Feeding equipment and feeding methods

Abstract

The present application discloses a feeding device and a feeding method. The feeding device includes: a feeding mechanism for conveying batteries along a first direction, the feeding mechanism includes at least two conveying lines arranged at intervals along a second direction; a grab and release mechanism for grabbing the batteries conveyed by the feeding mechanism and transferring the batteries to a specified position, the grab and release mechanism includes at least two grab and release components, each of the grab and release components includes at least two grab and release members arranged at intervals along the second direction, and adjacent grab and release components can approach or move away from each other relatively along the first direction under the drive of the distance adjustment component; wherein the first direction and the second direction intersect. The feeding device in the embodiment of the present application can simultaneously move and adjust the distance of at least two rows of batteries, thereby improving the distance adjustment efficiency and the feeding efficiency. The feeding device of the present application has high feeding efficiency and good compatibility.

Description

Technical Field

[0001] The present application relates to the technical field of battery manufacturing, and in particular to a feeding device and a feeding method. Background Art

[0002] New energy batteries are being used more and more widely in life and industry. For example, new energy vehicles equipped with batteries have been widely used. In addition, batteries are also being increasingly used in areas such as energy storage.

[0003] Feeding equipment is one of the commonly used equipment in the battery production process. The feeding efficiency of the feeding equipment has a great impact on the production cost and production efficiency of the battery. In addition, the industry has increasingly higher requirements for the compatibility of equipment. Therefore, how to improve the feeding efficiency and equipment compatibility is one of the research topics in the industry. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides a feeding device and a feeding method which can improve feeding efficiency and have good compatibility.

[0005] This application is implemented through the following technical solutions.

[0006] The first aspect of the present application provides a loading device, comprising: a feeding mechanism for conveying batteries along a first direction, the feeding mechanism comprising at least two conveying lines arranged at intervals along a second direction; a grasping and releasing mechanism for grasping the batteries conveyed by the feeding mechanism and transferring the batteries to a specified position, the grasping and releasing mechanism comprising at least two grasping and releasing components, each of the grasping and releasing components comprising at least two grasping and releasing members arranged at intervals along the second direction, and adjacent grasping and releasing components can approach or move away from each other relatively along the first direction under the drive of a distance adjustment component; wherein the first direction and the second direction intersect.

[0007] The feeding mechanism includes at least two conveying lines arranged at intervals along the second direction, thereby, the feeding mechanism can simultaneously convey at least two relatively independent rows of batteries along the second direction. Each grasping and releasing assembly of the grasping and releasing mechanism can move along the first direction under the drive of the distance adjustment assembly, so that adjacent grasping and releasing assemblies can be relatively close to or away from each other. The grasping and releasing assembly includes at least two grasping and releasing members arranged along the second direction, thereby, the grasping and releasing members of each grasping and releasing assembly can grasp each row of batteries on at least two conveying lines at the same time, and can adjust the spacing of batteries in a row of batteries along the first direction under the drive of the distance adjustment assembly, thereby adjusting the spacing of at least two rows of batteries at the same time and moving them to the specified position, thereby improving the spacing adjustment efficiency and the feeding efficiency. After the grasping and releasing mechanism places the batteries with the required spacing at the specified position, the grasping and releasing members are emptied, and the grasping and releasing members can continue to grasp new batteries, and efficient feeding is achieved by repeating the above actions. Only one grasping and releasing mechanism is required to realize the simultaneous movement and adjustment of multiple rows of batteries, which helps to reduce the space occupied by the feeding equipment, improve production efficiency, and speed up the production rhythm. Moreover, in response to different battery spacing requirements, the spacing between batteries can be adjusted in an automated manner through the distance adjustment component during the process of grabbing and moving the batteries, which has a better degree of automation and better compatibility, is conducive to flexible production, and does not require additional distance adjustment mechanisms at the placement position, which is conducive to further improving the feeding efficiency. Moreover, when the spacing distance between batteries conveyed by the conveyor line changes, the spacing distance between the grab and place components can also be adjusted through the distance adjustment component to grab the batteries, which has better compatibility.

[0008] In some embodiments, the distance adjustment assembly includes a mating part, a transmission part and a driving device, the transmission part extends along a first direction, the grasping and releasing assembly is connected to the mating part, and the mating part is configured to be able to move along the extension direction of the transmission part under the drive of the driving device.

[0009] Thus, the driving device drives the matching member to move along the extension direction of the transmission member, thereby driving the pick-and-place assembly to move along the first direction, so as to adjust the distance between adjacent pick-and-place assemblies.

[0010] In some embodiments, the transmission member includes a first screw rod, the mating member includes a protrusion, the output end of the driving device is connected to the first screw rod, and the first screw rod can rotate under the drive of the driving device; wherein, a plurality of grooves are provided on the outer peripheral surface of the first screw rod, and there is an angle between the extension directions of adjacent grooves, and the catch and release assembly is provided with the protrusion, and the protrusion is arranged in the groove in a manner that it can slide along the groove, and the protrusion moves along the groove as the first screw rod rotates, thereby driving the adjacent catch and release assemblies to approach or move away from each other relatively along the first direction.

[0011] Therefore, when the first screw is rotating, each catch and release assembly moves simultaneously along the groove toward or away from each other through the protrusion, thereby realizing synchronous adjustment of multiple catch and release assemblies, thereby realizing adjustment of the spacing between each battery in each row of batteries, with efficient adjustment and easy use.

[0012] In some embodiments, the transmission member includes a first slide rail, the mating member includes a sliding seat, the grab and release assembly is connected to the sliding seat, and the sliding seat can move along the first slide rail under the drive of the driving device, thereby driving adjacent grab and release assemblies to approach or move away from each other relatively along the first direction.

[0013] Thus, each sliding seat moves along the first sliding rail under the drive of the driving device, thereby driving each pick-and-place assembly to move along the first direction, thereby achieving the spacing adjustment of each battery in each row of batteries. In addition, the transmission method of the guide rail and the sliding seat can also reduce the friction and shaking of the pick-and-place assembly when it moves along the first direction, which helps to improve the stability of the spacing adjustment process and improve the reliability of the spacing adjustment assembly.

[0014] In some embodiments, the grab and release assembly includes a support member extending along the second direction, the grab and release member is arranged on the support member, and a plurality of first openings are opened on the support member, and the plurality of first openings are arranged at intervals along the second direction; a second opening is provided on the grab and release member, and a fastener passes through the first opening and the second opening to detachably connect the grab and release member and the support member.

[0015] Thus, the grab and release member can be connected to any first opening on the support member through a fastener, and by changing the connected opening, the spacing of each grab and release member along the second direction can be adjusted, so that the grab and release member can match the battery position on each conveyor line, thereby realizing simultaneous grabbing of the batteries on each conveyor line; it can also make the grab and release assembly suitable for batteries with various spacing requirements, provide more spacing options for the batteries in the second direction, and help improve the compatibility of the feeding equipment.

[0016] In some embodiments, the loading equipment also includes a grab and release bracket; the grab and release mechanism also includes a first telescopic drive device arranged on the grab and release bracket, the driving end of the first telescopic drive device is connected to the distance adjusting component, and the distance adjusting component can reciprocate along a third direction under the drive of the first telescopic drive device, thereby driving the grab and release component to reciprocate along the third direction between a working position and a first retreat position; wherein, the third direction intersects with both the first direction and the second direction.

[0017] Thus, the distance adjustment component can move along the third direction relative to the grab and place bracket, thereby driving the grab and place component to move to the working position, so that the grab and place component can grab the battery and place the battery at the specified position, and in the process of the grab and place mechanism moving from the feeding mechanism to the specified position, the grab and place component that grabs the battery can move to the first retreat position, so that the grab and place component will not hinder each other with other components along the way when moving to the specified position.

[0018] In some embodiments, the grasping and releasing mechanism also includes a linear bearing and a guide rod, the linear bearing is arranged on the grasping and releasing bracket, the guide rod extends along the third direction, passes through the linear bearing, and can move along the third direction relative to the linear bearing, and one end of the guide rod is connected to the distance adjustment assembly.

[0019] Thus, the guide rod is slidably connected to the catch and release bracket through the linear bearing, and the linear bearing cooperates with the guide rod to limit the moving path of the distance adjustment component, so that the distance adjustment component can stably move along the third direction.

[0020] In some embodiments, the loading equipment also includes a fixed frame and a movable frame, the fixed frame is provided with a linear module extending along the second direction, the movable frame is supported by the fixed frame and can move along the second direction under the drive of the linear module; the grasping and releasing mechanism is arranged on the movable frame.

[0021] Therefore, the mobile frame can drive the grasping and releasing mechanism to move along the second direction, so that the grasping and releasing component can take the grasped battery away from the feeding mechanism and transport it to the specified position, and can adjust the movement distance of the grasping and releasing mechanism along the second direction according to different specified positions, with a higher degree of automation and better compatibility.

[0022] In some embodiments, the linear module includes a second screw rod and a first rotation drive device, the driving end of the first rotation drive device is connected to the second screw rod, the second screw rod extends along the second direction, and can rotate under the drive of the first rotation drive device; the movable frame is connected to the second screw rod, and can reciprocate along the second direction as the second screw rod rotates.

[0023] Thus, the mobile rack can realize movement in the second direction by rotating the second screw rod, so that the battery transferred by the catch and place mechanism can be placed at the specified position each time by adjusting the position of the mobile rack in the second direction. Moreover, the movement position of the mobile rack in the second direction can be adjusted according to different specified position requirements, and the compatibility is better. In addition, the screw rod transmission has high efficiency and low energy consumption, which is more conducive to energy saving and environmental protection.

[0024] In some embodiments, the movable frame is provided with a third screw rod and a second rotation drive device, the third screw rod extends along the first direction and can rotate under the drive of the second rotation drive device; the grasping and releasing mechanism is connected to the third screw rod and can reciprocate along the first direction as the third screw rod rotates.

[0025] Thus, the movable frame can realize movement along the first direction by rotating the third screw rod, thereby adjusting the position of the grasping and placing mechanism along the first direction, which helps the grasping and placing mechanism to align the battery position when grasping and align the battery position when placing.

[0026] In some embodiments, the conveyor line includes a conveying section and a feeding section, and the feeding section is connected to the conveying section; a second telescopic drive device and a blocking member are provided on the downstream side of the feeding section, and the blocking member is connected to the output end of the second telescopic drive device, and can move between a blocking position and a second retreat position along the second direction under the drive of the second telescopic drive device, and the blocking member blocks the battery at the blocking position.

[0027] Thus, when the blocking member is in the blocking position, the battery can be blocked in the feeding section to facilitate the grabbing of the grabbing and releasing mechanism. Moreover, the second telescopic drive device can simply and quickly realize the movement of the blocking member between the blocking position and the second retreat position.

[0028] In some embodiments, the battery transported by the conveyor line is carried in a carrier; the feeding mechanism also includes a limit assembly, which is arranged in the feeding section of the conveyor line and is used to limit the movement of the carrier when the grasping and releasing mechanism grasps the battery.

