A battery cell welding into shell machine and a battery cell welding into shell method

Abstract

The present application relates to the technical field of battery production, in particular to a battery cell welding into shell machine and a battery cell welding into shell method, in the process of welding the battery cell into the shell, the battery cell and the shell only need to be grabbed and visually positioned once, without the need for multiple grabbing, carrying and visual positioning of the battery cell and the shell, so as to avoid the cumulative error caused by multiple grabbing and carrying of the battery cell and the shell, greatly improve the quality and efficiency of the battery welding into the shell, and the flexible cooperation of the six-axis manipulator one and the six-axis manipulator two can simulate the action of the human hand, avoid tearing the welding mark and scratching the battery cell by directly turning the battery cell into the shell, and also can realize secondary shell entering, ensure the shell entering quality, the six-axis manipulator one and the six-axis manipulator two can flexibly correct and compensate, so as to be compatible with different battery cell and shell flat welding, inclined welding and vertical welding and other welding processes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery production, in particular to a battery cell welding into shell machine and a battery cell welding into shell method. BACKGROUND

[0002] In the production process of the battery, the welding of the battery cell into the shell is a relatively key process. In the prior art, a battery welding into shell packaging device is disclosed in a Chinese patent document with the application number 202310586504.5, which comprises a rack, a first indexing turntable, a second indexing turntable, a battery cell feeding manipulator, a battery cell transfer manipulator, a shell carrying feeding manipulator, an insulating sheet carrying into shell manipulator and a discharging carrying manipulator are arranged on the rack, four battery cell overturning into shell mechanisms are arranged on the second indexing turntable at intervals, the second indexing turntable rotates counterclockwise, rotates 90 degrees each time, the four battery cell overturning into shell mechanisms correspond to four workstations respectively, and the battery cell overturning into shell mechanism can simultaneously clamps the shell in a side-standing manner and clamps the battery cell in a horizontal manner. The battery cell overturning into shell mechanism of the patent document directly overturns the battery cell to force it into the shell, which cannot simulate the manual action to complete the welding into shell work, and is prone to cause the phenomenon of tearing of the tab welding mark and scratching of the battery cell by the shell. When welding different specifications and models of battery cells and shells, the corresponding specification and model of the carrier needs to be replaced, which is troublesome to disassemble and assemble, high in production cost, and the battery cell needs to be grabbed and carried multiple times, which cannot realize the second correction into shell after the first time into shell, and it is difficult to guarantee the quality and efficiency of the welding into shell.

[0003] Therefore, the defects are very obvious, and a solution needs to be provided. SUMMARY

[0004] In order to solve the above technical problems, the purpose of the present application is to provide a battery cell welding into shell machine and a battery cell welding into shell method.

[0005] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0006] The application discloses a battery cell welding into shell machine, which 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 arranged at equal intervals on a circulating conveying part of the first circulating conveying mechanism, and three six-axis manipulators arranged at equal intervals on a 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, the first area is sequentially provided with a battery cell feeding mechanism, a battery cell CCD positioning mechanism and a tab flattening and shaping mechanism one, the battery cell CCD positioning mechanism is electrically connected with the six-axis manipulator one, the second area is sequentially provided with a tab appearance detection and cutting mechanism, a tab flattening and shaping mechanism two and a tab insulation sleeve mechanism, 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, a fourth area and a fifth area are arranged outside the circulating conveying part of the second circulating conveying mechanism, the first area, the second area and the third area are sequentially arranged along the circulating conveying direction of the circulating conveying part of the first circulating conveying mechanism, the fourth area, the third area and the fifth area are sequentially arranged 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 feeding mechanism, a shell CCD positioning mechanism and a shell coding mechanism, the shell CCD positioning mechanism is electrically connected with the six-axis manipulator two, the third area is sequentially provided with a tab welding mechanism, a tab welding detection mechanism and an entering shell station, the fifth area is sequentially provided with a insulation adhesive pasting mechanism, a front entering shell detection mechanism, a side entering shell detection mechanism, an entering shell correcting mechanism and a battery discharging mechanism, when the six-axis manipulator one and the six-axis manipulator two are rotated to the third area, the six-axis manipulator one and the six-axis manipulator two cooperatively simulate manual operation to complete the welding into shell work.

[0007] Further, the second area is further provided with a tab upward bending and shaping mechanism, and the tab upward bending and shaping mechanism is located on the side, away from the tab flattening and shaping mechanism two, of the tab insulation sleeve mechanism.

[0008] Further, the third area is further provided with an AI appearance detection mechanism, and the AI appearance detection mechanism is located between the tab welding detection mechanism and the entering shell station.

[0009] Further, a code scanning mechanism and a turnover mechanism are sequentially arranged on a conveying path of the battery cell feeding mechanism, and the turnover mechanism is used for 180° turnover of the battery cell.

[0010] Further, the first circulating conveying mechanism and the second circulating conveying mechanism are both rotary disc conveying mechanisms.

