Steel shell battery sealing nail welding high-speed line

Abstract

The invention belongs to the technical field of equipment for steel shell battery production, and particularly relates to a steel shell battery sealing nail welding high-speed line which comprises a conveying mechanism, a first feeding mechanism, a pre-welding cleaning mechanism, a first visual positioning mechanism, a second feeding mechanism, a welding mechanism, a second visual positioning mechanism and a third visual positioning mechanism. A second visual positioning mechanism is used for determining the poses of the sealing nails on a second material disc in a space coordinate system, so that the sealing nails are accurately taken, the limitation that the sealing nails need to be placed in the same posture is relieved, the sealing nail preparation difficulty is greatly reduced, and the situation that a second mechanical arm grabs out is avoided; the relative position of the sealing nail on the second suction nozzle in the space coordinate system is determined by utilizing the third visual positioning mechanism, and the second manipulator performs movement compensation according to the relative position of the sealing nail and the second suction nozzle, so that the sealing nail is accurately placed, and the problem of bad products caused by substandard coaxiality of the sealing nail and the liquid injection port is fundamentally solved.

Description

Technical Field

[0001] The invention belongs to the technical field of equipment for producing steel shell batteries, and in particular relates to a high-speed welding line for sealing nails of steel shell batteries. Background Art

[0002] During the production of steel shell batteries, after the liquid is injected, the sealing pin needs to be fixed to the injection port by laser welding. For example, the Chinese authorized utility model patent, patent number: 202220724206.9, patent name: A battery sealing pin welding system, discloses (as shown in paragraph 52 of the specification and attached Figure 4 Recorded in the specification): "The upper nail visual positioning component collects image information at the liquid filling port of the battery to be sealed, and the robot determines the position of the liquid filling port of the battery to be sealed according to the image information, and moves the sealing nail on the storage rack to the battery with the liquid filling port to be sealed on the battery clamp and clamps the sealing nail." This method of taking and placing sealing nails has the following shortcomings: 1. The placement positions and placement postures (hereinafter referred to as postures) of several sealing nails on the storage rack need to be unified, which may cause the robot to miss due to improper placement; 2. Even if the position information of the liquid filling port in the spatial coordinate system is determined by visual positioning, it is difficult to avoid the relative offset between the clamping or adsorption end face of the robot and the sealing nail body, which may easily cause the coaxiality of the product to fail to meet the standard due to the offset. Summary of the invention

[0003] The purpose of the present invention is to provide a high-speed welding line for steel shell battery sealing nails, aiming to solve the technical problems in the prior art such as the robot arm missing due to improper placement and the coaxiality of the product not meeting the standard due to offset.

[0004] To achieve the above-mentioned purpose, an embodiment of the present invention provides a steel shell battery sealing nail welding high-speed line, including a conveying mechanism having a plurality of jigs for placing steel shell batteries, a first feeding mechanism arranged in sequence along the conveying direction of the jig for providing steel shell batteries and capable of placing the steel shell batteries in the jig, a pre-weld cleaning mechanism for cleaning the welding surface of the steel shell battery, a first visual positioning mechanism for determining the position information of the liquid injection port in the spatial coordinate system, a second feeding mechanism for providing sealing nails and capable of placing the sealing nails at the liquid injection port, and a welding mechanism for welding and fixing the sealing nails at the liquid injection port, and also including a second visual positioning mechanism and a third visual positioning mechanism, the second feeding mechanism including a second material tray, a second suction nozzle and a second manipulator for controlling the movement of the second suction nozzle, the second visual positioning mechanism is used to determine the position information of the sealing nail on the second material tray in the spatial coordinate system, and the third visual positioning mechanism is used to determine the position information of the sealing nail on the second suction nozzle in the spatial coordinate system.

[0005] Optionally, it also includes a host and a driver, the host includes an image collector and an image processor, and is electrically connected to the driver by signals, the second manipulator is electrically connected to a power supply through the driver, and the first visual positioning mechanism, the second visual positioning mechanism and the third visual positioning mechanism are respectively electrically connected to the image collector by signals.

[0006] Optionally, the first visual positioning mechanism includes a bracket arranged beside the conveying mechanism, and an upper CCD camera arranged on the top of the bracket, and the upper CCD camera faces the fixture.