[0029] Thus, the carrier can stabilize the center of gravity of the battery and reduce the risk of the battery tipping over on the conveyor line. The limiting assembly can prevent the carrier from being taken away by the gripping and releasing mechanism along with the battery, so that the carrier can be recycled.

[0030] In some embodiments, the limit assembly is located on one side of the conveyor line along the second direction, and the limit assembly includes a third telescopic drive device and a limit member, the driving end of the third telescopic drive device is connected to the limit member, and can drive the limit member to move between a limit position and a third retreat position along the second direction; along the third direction, the limit member is located on the side of the carrier facing away from the conveyor line, and in a projection plane perpendicular to the third direction, a partial projection of the limit member at the limit position overlaps with a partial projection of the carrier.

[0031] Thus, the limiting member can be moved between the carrier and the gripping and releasing mechanism under the drive of the third telescopic driving device, and has a certain limiting effect on the carrier, so that the carrier is not taken away by the gripping and releasing mechanism along with the battery, thereby enabling the carrier to be recycled.

[0032] In some embodiments, a plurality of limiting grooves are formed on the limiting member, and at the limiting position, the groove circumferential wall of the limiting groove surrounds a portion of the outer circumferential wall of the battery.

[0033] Therefore, when the limiting member limits the position of the carrier, it is not easy for the outer peripheral surface of the battery to interfere, thereby reducing the possibility of the limiting member and the outer peripheral surface of the battery being scratched and causing damage to the battery. In addition, the limiting groove also helps to increase the contact area between the limiting member and the carrier, and improve the limiting effect of the limiting member on the carrier.

[0034] In some embodiments, the loading device also includes a carrying platform, the feeding mechanism and the carrying platform are arranged at intervals along the second direction, the carrying platform is provided with at least two positioning fixtures arranged along the second direction, a plurality of positioning holes for accommodating the battery are formed on the positioning fixture, the plurality of positioning holes are arranged at intervals along the first direction, and the plurality of positioning holes define a plurality of the specified positions.

[0035] Thus, the positioning holes can limit the position of the battery and stably accommodate the battery on the positioning fixture at a suitable spacing.

[0036] The second aspect of the present application provides a loading method, comprising: each conveyor line conveys at least two batteries from a conveying section to a feeding section; a grasping and releasing mechanism moves to the feeding section; the grasping and releasing mechanism grasps the battery located in the feeding section; the grasping and releasing mechanism adjusts the distance between two adjacent batteries through a distance adjustment component; the grasping and releasing mechanism transfers and places the batteries after the distance adjustment at a specified position; and the above steps are repeated until the specified position is filled with the batteries.

[0037] The feeding mechanism includes at least two conveying lines arranged at intervals along the second direction, so that the feeding mechanism can simultaneously convey at least two relatively independent rows of batteries along the second direction. The grab and release assembly can simultaneously grab each row of batteries on at least two conveying lines, and can adjust the spacing of batteries in a row of batteries under the drive of the spacing adjustment assembly, so as to simultaneously adjust the spacing of at least two rows of batteries and move them to a specified position, thereby improving the spacing adjustment efficiency and the feeding efficiency. After the grab and release mechanism places the batteries with spacing that meets the requirements at the specified position, the grab and release piece is emptied, and the grab and release piece can continue to grab new batteries, and efficient feeding is achieved by repeating the above actions. Only one grab and release mechanism is required to realize the simultaneous movement and adjustment of multiple rows of batteries, which helps to reduce the space occupied by the feeding equipment, improve production efficiency, and speed up the production rhythm.

[0038] In some embodiments, the step of each conveying line conveying at least two batteries from the conveying section to the feeding section includes: when the detection component detects that the batteries exist in the feeding section, the conveying line stops moving.

[0039] Therefore, the conveyor line can be stopped in time to allow the batteries to stay stably in the feeding section, which is helpful for subsequent grabbing operations.

[0040] In some embodiments, the step of stopping the conveyor line from moving when the detection component detects the presence of the battery in the feeding section includes: when the first detection component detects the presence of the battery on the upstream side of the feeding section, the blocking member moves to the blocking position driven by the second telescopic drive device, and when the second detection component detects the presence of the battery on the downstream side of the feeding section, the conveyor line stops moving.

[0041] Thus, the first detection component can be used to determine whether the battery begins to enter the feeding section, and the blocking member can be controlled to extend in time to block the battery in the feeding section. The second detection component can be used to determine whether the battery fills the feeding section. When the feeding section is filled, the conveyor line can be controlled to stop in time, so that the battery can stay stably in the feeding section, which is helpful for the subsequent grabbing operation.

[0042] In some embodiments, before the step of the grabbing and releasing mechanism grabbing the battery located in the feeding section, the loading step further includes: the limiting member is driven by the third telescopic driving device to move to the limiting position.

[0043] Thus, the limiting member can be moved to the limiting position, thereby limiting the carrier, reducing the possibility of the carrier being caught together with the battery during the process of being caught, which is beneficial to the recycling of the carrier.

[0044] Effects of the Invention

[0045] The present application provides a feeding device and a feeding method that can improve feeding efficiency and have good compatibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0047] Figure 1 A schematic diagram of the three-dimensional structure of a feeding device provided in some embodiments of the present application;

[0048] Figure 2A schematic diagram of a three-dimensional structure of a catch-and-release mechanism provided in some embodiments of the present application;

[0049] Figure 3 A schematic plan view of a catch and release mechanism provided for some embodiments of the present application;

[0050] Figure 4 A schematic diagram of a three-dimensional structure of a feeding mechanism provided in some embodiments of the present application;

[0051] Figure 5 A schematic diagram of the three-dimensional structure of a carrying platform provided in some embodiments of the present application;

[0052] Figure 6 A schematic diagram of a first screw rod provided for some embodiments of the present application;

[0053] Figure 7 Schematic diagram of the process of feeding method provided for some embodiments of the present application Figure 1 ;

[0054] Figure 8 Schematic diagram of the process of feeding method provided for some embodiments of the present application Figure 2 ;

[0055] Fig. 9 Schematic diagram of the process of feeding method provided for some embodiments of the present application Figure 3 ;

[0056] Fig.10 Schematic diagram of the process of feeding method provided for some embodiments of the present application Figure 4 .

[0057] Description of Reference Numerals

[0058] 100, battery; 10, feeding mechanism; 11, conveying line; 12, second telescopic drive device; 13, blocking member; 14, bearing member; 15, limiting assembly; 151, third telescopic drive device; 152, limiting member; 1521, limiting groove; 16, detection assembly; 161, first detection assembly; 162, second detection assembly; 20, grasping and releasing mechanism; 21, grasping and releasing assembly; 211, grasping and releasing member; 22, distance adjustment assembly; 221, first slide rail; 222, sliding seat; 223, first screw rod; 224, groove; 23, support member; 24, first telescopic drive device; 25, linear bearing; 26, guide rod; 30, bearing platform; 31, positioning fixture; 311, positioning hole; 40, grab and release bracket; 50, fixed frame; 51, linear module; 511, first rotation drive device; 60, movable frame; 61, second rotation drive device; X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0059] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions.

[0061] In the description of the embodiments of the present application, the technical terms "first", "second", "third", "fourth", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0062] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0063] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0064] In the description of the embodiments of the present application, the orientation or position relationship indicated by technical terms such as "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", and "circumferential" are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0065] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "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, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0066] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and may be direct contact or contact through an intermediate medium layer. It may be contact with essentially no interaction force between the two contacting parties, or it may be contact with interaction force between the two contacting parties.

[0067] Below, this application is described in detail.

[0068] New energy batteries are being used more and more widely in life and industry. For example, new energy vehicles equipped with batteries have been widely used. In addition, batteries are also being increasingly used in areas such as energy storage.

[0069] During the production and manufacturing process of batteries, multiple batteries need to be moved. For example, during the battery loading process, the relative position relationship of multiple batteries needs to be maintained. In the related art, a mechanical claw is provided, and a grabbing and releasing member is provided for each battery corresponding to the mechanical claw. Each grabbing and releasing member can clamp the battery respectively, and the layout of the multiple grabbing and releasing members is consistent with the layout of the multiple batteries. However, the spacing distance between the multiple grabbing and releasing members of the mechanical claw is fixed. When the gap between adjacent batteries is small, it is difficult for the grabbing and releasing members to clamp. After the batteries are loaded in place, it is necessary to provide an additional distance adjusting device or manually change the spacing between the batteries so that the spacing between the batteries meets the work station requirements. The structure is complex and the loading efficiency is low.

[0070] The present application hopes to provide a feeding device and a feeding method which can improve the feeding efficiency.

[0071] Based on such a design concept, the inventor of the present application designed a loading device, comprising: a feeding mechanism for conveying batteries along a first direction, the feeding mechanism comprising at least two conveying lines spaced apart along a second direction; a grabbing and releasing mechanism for grabbing the batteries conveyed by the feeding mechanism and transferring the batteries to a specified position, the grabbing and releasing mechanism comprising at least two grabbing and releasing components, each grabbing and releasing component comprising at least two grabbing and releasing members spaced apart along the second direction, and adjacent grabbing and releasing components can approach or move away from each other relatively along the first direction under the drive of the distance adjustment component; wherein the first direction and the second direction intersect.

[0072] The feeding mechanism includes at least two conveying lines arranged at intervals along the second direction, thereby, the feeding mechanism can simultaneously convey at least two relatively independent rows of batteries along the second direction. Each grasping and releasing assembly of the grasping and releasing mechanism can move along the first direction under the drive of the distance adjustment assembly, so that adjacent grasping and releasing assemblies can be relatively close to or away from each other. The grasping and releasing assembly includes at least two grasping and releasing members arranged along the second direction, thereby, the grasping and releasing members of each grasping and releasing assembly can grasp each row of batteries on at least two conveying lines at the same time, and can adjust the spacing of batteries in a row of batteries along the first direction under the drive of the distance adjustment assembly, thereby adjusting the spacing of at least two rows of batteries at the same time and moving them to the specified position, thereby improving the spacing adjustment efficiency and the feeding efficiency. After the grasping and releasing mechanism places the batteries with the required spacing at the specified position, the grasping and releasing members are emptied, and the grasping and releasing members can continue to grasp new batteries, and efficient feeding is achieved by repeating the above actions. Only one grasping and releasing mechanism is required to realize the simultaneous movement and adjustment of multiple rows of batteries, which helps to reduce the space occupied by the feeding equipment, improve production efficiency, and speed up the production rhythm.

[0073] Moreover, in response to different battery spacing requirements, the spacing between batteries can be adjusted in an automated manner through the spacing adjustment component during the process of grabbing and moving the batteries, which has a better degree of automation and better compatibility, is conducive to flexible production, and does not require additional spacing adjustment mechanisms at the placement position, which is conducive to further improving the loading efficiency. Moreover, when the spacing distance between batteries conveyed by the conveyor line changes, the spacing distance between the grab and place components can also be adjusted through the spacing adjustment component to grab the batteries with better compatibility.

[0074] A plurality of batteries arranged along a first direction on a conveying line may be regarded as a row of batteries.