[0011] Further, the fifth area is further provided with an unqualified battery output mechanism, and the unqualified battery output mechanism is located between the battery discharging mechanism and the entering shell correcting mechanism.

[0012] Further, an entering shell defect output mechanism is arranged between the entering shell station and the insulation adhesive pasting mechanism.

[0013] The application also provides a method for welding an electric core into a shell, based on the application of the electric core welding shell machine, comprising the following steps:

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

[0015] B. The six-axis manipulator one in the first area first picks up the electric core supplied by the electric core feeding mechanism, then moves the picked electric core to the electric core CCD positioning mechanism, and performs visual positioning on the electric core through the electric core CCD positioning mechanism. The visual positioning result of the electric core CCD positioning mechanism is fed back to the six-axis manipulator one, so that the six-axis manipulator one automatically and flexibly compensates according to the visual positioning result, and then moves the electric core to the tab flattening and shaping mechanism one. The tab flattening and shaping mechanism one flattens and shapes the tab of the electric core.

[0016] The six-axis manipulator two in the fourth area first picks up the shell supplied by the shell feeding mechanism, then moves the shell to the shell CCD positioning mechanism, and performs visual positioning on the shell through the shell CCD positioning mechanism and feeds back the visual positioning result to the six-axis manipulator two. The six-axis manipulator two automatically and flexibly compensates according to the visual positioning result, and then moves the electric core to the shell coding mechanism. The shell coding mechanism codes the shell.

[0017] C. The first circulating conveying mechanism drives the three six-axis manipulators one to synchronously rotate the position of one area, so that the six-axis manipulator one that picks up the flattened and shaped electric core rotates to the second area. The second circulating conveying mechanism drives the three six-axis manipulators two to synchronously rotate the position of one area, so that the six-axis manipulator two that picks up the coded electric core rotates to the third area.

[0018] D. The six-axis manipulator one moves the tab flattened and shaped electric core to the tab appearance detection and cutting mechanism, which performs appearance detection on the tab of the electric core and cuts it into shape. Then the six-axis manipulator one moves the tab cut into shape to the tab insulation sleeve mechanism, which passes the insulation sleeve through the tab and sleeves it on the edge of the electric core.

[0019] E. The first circulating conveying mechanism again drives the three six-axis manipulators one to synchronously rotate the position of one area, so that the six-axis manipulator one that picks up the electric core with the sleeved insulation sleeve rotates to the third area.

[0020] F, the six-axis manipulator one picking up the battery cell with the insulation sleeve and the six-axis manipulator two picking up the battery cell with the code; the six-axis manipulator two moves the battery cell to the shell inserting position, the six-axis manipulator one moves the battery cell with the insulation sleeve to the shell inserting position, and the battery cell with the insulation sleeve is placed on the inner side wall of the shell; the six-axis manipulator one and the six-axis manipulator two are synchronously moved to the shell inserting position, the six-axis manipulator one and the six-axis manipulator two are flexibly cooperated and simulate the manual shell inserting action, so that the battery cell with the insulation sleeve is turned and inserted into the shell, to complete the shell inserting work, and the six-axis manipulator one is released from the battery cell;

[0021] G, the six-axis manipulator two picking up the battery cell with the insulation sleeve is rotated to the fifth area, the six-axis manipulator two moves the battery cell with the insulation sleeve to the insulation adhesive pasting mechanism, the insulation adhesive pasting mechanism pastes the insulation adhesive on the battery cell with the insulation sleeve, and then moves the battery cell with the insulation adhesive to the front visual detection mechanism, the front visual detection mechanism detects the battery cell with the insulation adhesive, and then moves the battery cell with the insulation adhesive to the side visual detection mechanism, the side visual detection mechanism detects the battery cell with the insulation adhesive, the results of the front visual detection and the side visual detection are fed back to the shell inserting correction mechanism, the shell inserting correction mechanism corrects the battery cell with the insulation adhesive, to simulate the manual action to smooth the diaphragm, realizes the secondary shell inserting without damaging the diaphragm, and finally places the battery cell with the insulation adhesive on the battery cell discharging mechanism, and the battery cell discharging mechanism discharges the battery cell.

[0022] Further, in step F, the third area is further provided with an AI appearance detection mechanism, the AI appearance detection mechanism is located between the shell inserting position and the shell inserting correction mechanism; after the shell inserting position detects the welding of the battery cell and the shell, the six-axis manipulator one and the six-axis manipulator two are synchronously moved to the AI appearance detection mechanism to detect the welding of the battery cell and the shell, and the AI appearance detection mechanism is self-learned with the increase of the detection times, and the detection requirements are continuously optimized.

[0023] Further, in step D, the second area is further provided with an ear upward bending and shaping mechanism, the ear upward bending and shaping mechanism is located on the side away from the ear flattening and shaping mechanism two of the ear insulation sleeve pasting mechanism; after the battery cell is pasted with the insulation sleeve, the six-axis manipulator one moves the battery cell with the insulation sleeve to the ear upward bending and shaping mechanism, and the ear upward bending and shaping mechanism bends and shapes the ear of the battery cell upward.

