell, the battery cell and the shell only need to be grabbed once and positioned visually once, the battery cell and the shell do not need to be grabbed and carried for many times and positioned visually for many times, and the production efficiency is improved. Therefore, accumulative errors generated when the battery cell and the shell are grabbed and carried many times are avoided, the quality and efficiency of battery welding and shell entering are greatly improved, the first six-axis mechanical arm and the second six-axis mechanical arm are flexibly and cooperatively matched to simulate human hand actions, the situation that welding marks are torn and the battery cell is scratched by the shell due to the fact that the battery cell is directly overturned and forcibly enters the shell is avoided, and the production efficiency is improved. And secondary shell entering can be achieved, the shell entering quality is guaranteed, the first six-axis mechanical arm and the second six-axis mechanical arm can automatically and flexibly rectify and compensate, and therefore the welding technology of flat welding, inclined welding, vertical welding and the like of different battery cells and shells can be compatible.

Description

Technical Field

[0001] The invention relates to the technical field of battery production, in particular to a battery core welding shell machine and a battery core welding shell method. Background Art

[0002] In the production process of batteries, welding the battery cells into the shell is one of the more critical processes. Among the existing patents, the Chinese patent document with application number 202310586504.5 discloses a battery welding into the shell packaging equipment, including a frame, on which are provided a first indexing turntable, a second indexing turntable, a battery cell feeding robot, a battery cell transfer robot, a shell handling feeding robot, an insulating sheet handling into the shell robot and a discharge handling robot. Four battery cell flipping into the shell mechanisms are arranged at intervals on the second indexing turntable. The second indexing turntable rotates counterclockwise, 90 degrees each time. The four battery cell flipping into the shell mechanisms correspond to four workstations respectively, and the battery cell flipping into the shell mechanism can simultaneously clamp the shell sideways and clamp the battery cell horizontally. The cell flipping and shelling mechanism of the patent document directly flips the cell and forces it into the shell. It cannot simulate manual movements to complete the welding into the shell, which can easily cause the electrode ear weld marks to tear and the shell to scratch the cell. When welding cells and shells of different specifications and models into the shell, it is necessary to replace the carrier of the corresponding specifications and models, which is troublesome to disassemble and assemble, and has high production costs. In addition, the cell needs to be grabbed and moved multiple times, and it is impossible to perform a second correction after the first shelling. It is difficult to ensure the quality and efficiency of the welding into the shell.

[0003] Therefore, the defects are very obvious and a solution is urgently needed. Summary of the invention

[0004] In order to solve the above technical problems, the object of the present invention is to provide a battery core welding shell machine and a battery core welding shell method.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A battery cell welding shelling machine comprises a first circulating conveying mechanism, a second circulating conveying mechanism arranged side by side with the first circulating conveying mechanism, three six-axis manipulators 1 arranged at equal intervals on the circulating conveying part of the first circulating conveying mechanism, and three six-axis manipulators 2 arranged at equal intervals on the circulating conveying part of the second circulating conveying mechanism, a first area and a second area are arranged outside the circulating conveying part of the first circulating conveying mechanism, a battery cell feeding mechanism, a battery cell CCD positioning mechanism and a tab flattening and shaping mechanism 1 are arranged in sequence in the first area, the battery cell CCD positioning mechanism is electrically connected to the six-axis manipulator 1, a tab appearance detection and cutting mechanism, a tab flattening and shaping mechanism 2 and a tab sleeve insulating sleeve mechanism are arranged in sequence in the second area, a third area is arranged between the circulating conveying part of the first circulating conveying mechanism and the circulating conveying part of the second circulating conveying mechanism, and a first area is arranged outside the circulating conveying part of the second circulating conveying mechanism. The fourth area and the fifth area are arranged on the side, the first area, the second area and the third area are arranged in sequence along the circulating conveying direction of the circulating conveying part of the first circulating conveying mechanism, and the fourth area, the third area and the fifth area are arranged in sequence along the circulating conveying direction of the circulating conveying part of the second circulating conveying mechanism. The fourth area is sequentially provided with a shell loading mechanism, a shell CCD positioning mechanism and a shell coding mechanism, and the shell CCD positioning mechanism is electrically connected to the six-axis manipulator 2; the third area is sequentially provided with a pole ear welding mechanism, a pole ear welding detection mechanism and a shell entry station; the fifth area is sequentially provided with an insulating glue sticking mechanism, a front shell entry detection mechanism, a side shell entry detection mechanism, a shell entry correction mechanism and a battery unloading mechanism; when the six-axis manipulator 1 and the six-axis manipulator 2 are both rotated to the third area, the six-axis manipulator 1 and the six-axis manipulator 2 cooperate with each other to simulate manual actions to complete the welding shell entry work.

[0007] Furthermore, a tab upward bending and shaping mechanism is also provided in the second region, and the tab upward bending and shaping mechanism is located on a side of the tab sleeve insulating sleeve mechanism away from the tab flattening and shaping mechanism 2.

[0008] Furthermore, the third area is also provided with an AI appearance inspection mechanism, which is located between the tab welding inspection mechanism and the shell entry station.

[0009] Furthermore, a code scanning mechanism and a flipping mechanism are sequentially arranged on the conveying path of the battery cell feeding mechanism, and the flipping mechanism is used to flip the battery cell 180°.

[0010] Furthermore, the first circulating conveying mechanism and the second circulating conveying mechanism are both turntable conveying mechanisms.

[0011] Furthermore, the fifth area is also provided with a defective battery output mechanism, and the defective battery output mechanism is located between the battery unloading mechanism and the shell insertion correction mechanism.

[0012] Furthermore, a shell insertion defect output mechanism is provided between the shell insertion station and the insulating adhesive pasting station.