[0075] The feeding equipment of the embodiment of the present application can be used in the production process of the battery, for example, for feeding the battery before drying, etc. Of course, those skilled in the art should understand that the feeding equipment provided in the embodiment of the present application is not only used for the battery drying process in the battery production process, but can also be used for feeding before other processes in the battery production process that require controlling the battery spacing.

[0076] In the embodiment of the present application, the battery may be a secondary battery, which refers to a battery that can be continuously used by activating active materials by charging after the battery is discharged.

[0077] The battery can be a lithium ion battery, a sodium ion battery, a sodium lithium ion battery, a lithium metal battery, a sodium metal battery, a lithium sulfur battery, a magnesium ion battery, a nickel hydrogen battery, a nickel cadmium battery, a lead storage battery, etc., which is not limited in the embodiments of the present application.

[0078] Batteries generally include an electrode assembly. The electrode assembly includes a positive electrode, a negative electrode, and a separator. During the battery charging and discharging process, active ions (such as lithium ions) are inserted and removed back and forth between the positive electrode and the negative electrode. The separator is set between the positive electrode and the negative electrode to prevent the positive and negative electrodes from short-circuiting, while allowing active ions to pass through.

[0079] In some embodiments, the battery further includes an electrolyte, which acts as a conductor of ions between the positive and negative electrodes. The present application has no specific restrictions on the type of electrolyte, which can be selected according to needs. The electrolyte can be liquid, gel or solid.

[0080] In some embodiments, the battery may include a housing. The housing is used to encapsulate components such as electrode assemblies and electrolytes. The housing may be a steel housing, an aluminum housing, a plastic housing (such as polypropylene), a composite metal housing (such as a copper-aluminum composite housing), or an aluminum-plastic film.

[0081] As an example, the battery can be a cylindrical battery, a prismatic battery, a soft-pack battery or a battery of other shapes. Prismatic batteries include square shell batteries, blade-shaped batteries, and polygonal prismatic batteries. Polygonal prismatic batteries are, for example, hexagonal prismatic batteries, etc. There is no particular limitation in the present application.

[0082] In some embodiments, the housing includes an end cap and a shell, the shell is provided with an opening, and the end cap closes the opening to form a closed space for accommodating substances such as the electrode assembly and the electrolyte. The shell may be provided with one or more openings. One or more end caps may also be provided.

[0083] In some embodiments, at least one electrode terminal is disposed on the housing, and the electrode terminal is electrically connected to the tab. The electrode terminal may be directly connected to the tab, or indirectly connected to the tab via a transition piece. The electrode terminal may be disposed on the end cap, or on the housing.

[0084] In some embodiments, a pressure relief mechanism is provided on the housing, and the pressure relief mechanism is used to discharge the internal gas of the battery.

[0085] Refer to the following Figures 1 to 6 Some embodiments of the present application are described in detail.

[0086] Figure 1 A schematic diagram of the three-dimensional structure of a feeding device provided in some embodiments of the present application; Figure 2 A schematic diagram of a three-dimensional structure of a catch-and-release mechanism provided in some embodiments of the present application; Figure 3 A schematic plan view of a catch and release mechanism provided for some embodiments of the present application; Figure 4 A schematic diagram of a three-dimensional structure of a feeding mechanism provided in some embodiments of the present application; Figure 5 A schematic diagram of the three-dimensional structure of a carrying platform provided in some embodiments of the present application; Figure 6A schematic diagram of a first screw rod provided for some embodiments of the present application.

[0087] In some embodiments of the present application, for the convenience of explanation, a first direction, a second direction, and a third direction are set, and the first direction, the second direction, and the third direction are directions that intersect each other. Here, intersecting each other includes intersecting each other perpendicularly. Figures 1 to 5 In the embodiment shown, the first direction, the second direction, and the third direction are perpendicular to each other. Figures 1 to 5 As shown by the arrows in the figure, the direction of arrow X is the first direction, the direction of arrow Z is the second direction, and the direction of arrow Y is the third direction. Sometimes the direction indicated by arrow Z along the second direction is called "upward", and the opposite direction is called "downward".

[0088] The first aspect of the present application provides a feeding device, such as Figure 1 As shown, the feeding device includes a feeding mechanism 10 and a gripping and placing mechanism 20. The feeding mechanism 10 is used to convey the battery 100 along the first direction X, and the feeding mechanism 10 includes at least two conveying lines 11 arranged at intervals along the second direction Y. The gripping and placing mechanism 20 is used to grab the battery 100 conveyed by the feeding mechanism 10 and transfer the battery 100 to a specified position. The gripping and placing mechanism 20 includes at least two gripping and placing components 21, each of which includes at least two gripping and placing members 211 arranged at intervals along the second direction Y. Adjacent gripping and placing components 21 can approach or move away from each other relatively along the first direction X under the drive of the distance adjustment component 22; wherein the first direction X and the second direction Y intersect.

[0089] The feeding mechanism 10 is a mechanism for conveying the batteries 100 to the pick-and-place mechanism 20 .

[0090] The feeding mechanism 10 includes a conveyor line 11, which can be a conveyor belt, a conveyor belt, etc., and the present application has no limitation on this. At least a portion of the conveyor line 11 extends along the first direction X, and the conveyor line 11 moves along its own extension direction and drives the battery 100 located thereon to move. The conveyor line 11 can be configured in a ring shape, a straight line shape, an arc shape, etc., and the present application has no limitation on this.

[0091] Taking a straight conveyor line 11 as an example, the conveyor line 11 extends along a first direction X, and the battery 100 is placed on the conveyor line 11 and moves along the first direction X with the conveyor line 11. There are at least two conveyor lines 11, and each conveyor line 11 is arranged to be spaced apart from each other along the second direction Y. Multiple batteries 100 located on the same conveyor line 11 can be regarded as a row of batteries 100. Each conveyor line 11 can move synchronously, driving multiple rows of batteries 100 to reach a position where they can be grasped by the grasping and placing component 21 almost at the same time. A manipulator can be set on the upstream side of the conveyor line 11 to load the battery 100 onto the conveyor line 11. Alternatively, the conveyor line 11 can be connected to other processes, and the batteries 100 after processing in other processes are transported to the loading equipment via the conveyor line 11.

[0092] The grabbing and placing mechanism 20 refers to a mechanism that can grab the battery 100 from the feeding mechanism 10, and can also adjust the spacing of the battery 100, and move and place the battery 100 with the spacing meeting the requirements to the specified position. The specified position refers to the position for carrying the battery 100. Multiple specified positions are spaced apart from each other along the first direction X, and the multiple specified positions arranged along the first direction X are regarded as a row of specified positions, and the specified positions have multiple rows along the second direction Y. The number of rows of specified positions is greater than the number of grabbing and placing members 211 in each grabbing and placing assembly 21.

[0093] The grabbing and placing mechanism 20 includes a grabbing and placing assembly 21 and a distance adjusting assembly 22. The grabbing and placing assembly 21 includes at least two grabbing and placing members 211 arranged at intervals along the second direction Y, each grabbing and placing member 211 can grab a battery 100, and the number of grabbing and placing members 211 provided in each grabbing and placing assembly 21 can correspond to the number of conveyor lines 11, so that one grabbing and placing assembly 21 can grab the batteries 100 on each conveyor line 11 at the same time.

[0094] At least two grab-and-place assemblies 21 are provided, and each grab-and-place assemblies 21 are spaced apart from each other along the first direction X. The grab-and-place members 211 of each grab-and-place assemblies 21 are arranged along the first direction X and correspond to a row of batteries 100. Multiple grab-and-place assemblies 21 can simultaneously grab multiple rows of batteries 100 on all conveyor lines 11. In the embodiment of the present application, the first direction X and the second direction Y are perpendicular to each other. In some other embodiments, the first direction X and the second direction Y may also intersect each other non-perpendicularly.

[0095] The pick-and-place assembly 21 can move along the first direction X under the drive of the distance adjustment assembly 22, so that each adjacent pick-and-place assembly 21 moves away from or close to each other, so that the spacing between the adjacent pick-and-place members 211 along the first direction X changes accordingly, thereby changing the spacing between adjacent batteries 100 in a row of batteries 100, so that the spacing between the batteries 100 meets the requirements. If the initial position of the battery 100 meets the spacing requirements, the pick-and-place mechanism 20 can only move the battery 100 without adjusting the spacing between the batteries 100.

[0096] The grasping and releasing member 211 may be, for example, a clamping claw or a suction cup. The present application does not impose any special limitation on the specific type of the grasping and releasing member 211 .

[0097] In a specific embodiment, four conveyor lines 11 may be provided, and the four conveyor lines 11 are arranged along the second direction Y. The catch and place assembly 21 includes two catch and place members 211 arranged at intervals along the second direction Y. When in use, batteries 100 are transported on the four conveyor lines 11. The distance between each catch and place assembly 21 along the first direction X is adjusted by the distance adjustment assembly 22, so that the catch and place assembly 21 is aligned with the batteries 100 on two of the conveyor lines 11. After the catch and place assembly 21 grabs two rows of batteries 100 on two of the conveyor lines 11, the distance between adjacent batteries 100 along the first direction X is adjusted so that the distance between the batteries 100 meets the distance requirement when placed at the specified position. The batteries 100 that meet the distance requirement are moved to the specified position and placed. The unloaded catch and place assembly 21 returns to the feeding mechanism, grabs the batteries 100 from the other two conveyor lines 11, and repeats the above steps. During this period, the batteries 100 on the conveyor line 11 are automatically loaded after being grabbed.

[0098] The grab and release components 21 alternately grab the batteries 100 on the conveyor line 11 that has been loaded, and there is no need to wait for the materials when grabbing, which helps to speed up the production rhythm. It can be understood that the present application does not impose any special restrictions on the specific number of conveyor lines 11 and grab and release components 211. It is only necessary to set the number of conveyor lines 11 to be not less than the number of grab and release components 211 in each grab and release component 21. Exemplarily, the number of conveyor lines 11 is a multiple of more than twice the number of grab and release components 211 in each grab and release component 21.

[0099] The feeding mechanism 10 includes at least two conveying lines 11 arranged at intervals along the second direction Y, so that the feeding mechanism 10 can simultaneously convey at least two relatively independent rows of batteries 100 along the second direction Y. Each of the grasping and placing components 21 of the grasping and placing mechanism 20 can move along the first direction X under the drive of the distance adjustment component 22, so that adjacent grasping and placing components 21 can be relatively close to or away from each other. The grasping and placing components 21 include at least two grasping and placing members 211 arranged along the second direction Y, so that the grasping and placing members 211 of each grasping and placing component 21 can grasp each row of batteries 100 on at least two conveying lines 11 at the same time, and each grasping and placing component 21 can move along the first direction X under the drive of the distance adjustment component 22, so as to adjust the spacing of the batteries 100 in each row of batteries 100 along the first direction X, and then simultaneously adjust the distance of at least two rows of batteries 100 and move them to a specified position, thereby improving the distance adjustment efficiency and the feeding efficiency. After the grabbing and placing mechanism 20 places the battery 100 with the required spacing at the specified position, the grabbing and placing member 211 is emptied, and the grabbing and placing member 211 can continue to grab new batteries 100, and efficient loading is achieved by repeating the above actions. Only one grabbing and placing mechanism 20 is required to achieve simultaneous movement and spacing adjustment of multiple rows of batteries 100, which helps to reduce the space occupied by the loading equipment, improve production efficiency, and speed up the production cycle.