[0024] The beneficial effects of the present application are: in practical application, the first circulating conveying mechanism drives three six-axis manipulators one to move in a cycle, among the three six-axis manipulators one, one six-axis manipulator one is located in the first area, one six-axis manipulator one is located in the second area, and one six-axis manipulator one is located in the third area, and the three six-axis manipulators one respectively complete corresponding actions in the corresponding area; the second circulating conveying mechanism drives three six-axis manipulators two to move in a cycle, among the three six-axis manipulators two, one six-axis manipulator two is located in the fourth area, one six-axis manipulator two is located in the third area, and one six-axis manipulator two is located in the fifth area, and the three six-axis manipulators two respectively complete corresponding actions in the corresponding area. When the six-axis manipulator one is located in the first area, the six-axis manipulator one first picks up the battery cell supplied by the battery cell feeding mechanism, and then moves the battery cell it picks up to the battery cell CCD positioning mechanism, and the battery cell CCD positioning mechanism performs visual positioning on the battery cell, and the visual positioning result of the battery cell CCD positioning mechanism is fed back to the six-axis manipulator one, so that the six-axis manipulator one automatically and flexibly compensates according to the visual positioning result, and then moves the battery cell to the tab flattening and shaping mechanism one, the tab flattening and shaping mechanism one flattens and shapes the tab of the battery cell, and then the first circulating conveying mechanism drives the three six-axis manipulators one to synchronously rotate the position of one area, so that the six-axis manipulator one that picks up the flattened and shaped battery cell rotates to the second area, and then the six-axis manipulator one moves the battery cell to the tab appearance detection and cutting mechanism, the tab appearance detection and cutting mechanism detects the appearance of the tab of the battery cell and cuts it into shape, and then moves the tab cut into shape to the tab insulation sleeve mechanism, the tab insulation sleeve mechanism passes the insulation sleeve through the tab and sleeves it on the edge of the battery cell, and then the first circulating conveying mechanism drives the three six-axis manipulators one to synchronously rotate the position of one area, so that the six-axis manipulator one that picks up the battery cell with the sleeved insulation sleeve rotates to the third area, and in this process, when the six-axis manipulator two is in the fourth area, the six-axis manipulator two first picks up the shell supplied by the shell feeding mechanism, and then moves the shell to the shell CCD positioning mechanism, and the shell CCD positioning mechanism performs visual positioning on the shell and feeds back the visual positioning result to the six-axis manipulator two, and the six-axis manipulator two automatically and flexibly compensates according to the visual positioning result, and then moves the battery cell to the shell coding mechanism, the shell coding mechanism codes the shell, and then the second circulating conveying mechanism drives the three six-axis manipulators two to synchronously rotate the position of one area, so that the six-axis manipulator two that picks up the coded battery cell rotates to the third area, at this time, the six-axis manipulator one and the six-axis manipulator two are in the third area, the six-axis manipulator two moves the shell to the tab welding mechanism, the six-axis manipulator one moves the battery cell to the tab welding mechanism and places the tab of the battery cell on an inner side wall welding position of the shell, the tab welding mechanism welds the tab of the battery cell on the inner side wall welding position of the shell, and then the six-axis manipulator one and the six-axis manipulator two synchronously move to the tab welding detection mechanism,The welding detection mechanism of the tab detects the welding of the tab of the battery cell and the shell (welding quality detection), and then the six-axis manipulator one and the six-axis manipulator two move synchronously to the shell entering station. In the shell entering station, the six-axis manipulator one and the six-axis manipulator two flexibly cooperate and simulate the manual shell entering action, so that the battery cell after tab welding is turned over into the shell to complete the welding and shell entering work, thereby forming a preliminarily assembled battery. The six-axis manipulator one can release the battery cell, the six-axis manipulator two with the preliminarily assembled battery is rotated to the fifth area, the preliminarily assembled battery is moved to the insulating adhesive attaching mechanism, the insulating adhesive attaching mechanism attaches the insulating adhesive to the preliminarily assembled battery, the battery after the insulating adhesive is attached is moved to the front shell entering detection mechanism, the front shell entering detection mechanism performs front visual detection on the battery after shell entering, the battery after the front visual detection is moved to the side shell entering detection mechanism, the side shell entering detection mechanism performs side visual detection on the battery after shell entering, the results of the front visual detection and the side visual detection are fed back to the shell entering correction mechanism, the shell entering correction mechanism corrects the battery after shell entering to simulate the manual action to smooth the diaphragm, realizes secondary shell entering without damaging the diaphragm, and finally places the battery after secondary shell entering on the battery unloading mechanism, and the battery unloading mechanism outputs the battery. BRIEF DESCRIPTION OF DRAWINGS

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

[0026] Marked as follows:

[0027] 1, first circulation conveying mechanism; 2, second circulation conveying mechanism; 3, six-axis manipulator one; 4, six-axis manipulator two; 5, first area; 6, second area; 7, third area; 8, cell loading mechanism; 9, cell CCD positioning mechanism; 10, tab flattening and shaping mechanism one; 11, tab appearance detection and cutting mechanism; 12, tab flattening and shaping mechanism two; 13, tab insulation sleeve mechanism; 14, fourth area; 15, fifth area; 16, shell loading mechanism; 17, shell CCD positioning mechanism; 18, shell coding mechanism; 19, tab welding mechanism; 20, tab welding detection mechanism; 21, shell entering station; 22, insulation adhesive pasting mechanism; 23, front shell entering detection mechanism; 24, side shell entering detection mechanism; 25, shell entering correction mechanism; 26, battery unloading mechanism; 27, tab upward bending and shaping mechanism; 28, AI appearance detection mechanism; 29, code scanning mechanism; 30, turnover mechanism; 31, unqualified battery output mechanism; 32, shell entering defect output mechanism. DETAILED DESCRIPTION

[0028] In order to facilitate the understanding of those skilled in the art, the present application will be further described below in conjunction with the embodiments and the accompanying drawings. The content mentioned in the embodiments is not a limitation of the present application.

[0029] As Figure 1As shown, the application provides a battery cell welding into shell machine, which 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 one 3 arranged at equal intervals on the circulating conveying part of the first circulating conveying mechanism 1, and three six-axis manipulators two 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, the first area 5 is sequentially provided with a battery cell feeding mechanism 8, a battery cell CCD positioning mechanism 9 and a tab flattening and shaping mechanism one 10, the battery cell CCD positioning mechanism 9 is electrically connected with the six-axis manipulator one 3, the second area 6 is sequentially provided with a tab appearance detection and cutting mechanism 11, a tab flattening and shaping mechanism two 12 and a tab sleeve insulation sleeve mechanism 13, a third area 7 is arranged 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 arranged outside the circulating conveying part of the second circulating conveying mechanism 2, the first area 5, the second area 6 and the third area 7 are sequentially arranged 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 sequentially arranged along the circulating conveying direction of the circulating conveying part of the second circulating 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, the shell CCD positioning mechanism 17 is electrically connected with the six-axis manipulator two 4; along the rotating direction of the circulating conveying part of the second circulating conveying mechanism 2, the third area 7 is sequentially provided with a tab welding mechanism 19, a tab welding detection mechanism 20 and an entering shell station 21; the fifth area 15 is sequentially provided with a insulation adhesive pasting mechanism 22, a front entering shell detection mechanism 23, a side entering shell detection mechanism 24, an entering shell correcting mechanism 25 and a battery discharging mechanism 26; each six-axis manipulator one 3 rotates to the first area 5, the second area 6 and the third area 7 in turn, and each six-axis manipulator two 4 rotates to the fourth area 14, the third area 7 and the fifth area 15 in turn; when the six-axis manipulator one 3 and the six-axis manipulator two 4 both rotate to the third area 7, the six-axis manipulator one 3 and the six-axis manipulator two 4 flexibly cooperate to simulate manual operation to complete the welding into shell work.

