Nail inserting machine and nail inserting method

Abstract

The invention discloses a nail inserting machine and a nail inserting method, and the nail inserting machine comprises a battery conveying mechanism which is used for conveying a battery; the rubber nail feeding mechanism is used for conveying rubber nails; the visual nail inserting mechanism is used for detecting a liquid injection opening of a battery cell and inserting a plastic nail into the liquid injection opening of the battery cell, and comprises a mounting seat, and a first camera, a second camera, a first nail inserting head, a second nail inserting head and a distance adjusting assembly which are arranged on the mounting seat, and the distance adjusting assembly is used for adjusting the distance between the first nail inserting head and the second nail inserting head; and the transplanting robot is used for transplanting the visual nail inserting mechanism. The nail inserting method comprises the steps of conveying a battery, positioning the battery, photographing two liquid injection ports of the battery and analyzing data, conveying a plastic nail, adjusting the position of the visual nail inserting mechanism, adjusting the distance between the first nail inserting head and the second nail inserting head, and inserting the nail. According to the invention, the equipment cost can be reduced, accurate nail insertion is realized, and the nail insertion efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of battery manufacturing, and in particular to a nail inserting machine and a nail inserting method. Background Art

[0002] In the manufacturing process of lithium batteries, the formation process is a key link. It mainly injects an appropriate amount of electrolyte into the battery cell, activates the positive and negative electrode materials inside the battery cell through charge and discharge, and forms a layer of solid electrolyte interface film on the surface of the negative electrode, thereby improving the overall performance of the battery.

[0003] After the battery cell is filled with liquid, it is necessary to perform a pinning step before the formation operation to isolate the electrolyte inside the battery cell from the external environment, thereby ensuring the performance and safety of the battery.

[0004] The battery cells are fed in trays during the nail insertion process. A tray carries multiple groups of battery cells arranged side by side. A liquid injection port is provided on the top of each battery cell. In order to improve the nail insertion efficiency, the existing nail insertion machine generally adopts a double-head nail insertion mechanism. The double-head nail insertion mechanism includes two nail insertion heads, two cameras and two adjustment components. The two nail insertion heads are respectively connected to the two adjustment components, and the two adjustment components respectively adjust the positions of the two nail insertion heads separately.

[0005] However, the two adjustment components have complex structures, high manufacturing costs, long adjustment time, and reduced nail insertion efficiency. Summary of the invention

[0006] In order to overcome the deficiencies of the prior art, the present invention provides a nail inserting machine and a nail inserting method, which can reduce equipment cost, achieve precise nail inserting, and improve nail inserting efficiency.

[0007] The technical solution adopted by the present invention to solve the technical problem is:

[0008] A nail inserting machine, comprising:

[0009] A battery conveying mechanism, used for conveying batteries;

[0010] The plastic nail feeding mechanism is used to convey the plastic nails;

[0011] A visual nail insertion mechanism, which detects the liquid injection port of the battery cell and inserts the glue nail into the liquid injection port of the battery cell, is located above the battery conveying mechanism, and includes a mounting seat, a first camera, a second camera, a first nail insertion head, a second nail insertion head, and a spacing adjustment component arranged on the mounting seat, wherein the spacing adjustment component is used to adjust the spacing between the first nail insertion head and the second nail insertion head, the first camera and the second camera are respectively used to take pictures of the two liquid injection ports of a group of battery cells, and the first nail insertion head and the second nail insertion head are respectively used to insert nails into the two liquid injection ports of a group of battery cells;

[0012] A transplanting robot is used to transplant the visual pin insertion mechanism.

[0013] As a further improvement of the above technical solution, the spacing adjustment assembly includes a first motor, a screw rod, a nut, a movable seat and two bearing seats, the two bearing seats are fixed on the mounting seat, the two ends of the screw rod are respectively rotatably connected to the two bearing seats, the first motor is used to drive the screw rod to rotate, the nut is threadedly connected to the screw rod, the nut is fixed on the movable seat, and the second nail head is connected to the movable seat.

[0014] As a further improvement of the above technical solution, the first motor is arranged at the top of the mounting seat, the two bearing seats are arranged at the bottom of the mounting seat, the main shaft of the first motor is connected to a driving wheel, one end of the screw rod is connected to a driven wheel, and the driving wheel and the driven wheel are connected by a synchronous belt.

[0015] As a further improvement of the above technical solution, the battery conveying mechanism includes a base plate, two vertical plates arranged on both sides of the top of the base plate, a plurality of conveying rollers rotatably connected to the two vertical plates, and a second motor for driving the plurality of conveying rollers to rotate, and the plurality of conveying rollers are arranged in sequence along the conveying direction of the battery.

[0016] As a further improvement of the above technical solution, a plurality of guide wheels are provided on opposite sides of the two vertical plates.

[0017] As a further improvement of the above technical solution, a positioning baffle is provided on the other side of the bottom plate, and the positioning baffle is used to limit one side of the battery toward the conveying direction.