[0100] Moreover, in response to different spacing requirements of batteries 100, in the process of grabbing and moving the batteries 100, the distance adjustment component 22 can drive the movement of the grab and place component 21 along the first direction, and adjust the spacing between each battery 100 in an automated manner, which has a better degree of automation and better compatibility, is conducive to flexible production, and does not require an additional distance adjustment mechanism to be set at the placement position, which is conducive to further improving the loading efficiency. Moreover, when the spacing distance between the batteries 100 transported by the conveyor line 11 changes, the spacing distance between the grab and place components can also be adjusted by the distance adjustment component 22, and the batteries 100 can be grabbed with better compatibility.

[0101] In some embodiments of the present application, the distance adjustment assembly 22 includes a mating part, a transmission part and a driving device, the transmission part extends along the first direction X, the grasping and releasing assembly 21 is connected to the mating part, and the mating part is configured to be able to move along the extension direction of the transmission part under the drive of the driving device.

[0102] Thus, the driving device drives the matching member to move along the extension direction of the transmission member, thereby driving the pick-and-place assembly 21 to move along the first direction X, so as to adjust the distance between adjacent pick-and-place assemblies 21 .

[0103] Exemplarily, the transmission member may be a guide rail, and the matching member may be a slider connected to the guide rail. The transmission of the guide rail and the slider enables each grab and place assembly 21 to move along the first direction X, thereby adjusting the spacing between each grab and place assembly 21.

[0104] As another example, the transmission member may be a screw, and the mating member may be a nut meshed with the screw. The movement of each grab and release assembly 21 along the first direction X is achieved by screw transmission, thereby adjusting the spacing between each grab and release assembly 21.

[0105] In some embodiments of the present application, Figure 6 As shown, the transmission member includes a first screw rod 223, the matching member includes a protrusion, the output end of the driving device is connected to the first screw rod 223, and the first screw rod 223 can rotate under the drive of the driving device; wherein, a plurality of grooves 224 are provided on the outer peripheral surface of the first screw rod 223, and there is an angle between the extension directions of adjacent grooves 224, and the catch and release component 21 is provided with a protrusion, which is arranged in the groove 224 in a manner that it can slide along the groove 224, and the protrusion moves along the groove 224 as the first screw rod 223 rotates, thereby driving the adjacent catch and release components 21 to approach or move away from each other relatively along the first direction X.

[0106] The transmission member includes a first screw rod 223, and the matching member includes a protrusion. The output end of the driving device is coaxially connected to the first screw rod 223, so that the first screw rod 223 can be driven to rotate by the driving device. The first screw rod 223 extends along the first direction X, and the first screw rod 223 can rotate around its own axial direction.

[0107] The driving device includes but is not limited to a motor. As a specific example, the driving device may be a servo motor.

[0108] The outer circumferential surface of the first screw rod 223 is provided with a plurality of grooves 224, the number of which may be the same as the number of the catch and release components 21, and the plurality of grooves 224 are arranged in a divergent manner, and there is an angle between the extending directions of adjacent grooves 224. The catch and release component 21 is provided with a protrusion, which is engaged in the groove 224 and can slide along the groove 224. When the first screw rod 223 rotates, the protrusion does not rotate with the first screw rod 223, but moves relative to the groove 224, so that the catch and release component 21 moves along the first direction X, thereby changing the spacing between adjacent catch and release components 21.

[0109] Therefore, when the first screw rod 223 rotates, each grasping and releasing assembly 21 simultaneously moves along the groove 224 toward or away from each other through the protrusion, thereby realizing synchronous adjustment of multiple grasping and releasing assemblies 21, thereby realizing adjustment of the spacing between each battery 100 in each row of batteries 100, with efficient adjustment and easy use.

[0110] In some embodiments of the present application, Figure 2 and Figure 3As shown, the transmission member includes a first slide rail 221, the matching member includes a sliding seat 222, the pick-and-place assembly 21 is connected to the sliding seat 222, and the sliding seat 222 can move along the first slide rail 221 under the drive of the driving device, thereby driving adjacent pick-and-place assemblies 21 to approach or move away from each other relatively along the first direction X.

[0111] The transmission member includes a first slide rail 221 extending along a first direction X. The matching member includes a sliding seat 222 , and a plurality of sliding seats 222 may be provided, each of which is connected to a catch and place assembly 21 . The sliding seat 222 is supported on the first slide rail 221 and can slide along the first slide rail 221 .

[0112] Thus, each sliding seat 222 moves along the first slide rail 221 under the drive of the driving device, thereby driving each pick-up and release assembly 21 to move along the first direction X, thereby achieving the spacing adjustment of each battery in each row of batteries. In addition, the transmission mode of the slide rail and the sliding seat 222 can also reduce the friction and shaking of the pick-up and release assembly 21 when it moves along the first direction X, which helps to improve the stability of the spacing adjustment process and improve the reliability of the spacing adjustment assembly 22.

[0113] In a specific embodiment, a first screw rod 223, a first slide rail 221, a protrusion and a sliding seat 222 may be provided at the same time. At least two catch and release members 211 are respectively provided on at least two sliding seats 222, and the protrusion may be provided on the side of the sliding seat 222 facing the first slide rail 221 and protrude relative to the surface of the sliding seat 222. A first screw rod 223 is provided on the side of the first slide rail 221 away from the sliding seat 222, and the protrusion is slidably connected with a groove 224 on the first screw rod 223. When the first screw rod 223 rotates, it drives all the sliding seats 222 to slide relative to the groove 224 at the same time and move along the first slide rail 221.

[0114] In some embodiments, the grab and place member 211 of each grab and place assembly 21 is configured to be able to change position along the second direction Y.

[0115] At least one of the at least two catch-and-release members 211 spaced apart along the second direction Y may be configured to be able to change position along the second direction Y, thereby changing the spacing between the catch-and-release members 211. Each catch-and-release member 211 of each catch-and-release assembly 21 may also be configured to be able to change position along the second direction Y, thereby changing the spacing between the catch-and-release members 211.

[0116] Thus, the spacing of each grabbing and releasing member 211 along the second direction Y can be adjusted, so that the grabbing and releasing member 211 can match the position of the battery 100 on each conveyor belt, and the batteries 100 on each conveyor belt can be grabbed at the same time; the grabbing and releasing assembly 21 can also be adapted to batteries 100 with various spacing requirements, providing more spacing options for the battery 100 in the second direction Y, which helps to improve the compatibility of the feeding equipment. For example, the movement of the grabbing and releasing member 211 of each grabbing and releasing assembly 21 along the second direction can be achieved in an automated manner through the cooperation of the driving device and the transmission device, thereby changing the position of the grabbing and releasing member 211 along the second direction.

[0117] As another example, the position of the grab and release member 211 along the second direction may be adjusted manually.

[0118] In some embodiments of the present application, see Figure 2 and Figure 3 The catch and release assembly 21 includes a support member 23 extending along the second direction Y, the catch and release member 211 is arranged on the support member 23, and a plurality of first openings are opened on the support member 23, and the plurality of first openings are arranged at intervals along the second direction Y; a second opening is arranged on the catch and release member 211, and a fastener passes through the first opening and the second opening to detachably connect the catch and release member 211 and the support member 23.

[0119] The catch and place assembly 21 includes a support member 23. There are at least two support members 23, and each support member 23 is arranged along a first direction X. The support member 23 itself extends along a second direction Y, and a first opening is formed on the support member 23. There are a plurality of first openings, and the plurality of first openings are arranged along the second direction Y and spaced from each other. The fastener is detachably connected to any of the first openings.

[0120] The catch and release member 211 is provided with a second opening, and the fastener is detachably connected to the second opening. The second opening can be aligned with any of the first openings, and the fastener is passed through the first opening and the second opening to achieve the connection between the catch and release member 211 and the support member 23. When the position of the catch and release member 211 needs to be changed, the fastener is removed, the catch and release member 211 is moved to align the second opening with the first opening at another position, and the fastener is inserted, thereby changing the position of the catch and release member 211 relative to the support member 23.

[0121] One support member 23 is connected to at least two gripping members 211, and at least one gripping member 211 of the plurality of gripping members 211 is detachably connected to the support member 23. By changing the position of at least one gripping member 211, the spacing of the gripping members 211 along the second direction Y can be changed.

[0122] In the embodiment of the present application, at least two first apertures arranged at intervals along the first direction X are regarded as a group of first apertures, and multiple groups of first apertures are arranged at intervals along the second direction Y on the support member 23. At least two second apertures arranged at intervals along the first direction X are regarded as a group of second apertures, and multiple groups of second apertures are arranged at intervals along the second direction Y on the catch and release member 211. When a group of first apertures is aligned with a group of second apertures, at least two fasteners pass through the two pairs of first apertures and second apertures, so that the catch and release member 211 is not easily deflected, so that the catch and release member 211 can be stably connected to the support member 23.

[0123] The support member 23 may be a part of the sliding seat 222. The support member 23 may also be connected to the sliding seat 222, and the gripping and releasing member 211 may be detachably connected to the support member 23.

[0124] Fasteners include, but are not limited to, indexing pins, bolts, and the like.

[0125] Therefore, the grab and release member 211 can be connected to any first hole on the support member 23 through a fastener, and by changing the connected first hole, the spacing of each grab and release member 211 along the second direction Y can be adjusted, so that the grab and release member 211 can match the position of the battery 100 on each conveyor line, thereby realizing the simultaneous grabbing of the batteries 100 on each conveyor line; it can also make the grab and release component 21 suitable for batteries 100 with various spacing requirements, provide more spacing options for the battery 100 in the second direction Y, and help to improve the compatibility of the feeding equipment.

[0126] In some embodiments of the present application, Figures 1 to 3 As shown, the feeding equipment also includes a grasping and releasing bracket 40; the grasping and releasing mechanism 20 also includes a first telescopic driving device 24 arranged on the grasping and releasing bracket 40, and the driving end of the first telescopic driving device 24 is connected to the distance adjusting component 22. The distance adjusting component 22 can reciprocate along the third direction Z under the drive of the first telescopic driving device 24, thereby driving the grasping and releasing component 21 to reciprocate along the third direction Z between the working position and the first retreat position; wherein the third direction Z intersects with both the first direction X and the second direction Y.

[0127] The feeding device further includes a pick-and-place bracket 40. The pick-and-place bracket 40 can be used to carry the pick-and-place mechanism 20.

[0128] The gripping and releasing mechanism 20 further includes a first telescopic driving device 24. The distance adjustment component 22 is installed on the gripping and releasing bracket 40 through the first telescopic driving device 24. The first telescopic driving device 24 is arranged on the gripping and releasing bracket 40, and the driving end of the first telescopic driving device 24 is connected to the distance adjustment component 22, and the driving end can reciprocate along the third direction Z, thereby driving the distance adjustment component 22 and the gripping and releasing component 21 arranged on the distance adjustment component 22 to reciprocate along the third direction Z.