[0030] In practical application, the first circulating conveying mechanism 1 drives the three six-axis manipulators one 3 to move in a cycle, among the three six-axis manipulators one 3, one six-axis manipulator one 3 is located in the first area 5, one six-axis manipulator one 3 is located in the second area 6, and one six-axis manipulator one 3 is located in the third area 7, and the three six-axis manipulators one 3 respectively complete corresponding actions in the corresponding areas; the second circulating conveying mechanism 2 drives the three six-axis manipulators two 4 to move in a cycle, among the three six-axis manipulators two 4, one six-axis manipulator two 4 is located in the fourth area 14, one six-axis manipulator two 4 is located in the third area 7, and one six-axis manipulator two 4 is located in the fifth area 15, and the three six-axis manipulators two 4 respectively complete corresponding actions in the corresponding areas. When the six-axis manipulator one 3 is located in the first area 5, the six-axis manipulator one 3 first picks up the battery cell supplied by the battery cell feeding mechanism 8, and then moves the battery cell picked up to the battery cell CCD positioning mechanism 9, and the battery cell CCD positioning mechanism 9 performs visual positioning on the battery cell, and the visual positioning result of the battery cell CCD positioning mechanism 9 is fed back to the six-axis manipulator one 3, so that the six-axis manipulator one 3 automatically and flexibly compensates according to the visual positioning result, and then moves the battery cell to the tab flattening and shaping mechanism one 10, the tab flattening and shaping mechanism one 10 flattens and shapes the tab of the battery cell, then the first circulating conveying mechanism 1 drives the three six-axis manipulators one 3 to synchronously rotate the position of one area, so that the six-axis manipulator one 3 picking up the flattened and shaped battery cell rotates to the second area 6, and then the six-axis manipulator one 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 tab cut into shape to the tab insulation sleeve mechanism 13, the tab insulation sleeve mechanism 13 passes the insulation sleeve through the tab and sleeves it on the edge of the battery cell, then the first circulating conveying mechanism 1 drives the three six-axis manipulators one 3 to synchronously rotate the position of one area again, so that the six-axis manipulator one 3 picking up the battery cell with the sleeved insulation sleeve rotates to the third area 7, in the process, when the six-axis manipulator two 4 is in the fourth area 14, the six-axis manipulator two 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, and the shell CCD positioning mechanism 17 performs visual positioning on the shell and feeds back the visual positioning result to the six-axis manipulator two 4, the six-axis manipulator two 4 automatically and flexibly compensates according to the visual positioning result, and then moves the battery cell to the shell coding mechanism 18, the shell coding mechanism 18 codes the shell, then the second circulating conveying mechanism 2 drives the three six-axis manipulators two 4 to synchronously rotate the position of one area, so that the six-axis manipulator two 4 picking up the coded battery cell rotates to the third area 7, at this time, the six-axis manipulator one 3 and the six-axis manipulator two 4 are both in the third area 7, the six-axis manipulator two 4 moves the shell to the tab welding mechanism 19, the six-axis manipulator one 3 moves the battery cell to the tab welding mechanism 19, and the tab of the battery cell is placed on one inner side wall welding site of the shell,The lug welding mechanism 19 welds the lug of the battery cell on an inner side wall welding position of the shell, then the six-axis manipulator one 3 and the six-axis manipulator two 4 move synchronously to the lug welding detection mechanism 20, the lug welding detection mechanism 20 detects the welding of the lug of the battery cell and the shell (welding mark quality detection), then the six-axis manipulator one 3 and the six-axis manipulator two 4 move synchronously to the shell entering station 21, in the shell entering station 21, the six-axis manipulator one 3 and the six-axis manipulator two 4 flexibly cooperate and simulate the manual shell entering action, so that the battery cell after lug welding is turned into the shell to complete the welding and shell entering work, to form a preliminarily assembled battery, the six-axis manipulator one 3 can release the battery cell, the six-axis manipulator two 4 with the preliminarily assembled battery turns to the fifth area 15, the six-axis manipulator two 4 first moves the preliminarily assembled battery to the insulating adhesive pasting mechanism 22, the insulating adhesive pasting mechanism 22 pastes the insulating adhesive on the preliminarily assembled battery, then moves the battery after pasting the insulating adhesive to the front shell entering detection mechanism 23, the front shell entering detection mechanism 23 detects the front visual detection of the battery after shell entering, then moves the battery after front visual detection to the side shell entering detection mechanism 24, the side shell entering detection mechanism 24 detects the side visual detection of the battery after shell entering, the results of the front visual detection and the side visual detection are fed back to the shell entering correction mechanism 25, the shell entering correction mechanism 25 corrects the battery after shell entering to simulate the manual action to smooth the diaphragm, realizes the second shell entering without damaging the diaphragm, and finally places the battery after the second shell entering on the battery unloading mechanism 26, the battery unloading mechanism 26 outputs the battery. In the process of welding and shell entering of the battery cell, the battery cell and the shell only need to be grabbed once, and only need to be visually positioned once after the battery cell is fed and the shell is fed, the relative position of the battery cell on the six-axis manipulator one 3 is fixed, the relative position of the shell on the six-axis manipulator two 4 is fixed, the battery cell and the shell do not need to be grabbed and carried multiple times and visually positioned multiple times, so that the cumulative error generated when the battery cell and the shell are grabbed and carried multiple times is avoided, the quality and efficiency of the battery welding and shell entering are greatly improved, the six-axis manipulator one 3 and the six-axis manipulator two 4 flexibly cooperate to simulate the manual action, avoid tearing the welding mark and scratching the battery cell by directly turning the battery cell and forcibly entering the shell, and can realize the second shell entering (correcting shell entering) to ensure the shell entering quality, the six-axis manipulator one 3 and the six-axis manipulator two 4 can flexibly correct and compensate, so as to be compatible with the 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 and shell entering of battery cells and shells of different specifications and models are performed, different specifications and models of carriers do not need to be replaced, the operation process is simplified, and the production cost is reduced.

[0031] In the embodiment, the second area 6 is further provided with an upward-bending shaping mechanism 27 of the tab, which is located on the side of the tab sleeve insulation sleeve mechanism 13 away from the tab flattening and shaping mechanism two 12. According to different process requirements, after the battery cell is sleeved with the insulation sleeve, the six-axis manipulator one 3 moves the battery cell sleeved with the insulation sleeve to the upward-bending shaping mechanism 27 of the tab, and the upward-bending shaping mechanism 27 of the tab bends and shapes the tab of the battery cell upward.

[0032] In the embodiment, the third area 7 is further provided with an AI appearance detection mechanism 28, which is located between the tab welding detection mechanism 20 and the shell entering station 21. After the tab welding detection mechanism 20 detects the welding of the tab and the shell of the battery cell, the six-axis manipulator one 3 and the six-axis manipulator two 4 are synchronously moved to the AI appearance detection mechanism 28 to detect the welding of the tab and the shell of the battery cell for the second time, and the AI appearance detection mechanism 28 will learn by itself as the number of detections increases, and continuously optimize the requirements of the detection, so as to ensure the welding quality.