[0007] Optionally, the second visual positioning mechanism includes a bracket located beside the second material tray, and an upper CCD camera arranged on the top of the bracket, and the upper CCD camera faces the second material tray.

[0008] Optionally, the third visual positioning mechanism includes a support located between the second material tray and the conveying mechanism, and a lower CCD camera arranged on the top of the support, and the lower CCD camera faces the second suction nozzle.

[0009] Optionally, the second robot includes a base, an X-axis linear module arranged on the base, a Y-axis linear module arranged on the slide of the X-axis linear module, and a Z-axis linear module arranged on the slide of the Y-axis linear module, and the second suction nozzle is arranged on the slide of the Z-axis linear module.

[0010] Optionally, the second feeding mechanism further comprises a resonance component, and a vibration output end of the resonance component acts on the second material tray and can adjust the position and posture of the sealing pin on the second material tray.

[0011] Optionally, a flattening mechanism is further included, which is arranged on the opposite side of the first visual positioning mechanism. The flattening mechanism includes a pressing block and a third manipulator that controls the movement of the pressing block relative to the fixture, and the pressing block acts on the steel shell battery along the axial direction.

[0012] Optionally, a detection mechanism is further included, which is arranged beside the conveying mechanism. The detection mechanism is located at the rear end of the welding mechanism and is used to detect the height of the weld after welding, and the coaxiality of the sealing pin and the liquid injection port.

[0013] Optionally, it further includes a material receiving mechanism disposed beside the conveying mechanism, wherein the material receiving mechanism is located at the rear end of the detection mechanism and is capable of taking out the steel shell battery located in the fixture.

[0014] The working steps of the present invention include:

[0015] (1) Steel-shell battery loading: the first feeding mechanism places the steel-shell battery to be sealed and welded on the jig of the conveying mechanism with the liquid injection port facing upward;

[0016] (2) Cleaning before welding: the conveying mechanism drives the jig to move to the station of the cleaning mechanism before welding to wipe and clean the surface of the steel shell battery;

[0017] (3) Positioning the liquid injection port, the conveying mechanism drives the fixture to move to the station of the first visual positioning mechanism, and the first visual positioning mechanism captures an image of the steel shell battery in the fixture to obtain the position information of the liquid injection port on the fixture;

[0018] (4) Positioning the sealing pin once, the second visual positioning mechanism captures an image of the sealing pin on the second material tray to obtain position information of the sealing pin whose posture meets the adsorption condition;

[0019] (5) Positioning the sealing pin for the second time, the second manipulator takes out the sealing pin that meets the adsorption conditions from the second material tray according to the position information in the above step (4), and the third visual positioning mechanism takes an image of the sealing pin on the second suction nozzle to obtain the position information of the sealing pin on the second suction nozzle;

[0020] (6) Welding the sealing pin. The conveying mechanism drives the jig to move to the workstation of the welding mechanism. The second manipulator moves the sealing pin relative to the injection port and makes movement compensation based on the position information in the above steps (3) and (5), and finally welds and fixes it.

[0021] Compared with the prior art, the beneficial effects of the present invention are: utilizing the second visual positioning mechanism to determine the posture of the sealing pin on the second material tray in the spatial coordinate system, thereby achieving accurate removal of the sealing pins and removing the restriction that the sealing pins need to be placed in the same posture, greatly reducing the difficulty of preparing the sealing pins and avoiding the situation where the second manipulator grabs nothing; utilizing the third visual positioning mechanism to determine the relative position of the sealing pin on the second suction nozzle in the spatial coordinate system, and the second manipulator performs movement compensation according to the relative positions of the two, thereby achieving accurate placement of the sealing pins, thereby solving the problem of defective products caused by the non-compliance of the coaxiality between the sealing pin and the liquid injection port from the root. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 It is a structural schematic diagram of the whole machine of an embodiment of the present invention;

[0024] Figure 2 It is a structural schematic diagram of a conveying mechanism according to an embodiment of the present invention;

[0025] Figure 3for Figure 2 A partial enlarged view of the middle A;

[0026] Figure 4 It is a structural schematic diagram of a first feeding mechanism according to an embodiment of the present invention;

[0027] Figure 5 It is a structural schematic diagram of a pre-welding cleaning mechanism according to an embodiment of the present invention;

[0028] Figure 6 It is a structural schematic diagram of a second feeding mechanism according to an embodiment of the present invention;

[0029] Figure 7 It is a structural schematic diagram of a welding mechanism according to an embodiment of the present invention;

[0030] Figure 8 It is a structural schematic diagram of a material receiving mechanism according to an embodiment of the present invention.