[0013] The present invention also provides a method for welding a battery core into a shell, based on the application of the above-mentioned battery core welding into a shell machine, comprising the following steps:

[0014] A. Among the three six-axis manipulators 1, one six-axis manipulator 1 is located in the first area, one six-axis manipulator 1 is located in the second area, and one six-axis manipulator 1 is located in the third area. The three six-axis manipulators 1 respectively complete corresponding actions in the corresponding areas; among the three six-axis manipulators 2, one six-axis manipulator 2 is located in the fourth area, one six-axis manipulator 2 is located in the third area, and one six-axis manipulator 2 is located in the fifth area. The three six-axis manipulators 2 respectively complete corresponding actions in the corresponding areas;

[0015] B. The six-axis robot arm 1 in the first area first picks up the battery cell supplied by the battery cell feeding mechanism, and then moves the picked-up battery cell to the battery cell CCD positioning mechanism, and the battery cell CCD positioning mechanism visually positions the battery cell, and the battery cell CCD positioning mechanism feeds back the visual positioning result of the battery cell to the six-axis robot arm 1, so that the six-axis robot arm 1 performs automatic flexible deviation correction compensation according to the visual positioning result, and then moves the battery cell to the tab flattening and shaping mechanism, and the tab flattening and shaping mechanism 1 flattens and shapes the tab of the battery cell;

[0016] The six-axis robot arm 2 in the fourth area first picks up the shell supplied by the shell feeding mechanism, and then moves the shell to the shell CCD positioning mechanism, and visually locates the shell through the shell CCD positioning mechanism and feeds back the visual positioning result to the six-axis robot arm 2. The six-axis robot arm 2 performs automatic flexible deviation correction compensation according to the visual positioning result, and then moves the battery cell to the shell coding mechanism, and the shell coding mechanism engraves the shell;

[0017] C. The first circulating conveying mechanism drives the three six-axis manipulators 1 to rotate synchronously in one area, so that the six-axis manipulator 1 that picks up the flattened and shaped battery cell rotates to the second area; the second circulating conveying mechanism drives the three six-axis manipulators 2 to rotate synchronously in one area, so that the six-axis manipulator 2 that picks up the battery cell after engraving rotates to the third area;

[0018] D. The six-axis manipulator moves the battery cell after the tab is flattened and shaped to the tab appearance inspection and cutting mechanism. The tab appearance inspection and cutting mechanism performs appearance inspection on the tab of the battery cell and cuts it into shape. Then, the battery cell after the tab is cut and formed is moved to the tab cover insulating sleeve mechanism. The tab cover insulating sleeve mechanism passes the insulating sleeve through the tab and covers it on the edge of the battery cell.

[0019] E. The first circulating conveying mechanism drives the three six-axis manipulators to rotate synchronously in one area, so that the six-axis manipulator that picks up the battery cell with the insulating sleeve rotates to the third area;

[0020] F. The six-axis manipulator 1 that picks up the battery cell with the set insulating sleeve and the six-axis manipulator 2 that picks up the battery cell with the engraved code are both in the third area. The six-axis manipulator 2 moves the shell to the pole ear welding mechanism. The six-axis manipulator 1 moves the battery cell to the pole ear welding mechanism and places the pole ear of the battery cell on an inner wall welding position of the shell. The pole ear welding mechanism welds the pole ear of the battery cell to an inner wall welding position of the shell. Then the six-axis manipulator 1 and the six-axis manipulator 2 are synchronously moved to the pole ear welding detection mechanism. The pole ear welding detection mechanism performs welding detection on the welding of the pole ear of the battery cell and the shell. Then the six-axis manipulator 1 and the six-axis manipulator 2 are synchronously moved to the shell entry station. In the shell entry station, the six-axis manipulator 1 and the six-axis manipulator 2 flexibly cooperate and simulate the manual shell entry action, so that the battery cell after the pole ear welding is flipped into the shell to complete the welding shell entry work to form a preliminarily assembled battery. The six-axis manipulator 1 can release the battery cell;

[0021] G. The six-axis robot arm 2 that picks up the preliminarily assembled battery rotates to the fifth area. The six-axis robot arm 2 first moves the preliminarily assembled battery to the insulating glue sticking mechanism, which sticks insulating glue on the preliminarily assembled battery, and then moves the battery with insulating glue to the front shell entry detection mechanism, which performs a front visual inspection on the battery cell after shell entry, and then moves the battery after the front visual inspection to the side shell entry detection mechanism, which performs a side visual inspection on the battery cell after shell entry. The results of the front visual inspection and the side visual inspection are fed back to the shell entry correction mechanism, which corrects the battery cell after shell entry to simulate human hand movements to smooth the diaphragm, and achieves secondary shell entry without damaging the diaphragm. Finally, the battery after secondary shell entry is placed on the battery unloading mechanism, and the battery unloading mechanism outputs the battery.

[0022] Furthermore, in step F, the third area is also provided with an AI appearance inspection mechanism, which is located between the tab welding inspection mechanism and the shell entry station; after the tab welding inspection mechanism performs welding inspection on the tabs and the shell of the battery cell, the six-axis manipulator 1 and the six-axis manipulator 2 are synchronously moved to the AI ​​appearance inspection mechanism to perform a secondary inspection on the welding of the tabs and the shell of the battery cell, and the AI ​​appearance inspection mechanism will perform self-learning as the number of inspections increases, and continuously optimize the inspection requirements.

[0023] Furthermore, in step D, the second area is also provided with a pole ear upward bending and shaping mechanism, which is located on the side of the pole ear sleeve insulating sleeve mechanism away from the pole ear flattening and shaping mechanism 2; after the battery cell is covered with the insulating sleeve, the six-axis robot 1 moves the battery cell covered with the insulating sleeve to the pole ear upward bending and shaping mechanism, and the pole ear upward bending and shaping mechanism bends and shapes the pole ear of the battery cell upward.