[0033] In the embodiment, the conveying path of the battery cell feeding mechanism 8 is sequentially provided with a code scanning mechanism 29 and a turnover mechanism 30, and the turnover mechanism 30 is used for turning over the battery cell by 180°. Before the battery cell feeding mechanism 8 conveys the battery cell to the six-axis manipulator one 3, the code scanning mechanism 29 scans the two-dimensional code or bar code on the battery cell to identify, track and save the information of the battery cell, and then the turnover mechanism 30 turns over the battery cell by 180° to turn over the battery cell.

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

[0035] In the 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 entering correction mechanism 25. The unqualified battery output mechanism 31 can output the unqualified battery.

[0036] In the embodiment, the shell entering station 21 and the insulation adhesive attaching mechanism 22 are provided with a shell entering defect output mechanism 32. The shell entering defect output mechanism 32 can output the battery with shell entering defect.

[0037] The application also provides a battery cell welding and shell entering method, which is based on the application of the above-mentioned battery cell welding and shell entering machine and includes the following steps:

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

[0039] B、The six-axis manipulator one 3 in the first area 5 first picks up the battery cell supplied by the battery cell feeding mechanism 8, then moves the picked battery cell to the battery cell CCD positioning mechanism 9, and performs visual positioning on the battery cell through the battery cell CCD positioning mechanism 9. The visual positioning result of the battery cell CCD positioning mechanism 9 is fed back to the six-axis manipulator one 3, so that the six-axis manipulator one 3 automatically and flexibly compensates according to the visual positioning result, and then moves the battery cell to the tab flattening and shaping mechanism one 10. The tab flattening and shaping mechanism one 10 flattens and shapes the tab of the battery cell;

[0040] The six-axis manipulator two 4 in the fourth area 14 first picks up the shell supplied by the shell feeding mechanism 16, then moves the shell to the shell CCD positioning mechanism 17, and performs visual positioning on the shell through the shell CCD positioning mechanism 17. The visual positioning result is fed back to the six-axis manipulator two 4, and the six-axis manipulator two 4 automatically and flexibly compensates according to the visual positioning result, and then moves the battery cell to the shell coding mechanism 18. The shell coding mechanism 18 codes the shell;

[0041] C、The first circulating conveying mechanism 1 drives the three six-axis manipulators one 3 to synchronously rotate one area of position, so that the six-axis manipulator one 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 two 4 to synchronously rotate one area of position, so that the six-axis manipulator two 4 picking up the coded battery cell rotates to the third area 7;

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

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

[0044] F, the six-axis robot one 3 picking up the battery cell with the insulation sleeve and the six-axis robot two 4 picking up the battery cell with the code, are in the third area 7, the six-axis robot two 4 moves the shell to the tab welding mechanism 19, the six-axis robot one 3 moves the battery cell to the tab welding mechanism 19 and the tab of the battery cell is placed on an inner side wall welding position of the shell, the tab welding mechanism 19 welds the tab of the battery cell on the inner side wall welding position of the shell, then the six-axis robot one 3 and the six-axis robot two 4 are synchronously moved to the tab welding detection mechanism 20, the tab welding detection mechanism 20 detects the welding of the tab of the battery cell and the shell, and then the six-axis robot one 3 and the six-axis robot two 4 are synchronously moved to the shell entering station 21, in the shell entering station 21, the six-axis robot one 3 and the six-axis robot two 4 flexibly cooperate and simulate the manual shell entering action, so that the battery cell after tab welding is turned into the shell to complete the welding and shell entering work, to form a preliminarily assembled battery, and the six-axis robot one 3 can release the battery cell;

[0045] G, the six-axis robot two 4 picking up the preliminarily assembled battery is rotated to the fifth area 15, the six-axis robot two 4 first moves the preliminarily assembled battery to the insulation adhesive attaching mechanism 22, the insulation adhesive attaching mechanism 22 attaches insulation adhesive to the preliminarily assembled battery, then moves the battery after attaching insulation adhesive to the front face shell entering detection mechanism 23, the front face shell entering detection mechanism 23 detects the battery after shell entering from the front face, then moves the battery after front face visual detection to the side face shell entering detection mechanism 24, the side face shell entering detection mechanism 24 detects the battery after shell entering from the side face, the results of the front face visual detection and the side face visual detection are fed back to the shell entering correction mechanism 25, the shell entering correction mechanism 25 corrects the battery after shell entering to simulate the manual action to smooth the separator, realizes secondary shell entering without damaging the separator, and finally places the battery after secondary shell entering on the battery unloading mechanism 26, the battery unloading mechanism 26 outputs the battery.

[0046] Further, in step F, the third area 7 is also provided with an AI appearance detection mechanism 28, which is located between the tab welding detection mechanism 20 and the shell entering station 21; after the tab welding detection mechanism 20 detects the welding of the tab of the battery cell and the shell, the six-axis robot one 3 and the six-axis robot two 4 are synchronously moved to the AI appearance detection mechanism 28 for secondary detection of the welding of the tab of the battery cell and the shell, and the AI appearance detection mechanism 28 will self-learn with the increase of the number of detections and continuously optimize the requirements of the detection.