[0129] The catch and release assembly 21 can move to a working position or a first retreat position along a third direction Z. The working position includes a grabbing position and a placing position. The grabbing position refers to a position at the feeding mechanism where the grab and release member 211 can contact and grab the battery 100 on the conveyor line 11. When the grab and release assembly 21 is in the grabbing position, the grab and release member 211 can grab the battery 100 on the conveyor line 11. After the grabbing is completed, the grab and release assembly 21 can move to the first retreat position, so that the grab and release member 211 drives the battery 100 to be separated from the conveyor line 11 by a distance. Among them, the first direction X, the second direction Y and the third direction Z intersect with each other. Optionally, the first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0130] The placement position has a plurality of prescribed positions. The catch and place assembly 21 can always be in the first retreat position during the movement from the feeding mechanism to the prescribed position, so that the catch and place assembly 21 will not interfere with other components along the way when moving to the prescribed position, and after moving to the top of the placement position, it can move to the placement position along the third direction Z and place the battery 100 at the prescribed position. Exemplarily, the first telescopic drive device 24 includes but is not limited to a telescopic cylinder.

[0131] Thus, the distance adjustment component 22 can move along the third direction Z relative to the grab and place bracket 40, thereby driving the grab and place component 21 to move to the grabbing position or the placement position, so that the grab and place component 21 can grab the battery 100 and place the battery at the specified position, and in the process of the grab and place mechanism moving from the feeding mechanism to the specified position, the grab and place component 21 that grabs the battery 100 can move to the first retreat position, so that the grab and place component 21 will not hinder each other with other components along the way when moving to the specified position.

[0132] In some embodiments of the present application, Figure 2 As shown, the grab and release mechanism 20 also includes a linear bearing 25 and a guide rod 26. The linear bearing 25 is arranged on the grab and release bracket 40. The guide rod 26 extends along the third direction Z and is passed through the linear bearing 25. The guide rod 26 can move along the third direction Z relative to the linear bearing 25. One end of the guide rod 26 is connected to the distance adjustment component 22.

[0133] The gripping and placing mechanism 20 further includes a linear bearing 25 and a guide rod 26. The linear bearing 25 is provided on the distance adjustment component 22, and the guide rod 26 is passed through the linear bearing 25. The guide rod 26 extends along the third direction Z and is provided on the gripping and placing bracket 40. The driving end of the first telescopic driving device 24 is connected to the distance adjustment component 22. Under the drive of the first telescopic driving device 24, the distance adjustment component 22 moves stably and reliably along the third direction Z under the constraint of the guide rod 26, thereby driving the gripping and placing component 21 to move along the third direction Z.

[0134] In the embodiment of the present application, at least two, for example, three, guide rods 26 may be provided. The three guide rods 26 are spaced apart along the first direction X on the catch and release bracket 40 , thereby providing a better guide for the movement of the distance adjustment component 22 along the third direction Z.

[0135] Those skilled in the art should understand that when there are multiple guide rods 26 , there are also multiple linear bearings 25 , and the number of first linear bearings 25 corresponds to the number of first guide rods 26 .

[0136] Therefore, the guide rod 26 is slidably connected to the pick-and-place bracket 40 through the linear bearing 25. The linear bearing 25 cooperates with the guide rod 26 to limit the moving path of the distance adjustment component 22, so that the distance adjustment component 22 can stably move along the third direction Z.

[0137] In some embodiments of the present application, Figure 1 As shown, the loading equipment also includes a fixed frame 50 and a movable frame 60. The fixed frame 50 is provided with a linear module 51 extending along the second direction Y. The movable frame 60 is supported on the fixed frame 50 and can move along the second direction Y under the drive of the linear module 51. The grasping and releasing mechanism 20 is arranged on the movable frame 60.

[0138] The feeding device further includes a fixed frame 50 and a movable frame 60. The fixed frame 50 can be fixed on the mounting surface, and a linear module 51 extending along the second direction Y is provided on the fixed frame 50, and the movable frame 60 reciprocates along the second direction Y through the linear module 51. The guide rod 26 and the first telescopic driving device 24 can be arranged on the movable frame 60, so that the grasping and placing member 211 can move in the second direction Y and the third direction Z.

[0139] The feeding device also includes a carrying platform 30. In the embodiment of the present application, the placement position on the carrying platform is the specified position. The feeding mechanism 10 and the carrying platform 30 can be arranged at intervals along the second direction Y. When the feeding device is used, the actions of each mechanism are generally as follows: the moving frame 60 is moved to the feeding mechanism 10 by the linear module 51, the first telescopic drive device 24 drives the grab and release assembly 21 to move to the grab position, the grab and release member 211 of the grab and release assembly 21 grabs the battery 100, the first telescopic drive device 24 drives the grab and release assembly 21 to move to the first retreat position, the linear module 51 moves the moving frame 60 to the top of the carrying platform 30, the first telescopic drive device 24 drives the grab and release assembly 21 to move to the placement position, and the grab and release member 211 places the battery 100 at the specified position. Among them, it also includes the action of the distance adjustment assembly 22 to adjust the distance of the grab and release assembly, which can be performed before "the grab and release assembly 21 moves to the grab position" and in any action process or action gap between the actions of "the grab and release assembly 21 moves to the first retreat position" and "the grab and release assembly 21 moves to the placement position".

[0140] Thus, the pick-and-place assembly 21 can move between the feeding mechanism 10 and the carrying platform 30, and the pick-and-place assembly 21 can continuously load the carrying platform 30 and return to the feeding mechanism 10 to grab new batteries 100, which helps to improve the degree of automation of loading. Moreover, it helps to achieve a compact layout of the feeding mechanism 10, the carrying platform 30 and the pick-and-place assembly 20, shorten the moving path of the pick-and-place assembly 21, and improve production efficiency.

[0141] Exemplarily, the linear module 51 may include a linear motor, the moving frame 60 is connected to the linear motor, and the linear motor drives the moving frame 60 to reciprocate along the second direction Y.

[0142] As another example, the linear module 51 may include a linear guide rail and a slider, and the reciprocating motion of the movable frame 60 along the second direction Y is achieved through the cooperation of the linear guide rail and the slider.

[0143] Those skilled in the art should understand that in some other embodiments, the movable frame 60 can also reciprocate along the second direction Y through a telescopic cylinder, the movable frame 60 is connected to the telescopic end of the telescopic cylinder, and the telescopic cylinder drives the movable frame 60 to reciprocate along the second direction Y relative to the fixed frame 50.

[0144] Therefore, the movable frame 60 can drive the grasping and releasing mechanism 20 to move back and forth along the second direction Y, so that the grasping and releasing component 21 can take the grasped battery 100 away from the feeding mechanism 10 and transport it to the specified position, and can adjust the movement distance of the grasping and releasing mechanism along the second direction according to different specified positions, with a higher degree of automation and better compatibility.

[0145] In some embodiments of the present application, Figure 2 and Figure 3 As shown, the linear module 51 includes a second screw rod and a first rotation drive device 511, the driving end of the first rotation drive device 511 is connected to the second screw rod, the second screw rod extends along the second direction Y, and can rotate under the drive of the first rotation drive device 511; the movable frame 60 is connected to the second screw rod, and can reciprocate along the second direction Y as the second screw rod rotates.

[0146] The linear module 51 includes a second screw and a first rotation drive device 511. The second screw is arranged on the fixed frame 50, and the second screw extends along the second direction Y. The movable frame 60 is connected to the second screw. The first rotation drive device 511 is arranged on the fixed frame 50, and the driving end of the first rotation drive device 511 is coaxially connected to the second screw.

[0147] The second screw rod rotates under the drive of the first rotation driving device 511, and the moving frame 60 reciprocates along the second direction Y. The first rotation driving device 511 includes but is not limited to a motor. As a specific example, the first rotation driving device 511 may be a servo motor.

[0148] The movable frame 60 is provided with an engagement member, which may be formed as an integral structure with the movable frame 60, or may be a separate structure and assembled together with the movable frame 60. The engagement member may be, for example, a nut engaged with the lead screw.

[0149] Thus, the mobile frame 60 can realize the movement along the second direction Y by rotating the second screw rod, so that the battery 100 transferred by the catch and place mechanism 20 can be placed at the specified position each time by adjusting the position of the mobile frame 60 along the second direction Y, and the movement position of the mobile frame 60 along the second direction Y can be adjusted according to different specified position requirements, so as to achieve better compatibility. In addition, the screw rod transmission has high efficiency and low energy consumption, which is more conducive to energy saving and environmental protection.

[0150] In some embodiments of the present application, Figure 2 As shown, the movable frame 60 is provided with a third screw rod and a second rotation drive device 61, the third screw rod extends along the first direction X, and can rotate under the drive of the second rotation drive device 61; the grasping and releasing mechanism 20 is connected to the third screw rod, and can reciprocate along the first direction X as the third screw rod rotates.

[0151] The catch and release mechanism 20 can be installed on the mobile frame 60 through the third screw rod, the second rotation drive device 61 is provided on the mobile frame 60, and the driving end of the second rotation drive device 61 is connected to the third screw rod. The third screw rod extends along the first direction X. The second rotation drive device 61 includes but is not limited to a motor. As a specific example, the second rotation drive device 61 can be a servo motor.

[0152] Specifically, the two fixed frames 50 are arranged to be spaced apart from each other along the first direction X. The linear modules 51 may be provided on both fixed frames 50, or only one fixed frame 50 may be provided with the linear module 51, and the other fixed frame 50 may be provided with a guide rail. One end of the moving part is connected to the linear module 51, and the other end is slidably connected to the guide rail through a sliding part, so as to achieve stable and reliable movement along the second direction Y.

[0153] The mobile frame 60 is provided with a third screw and a second rotation drive device 61, and the catch and release bracket 40 is connected to the third screw and can move along the first direction X as the third screw rotates under the drive of the second rotation drive device 61. The catch and release bracket 40 is provided with a first telescopic drive device 24, and the driving end of the first telescopic drive device 24 is connected to the distance adjustment component 22, and the distance adjustment component 22 reciprocates along the third direction Z under the drive of the first telescopic drive device 24.

[0154] Thus, the grasping and placing bracket 40 can realize movement along the first direction X by rotating the third screw, thereby adjusting the position of the grasping and placing mechanism 20 relative to the feeding mechanism 10 in the first direction X, which helps the grasping and placing mechanism 20 to align the position of the battery 100 when grasping and align it to the corresponding specified position when placing.

[0155] In some embodiments of the present application, Figure 4 As shown, the conveyor line 11 includes a conveying section and a feeding section, and the feeding section is connected to the conveying section; a second telescopic drive device 12 and a blocking member 13 are provided on the downstream side of the feeding section, and the blocking member 13 is connected to the output end of the second telescopic drive device 12, and can move between a blocking position and a second retreat position along a second direction Y under the drive of the second telescopic drive device 12, and the blocking member 13 blocks the battery 100 at the blocking position.

[0156] The conveyor line 11 includes a conveying section and a feeding section. The feeding section extends along a first direction X, and is connected to the conveying section on both sides of the first direction X of the feeding section. A second telescopic drive device 12 and a blocking member 13 are provided on the downstream side of the feeding section, and the output end of the second telescopic drive device 12 is connected to the blocking member 13. The blocking member 13 moves between a blocking position and a second retreat position along a second direction Y under the drive of the second telescopic drive device 12.