[0024] The beneficial effects of the present invention are as follows: in actual application, the first circulating conveying mechanism drives three six-axis manipulators 1 to move in a circular motion. Among the three six-axis manipulators 1, one six-axis manipulator 1 is located in the first area, one six-axis manipulator 1 is located in the second area, and one six-axis manipulator 1 is located in the third area. The three six-axis manipulators 1 respectively complete corresponding actions in the corresponding areas; the second circulating conveying mechanism drives three six-axis manipulators 2 to move in a circular motion. Among the three six-axis manipulators 2, one six-axis manipulator 2 is located in the fourth area, one six-axis manipulator 2 is located in the third area, and one six-axis manipulator 2 is located in the fifth area. The three six-axis manipulators 2 respectively complete corresponding actions in the corresponding areas. When the six-axis robot is located in the first area, the six-axis robot first picks up the battery cell supplied by the battery cell feeding mechanism, and then moves the picked-up battery cell to the battery cell CCD positioning mechanism, and the battery cell CCD positioning mechanism visually locates the battery cell, and the battery cell CCD positioning mechanism feeds back the visual positioning result of the battery cell to the six-axis robot first, so that the six-axis robot first performs automatic flexible deviation correction compensation according to the visual positioning result, and then moves the battery cell to the tab flattening and shaping mechanism, and the tab flattening and shaping mechanism flattens and shapes the tab of the battery cell, and then the first circulation conveying mechanism drives The three six-axis manipulators rotate synchronously in one area, so that the six-axis manipulator that picks up the flattened and shaped battery cell rotates to the second area, and then the six-axis manipulator moves the battery cell to the tab appearance detection and cutting mechanism, which performs appearance detection on the tab of the battery cell and cuts it into shape, and then moves the battery cell after the tab is cut and formed to the tab sleeve insulating sleeve mechanism, which passes the insulating sleeve through the tab and puts it on the edge of the battery cell, and then the first circulating conveying mechanism drives the three six-axis manipulators to rotate synchronously in one area, so that The six-axis robot arm 1 picks up the battery cell with the insulating sleeve and rotates to the third area. During this process, when the six-axis robot arm 2 is in the fourth area, the six-axis robot arm 2 first picks up the shell supplied by the shell feeding mechanism, and then moves the shell to the shell CCD positioning mechanism. The shell is visually positioned by the shell CCD positioning mechanism and the visual positioning result is fed back to the six-axis robot arm 2. The six-axis robot arm 2 performs automatic flexible deviation correction compensation according to the visual positioning result, and then moves the battery cell to the shell coding mechanism. The shell coding mechanism engraves the shell, and then the second circulating conveyor The structure drives three six-axis manipulators 2 to rotate synchronously in one area, so that the six-axis manipulator 2 that picks up the coded battery cell rotates to the third area. At this time, the six-axis manipulator 1 and the six-axis manipulator 2 are both in the third area. The six-axis manipulator 2 moves the shell to the pole ear welding mechanism. The six-axis manipulator 1 moves the battery cell to the pole ear welding mechanism and places the pole ear of the battery cell on an inner wall welding position of the shell. The pole ear welding mechanism welds the pole ear of the battery cell to an inner wall welding position of the shell. Then the six-axis manipulator 1 and the six-axis manipulator 2 move synchronously to the pole ear welding detection mechanism.The tab welding detection mechanism performs welding detection (welding mark quality detection) on the welding of the tab of the battery cell and the shell, and then the six-axis robot 1 and the six-axis robot 2 are synchronously moved to the shell entry station. In the shell entry station, the six-axis robot 1 and the six-axis robot 2 flexibly cooperate and simulate the manual shell entry action, so that the battery cell after the tab welding is flipped into the shell to complete the welding and shell entry work to form a preliminary assembled battery. The six-axis robot 1 can release the battery cell, pick up the six-axis robot 2 with the preliminary assembled battery and rotate to the fifth area. The six-axis robot 2 first moves the preliminary assembled battery to the insulating glue sticking mechanism, and the insulating glue sticking mechanism The battery is affixed with insulating glue, and then the battery with insulating glue is moved to the front shell entry detection mechanism, which performs a front visual inspection on the battery cell after entering the shell, and then the battery after the front visual inspection is moved to the side shell entry detection mechanism, which performs a side visual inspection on the battery cell after entering the shell, and the results of the front visual inspection and the side visual inspection are fed back to the shell entry correction mechanism, which corrects the battery cell after entering the shell to simulate a manual action to smooth the diaphragm, and realizes secondary shelling without damaging the diaphragm, and finally the battery after secondary shelling is placed on the battery unloading mechanism, and the battery unloading mechanism outputs the battery. In the process of welding the battery cell into the shell, the present application only needs to grasp the battery cell and the shell once, and only needs to visually locate the battery cell and the shell after loading. The relative position of the battery cell on the six-axis manipulator 1 is fixed, and the relative position of the shell on the six-axis manipulator 2 is fixed. There is no need to grasp and carry the battery cell and the shell multiple times and visually locate them multiple times, so that the cumulative error caused by multiple grasping and carrying of the battery cell and the shell will not be caused, which greatly improves the quality and efficiency of battery welding into the shell. The six-axis manipulator 1 and the six-axis manipulator 2 flexibly cooperate to simulate human hand movements, avoid directly flipping the battery cell and forcibly inserting it into the shell, which will tear the weld mark and the shell scratch the battery cell, and can also achieve secondary shell entry (correction of shell entry) to ensure the quality of shell entry. The six-axis manipulator 1 and the six-axis manipulator 2 can flexibly correct and compensate by themselves, so as to be compatible with welding processes such as flat welding, inclined welding and vertical welding of different battery cells and shells. In addition, when welding battery cells and shells of different specifications and models into the shell, there is no need to replace carriers of different specifications and models, which simplifies the operation process and reduces production costs. , BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the planar structure of the present invention.