[0031] Among them, the reference numerals in the figure are:

[0032] 1—conveying mechanism, 11—fixture, 111—clamping block, 112—claw, 113—spring;

[0033] 2—first feeding mechanism, 21—first material tray, 22—first conveying device, 23—first manipulator, 24—loading buffer device, 241—first transfer manipulator, 242—first buffer material tray, 243—code scanning station, 25—first force application arm;

[0034] 3—cleaning mechanism before welding, 31—unwinding shaft, 32—rewinding shaft, 33—wiping head, 34—guide shaft;

[0035] 4—the first visual positioning mechanism;

[0036] 5—second feeding mechanism, 51—second material tray, 52—second manipulator, 53—second suction nozzle, 54—resonance component, 55—material bin;

[0037] 6—welding mechanism, 61—laser system, 62—dust suction device, 63—protective gas blowing device;

[0038] 7—Second visual positioning mechanism;

[0039] 8—third visual positioning mechanism;

[0040] 91 - flattening mechanism;

[0041] 92—detection mechanism, 921—AOI detection component, 922—3D detection component;

[0042] 93—material receiving mechanism, 931—second force applying arm, 932—fourth manipulator, 933—third material tray, 934—third conveying device, 935—material tray support, 936—second transfer manipulator, 937—material unloading cache tray. DETAILED DESCRIPTION

[0043] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0044] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0047] In one embodiment of the present invention, Figures 1 to 8As shown, a high-speed line for welding sealing nails of steel-shell batteries comprises a conveying mechanism 1 having a plurality of jigs 11 for placing steel-shell batteries, a first feeding mechanism 2 arranged in sequence along the conveying direction of the jig 11 for providing steel-shell batteries and capable of placing the steel-shell batteries in the jig 11, a pre-welding cleaning mechanism 3 for cleaning the welding surface of the steel-shell battery, a first visual positioning mechanism 4 for determining the position information of the liquid injection port in the spatial coordinate system, a second feeding mechanism 5 for providing sealing nails and capable of placing the sealing nails at the liquid injection port, and a welding mechanism 6 for welding and fixing the sealing nails at the liquid injection port, and also comprises a second visual positioning mechanism 7 and a third visual positioning mechanism 8, wherein the second feeding mechanism 5 comprises a second material tray 51, a second suction nozzle 53 and a second manipulator 52 for controlling the movement of the second suction nozzle 53, the second visual positioning mechanism 7 is used to determine the position information of the sealing nail on the second material tray 51 in the spatial coordinate system, and the third visual positioning mechanism 8 is used to determine the position information of the sealing nail on the second suction nozzle 53 in the spatial coordinate system.

[0048] Specifically, Figure 2 As shown, the conveying mechanism 1 adopts a magnetic suspension conveying system, including an upper linear track and a lower linear track arranged in parallel and opposite to each other, a left vertical track and a right vertical track arranged in parallel and opposite to each other, and a plurality of movers. The fixture 11 is arranged on the top of the mover. The upper linear track is used to drive the mover to drive the fixture 11 to pass through the first feeding mechanism 2→pre-welding cleaning mechanism 3→first visual positioning mechanism 4→second feeding mechanism 5→second visual positioning mechanism 7→third visual positioning mechanism 8→welding mechanism 6→detection mechanism 92→unloading mechanism in sequence. The top end of the right vertical track is aligned with the end of the upper linear guide rail. The bottom end of the right vertical track is docked with the head end of the lower linear guide rail, and the mover with the empty jig 11 returns along the lower linear track. The bottom end of the left vertical track is docked with the end of the lower vertical track, and the empty jig 11 on the mover corresponding to the first feeding mechanism 2 station is used to ferry, and the top end of the right vertical track is docked with the head end of the upper linear track, so as to realize the reflux of the jig 11, and use the magnetic suspension conveying system to reduce the sliding resistance of the mover, which is conducive to improving the movement and circulation speed of the jig 11, thereby improving the production efficiency;