[0047] Further, in step D, the second area 6 is further provided with a tab upward bending shaping mechanism 27 located on the side of the tab sleeve insulation sleeve mechanism 13 away from the tab flattening shaping mechanism two 12; after the battery cell is sleeved with the insulation sleeve, the six-axis mechanical arm 3 moves the battery cell sleeved with the insulation 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.

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

[0049] The above embodiments are the preferred implementation of the present application, in addition to this, the present application can be implemented in other ways, without departing from the technical solution concept, any obvious replacement within the protection scope of the present application.

Claims

1. An electrode cell welding-in-housing machine characterized by: The first circulating conveying mechanism (1), the second circulating conveying mechanism (2) arranged side by side with the first circulating conveying mechanism (1), the three six-axis manipulators one (3) arranged equidistantly on the circulating conveying part of the first circulating conveying mechanism (1), and the three six-axis manipulators two (4) arranged equidistantly on the circulating conveying part of the second circulating conveying mechanism (2), the first area (5) and the second area (6) are arranged on the outer side of the first circulating conveying mechanism (1), the first area (5) is sequentially provided with the battery cell feeding mechanism (8), the battery cell CCD positioning mechanism (9) and the tab flattening and shaping mechanism one (10), the battery cell CCD positioning mechanism (9) is electrically connected with the six-axis manipulator one (3), the second area (6) is sequentially provided with the tab appearance detection and cutting mechanism (11), the tab flattening and shaping mechanism two (12) and the tab insulation sleeve mechanism (13), the third area (7) is arranged between the circulating conveying part of the first circulating conveying mechanism (1) and the circulating conveying part of the second circulating conveying mechanism (2), the fourth area (14) and the fifth area (15) are arranged on the outer side of the second circulating conveying mechanism (2), the first area (5), the second area (6) and the third area (7) are sequentially arranged 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 sequentially arranged along the circulating conveying direction of the circulating conveying part of the second circulating conveying mechanism (2), the fourth area (14) is sequentially provided with the shell feeding mechanism (16), the shell CCD positioning mechanism (17) and the shell coding mechanism (18), the shell CCD positioning mechanism (17) is electrically connected with the six-axis manipulator two (4); the third area (7) is sequentially provided with the tab welding mechanism (19), the tab welding detection mechanism (20) and the shell inserting station (21); the fifth area (15) is sequentially provided with the insulation adhesive pasting mechanism (22), the front shell inserting detection mechanism (23), the side shell inserting detection mechanism (24), the shell inserting correction mechanism (25) and the battery discharging mechanism (26); when the six-axis manipulator one (3) and the six-axis manipulator two (4) are both rotated to the third area (7), the six-axis manipulator one (3) and the six-axis manipulator two (4) cooperatively simulate manual operation to complete the welding and shell inserting work.

2. The cell welding and casing machine of claim 1, wherein: The second area (6) is further provided with the tab upward bending and shaping mechanism (27), which is located on the side of the tab insulation sleeve mechanism (13) away from the tab flattening and shaping mechanism two (12).

3. The cell welding can machine of claim 1, wherein: The third area (7) is further provided with the AI appearance detection mechanism (28), which is located between the tab welding detection mechanism (20) and the shell inserting station (21).

4. The cell welding can machine of claim 1, wherein: The scanning code mechanism (29) and the turnover mechanism (30) are sequentially arranged on the conveying path of the battery cell feeding mechanism (8), and the turnover mechanism (30) is used for 180° turnover of the battery cell.

5. The cell welding can machine of claim 1, wherein: The first circulating conveying mechanism (1) and the second circulating conveying mechanism (2) are both rotary disc conveying mechanisms.

6. The cell welding can machine of claim 1, wherein: The fifth area (15) is also provided with an unqualified battery output mechanism (31) located between the battery unloading mechanism (26) and the shell entering correction mechanism (25).

7. The cell welding can machine of claim 1, wherein: The shell entering station (21) and the insulation adhesive attaching mechanism (22) are provided with a shell entering failure output mechanism (32).