[0026] Description of reference numerals:

[0027] 1. First circulation conveying mechanism; 2. Second circulation conveying mechanism; 3. Six-axis manipulator 1; 4. Six-axis manipulator 2; 5. First area; 6. Second area; 7. Third area; 8. Cell feeding mechanism; 9. Cell CCD positioning mechanism; 10. Tab flattening and shaping mechanism 1; 11. Tab appearance inspection and cutting mechanism; 12. Tab flattening and shaping mechanism 2; 13. Tab sleeve insulation sleeve mechanism; 14. Fourth area; 15. Fifth area; 16. Shell feeding mechanism; 17. Shell CC D positioning mechanism; 18. Shell coding mechanism; 19. Tab welding mechanism; 20. Tab welding detection mechanism; 21. Shell entry station; 22. Insulation glue sticking mechanism; 23. Front shell entry detection mechanism; 24. Side shell entry detection mechanism; 25. Shell entry correction mechanism; 26. Battery unloading mechanism; 27. Tab upward bending and shaping mechanism; 28. AI appearance detection mechanism; 29. ​​Code scanning mechanism; 30. Flipping mechanism; 31. Unqualified battery output mechanism; 32. Shell entry failure output mechanism. DETAILED DESCRIPTION

[0028] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0029] like Figure 1As shown, a battery core welding shell-in-shell machine provided by the present invention comprises a first circulating conveying mechanism 1, a second circulating conveying mechanism 2 arranged side by side with the first circulating conveying mechanism 1, three six-axis manipulators 3 arranged at equal intervals on the circulating conveying part of the first circulating conveying mechanism 1, and three six-axis manipulators 2 4 arranged at equal intervals on the circulating conveying part of the second circulating conveying mechanism 2, a first area 5 and a second area 6 are arranged outside the circulating conveying part of the first circulating conveying mechanism 1, and the first area 5 is sequentially provided with a battery core feeding mechanism 8, a battery core CCD positioning mechanism 9 and a tab pressing mechanism The flattening mechanism 10, the battery cell CCD positioning mechanism 9 is electrically connected to the six-axis manipulator 3, the second area 6 is sequentially provided with a tab appearance detection and cutting mechanism 11, a tab flattening and shaping mechanism 2 12 and a tab sleeve insulating sleeve mechanism 13, a third area 7 is provided between the circulating conveying part of the first circulating conveying mechanism 1 and the circulating conveying part of the second circulating conveying mechanism 2, a fourth area 14 and a fifth area 15 are provided outside the circulating conveying part of the second circulating conveying mechanism 2, and the first area 5, the second area 6 and the third area 7 are arranged along the circulating conveying part of the first circulating conveying mechanism 1 The circular conveying direction is arranged in sequence, and the fourth area 14, the third area 7 and the fifth area 15 are arranged in sequence along the circular conveying direction of the circular conveying part of the second circular conveying mechanism 2. The fourth area 14 is sequentially provided with a shell feeding mechanism 16, a shell CCD positioning mechanism 17 and a shell coding mechanism 18, and the shell CCD positioning mechanism 17 is electrically connected to the six-axis manipulator 24; along the rotation direction of the circular conveying part of the second circular conveying mechanism 2, the third area 7 is sequentially provided with a pole ear welding mechanism 19, a pole ear welding detection mechanism 20 and a shell insertion station 21; the fifth area 15 is provided with an insulating glue sticking mechanism 22, a front shell entry detection mechanism 23, a side shell entry detection mechanism 24, a shell entry correction mechanism 25 and a battery unloading mechanism 26 in sequence; each six-axis manipulator 1 3 rotates cyclically to the first area 5, the second area 6 and the third area 7, and each six-axis manipulator 2 4 rotates cyclically to the fourth area 14, the third area 7 and the fifth area 15; when the six-axis manipulator 1 3 and the six-axis manipulator 2 4 both rotate to the third area 7, the six-axis manipulator 1 3 and the six-axis manipulator 2 4 flexibly cooperate with each other to simulate manual actions to complete the welding shell entry work.