[0049] Specifically, Figure 3As shown, the top of the jig 11 is provided with two material holes for placing steel shell batteries. The double-station jig 11 structure is used to improve the working efficiency. The mover is provided with an assembly plate. The jig 11 is arranged on the top of the assembly plate. The top of the assembly plate is provided with a clamping block 111 that acts on the steel shell battery in the radial direction. The clamping block 111 includes a relatively arranged fixed portion and a sliding portion. The sliding portion is slidably connected to the assembly plate through a slide rail. The inner end of the sliding portion is provided with a claw 112. The claw 112 is provided with a dovetail notch at the end close to the steel shell battery. The sliding portion is provided with a spring 113 at the end away from the fixed portion. The other end of the spring 113 is abutted with a top plate. The top plate is arranged on the assembly plate. The spring 113 can continuously provide the sliding plate with an elastic force to slide toward the end close to the fixed portion, thereby realizing the clamping and fixing of the steel shell battery. When loading or unloading, the spring 113 is compressed by applying force at the end of the sliding portion away from the fixed portion, so that the steel shell battery can be inserted into or pulled out of the jig 11;

[0050] Specifically, Figure 4As shown, the first feeding mechanism 2 includes a first material tray 21, a first conveying device 22, a first manipulator 23, a loading buffer device 24, an upper CCD camera and a first force arm 25 located beside the upper linear track. The first conveying device 22 includes an upper conveying frame, a lower conveying frame and a lifting transfer frame. The feeding end of the upper conveying frame is connected to the production line providing the full first material tray 21. The lifting transfer frame includes a lifting seat and a forward and reverse conveyor belt arranged on the lifting seat. When the lifting seat is raised, it is connected to the discharging end of the upper conveying frame. When the lifting seat is lowered, it is connected to the feeding end of the lower conveying frame. The forward and reverse conveyor belts can move the full first material tray 21 out of the upper conveying frame and move the empty first material tray 21 into the lower conveying frame. The camera is arranged on the side of the first conveying device 22 through a column and is electrically connected to the image collector. The first manipulator 23 is arranged on the side of the first conveying device 22 and is electrically connected to the driver, thereby realizing the determination of the position information of the steel-shell battery on the first material tray 21 in the spatial coordinate system. The first manipulator 23 performs the material picking action of the steel-shell battery according to the aforementioned position information. The first manipulator 23 is a four-axis manipulator. The loading and caching device 24 includes a linear module arranged between the conveying mechanism 1 and the first feeding mechanism 2, a code scanning station 243, a first transfer manipulator 241, a first cache material tray 242 and an upper CCD camera. The linear module has a mover that can move back and forth between the loading and caching material tray and the first conveying device 22. The code scanning station 2 43 includes a code scanning receiving platform arranged on the top of the aforementioned mover, and a camera scanner fixed to the side of the linear module by a bracket, the camera scanner is used to identify the serial number information of the steel shell battery currently located on the code scanning receiving platform, the upper CCD camera is connected to the image collector by electrical signals, and is used to determine the material hole position of the loading and buffering material tray in the spatial coordinate system, the first transfer manipulator 241 is a three-axis manipulator, and is provided with a clamp corresponding to the number of the jig 11 stations for carrying the steel shell battery, the first transfer manipulator 241 is connected to the driver by electrical signals, thereby realizing the transfer of the steel shell battery located on the code scanning receiving platform to the loading and buffering material tray, and the transfer of the steel shell battery located on the loading and buffering material tray to the jig 11 located on the conveying mechanism 1, using The above technical solution provides a transition step between the code scanning work and the loading work of the fixture 11, so as to realize the flexible loading of the steel shell battery; the first force arm 25 is driven by the lifting linear module and the horizontal linear module, the first force arm 25 is L-shaped, and the sliding part of the clamping block 111 on the fixture 11 is provided with a protrusion upward at the end away from the claw 112, the transverse section of the first force arm 25 is fixedly connected with the mover of the above-mentioned horizontal linear module, when the horizontal linear module moves toward the end away from the fixed part of the clamping block 111, the vertical section of the first force arm 25 abuts against the above-mentioned protrusion, and then provides a pulling force for the sliding part to move toward the end away from the fixed part, so as to realize the purpose of opening the clamping block 111, and facilitate the placement of the steel shell battery in the fixture 11;