[0157] When the blocking member 13 is located at the blocking position, the blocking member 13 is located on the moving path of the battery 100, blocking the battery 100 in the feeding section. When the blocking member 13 is located at the second retreat position, the blocking member 13 leaves the moving path of the battery 100, allowing the components on the conveyor line 11 to leave the feeding section and enter the conveying section.

[0158] The second telescopic drive device 12 is disposed on one side of the conveyor line 11 along the second direction Y, and the output end of the second telescopic drive device 12 can drive the blocking member 13 to approach or move away from the conveyor line 11 along the second direction Y. The blocking member 13 can be formed into a plate-like shape that is longitudinally elongated along the second direction Y. Furthermore, a notch is provided on one side of the blocking member 13 that faces the upstream side of the battery 100, and the notch can fit a portion of the outer peripheral wall of the battery 100, which helps to restrict the battery 100 to a suitable position.

[0159] Thus, when the blocking member 13 is in the blocking position, the battery 100 can be blocked in the feeding section to facilitate the grabbing of the grabbing and releasing mechanism 20. Moreover, the second telescopic drive device 12 can simply and quickly realize the movement of the blocking member 13 between the blocking position and the second retreat position.

[0160] In some embodiments of the present application, see Figure 4 The battery 100 transported by the conveyor line 11 is carried in the carrier 14; the feeding mechanism 10 also includes a limit assembly 15, which is arranged in the feeding section of the conveyor line 11 and is used to limit the movement of the carrier 14 when the grasping and releasing mechanism 20 grasps the battery 100.

[0161] The feeding mechanism 10 further includes a limiting assembly 15, which extends along the first direction X and faces the feeding section. The carrier 14 is placed on the conveyor line 11, and the carrier 14 is generally cylindrical and can be used to carry the cylindrical battery 100. Exemplarily, the carrier 14 includes a support cup.

[0162] The limiting assembly 15 can be spaced apart from the conveyor line 11 along the third direction Z. When the carrier 14 is located in the feeding section, the carrier 14 is located between the limiting assembly 15 and the conveyor line 11. When the gripping and placing mechanism 20 grips the battery 100 and leaves the conveyor line 11, the limiting assembly 15 blocks the carrier 14 from moving with the battery 100.

[0163] Of course, in some other embodiments, the carrier 14 may also be in any other suitable shape such as a cube, a cuboid, etc., and may be specifically set according to the shape of the battery 100 carried.

[0164] Thus, the carrier 14 can stabilize the center of gravity of the battery 100 and reduce the risk of the battery 100 falling on the conveyor line 11. The limiting assembly 15 can prevent the carrier 14 from being taken away by the gripping and releasing mechanism 20 along with the battery 100, so that the carrier 14 can be recycled.

[0165] In some embodiments of the present application, Figure 4 As shown, the limit assembly 15 is located on one side of the conveyor line 11 along the second direction Y, and the limit assembly 15 includes a third telescopic drive device 151 and a limit member 152. The driving end of the third telescopic drive device 151 is connected to the limit member 152, and can drive the limit member 152 to move between the limit position and the third retreat position along the second direction Y; along the third direction Z, the limit member 152 is located on the side of the carrier 14 facing away from the conveyor line 11, and in the projection plane perpendicular to the third direction Z, the partial projection of the limit member 152 in the limit position overlaps with the partial projection of the carrier 14.

[0166] The limiting assembly 15 is arranged on one side of the second direction Y of the conveyor line 11. The limiting assembly 15 includes a third telescopic drive device 151 and a limiting member 152. The limiting member 152 extends along the first direction X and is used to limit all the carriers 14 located in the feeding section. The third telescopic drive device 151 is arranged on one side of the conveyor line 11 along the second direction Y, and the driving end of the third telescopic drive device 151 is connected to the limiting member 152. The limiting member 152 can move along the second direction Y under the drive of the third drive device, so that the limiting member 152 can move along the second direction Y to between the limiting position and the third retreat position.

[0167] When the limiting member 152 is at the limiting position, in the same projection plane perpendicular to the third direction Z, the projection of the limiting member 152 partially overlaps with the projection of the carrier 14, and the projection of the limiting member 152 does not overlap with the projection of the battery 100. When the gripping and placing mechanism 20 grips the battery 100 and leaves the conveyor line 11, the limiting assembly 15 blocks the carrier 14 from moving with the battery 100.

[0168] When the limiting member 152 is at the third retreat position, in the same projection plane perpendicular to the third direction Z, the projection of the limiting member 152 does not overlap with the projection of the carrier 14 , and the projection of the limiting member 152 does not overlap with the projection of the battery 100 .

[0169] Therefore, the limiting member 152 can be moved between the carrier 14 and the grasping and releasing mechanism 20 under the drive of the third telescopic driving device 151, and play a certain limiting role on the carrier 14, so that the carrier 14 is not taken away by the grasping and releasing mechanism 20 along with the battery 100, so that the carrier 14 can be recycled.

[0170] Exemplarily, the limiting member 152 may be substantially in the shape of a flat plate.

[0171] In some embodiments of the present application, a plurality of limiting grooves 1521 are formed on the limiting member 152 . In the limiting position, the circumferential walls of the limiting grooves 1521 surround a portion of the outer circumferential wall of the battery 100 .

[0172] A plurality of limiting grooves 1521 arranged along the first direction X are formed on one side of the limiting member 152 close to the conveying line 11. The carrier 14 has a receiving hole, and the battery 100 is received in the receiving hole of the carrier 14. The depth of the receiving hole along the third direction Z is less than the length of the battery 100 along the third direction Z, and part of the battery 100 is exposed from the receiving hole.

[0173] When the limiting member 152 is at the limiting position, the groove peripheral wall of the limiting groove 1521 fits the outer peripheral wall of the exposed portion of the battery 100 , and a portion of the supporting member 14 is located between the limiting member 152 and the conveying line 11 .

[0174] Therefore, when the limiting member 152 limits the supporting member 14, it is not easy to interfere with the outer peripheral surface of the battery 100, thereby reducing the possibility of the limiting member 152 rubbing against the outer peripheral surface of the battery 100 and causing damage to the battery 100.

[0175] In addition, the limiting groove 1521 is also helpful to increase the contact area between the limiting member 152 and the supporting member 14 , thereby improving the limiting effect of the limiting member 152 on the supporting member 14 .

[0176] For example, in the embodiment of the present application, the battery 100 is a cylindrical battery, and the outer peripheral wall of the cylindrical battery is arc-shaped, so the groove peripheral wall of the limiting groove 1521 is also arc-shaped.

[0177] As another example, in some other embodiments, the battery 100 is a square shell battery, and the outer peripheral wall of the square shell battery is planar, and the groove peripheral wall of the limiting groove 1521 is also planar.

[0178] In some embodiments of the present application, see Figure 4 The feeding mechanism 10 also includes a detection component 16, which is used to detect whether a battery 100 exists; the detection component 16 includes a first detection component 161 and a second detection component 162 respectively arranged on the upstream side of the feeding section of the conveyor line 11 and arranged on the downstream side of the feeding section; when both the first detection component 161 and the second detection component 162 detect the presence of a battery 100, the conveyor line 11 stops moving.

[0179] The feeding mechanism 10 also includes a detection component 16, the detection end of the detection component 16 faces the conveyor line 11, and is used to detect whether there is a battery 100. Exemplarily, the detection component 16 is a through-beam sensor, and the transmitting end and the receiving end of the through-beam sensor are respectively arranged on opposite sides of the conveyor line 11 along the second direction Y, and are directly opposite to each other. When the receiving end can receive the light emitted by the transmitting end, it means that the detection component 16 fails to detect the existence of the battery 100. When the receiving end fails to receive the light emitted by the transmitting end, it means that the light is blocked by the battery 100, and the detection component 16 detects the existence of the battery 100.

[0180] Of course, those skilled in the art should understand that in some other embodiments, the detection component 16 may also be any other suitable detection component 16 .

[0181] The detection component 16 includes a first detection component 161 and a second detection component 162. The first detection component 161 is arranged on the upstream side of the feeding section, and the second detection component 162 is arranged on the downstream side of the feeding section. When the battery 100 begins to enter the feeding section, the first detection component 161 detects the presence of the battery 100, and the second detection component 162 detects the absence of the battery 100. When all the batteries 100 to be grabbed enter the feeding section, that is, when the batteries 100 fill the feeding section, the first detection component 161 and the second detection component 162 both detect the batteries 100. The conveyor line 11 can be controlled to stop moving by a controller electrically connected to the first detection component 161 and the second detection component 162.

[0182] Therefore, the first detection component 161 can be used to determine whether the battery 100 begins to enter the feeding section, and the second detection component 162 can be used to determine whether the battery 100 fills the feeding section. When the feeding section is filled, the conveyor line 11 is promptly controlled to stop, so that the battery 100 can stay stably in the feeding section, which is helpful for subsequent grasping operations.

[0183] In some embodiments of the present application, Figure 5 As shown, the loading device also includes a carrying platform 30, the feeding mechanism 10 and the carrying platform 30 are arranged at intervals along the second direction Y, the carrying platform 30 is provided with at least two positioning fixtures 31 arranged along the second direction Y, and a plurality of positioning holes 311 for accommodating the battery 100 are formed on the positioning fixture 31, and the plurality of positioning holes 311 are arranged at intervals along the first direction X, and the plurality of positioning holes 311 define a plurality of specified positions.

[0184] The carrying platform 30 refers to a platform capable of carrying the battery 100 moved from the pick-and-place mechanism 20 . In the embodiment of the present application, the placement position on the carrying platform 30 is the specified position where the battery 100 needs to be placed.

[0185] The grabbing and placing mechanism 20 moves the batteries 100 that meet the spacing requirements to the carrying platform 30, restores itself to an empty state, and can repeat the actions of grabbing the batteries 100, adjusting the spacing of the batteries 100, moving and placing the batteries 100. The carrying platform 30 can be used as a relay position to centrally store the batteries 100 that meet the spacing requirements. For example, a tray, a clamp, etc. can be set on the carrying platform 30.

[0186] At least two positioning fixtures 31 are provided on the carrying platform 30, and the two positioning fixtures 31 are arranged along the second direction Y. A plurality of positioning holes 311 are formed on the positioning fixture 31 and are arranged at intervals along the first direction X. Each positioning hole 311 defines a specified position, that is, one positioning hole 311 is used to accommodate one battery 100. The gripping and placing mechanism 20 moves the battery 100 to the positioning fixture 31, and can insert each battery 100 into each positioning hole 311.

[0187] The shape of the positioning holes 311 is substantially the same as that of the battery 100. The spacing of the positioning holes 311 corresponds to the spacing of the batteries 100 after the spacing adjustment component 22 has been adjusted, so that the batteries 100 moved by the pick-and-place mechanism 20 can be kept at the adjusted spacing distance, and in the subsequent process, there is no need to adjust the spacing of the batteries 100 again.