[0030] In actual application, the first circulating conveying mechanism 1 drives three six-axis robots 3 to move in a circular motion. Among the three six-axis robots 3, one six-axis robot 3 is located in the first area 5, one six-axis robot 3 is located in the second area 6, and one six-axis robot 3 is located in the third area 7. The three six-axis robots 3 complete corresponding actions in the corresponding areas respectively; the second circulating conveying mechanism 2 drives three six-axis robots 2 4 to move in a circular motion. Among the three six-axis robots 2 4, one six-axis robot 2 4 is located in the fourth area 14, one six-axis robot 2 4 is located in the third area 7, and one six-axis robot 2 4 is located in the fifth area 15. The three six-axis robots 2 4 complete corresponding actions in the corresponding areas respectively. When the six-axis manipulator 3 is located in the first area 5, the six-axis manipulator 3 first picks up the battery cell supplied by the battery cell feeding mechanism 8, and then moves the picked-up battery cell to the battery cell CCD positioning mechanism 9, and the battery cell is visually positioned by the battery cell CCD positioning mechanism 9, and the visual positioning result of the battery cell by the battery cell CCD positioning mechanism 9 is fed back to the six-axis manipulator 3, so that the six-axis manipulator 3 performs automatic flexible deviation correction compensation according to the visual positioning result, and then moves the battery cell to the tab flattening and shaping mechanism 10, and the tab flattening and shaping mechanism 10 flattens and shapes the tab of the battery cell Then, the first circulating conveying mechanism 1 drives three six-axis manipulators 3 to synchronously rotate the position of an area, so that the six-axis manipulator 3 that picks up the flattened and shaped battery cell rotates to the second area 6, and then the six-axis manipulator 3 moves the battery cell to the tab appearance detection and cutting mechanism 11, the tab appearance detection and cutting mechanism 11 performs appearance detection on the tab of the battery cell and cuts it into shape, and then moves the battery cell after the tab is cut and formed to the tab insulation sleeve mechanism 13, the tab insulation sleeve mechanism 13 passes the insulation sleeve through the tab and puts it on the edge of the battery cell, and then the first circulating conveying mechanism 1 and drives three six-axis manipulators 1 3 to rotate synchronously in one area, so that the six-axis manipulator 1 3 picking up the battery cell with the insulating sleeve rotates to the third area 7. During this process, when the six-axis manipulator 2 4 is in the fourth area 14, the six-axis manipulator 2 4 first picks up the shell supplied by the shell feeding mechanism 16, and then moves the shell to the shell CCD positioning mechanism 17. The shell is visually positioned by the shell CCD positioning mechanism 17 and the visual positioning result is fed back to the six-axis manipulator 2 4. The six-axis manipulator 2 4 performs automatic flexible deviation correction according to the visual positioning result. The battery cell is moved to the shell coding mechanism 18, and the shell coding mechanism 18 codes the shell. Then the second circulating conveying mechanism 2 drives the three six-axis manipulators 2 4 to rotate synchronously in one area, so that the six-axis manipulator 2 4 that picks up the coded battery cell rotates to the third area 7. At this time, the six-axis manipulator 1 3 and the six-axis manipulator 2 4 are both in the third area 7. The six-axis manipulator 2 4 moves the shell to the pole ear welding mechanism 19, and the six-axis manipulator 1 3 moves the battery cell to the pole ear welding mechanism 19 and places the pole ear of the battery cell on an inner wall welding position of the shell.The tab welding mechanism 19 welds the tab of the battery cell to a welding position on the inner wall of the shell, and then the six-axis manipulator 1 3 and the six-axis manipulator 2 4 move synchronously to the tab welding detection mechanism 20, and the tab welding detection mechanism 20 performs welding detection (welding mark quality detection) on the welding of the tab of the battery cell and the shell, and then the six-axis manipulator 1 3 and the six-axis manipulator 2 4 move synchronously to the shell entry station 21, in the shell entry station 21, the six-axis manipulator 1 3 and the six-axis manipulator 2 4 flexibly cooperate and simulate the manual shell entry action, so that the battery cell after the tab welding is flipped into the shell to complete the welding shell entry work to form a preliminary assembled battery, and the six-axis manipulator 1 3 can release the battery cell, pick up the six-axis manipulator 2 4 with the preliminary assembled battery and rotate to the fifth area 15, and the six-axis manipulator 2 4 first performs the preliminary The assembled battery is moved to the insulating glue sticking mechanism 22, which sticks insulating glue on the initially assembled battery, and then moves the battery after sticking the insulating glue to the front shell entry detection mechanism 23, which performs a front visual inspection on the battery cell after entering the shell, and then moves the battery after the front visual inspection to the side shell entry detection mechanism 24, which performs a side visual inspection on the battery cell after entering the shell, and the results of the front visual inspection and the side visual inspection are fed back to the shell entry correction mechanism 25, which corrects the battery cell after entering the shell to simulate manual movements to smooth the diaphragm, and realizes secondary shell entry without damaging the diaphragm, and finally places the battery after secondary shell entry on the battery unloading mechanism 26, which outputs the battery. In the process of welding the battery cell into the shell, the present application only needs to grasp the battery cell and the shell once, and only needs to perform visual positioning once for the battery cell and the shell after loading respectively. The relative position of the battery cell on the six-axis manipulator 1 3 is fixed, and the relative position of the shell on the six-axis manipulator 2 4 is fixed. There is no need to grasp and transport the battery cell and the shell multiple times and perform multiple visual positioning, so as not to cause the cumulative error caused by multiple grasping and transporting of the battery cell and the shell, which greatly improves the quality and efficiency of battery welding into the shell, and the six-axis manipulator 1 3 and the six-axis manipulator 2 4 flexibly cooperate to simulate human hand movements to avoid directly flipping the battery cell and forcibly inserting it into the shell, thereby avoiding tearing the weld mark and scratching the battery cell due to the shell, and can also achieve secondary shelling (correcting the shelling) to ensure the quality of shelling. The six-axis manipulator 1 3 and the six-axis manipulator 2 4 can flexibly correct and compensate by themselves, so as to be compatible with welding processes such as flat welding, inclined welding and vertical welding of battery cells and shells of different specifications and models. In addition, when welding cells and shells of different specifications and models into shells, there is no need to replace carriers of different specifications and models, which simplifies the operation process and reduces production costs.

[0031] In this embodiment, the second region 6 is further provided with a tab upward bending shaping mechanism 27, which is located on the side of the tab cover insulating sleeve mechanism 13 away from the tab flattening shaping mechanism 2 12. According to different process requirements, after the battery cell is covered with the insulating sleeve, the six-axis manipulator 1 3 moves the battery cell covered with the insulating sleeve to the tab upward bending shaping mechanism 27, and the tab upward bending shaping mechanism 27 bends and shapes the tab of the battery cell upward.

[0032] In this embodiment, the third area 7 is further provided with an AI appearance inspection mechanism 28, which is located between the tab welding inspection mechanism 20 and the shell entry station 21. After the tab welding inspection mechanism 20 performs welding inspection on the tab of the battery cell and the shell, the six-axis manipulator 1 3 and the six-axis manipulator 2 4 move synchronously to the AI ​​appearance inspection mechanism 28 to perform a secondary inspection on the welding of the tab of the battery cell and the shell, and the AI ​​appearance inspection mechanism 28 will perform self-learning as the number of inspections increases, and continuously optimize the inspection requirements, thereby ensuring the welding quality.

[0033] In this embodiment, a scanning mechanism 29 and a flipping mechanism 30 are sequentially arranged on the conveying path of the battery cell feeding mechanism 8, and the flipping mechanism 30 is used to flip the battery cell 180 degrees. Before the battery cell feeding mechanism 8 conveys the battery cell to the six-axis manipulator 3, the scanning mechanism 29 scans the QR code or barcode on the battery cell to identify, track and save the information of the battery cell, and then the flipping mechanism 30 flips the battery cell 180 degrees to turn the battery cell over.