[0051] Specifically, Figure 5 As shown, the pre-welding cleaning mechanism 3 includes a support arranged beside the conveying mechanism 1, a reeling shaft 31, a reeling shaft 32, a wiping head 33, and a plurality of guide shafts 34 arranged on the support. The reeling shaft 31 is provided with a non-woven fabric roll, the material head of the roll passes through the guide shaft 34 and the wiping head 33 in sequence to form a wiping end surface acting on the steel shell battery, and the guide shaft 34 is finally fixed on the reeling shaft 32. The movement of the non-woven fabric is achieved by reeling and reeling to ensure the cleanliness of wiping and cleaning;

[0052] Specifically, Figure 1 and 7 As shown, there are two groups of welding mechanisms 6, which are arranged successively on the side of the conveying mechanism 1 along the conveying direction of the fixture 11. The corresponding second feeding mechanism 5 is provided with two groups and corresponds to the position of the welding mechanism 6. The welding mechanism 6 includes a column arranged on the side of the conveying mechanism 1, a laser system 61 suspended on the top of the column, a dust suction device 62 and a protective gas blowing device 63 located on the side of the column. The welding steps are: first, the conveying mechanism 1 drives the two groups of fixtures 11 (loaded with battery steel shells to be welded and sealed) to move under the corresponding welding mechanism 6 respectively, and then the two groups of laser systems 61 simultaneously perform laser cleaning on the injection port. During the cleaning process, the two groups of second manipulators 52 respectively use the second visual positioning mechanism 7 to locate the sealing nail, and use the third visual positioning mechanism 8 to shoot the image of the sealing nail located at the second suction nozzle 53. The image is transmitted to the image collector, and the image processor determines the relative position difference between the center of the sealing nail and the center of the second suction nozzle 53. If there is a large position deviation, the image processor determines the size of the deviation through the image pixel coordinates. Inch, and combined with the calibrated spatial coordinate system, the second manipulator 52 is calculated to make movement compensation (it should be noted that the present invention does not improve the above algorithm and programming, so the calculation movement compensation in the above steps can be achieved according to the conventional technical means in this field). After the laser cleaning is completed, the second manipulator 52 drives the sealing nail to move to the top of the coaxial line of the liquid injection port through the second suction nozzle 53 and presses down. The nozzle of the protective gas blowing device 63 blows the sealing nail while the nozzle of the dust extraction pipe of the dust extraction device faces the laser welding area. The laser system 61 first spot welds the sealing nail and the liquid injection port, and then the second manipulator 52 drives the second suction nozzle 53 to move away and absorb the next sealing nail to be welded. The laser system 61 then fully welds the sealing nail and the liquid injection port, thereby completing the sealing nail welding work of a single steel shell battery in the fixture 11. The two welding mechanisms 6 and the second feeding mechanism 5 are used to work simultaneously, and the conveying mechanism 1 pushes the step distance of the two fixtures 11 at a time to speed up the production rhythm of this embodiment, which is conducive to improving production efficiency.

[0053] In one embodiment of the present invention, a host and a driver are also included, wherein the host includes an image collector and an image processor and is electrically connected to the driver, the second manipulator 52 is electrically connected to a power source through the driver, and the first visual positioning mechanism 4, the second visual positioning mechanism 7 and the third visual positioning mechanism 8 are electrically connected to the image collector. Specifically, the host is a host computer for sending and receiving information and executing the system, and the driver is a lower computer for controlling the manipulator to perform actions.

[0054] In one embodiment of the present invention, Figure 1 As shown, the first visual positioning mechanism 4 includes a bracket arranged beside the conveying mechanism 1 and an upper CCD camera arranged at the top of the bracket, and the upper CCD camera faces the fixture 11. The first visual positioning mechanism 4 is used to determine the position of the steel shell battery to be welded in the spatial coordinate system to improve the accuracy of welding.