[0188] For example, in the embodiment of the present application, the battery 100 is a cylindrical battery, and the shape of the positioning hole 311 is substantially cylindrical.

[0189] As another example, in some other embodiments, the battery 100 is a square-shell battery, and the shape of the positioning hole 311 is generally a rectangular parallelepiped.

[0190] In a specific embodiment, the pick-and-place assembly 21 includes two pick-and-place members 211. The plurality of positioning holes 311 arranged along the first direction X are regarded as one row of positioning holes 311, and four rows of positioning holes 311 are arranged along the second direction Y. The pick-and-place mechanism 20 grabs the battery 100 at the feeding mechanism 10, drives the battery 100 to move to the carrying platform 30, and places the battery 100 in any two rows of positioning holes 311. After placement, the feeding mechanism 10 returns to grab the battery 100 and places the battery 100 in the other two rows of positioning holes 311.

[0191] Exemplarily, the gripping and placing mechanism 20 places the battery 100 in the first and third rows of positioning holes 311 for the first time, and places the battery 100 in the second and fourth rows of positioning holes 311 for the second time. Alternatively, the gripping and placing mechanism 20 places the battery 100 in the first and second rows of positioning holes 311 for the first time, and places the battery 100 in the third and fourth rows of positioning holes 311 for the second time. The gripping and placing mechanism 20 may place the captured multiple rows of batteries in the positioning holes 311 in sequence from the first row to the last row each time, or may place the captured multiple rows of batteries in the positioning holes 311 in an alternating manner each time.

[0192] Thus, the positioning holes 311 can limit the position of the battery 100 and stably accommodate the battery 100 on the positioning fixture 31 at a suitable interval.

[0193] The second aspect of the present application provides a feeding method. Figures 7 to 10 Provide detailed explanation.

[0194] Figure 7 Schematic diagram of the process of feeding method provided for some embodiments of the present application Figure 1 ; Figure 8 Schematic diagram of the process of feeding method provided for some embodiments of the present application Figure 2 ; Fig. 9 Schematic diagram of the process of feeding method provided for some embodiments of the present application Figure 3 ; Fig.10 Schematic diagram of the process of feeding method provided for some embodiments of the present application Figure 4 .

[0195] The feeding method of the embodiment of the present application can be used for the feeding device provided in the first aspect above. Figure 7 As shown, the feeding method includes:

[0196] S100: Each conveying line conveys at least two batteries from the conveying section to the feeding section;

[0197] S200: The grab and release mechanism moves to the feeding section;

[0198] S400: The grab and release mechanism grabs the battery located in the feeding section;

[0199] S500: The pick-and-place mechanism adjusts the distance between two adjacent batteries through a distance adjustment component;

[0200] S600: The pick-and-place mechanism transfers the batteries after the spacing is adjusted and places them at a specified position;

[0201] S700: Repeat the above steps until the specified position is fully loaded with batteries.

[0202] The feeding mechanism 10 is used to convey the battery 100 along the first direction X. The feeding mechanism 10 includes at least two conveying lines 11 arranged at intervals along the second direction Y. The grabbing and placing mechanism 20 is used to grab the battery 100 conveyed by the feeding mechanism 10 and transfer the battery 100 to a specified position. The grabbing and placing mechanism 20 includes at least two grabbing and placing components 21. Each grabbing and placing component 21 includes at least two grabbing and placing members 211 arranged at intervals along the second direction Y. Each grabbing and placing component 21 can move along the first direction X under the drive of the distance adjustment component 22, so that adjacent grabbing and placing components 21 are relatively close to or away from each other; wherein the first direction X is perpendicular to the second direction Y. The conveying line 11 includes a conveying section and a feeding section, and the feeding section is connected to the conveying section.

[0203] S200 and S100 may be performed simultaneously, S200 may be performed after S100 is completed, or S200 may be performed before S100 is started.

[0204] The feeding mechanism 10 includes at least two conveying lines 11 arranged at intervals along the second direction Y, so that the feeding mechanism 10 can simultaneously convey at least two relatively independent rows of batteries 100 along the second direction Y. The grabbing and placing assembly 21 can simultaneously grab the rows of batteries 100 on at least two conveying lines 11, and can adjust the spacing between the batteries 100 in at least two rows of batteries 100 under the drive of the spacing adjustment assembly 22, so as to simultaneously adjust the spacing of at least two rows of batteries 100 and move them to the specified position, thereby improving the spacing adjustment efficiency and the feeding efficiency. After the grabbing and placing mechanism 20 places the batteries 100 with the spacing meeting the requirements at the specified position, the grabbing and placing member 211 is emptied, and the grabbing and placing mechanism 20 can return to the conveying line 11 to continue to grab new batteries 100, and achieve efficient feeding by repeating the above actions. Only one grabbing and placing mechanism 20 is required to realize the simultaneous movement of multiple rows of batteries 100 and the adjustment of the spacing, which helps to reduce the space occupied by the feeding equipment, improve production efficiency, and speed up the production cycle.

[0205] In some embodiments of the present application, Figure 8 As shown, the steps of each conveying line conveying at least two batteries from the conveying section to the feeding section include:

[0206] S101: When the detection component detects that there are batteries in the feeding section, the conveyor line stops moving.

[0207] The detection end of the detection component 16 faces the conveyor line 11, and is used to detect whether there is a battery 100. The detection component 16 can be arranged at the downstream side of the feeding section, and when the detection component 16 detects that there is a battery 100 in the feeding section, the conveyor line 11 is controlled to stop moving; when the detection component 16 detects that there is no battery 100 in the feeding section, the conveyor line 11 moves.

[0208] Therefore, the conveyor line 11 is controlled to stop in time, so that the battery 100 can stay stably in the feeding section, which is helpful for the subsequent grabbing operation.

[0209] In some embodiments of the present application, Fig.10 As shown, under the condition that the detection component detects that there are batteries in the feeding section, the steps of stopping the conveyor line include:

[0210] S1011: Under the condition that the first detection component detects that there is a battery on the upstream side of the feeding section, the blocking member is driven by the second telescopic driving device to move to the blocking position.

[0211] and

[0212] S1012: When the second detection component detects that there are batteries on the downstream side of the feeding section, the conveyor line stops moving.

[0213] The first detection component 161 is disposed at the upstream side of the feeding section, and the second detection component 162 is disposed at the downstream side of the feeding section. When the battery 100 begins to enter the feeding section, the first detection component 161 detects the presence of the battery 100, and the second detection component 162 detects the absence of the battery 100.

[0214] A second telescopic drive device 12 and a blocking member 13 are provided on the downstream side of the feeding section. The blocking member 13 is connected to the output end of the second telescopic drive device 12 and can move between a blocking position and a second retreat position along a second direction Y under the drive of the second telescopic drive device 12. The blocking member 13 blocks the battery 100 at the blocking position. When the first detection component 161 detects that there is a battery 100 on the upstream side of the feeding section, the blocking member 13 moves to the blocking position under the drive of the second telescopic drive device 12. Optionally, when the first detection component 161 detects that there is no battery 100 on the upstream side of the feeding section, the blocking member 13 is located at the second retreat position. After the battery 100 is grasped by the grasping and releasing mechanism 20, the first detection component 161 detects that there is no battery 100 on the upstream side of the feeding section.

[0215] When all the batteries 100 to be grabbed enter the feeding section, that is, when the batteries 100 fill the feeding section, the first detection component 161 and the second detection component 162 both detect the batteries 100 and control the conveyor line 11 to stop moving. When the second detection component 162 detects that there are no batteries 100 on the downstream side of the feeding section, the conveyor line 11 conveys the batteries 100 to move along the first direction X.

[0216] After the first detection assembly 161 and the second detection assembly 162 both detect the battery 100, the blocking member 13 moves to the blocking position under the drive of the second telescopic driving device 12, and the conveyor line 11 stops moving, S400 is performed.

[0217] Thus, the first detection component 161 can be used to determine whether the battery 100 begins to enter the feeding section, and the blocking member 13 can be controlled to extend in time to block the battery 100 in the feeding section. The second detection component 162 can be used to determine whether the battery 100 fills the feeding section. When the feeding section is filled, the conveyor line 11 can be controlled to stop in time, so that the battery 100 can stay stably in the feeding section, which is helpful for the subsequent grabbing operation.

[0218] In some embodiments of the present application, Fig. 9 As shown, before the step of the grabbing and placing mechanism grabbing the battery located in the feeding section, the loading step also includes:

[0219] S300: The limiting member moves to the limiting position under the driving of the third telescopic driving device.

[0220] The driving end of the third telescopic driving device 151 is connected to the limit member 152, and can drive the limit member 152 to move between the limit position and the third retreat position along the second direction Y; along the third direction Z, the limit member 152 is located on the side of the carrier 14 facing away from the conveyor line 11, and in the projection plane perpendicular to the third direction Z, the partial projection of the limit member 152 in the limit position overlaps with the partial projection of the carrier 14.

[0221] Thus, the limiting member 152 can be moved to the limiting position, thereby limiting the carrier 14 , reducing the possibility that the carrier 14 is captured together with the battery 100 , which is beneficial to the recycling of the carrier 14 .

[0222] Specific examples of some embodiments of the present application are described below with reference to the accompanying drawings.

[0223] The feeding device comprises a feeding mechanism 10 , a carrying platform 30 and a grabbing and releasing mechanism 20 .

[0224] The gripping and releasing mechanism 20 includes a distance adjustment component 22 and a gripping and releasing component 21. At least two gripping and releasing components 21 are arranged along a first direction X, and each gripping and releasing component 21 includes at least two clamping claws (gripping and releasing members 211) arranged at intervals along a second direction Y. Each gripping and releasing component 21 can move along the first direction X under the drive of the distance adjustment component 22, and the distance adjustment component 22 is used to change the center distance of the battery 100.

[0225] The feeding mechanism 10 includes a front and rear moving screw module (linear module 51), a translation screw module (third screw, second rotation drive device 61), a lifting cylinder (first telescopic drive device 24), a guide rod 26, and a linear bearing 25. The front and rear screw modules and the translation screw module (third screw, second rotation drive device 61) drive the clamp to move along the first direction X and / or the second direction Y, so that the grasping and placing assembly 21 is aligned with the battery 100, and the lifting cylinder (first telescopic drive device 24) drives the grasping and placing assembly 21 to move along the third direction Z to grasp the battery 100. The guide rod 26 and the linear bearing 25 are used for lifting and guiding.