[0034] In this embodiment, the first circulating conveying mechanism 1 and the second circulating conveying mechanism 2 are both turntable conveying mechanisms, and three six-axis manipulators 1 3 or three six-axis manipulators 2 4 are arranged in a circular array on the turntable of the turntable conveying mechanism.

[0035] In this embodiment, the fifth area 15 is further provided with an unqualified battery output mechanism 31, which is located between the battery unloading mechanism 26 and the shell insertion correction mechanism 25. The unqualified battery output mechanism 31 can output unqualified batteries.

[0036] In this embodiment, a bad shell-entry output mechanism 32 is provided between the shell-entry station 21 and the insulating glue sticking mechanism 22. The bad shell-entry output mechanism 32 can output batteries with bad shell-entry.

[0037] The present invention also provides a method for welding a battery core into a shell, based on the application of the above-mentioned battery core welding into a shell machine, comprising the following steps:

[0038] A. Among the three six-axis manipulators 1-3, one six-axis manipulator 1-3 is located in the first area 5, one six-axis manipulator 1-3 is located in the second area 6, and one six-axis manipulator 1-3 is located in the third area 7, and the three six-axis manipulators 1-3 respectively complete corresponding actions in the corresponding areas; among the three six-axis manipulators 2-4, one six-axis manipulator 2-4 is located in the fourth area 14, one six-axis manipulator 2-4 is located in the third area 7, and one six-axis manipulator 2-4 is located in the fifth area 15, and the three six-axis manipulators 2-4 respectively complete corresponding actions in the corresponding areas;

[0039] B. The six-axis manipulator 3 in the first area 5 first picks up the battery cell supplied by the battery cell feeding mechanism 8, and then moves the picked-up battery cell to the battery cell CCD positioning mechanism 9, and the battery cell CCD positioning mechanism 9 visually positions the battery cell, and the battery cell CCD positioning mechanism 9 feeds back the visual positioning result of the battery cell to the six-axis manipulator 3, so that the six-axis manipulator 3 performs automatic flexible deviation correction compensation according to the visual positioning result, and then moves the battery cell to the tab flattening and shaping mechanism 10, and the tab flattening and shaping mechanism 10 flattens and shapes the tab of the battery cell;

[0040] The six-axis manipulator 2 4 in the fourth area 14 first picks up the shell supplied by the shell feeding mechanism 16, and then moves the shell to the shell CCD positioning mechanism 17, and the shell is visually positioned by the shell CCD positioning mechanism 17 and the visual positioning result is fed back to the six-axis manipulator 2 4, and the six-axis manipulator 2 4 performs automatic flexible deviation correction compensation according to the visual positioning result, and then moves the battery cell to the shell coding mechanism 18, and the shell coding mechanism 18 engraves the shell;

[0041] C. The first circulating conveying mechanism 1 drives the three six-axis manipulators 1 3 to rotate synchronously in one area, so that the six-axis manipulator 1 3 picking up the flattened and shaped battery cell rotates to the second area 6; the second circulating conveying mechanism 2 drives the three six-axis manipulators 2 4 to rotate synchronously in one area, so that the six-axis manipulator 2 4 picking up the battery cell after engraving rotates to the third area 7;

[0042] D. The six-axis manipulator 3 moves the battery cell after the tab is flattened and shaped to the tab appearance detection and cutting mechanism 11. The tab appearance detection and cutting mechanism 11 performs appearance detection on the tab of the battery cell and cuts it into shape, and then moves the battery cell after the tab is cut and formed to the tab insulation sleeve mechanism 13. The tab insulation sleeve mechanism 13 passes the insulation sleeve through the tab and covers it on the edge of the battery cell;

[0043] E. The first circulating conveying mechanism 1 drives the three six-axis manipulators 3 to rotate synchronously in one area, so that the six-axis manipulator 3 picking up the battery cell with the insulating sleeve rotates to the third area 7;

[0044] F. The six-axis manipulator 1 3 that picks up the battery cell with the insulating sleeve and the six-axis manipulator 2 4 that picks up the battery cell with the coding are both in the third area 7. The six-axis manipulator 2 4 moves the shell to the pole ear welding mechanism 19. The six-axis manipulator 1 3 moves the battery cell to the pole ear welding mechanism 19 and places the pole ear of the battery cell on an inner wall welding position of the shell. The pole ear welding mechanism 19 welds the pole ear of the battery cell to an inner wall welding position of the shell. Then the six-axis manipulator 1 3 and the six-axis manipulator 2 4 move synchronously. To the tab welding detection mechanism 20, the tab welding detection mechanism 20 performs welding detection on the welding of the tab of the battery cell and the shell, and then the six-axis manipulator 1 3 and the six-axis manipulator 2 4 are synchronously moved to the shell entry station 21, in which the six-axis manipulator 1 3 and the six-axis manipulator 2 4 flexibly cooperate and simulate the manual shell entry action, so that the battery cell after the tab welding is turned over into the shell to complete the welding shell entry work, so as to form a preliminarily assembled battery, and the six-axis manipulator 1 3 can release the battery cell;

[0045] G. The six-axis manipulator 24 that picks up the preliminarily assembled battery rotates to the fifth area 15. The six-axis manipulator 24 first moves the preliminarily assembled battery to the insulating glue sticking mechanism 22. The insulating glue sticking mechanism 22 sticks insulating glue on the preliminarily assembled battery, and then moves the battery with insulating glue to the front shell entry detection mechanism 23. The front shell entry detection mechanism 23 performs a front visual inspection on the battery cell after shell entry. The battery after the front visual inspection is then moved to the side shell entry detection mechanism 24. The side shell entry detection mechanism 24 performs a side visual inspection on the battery cell after shell entry. The results of the front visual inspection and the side visual inspection are fed back to the shell entry correction mechanism 25. The shell entry correction mechanism 25 corrects the battery cell after shell entry to simulate the action of a human hand to smooth the diaphragm, and realizes secondary shell entry without damaging the diaphragm. Finally, the battery after secondary shell entry is placed on the battery unloading mechanism 26, and the battery unloading mechanism 26 outputs the battery.