[0055] In one embodiment of the present invention, Figure 1 and 6 As shown, the second visual positioning mechanism 7 includes a bracket located beside the second material tray 51 and an upper CCD camera disposed at the top of the bracket, and the upper CCD camera faces the second material tray 51. The second visual positioning mechanism 7 is used to determine the position of the sealing pin on the second material tray 51 in the spatial coordinate system to improve the accuracy of removing the sealing pin.

[0056] In one embodiment of the present invention, Figure 1 and 6 As shown, the third visual positioning mechanism 8 includes a support located between the second material tray 51 and the conveying mechanism 1, and a lower CCD camera disposed on the top of the support, and the lower CCD camera faces the second suction nozzle 53. The third visual positioning mechanism 8 is used to determine the center of the sealing pin and the position information on the second suction nozzle 53 in the spatial coordinate system to improve the accuracy of placing the sealing pin.

[0057] In one embodiment of the present invention, Figure 6As shown, the second manipulator 52 includes a base, an X-axis linear module arranged on the base, a Y-axis linear module arranged on the slide of the X-axis linear module, and a Z-axis linear module arranged on the slide of the Y-axis linear module, and the second suction nozzle 53 is arranged on the slide of the Z-axis linear module. Specifically, an air path is provided inside the second suction nozzle 53, the top of the air path is connected to the external vacuum generator through an air joint, and the bottom end passes through the second suction nozzle 53 to form an adsorption hole. The second suction nozzle 53 is provided with a pointed convex block at one end of the slide away from the Z-axis linear module, and a circular cylinder is provided at the pointed end of the pointed convex block. The air path passes through the body, the pointed convex block and the circular cylinder of the second suction nozzle 53 from top to bottom in sequence, and the adsorption hole is formed at the bottom end of the circular cylinder. The pointed convex block is used to reduce the volume of the front end of the suction nozzle, and the adsorption hole is formed by the circular cylinder protruding outward. When the CCD camera of the third visual positioning mechanism 8 takes an image, the relative position of the center of the sealing nail and the adsorption hole can be more clearly seen.

[0058] In one embodiment of the present invention, Figure 6 As shown, the second feeding mechanism 5 also includes a resonance component 54, the vibration output end of the resonance component 54 acts on the second material tray 51, and can adjust the position and posture of the sealing pins on the second material tray 51. Specifically, the resonance component 54 includes a base, and a mounting groove is provided on the top of the base. Four voice coil motors are arranged in the mounting groove. The second material tray 51 includes a surrounding frame adapted to the mounting groove, and a diaphragm arranged at the bottom. The surrounding frame and the diaphragm constitute a cavity for accommodating the sealing pins. The vibration output end of the voice coil motor can act on the diaphragm, and the diaphragm is driven to vibrate when the voice coil motor is working, so that its vibration frequency reaches the natural frequency of the sealing pin, causing the sealing pin to resonate, and then making a number of sealing pins in an active state on the material tray. When the second visual positioning system does not find a sealing pin whose posture meets the adsorption conditions, the resonance component 54 is used to adjust the posture of a number of sealing pins on the second material tray 51, which greatly improves the flexibility of the sealing pin feeding. Furthermore, it also includes a linear vibrator and a silo 55. The silo 55 is arranged on the base through the linear vibrator, and a material drop notch is opened at one end of the silo 55 close to the second material tray 51. The silo 55 is used to store sealing nails. When the sealing nails on the second material tray 51 are consumed, the linear vibrator vibrates to transport the sealing nails in the silo 55 to the material tray. The technician only needs to regularly replenish the sealing nails in the silo 55, which greatly reduces the difficulty of the work.

[0059] In one embodiment of the present invention, Figure 1As shown, it also includes a flattening mechanism 91, which is arranged on the opposite side of the first visual positioning mechanism 4. The flattening mechanism 91 includes a pressing block and a third manipulator that controls the movement of the pressing block relative to the fixture 11, and the pressing block acts on the steel shell battery in the axial direction. The specific third mechanical hand includes a base arranged beside the conveying mechanism 1, a first cylinder arranged on the base, and a second cylinder that is connected to the piston rod of the first cylinder. The pressing block is connected to the piston rod of the second cylinder. The first cylinder is used to drive the pressing block to approach or move away from the fixture 11 on the conveying mechanism 1 in the horizontal direction, and the second cylinder is used to drive the pressing block to press or release the battery steel shell in the vertical direction, thereby ensuring the flushness of the welding end surface of the steel shell battery to be welded, thereby reducing the operation error in the subsequent steps.