8. A method of welding a cell into a can, the method comprising: Based on the application of the battery cell welding shell entering machine according to any one of claims 1 to 7, comprising the following steps: A. In the three six-axis manipulators one (3), one six-axis manipulator one (3) is located in the first area (5), one six-axis manipulator one (3) is located in the second area (6), and one six-axis manipulator one (3) is located in the third area (7). The three six-axis manipulators one (3) respectively complete corresponding actions in the corresponding areas; in the three six-axis manipulators two (4), one six-axis manipulator two (4) is located in the fourth area (14), one six-axis manipulator two (4) is located in the third area (7), and one six-axis manipulator two (4) is located in the fifth area (15). The three six-axis manipulators two (4) respectively complete corresponding actions in the corresponding areas; B. The six-axis manipulator one (3) in the first area (5) first picks up the battery cell supplied by the battery cell feeding mechanism (8), then moves the picked battery cell to the battery cell CCD positioning mechanism (9), and then performs visual positioning on the battery cell through the battery cell CCD positioning mechanism (9). The visual positioning result of the battery cell CCD positioning mechanism (9) is fed back to the six-axis manipulator one (3), so that the six-axis manipulator one (3) automatically and flexibly compensates according to the visual positioning result, then moves the battery cell to the tab flattening and shaping mechanism one (10), and the tab flattening and shaping mechanism one (10) flattens and shapes the tab of the battery cell; The six-axis manipulator two (4) in the fourth area (14) first picks up the shell supplied by the shell feeding mechanism (16), then moves the shell to the shell CCD positioning mechanism (17), and then 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 two (4). The six-axis manipulator two (4) automatically and flexibly compensates according to the visual positioning result, 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 one (3) to synchronously rotate one area of position, so that the six-axis manipulator one (3) picking up the battery cell after flattening and shaping is rotated into the second area (6); the second circulating conveying mechanism (2) drives the three six-axis manipulators two (4) to synchronously rotate one area of position, so that the six-axis manipulator two (4) picking up the battery cell after coding is rotated into the third area (7); D. The six-axis manipulator one (3) moves the battery cell after tab flattening and shaping to the tab appearance detection and cutting mechanism (11), the tab appearance detection and cutting mechanism (11) detects the appearance of the tab of the battery cell and cuts it into shape, then moves the battery cell after tab cutting into shape to the tab insulation sleeve attaching mechanism (13), and the tab insulation sleeve attaching mechanism (13) passes the insulation sleeve through the tab and sleeves it on the edge of the battery cell; E、the first circulation conveying mechanism (1) drives the three six-axis manipulators I (3) to rotate synchronously to a position of a region, so that the six-axis manipulator I (3) picking up the battery cell with the sleeved insulating sleeve rotates to the third region (7); F、the six-axis manipulator I (3) picking up the battery cell with the sleeved insulating sleeve and the six-axis manipulator II (4) picking up the battery cell with the engraved code are both in the third region (7), the six-axis manipulator II (4) moves the shell to the tab welding mechanism (19), the six-axis manipulator I (3) moves the battery cell to the tab welding mechanism (19) and places the tab of the battery cell on an inner side wall welding position of the shell, the tab welding mechanism (19) welds the tab of the battery cell on the inner side wall welding position of the shell, then the six-axis manipulator I (3) and the six-axis manipulator II (4) synchronously move to the tab welding detection mechanism (20), the tab welding detection mechanism (20) detects the welding of the tab of the battery cell and the shell, then the six-axis manipulator I (3) and the six-axis manipulator II (4) synchronously move to the shell entering station (21), in the shell entering station (21), the six-axis manipulator I (3) and the six-axis manipulator II (4) flexibly cooperate and simulate the manual shell entering action, so that the battery cell after tab welding is turned over into the shell to complete the welding and shell entering work, to form a preliminarily assembled battery, the six-axis manipulator I (3) can release the battery cell; G、the six-axis manipulator II (4) picking up the preliminarily assembled battery rotates to the fifth region (15), the six-axis manipulator II (4) first moves the preliminarily assembled battery to the insulating adhesive pasting mechanism (22), the insulating adhesive pasting mechanism (22) pastes insulating adhesive on the preliminarily assembled battery, then moves the battery after pasting insulating adhesive to the front face shell entering detection mechanism (23), the front face shell entering detection mechanism (23) detects the battery after shell entering from the front face, then moves the battery after front face visual detection to the side face shell entering detection mechanism (24), the side face shell entering detection mechanism (24) detects the battery after shell entering from the side face, the results of the front face visual detection and the side face visual detection are fed back to the shell entering correction mechanism (25), the shell entering correction mechanism (25) corrects the battery after shell entering to simulate the manual action to smooth the separator, realizes secondary shell entering without damaging the separator, finally places the battery after secondary shell entering on the battery unloading mechanism (26), the battery unloading mechanism (26) outputs the battery.

9. The method of claim 8, wherein: In step F, the third region (7) is also provided with an AI appearance detection mechanism (28), the AI appearance detection mechanism (28) is located between the tab welding detection mechanism (20) and the shell entering station (21); after the tab welding detection mechanism (20) detects the welding of the tab of the battery cell and the shell, the six-axis manipulator I (3) and the six-axis manipulator II (4) synchronously move to the AI appearance detection mechanism (28) to detect the welding of the tab of the battery cell and the shell for the second time, and the AI appearance detection mechanism (28) will learn by itself as the number of detections increases, and constantly optimize the detection requirements.

10. The method of claim 8, wherein: In step D, the second area (6) is also provided with a tab upward bending shaping mechanism (27) located on the side of the tab sleeve insulation sleeve mechanism (13) away from the tab flattening shaping mechanism two (12); after the battery cell is sleeved with the insulation sleeve, the six-axis manipulator one (3) moves the battery cell sleeved with the insulation 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.

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