[0046] Furthermore, in step F, the third area 7 is also provided with an AI appearance inspection mechanism 28, which is located between the tab welding inspection mechanism 20 and the shell entry station 21; after the tab welding inspection mechanism 20 performs welding inspection on the tabs and the shell of the battery cell, the six-axis manipulator 1 3 and the six-axis manipulator 2 4 move synchronously to the AI ​​appearance inspection mechanism 28 to perform a secondary inspection on the welding of the tabs and the shell of the battery cell, and the AI ​​appearance inspection mechanism 28 will perform self-learning as the number of inspections increases, and continuously optimize the inspection requirements.

[0047] Furthermore, in step D, the second area 6 is also provided with a pole ear upward bending and shaping mechanism 27, which is located on the side of the pole ear sleeve insulating sleeve mechanism 13 away from the pole ear flattening and shaping mechanism 2 12; after the battery cell is covered with the insulating sleeve, the six-axis manipulator 1 3 moves the battery cell covered with the insulating sleeve to the pole ear upward bending and shaping mechanism 27, and the pole ear upward bending and shaping mechanism 27 bends and shapes the pole ear of the battery cell upward.

[0048] All technical features in this embodiment can be freely combined according to actual needs.

[0049] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention may also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. A battery core welding machine, characterized in that: The invention comprises a first circulating conveying mechanism (1), a second circulating conveying mechanism (2) arranged side by side with the first circulating conveying mechanism (1), three six-axis manipulators (3) arranged at equal intervals on the circulating conveying part of the first circulating conveying mechanism (1), and three six-axis manipulators (4) arranged at equal intervals on the circulating conveying part of the second circulating conveying mechanism (2); a first area (5) and a second area (6) are arranged outside the first circulating conveying mechanism (1); the first area (5) is provided with a battery cell feeding mechanism (8) and a battery cell CCD positioning mechanism (9) in sequence. and a first tab flattening and shaping mechanism (10), the battery cell CCD positioning mechanism (9) is electrically connected to a first six-axis manipulator (3), the second area (6) is sequentially provided with a tab appearance detection and cutting mechanism (11), a second tab flattening and shaping mechanism (12) and a tab sleeve insulating sleeve mechanism (13), a third area (7) is provided between the circulating conveying part of the first circulating conveying mechanism (1) and the circulating conveying part of the second circulating conveying mechanism (2), a fourth area (14) and a fifth area (15) are provided outside the second circulating conveying mechanism (2), and the first area (5 ), the second area (6) and the third area (7) are arranged in sequence along the circulating conveying direction of the circulating conveying part of the first circulating conveying mechanism (1), the fourth area (14), the third area (7) and the fifth area (15) are arranged in sequence along the circulating conveying direction of the circulating conveying part of the second circulating conveying mechanism (2), the fourth area (14) is provided with a shell loading mechanism (16), a shell CCD positioning mechanism (17) and a shell coding mechanism (18) in sequence, and the shell CCD positioning mechanism (17) is electrically connected to the six-axis manipulator 2 (4); the third area (7) is provided with a tab welding mechanism (19), a tab welding detection mechanism (20) and a shell insertion station (21) in sequence; the fifth area (15) is provided with an insulating glue sticking mechanism (22), a front shell insertion detection mechanism (23), a side shell insertion detection mechanism (24), a shell insertion correction mechanism (25) and a battery unloading mechanism (26) in sequence; when the six-axis manipulator 1 (3) and the six-axis manipulator 2 (4) are both rotated to the third area (7), the six-axis manipulator 1 (3) and the six-axis manipulator 2 (4) cooperate with each other to simulate manual actions to complete the welding shell insertion work.

2. The battery core welding machine according to claim 1, characterized in that: The second region (6) is also provided with a tab upward bending and shaping mechanism (27), and the tab upward bending and shaping mechanism (27) is located on a side of the tab sleeve insulating sleeve mechanism (13) away from the tab flattening and shaping mechanism 2 (12).

3. The battery core welding machine according to claim 1, characterized in that: The third area (7) is also provided with an AI appearance detection mechanism (28), and the AI ​​appearance detection mechanism (28) is located between the tab welding detection mechanism (20) and the shell insertion station (21).

4. The battery core welding machine according to claim 1, characterized in that: A code scanning mechanism (29) and a flipping mechanism (30) are sequentially arranged on the conveying path of the battery cell feeding mechanism (8); the flipping mechanism (30) is used to flip the battery cell 180 degrees.

5. The battery core welding machine according to claim 1, characterized in that: The first circulating conveying mechanism (1) and the second circulating conveying mechanism (2) are both turntable conveying mechanisms.

6. The battery core welding machine according to claim 1, characterized in that: The fifth area (15) is also provided with a defective battery output mechanism (31), and the defective battery output mechanism (31) is located between the battery unloading mechanism (26) and the shell insertion correction mechanism (25).

7. The battery core welding machine according to claim 1, characterized in that: A shell insertion failure output mechanism (32) is provided between the shell insertion station (21) and the insulating adhesive sticking mechanism (22).