[0060] In one embodiment of the present invention, Figure 1 As shown, it also includes a detection mechanism 92 arranged beside the conveying mechanism 1. The detection mechanism 92 is located at the rear end of the welding mechanism 6 and is used to detect the height of the weld after welding, and the coaxiality of the sealing pin and the liquid injection port. Specifically, the database in the host has control parameters for weld compliance and coaxiality compliance. The detection mechanism 92 includes an AOI detection component 921 and a 3D detection component 922 connected to the host electrical signal. The AOI detection component 921 and the 3D detection component 922 are arranged on the side of the conveying mechanism 1 in sequence through brackets along the conveying direction of the fixture 11. The AOI detection component 921 has an upper CCD camera facing the fixture 11, and transmits the captured image to the image collector of the host. The image processor compares the above image with the qualified parameters in the database to draw a conclusion on whether the weld height after welding meets the standard. The 3D detection component 922 includes an upper CCD camera facing the fixture 11, and transmits the captured image to the host. The image collector compares the above image with the qualified parameters in the database to draw a conclusion on whether the coaxiality of the sealing nail after welding meets the standard.

[0061] In one embodiment of the present invention, Figure 8As shown, it also includes a material receiving mechanism 93 arranged beside the conveying mechanism 1, and the material receiving mechanism 93 is located at the rear end of the detection mechanism 92 and can take out the steel shell battery located in the fixture 11. Specifically, the material receiving mechanism 93 includes a second force arm 931, a fourth manipulator 932, a material unloading buffer device, a third material tray 933, a third conveying device 934, and an upper CCD camera, which are arranged beside the upper linear track. The material unloading buffer device includes a linear module, a second transfer manipulator 936, a material unloading buffer tray 937, an upper CCD camera, and a tray support 935 for placing the third material tray 933. The tray support 935 is arranged at one end of the linear module close to the upper linear track. The linear module has a mover that can move back and forth between the base and the third conveying device 934. An X-shaped bracket is provided on the mover to extend outward, and the four corners of the X-shaped bracket are respectively provided with a working The suction cup for the third material tray 933, when the third material tray 933 is full of material, the four suction cups of the X-shaped bracket act on the third material tray 933 respectively, so as to transfer the third material tray 933 located on the base to the third conveying device 934, the upper CCD camera is connected to the image collector by electrical signal, which is used to determine the material hole position of the material tray 937 for unloading and caching in the spatial coordinate system, the second transfer manipulator 936 is a three-axis manipulator, and is provided with a third suction nozzle for adsorbing two steel shell batteries, the second transfer manipulator 936 is connected to the driver by electrical signal, so as to transfer the steel shell battery located on the fixture 11 to the material tray 937 for unloading and caching, and the fourth manipulator 932 is a four-axis manipulator , and is provided with two grippers for carrying steel-shell batteries, the fourth manipulator 932 is connected to the driver electrical signal to transfer the steel-shell batteries located on the unloading cache tray 937 to the third tray 933, the third conveying device 934 includes a left conveying frame, a right conveying frame, a left lifting bracket corresponding to the left conveying frame, and a right lifting bracket corresponding to the right conveying frame, the other ends of the left conveying frame and the right conveying frame are respectively docked with the AVG trolley that provides an empty third tray 933 or takes away the full third tray 933, the right lifting bracket and the left lifting bracket respectively include a lifting seat and a conveyor belt arranged on the lifting seat, and when the lifting seat is raised, the full third tray 933 can be placed When the lifting seat descends, it docks with the conveyor rack, and the conveyor belt can transfer the full third material tray 933 to the conveyor rack and finally take it away through the AVG trolley, or the AVG trolley with the empty third material tray 933 moves to the left conveyor rack or the right conveyor rack, and the conveyor rack transfers the empty third material tray 933 to the lifting seat, and the third material tray 933 is driven to rise by raising the lifting seat to receive the steel-shell battery clamped by the fourth manipulator 932, so as to realize flexible unloading of the steel-shell battery; the second force arm 931 of this embodiment has the same structure as the first force arm 25, so as to realize the purpose of opening the clamping block 111, so as to facilitate the removal of the steel-shell battery in the fixture 11.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-speed welding line for sealing nails of steel-shell batteries, comprising a conveying mechanism having a plurality of jigs for placing steel-shell batteries, a first feeding mechanism arranged in sequence along the conveying direction of the jig for providing steel-shell batteries and capable of placing the steel-shell batteries in the jig, a pre-welding cleaning mechanism for cleaning the welding surface of the steel-shell batteries, a first visual positioning mechanism for determining the position information of the liquid injection port in the spatial coordinate system, a second feeding mechanism for providing sealing nails and capable of placing the sealing nails at the liquid injection port, and a welding mechanism for welding and fixing the sealing nails at the liquid injection port, characterized in that: It also includes a second visual positioning mechanism and a third visual positioning mechanism. The second feeding mechanism includes a second material tray, a second suction nozzle and a second manipulator for controlling the movement of the second suction nozzle. The second visual positioning mechanism is used to determine the position information of the sealing pin on the second material tray in the spatial coordinate system. The third visual positioning mechanism is used to determine the position information of the sealing pin on the second suction nozzle in the spatial coordinate system.