[0226] The feeding mechanism 10 also includes a conveyor line 11, a support cup (carrier 14), a sliding block, a translation cylinder (third telescopic drive device 151), a limiter 152, a photoelectric device (detection component 16), a blocking cylinder (second telescopic drive device 12), and a blocking member 13. At least two conveyor lines 11 are arranged along the second direction Y, and the conveyor line 11 moves along the first direction X. The support cup is placed on the conveyor line 11, and the battery 100 is placed on the support cup. The conveyor line 11 includes a conveying section and a feeding section. A blocking cylinder (second telescopic drive device 12) and a blocking member 13 are arranged downstream of the feeding section. The blocking member 13 is connected to the telescopic end of the blocking cylinder (second telescopic drive device 12) and can be blocked on the moving path of the carrier 14 under the drive of the blocking cylinder (second telescopic drive device 12). Two pairs of photoelectric devices are respectively arranged on the upstream and downstream sides of the feeding section. A translation cylinder (third telescopic drive device 151) and a stopper 152 are provided on one side of the second direction Y of the feeding section. The stopper 152 is connected to the telescopic end of the translation cylinder (third telescopic drive device 151) and can approach the support cup under the drive of the translation cylinder (third telescopic drive device 151) to limit the support cup between the stopper 152 and the conveyor line 11. A slide rail extending along the second direction Y is provided, and the two slide rails are spaced apart from each other along the first direction X. Two sliding blocks are respectively mounted on the two slide rails and can move relative to the slide rails. The stopper 152 is mounted on the two sliding blocks and is mounted on the slide rails through the sliding blocks.

[0227] The carrying platform 30 includes a positioning fixture 31 and a matching platform. At least two positioning fixtures 31 are placed on the matching platform along the second direction Y. The positioning fixture 31 is formed with a plurality of positioning holes 311, which are arranged at intervals along the first direction X to buffer the batteries 100 after the pitch change.

[0228] The loading method includes: the blocking cylinder (the second telescopic drive device 12) drives the blocking member 13 to move to the blocking position, the conveyor line 11 moves, the support cup moves with the battery 100 to the feeding section, and the two opposing photoelectric devices (detection components 16) located on both sides of the feeding section detect the presence of the battery 100 in the feeding section, and the conveyor line 11 stops.

[0229] The forward and backward moving screw module (linear module 51) and the translation screw module (third screw, second rotation drive device 61) drive the grasping and releasing assembly 21 to reach the first retreat position, and the lifting cylinder (first telescopic drive device 24) drives the grasping and releasing assembly 21 to reach the grasping position, and the clamping claw clamps the battery 100.

[0230] The lifting cylinder (first telescopic driving device 24) drives the grasping and releasing assembly 21 to reach the first retreat position, and the distance adjusting assembly 22 adjusts the distance between the clamping claws.

[0231] The blocking cylinder (the second telescopic driving device 12 ) drives the blocking member 13 to move to the second retreat position, and the conveying line 11 moves.

[0232] After the support cup leaves the feeding section, the blocking cylinder (the second telescopic drive device 12) drives the blocking member 13 to move to the blocking position.

[0233] The forward and backward moving screw module (linear module 51 ) and the translation screw module (third screw, second rotation drive device 61 ) drive the grab and place assembly 21 to move to the carrying platform 30 .

[0234] The lifting cylinder (the first telescopic driving device 24 ) drives the grasping and placing assembly 21 to reach the positioning fixture 31 , and the clamping claw releases the battery 100 , so that the battery 100 is placed in the positioning hole 311 .

[0235] The above steps are repeated until the positioning fixture 31 is fully loaded with batteries 100 .

[0236] The robot moves the positioning fixture 31 as a whole to the baking fixture.

[0237] The lifting cylinder (first telescopic drive device 24) drives the grasping and placing assembly 21 to reach the positioning fixture 31, and the clamp releases the battery 100, so that the battery 100 is placed in the positioning hole 311. In the step, at least two rows of batteries 100 can be placed in two rows of positioning holes 311 separated along the second direction Y, for example, they can be placed in the first and third rows of positioning holes 311, or they can be placed in the second and fourth rows of positioning holes 311, etc. The positioning holes 311 arranged in the same straight line along the first direction X are regarded as a row of positioning holes 311, and the batteries 100 arranged in the same straight line along the first direction X are regarded as a row of batteries 100.

[0238] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way.

Claims

1. A feeding device, characterized in that: include: A feeding mechanism, used for conveying batteries along a first direction, the feeding mechanism comprising at least two conveying lines arranged at intervals along a second direction; A gripping and releasing mechanism, used for grabbing the battery conveyed by the feeding mechanism and transferring and placing the battery at a specified position, the gripping and releasing mechanism comprises at least two gripping and releasing components, each of the gripping and releasing components comprises at least two gripping and releasing members spaced apart along the second direction, one of the gripping and releasing members grabs one of the batteries, and adjacent gripping and releasing components can approach or move away from each other relatively along the first direction under the drive of the distance adjustment component; the distance adjustment component comprises a matching member, a transmission member and a driving device, the transmission member extends along the first direction, the gripping and releasing component is connected to the matching member, and the matching member is configured to be able to move along the extension direction of the transmission member under the drive of the driving device; The catch-and-release assembly further includes a support member extending along the second direction, the support member is provided with a plurality of first openings, and the plurality of first openings are arranged at intervals along the second direction; the catch-and-release member is provided with a second opening, and a fastener passes through the first opening and the second opening to detachably connect the catch-and-release member and the support member; The first direction and the second direction intersect.

2. The feeding equipment according to claim 1, characterized in that: The transmission member includes a first screw rod, the matching member includes a protruding portion, the output end of the driving device is connected to the first screw rod, and the first screw rod can rotate under the drive of the driving device; Among them, a plurality of grooves are provided on the outer peripheral surface of the first screw rod, and there is an angle between the extension directions of adjacent grooves. The catch and release assembly is provided with the protrusion, and the protrusion is arranged in the groove in a manner that it can slide along the groove. The protrusion moves along the groove as the first screw rod rotates, thereby driving the adjacent catch and release assemblies to approach or move away from each other relatively along the first direction.

3. The feeding equipment according to claim 1, characterized in that: The transmission member includes a first slide rail, the matching member includes a sliding seat, the catch and release assembly is connected to the sliding seat, and the sliding seat can move along the first slide rail under the drive of the driving device, thereby driving adjacent catch and release assemblies to approach or move away from each other relatively along the first direction.

4. The feeding device according to claim 1, characterized in that: The feeding equipment also includes a grab and place bracket; The grasping and releasing mechanism further comprises a first telescopic driving device provided on the grasping and releasing bracket, wherein a driving end of the first telescopic driving device is connected to the distance adjusting component, and the distance adjusting component can reciprocate along a third direction under the drive of the first telescopic driving device, thereby driving the grasping and releasing component to reciprocate along the third direction between a working position and a first retreat position; The third direction intersects both the first direction and the second direction.

5. The feeding equipment according to claim 4, characterized in that: The grasping and releasing mechanism also includes a linear bearing and a guide rod. The linear bearing is arranged on the grasping and releasing bracket. The guide rod extends along the third direction, passes through the linear bearing, and can move along the third direction relative to the linear bearing. One end of the guide rod is connected to the distance adjustment component.

6. The feeding equipment according to claim 1, characterized in that: The feeding device further comprises a fixed frame and a movable frame, the fixed frame is provided with a linear module extending along the second direction, the movable frame is supported by the fixed frame and can move along the second direction under the drive of the linear module; The grab and place mechanism is arranged on the mobile frame.

7. The feeding device according to claim 6, characterized in that: The linear module includes a second screw and a first rotation drive device, the driving end of the first rotation drive device is connected to the second screw, the second screw extends along the second direction and can rotate under the drive of the first rotation drive device; The movable frame is connected to the second screw rod and can reciprocate along the second direction as the second screw rod rotates.

8. The feeding device according to claim 6, characterized in that: The movable frame is provided with a third screw rod and a second rotation driving device, wherein the third screw rod extends along the first direction and can rotate under the drive of the second rotation driving device; The grasping and releasing mechanism is connected to the third screw rod and can reciprocate along the first direction as the third screw rod rotates.

9. The feeding equipment according to claim 1, characterized in that: The conveying line comprises a conveying section and a feeding section, wherein the feeding section is connected to the conveying section; A second telescopic drive device and a blocking member are provided on the downstream side of the feeding section. The blocking member is connected to the output end of the second telescopic drive device and can move between a blocking position and a second retreat position along the second direction under the drive of the second telescopic drive device. The blocking member blocks the battery at the blocking position.

10. The feeding device according to claim 9, characterized in that: The batteries conveyed by the conveyor line are carried in a carrier; The feeding mechanism further comprises a limiting assembly, which is arranged at the feeding section of the conveying line and is used for limiting the movement of the carrier when the grabbing and releasing mechanism grabs the battery.

11. The feeding device according to claim 10, characterized in that: The limiting assembly is located at one side of the conveying line along the second direction, and the limiting assembly includes a third telescopic driving device and a limiting member, wherein the driving end of the third telescopic driving device is connected to the limiting member and can drive the limiting member to move between a limiting position and a third retreat position along the second direction; Along the third direction, the limiting member is located on the side of the supporting member facing away from the conveying line, and in a projection plane perpendicular to the third direction, a partial projection of the limiting member at the limiting position overlaps with a partial projection of the supporting member.

12. The feeding device according to claim 11, characterized in that: A plurality of limiting grooves are formed on the limiting member. At the limiting position, the groove peripheral walls of the limiting grooves surround a portion of the outer peripheral wall of the battery.

13. The feeding device according to claim 1, characterized in that: The loading equipment also includes a carrying platform, the feeding mechanism and the carrying platform are arranged at intervals along the second direction, the carrying platform is provided with at least two positioning fixtures arranged along the second direction, a plurality of positioning holes for accommodating the batteries are formed on the positioning fixtures, the plurality of positioning holes are arranged at intervals along the first direction, and the plurality of positioning holes define a plurality of the specified positions.

14. A feeding method, characterized in that: The feeding method comprises: Adjusting the position of a grab and release member on a grab and release assembly of the grab and release mechanism along a second direction; Each conveyor line conveys at least two batteries from the conveying section to the feeding section; The grab and release mechanism moves to the feeding section; The grab and release member grabs the battery located in the feeding section; The grab and release mechanism adjusts the distance between two adjacent grab and release components along the first direction through the distance adjustment component, thereby adjusting the distance between two adjacent batteries along the first direction; The pick-and-place mechanism moves the battery after adjusting the spacing and places it at a specified position; Repeat the above steps until the specified position is filled with the battery; Wherein, the first direction intersects with the second direction, the distance adjustment assembly includes a mating piece, a transmission piece and a driving device, the transmission piece extends along the first direction, the catch and release assembly is connected to the mating piece, the mating piece is configured to be able to move along the extension direction of the transmission piece under the drive of the driving device, the catch and release assembly also includes a support piece extending along the second direction, and the catch and release piece is detachably connected to the support piece via a fastener.

15. The feeding method according to claim 14, characterized in that: The step of each conveying line conveying at least two batteries from the conveying section to the feeding section includes: Under the condition that the detection component detects that the battery exists in the feeding section, the conveyor line stops moving.

16. The feeding method according to claim 15, characterized in that: The step of stopping the conveyor line from moving when the detection component detects that the battery exists in the feeding section comprises: Under the condition that the first detection component detects the presence of the battery on the upstream side of the feeding section, the blocking member moves to the blocking position under the drive of the second telescopic drive device, and under the condition that the second detection component detects the presence of the battery on the downstream side of the feeding section, the conveyor line stops moving.

17. The feeding method according to claim 14, characterized in that: Before the step of the grabbing and placing member grabbing the battery located in the feeding section, the loading step further includes: The limiting member moves to the limiting position under the driving of the third telescopic driving device.

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