8. A method for welding a battery core into a shell, characterized in that: Based on the application of the battery core welding shell machine according to any one of claims 1 to 7, the method comprises the following steps: A. Among the three six-axis manipulators (1) (3), one six-axis manipulator (1) (3) is located in the first area (5), one six-axis manipulator (1) (3) is located in the second area (6), and one six-axis manipulator (1) (3) is located in the third area (7). The three six-axis manipulators (1) (3) respectively perform corresponding actions in the corresponding areas; among the three six-axis manipulators (2) (4), one six-axis manipulator (2) (4) is located in the fourth area (14), one six-axis manipulator (2) (4) is located in the third area (7), and one six-axis manipulator (2) (4) is located in the fifth area (15). The three six-axis manipulators (2) (4) respectively perform corresponding actions in the corresponding areas; B. The six-axis manipulator (3) in the first area (5) first picks up the battery cell supplied by the battery cell feeding mechanism (8), and then moves the picked-up battery cell to the battery cell CCD positioning mechanism (9), and the battery cell CCD positioning mechanism (9) visually positions the battery cell, and the battery cell CCD positioning mechanism (9) feeds back the visual positioning result of the battery cell to the six-axis manipulator (3), so that the six-axis manipulator (3) performs automatic flexible deviation correction compensation according to the visual positioning result, and then moves the battery cell to the tab flattening and shaping mechanism (10), and the tab flattening and shaping mechanism (10) flattens and shapes the tab of the battery cell; The six-axis manipulator 2 (4) in the fourth area (14) first picks up the shell supplied by the shell feeding mechanism (16), and then moves the shell to the shell CCD positioning mechanism (17), performs visual positioning on the shell through the shell CCD positioning mechanism (17) and feeds back the visual positioning result to the six-axis manipulator 2 (4), and the six-axis manipulator 2 (4) performs automatic flexible deviation correction compensation according to the visual positioning result, and then moves the battery cell to the shell coding mechanism (18), and the shell coding mechanism (18) codes the shell; C. The first circulating conveying mechanism (1) drives the three six-axis manipulators (3) to rotate synchronously in one area, so that the six-axis manipulator (3) that picks up the flattened and shaped battery cell rotates to the second area (6); the second circulating conveying mechanism (2) drives the three six-axis manipulators (4) to rotate synchronously in one area, so that the six-axis manipulator (4) that picks up the battery cell that has been engraved rotates to the third area (7); D. The six-axis manipulator (3) moves the battery cell after the tab is flattened and shaped to the tab appearance inspection and cutting mechanism (11). The tab appearance inspection and cutting mechanism (11) performs appearance inspection on the tab of the battery cell and cuts and shapes the tab. The battery cell after the tab is cut and shaped is then moved to the tab cover insulating sleeve mechanism (13). The tab cover insulating sleeve mechanism (13) passes the insulating sleeve through the tab and covers the edge of the battery cell. E. The first circulating conveying mechanism (1) drives the three six-axis manipulators (3) to synchronously rotate to the position of an area, so that the six-axis manipulator (3) that picks up the battery cell with the insulating sleeve rotates to the third area (7); F. The six-axis robot arm 1 (3) for picking up the battery cell with the insulating sleeve and the six-axis robot arm 2 (4) for picking up the battery cell with the coding are both in the third area (7). The six-axis robot arm 2 (4) moves the shell to the tab welding mechanism (19). The six-axis robot arm 1 (3) moves the battery cell to the tab welding mechanism (19) and places the tab of the battery cell on an inner wall welding position of the shell. The tab welding mechanism (19) welds the tab of the battery cell to an inner wall welding position of the shell. Then the six-axis robot arm 1 (3) and the six-axis robot arm 2 (4) are synchronously moved. The battery is moved to the tab welding detection mechanism (20), and the tab welding detection mechanism (20) performs welding detection on the welding between the tab of the battery cell and the shell. Then, the six-axis manipulator 1 (3) and the six-axis manipulator 2 (4) are synchronously moved to the shell insertion station (21). In the shell insertion station (21), the six-axis manipulator 1 (3) and the six-axis manipulator 2 (4) flexibly cooperate and simulate the manual shell insertion action, so that the battery cell after the tab welding is turned over into the shell, so as to complete the welding and shell insertion work, so as to form a preliminarily assembled battery, and the six-axis manipulator 1 (3) can release the battery cell; G. The six-axis manipulator 2 (4) that picks up the preliminarily assembled battery rotates to the fifth area (15). The six-axis manipulator 2 (4) first moves the preliminarily assembled battery to the insulating glue sticking mechanism (22). The insulating glue sticking mechanism (22) sticks insulating glue on the preliminarily assembled battery. The battery with insulating glue sticking is then moved to the front shell entry detection mechanism (23). The front shell entry detection mechanism (23) performs a front visual inspection on the battery cell after shell entry. The battery after the front visual inspection is then moved to the side shell entry detection mechanism (24). The side shell entry detection mechanism (24) performs a side visual inspection on the battery cell after shell entry. The results of the front visual inspection and the side visual inspection are fed back to the shell entry correction mechanism (25). The shell entry correction mechanism (25) corrects the battery cell after shell entry to simulate the human hand action to smooth the diaphragm, and realizes secondary shell entry without damaging the diaphragm. Finally, the battery after secondary shell entry is placed on the battery unloading mechanism (26), and the battery unloading mechanism (26) outputs the battery.

9. A method for welding a battery core into a shell according to claim 8, characterized in that: In step F, the third area (7) is further provided with an AI appearance inspection mechanism (28), and the AI ​​appearance inspection mechanism (28) is located between the tab welding inspection mechanism (20) and the shell insertion station (21); after the tab welding inspection mechanism (20) performs welding inspection on the tab of the battery cell and the shell, the six-axis manipulator 1 (3) and the six-axis manipulator 2 (4) are synchronously moved to the AI ​​appearance inspection mechanism (28) to perform a secondary inspection on the welding between the tab of the battery cell and the shell, and the AI ​​appearance inspection mechanism (28) will perform self-learning as the number of inspections increases, and continuously optimize the inspection requirements.

10. A method for welding a battery core into a shell according to claim 8, characterized in that: In step D, the second area (6) is further provided with a tab upward bending and shaping mechanism (27), and the tab upward bending and shaping mechanism (27) is located on a side of the tab cover insulating sleeve mechanism (13) away from the tab flattening and shaping mechanism 2 (12); after the battery cell is covered with the insulating sleeve, the six-axis manipulator 1 (3) moves the battery cell covered with the insulating sleeve to the tab upward bending and shaping mechanism (27), and the tab upward bending and shaping mechanism (27) bends the tab of the battery cell upward.

Images