2. The steel shell battery sealing nail welding high-speed line according to claim 1 is characterized in that: It also includes a host and a driver, the host includes an image collector and an image processor, and is electrically connected to the driver by signals, the second manipulator is electrically connected to a power supply through the driver, and the first visual positioning mechanism, the second visual positioning mechanism and the third visual positioning mechanism are respectively electrically connected to the image collector by signals.

3. The steel shell battery sealing nail welding high-speed line according to claim 2 is characterized in that: The first visual positioning mechanism includes a bracket arranged beside the conveying mechanism, and an upper CCD camera arranged on the top of the bracket, and the upper CCD camera faces the fixture.

4. The steel shell battery sealing nail welding high-speed line according to claim 2, characterized in that: The second visual positioning mechanism includes a bracket located beside the second material tray and an upper CCD camera arranged on the top of the bracket, and the upper CCD camera faces the second material tray.

5. The steel shell battery sealing nail welding high-speed line according to claim 2 is characterized in that: The third visual positioning mechanism includes a support located between the second material tray and the conveying mechanism, and a lower CCD camera arranged on the top of the support, and the lower CCD camera faces the second suction nozzle.

6. The steel shell battery sealing nail welding high-speed line according to claim 1, characterized in that: The second robot includes a base, an X-axis linear module arranged on the base, a Y-axis linear module arranged on the slide of the X-axis linear module, and a Z-axis linear module arranged on the slide of the Y-axis linear module. The second suction nozzle is arranged on the slide of the Z-axis linear module.

7. The steel shell battery sealing nail welding high-speed line according to claim 1, characterized in that: The second feeding mechanism further comprises a resonance component, the vibration output end of which acts on the second material tray and is capable of adjusting the position and posture of the sealing pins on the second material tray.

8. The steel shell battery sealing nail welding high-speed line according to claim 1, characterized in that: It also includes a flattening mechanism, which is arranged on the opposite side of the first visual positioning mechanism. The flattening mechanism includes a pressing block and a third manipulator that controls the movement of the pressing block relative to the fixture. The pressing block acts on the steel shell battery along the axial direction.

9. The steel shell battery sealing nail welding high-speed line according to claim 1, characterized in that: It also includes a detection mechanism arranged beside the conveying mechanism, the detection mechanism is located at the rear end of the welding mechanism and is used to detect the height of the weld after welding, and the coaxiality of the sealing pin and the liquid injection port.

10. The steel case battery sealing nail welding high-speed line according to claim 9, characterized in that: It also includes a material receiving mechanism arranged beside the conveying mechanism, the material receiving mechanism is located at the rear end of the detection mechanism and can take out the steel shell battery located in the fixture.

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