[0018] As a further improvement of the above technical solution, it also includes a lifting mechanism, which is used to lift the battery. The lifting mechanism is arranged on the battery conveying mechanism. The lifting mechanism includes a lifting plate, a plurality of lifting rods arranged on the lifting rods, and a cylinder for driving the lifting plate to rise and fall. The lifting plate is located at the bottom of the base plate, a plurality of the lifting rods penetrate the base plate, and the cylinder is arranged at the bottom of the base plate.

[0019] As a further improvement of the above technical solution, a plurality of sliding sleeves are arranged at the bottom of the base plate, the sliding sleeves are arranged vertically, and the plurality of sliding sleeves are respectively sleeved on the outer peripheries of the plurality of lifting rods.

[0020] A nail insertion method, using the above nail insertion machine, comprises the following steps:

[0021] Step 1: The battery conveying mechanism conveys the battery to the nail insertion station;

[0022] Step 2, the positioning baffle is used to position the incoming battery;

[0023] Step 3, the lifting mechanism drives the battery to rise;

[0024] Step 4: The transplanting robot transplants the visual pin insertion mechanism to just above one group of battery cells;

[0025] Step 5, the first camera and the second camera respectively take photos of two liquid injection ports of a group of battery cells and analyze and cache the data;

[0026] Step 6: The plastic nail feeding mechanism conveys plastic nails to the first nail head and the second nail head;

[0027] Step 7, the transplanting robot adjusts the position of the visual pin insertion mechanism according to the photographing and analysis data of the first camera and the second camera;

[0028] Step 8, the spacing adjustment component adjusts the spacing between the first nail head and the second nail head according to the photographed and analyzed data of the first camera and the second camera;

[0029] Step 9, the first nail head and the second nail head are respectively used to insert nails into two liquid injection ports of a group of battery cells;

[0030] Step 10: After the nail insertion is completed, take photos of the two injection ports of the next group of battery cells, and repeat steps 4 to 9 until all battery cell groups have completed the nail insertion;

[0031] Step 11: The lifting mechanism drives the battery to descend, and the battery conveying mechanism drives the battery to exit the nail insertion station.

[0032] As a further improvement of the above technical solution, after the first camera and the second camera in step 5 respectively take pictures of the two injection ports of a group of battery cells, an image coordinate system of the two injection ports and a coordinate system of the transplanting robot are established, and the corresponding relationship between the two is fitted with data to obtain the difference X, Y, θ between the two, and the straight-line distance value L of the two injection ports, and the values ​​X, Y, θ are transmitted to the transplanting robot, and the value L is transmitted to the spacing adjustment component.

[0033] The beneficial effects of the present invention are as follows: the present invention provides a nail insertion machine and a nail insertion method, by setting a visual nail insertion mechanism and a transplanting robot, the visual nail insertion mechanism includes a first camera, a second camera, a first nail insertion head, a second nail insertion head and a spacing adjustment component, the first camera and the second camera respectively take pictures of two liquid injection ports of a group of battery cells and analyze data and cache data, by establishing an image coordinate system of the two liquid injection ports and a coordinate system of the transplanting robot, and performing data fitting on the corresponding relationship between the two, the difference between the two and the straight-line distance value of the two liquid injection ports are obtained, the transplanting robot transplants the visual nail insertion mechanism as a whole according to the coordinate data of the two liquid injection ports, the spacing adjustment component adjusts the spacing of the first nail insertion head and the second nail insertion head to the same spacing of the two liquid injection ports according to the coordinate data of the two liquid injection ports, so that the first nail insertion head and the second nail insertion head are respectively aligned with the two liquid injection ports, the glue nails are transported to the first nail insertion head and the second nail insertion head by the glue nail feeding mechanism, and the first nail insertion head and the second nail insertion head respectively insert the glue nails into the corresponding two liquid injection ports, thereby reducing equipment costs, achieving accurate nail insertion, and improving nail insertion efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0035] Figure 1 It is a structural schematic diagram of a nail inserting machine provided by an example of the present invention;

[0036] Figure 2 yes Figure 1 Schematic diagram of the local structure;

[0037] Figure 3 yes Figure 2 Structural diagram of the visual pin insertion mechanism;

[0038] Figure 4 yes Figure 2 Structural schematic diagram of the battery conveying mechanism and lifting mechanism;

[0039] Figure 5 is a schematic diagram of initial positions of the first camera, the second camera, the first nail inserting head, the second nail inserting head and the transplanting robot;

[0040] Figure 6 is a schematic diagram of the positions of the first camera, the second camera, the first nail head, the second nail head and the two liquid injection ports;

[0041] Figure 7 The present invention is a flowchart of a nail insertion method provided by an example.

[0042] Reference numerals: 100 - battery conveying mechanism, 110 - bottom plate, 120 - vertical plate, 130 - conveying roller, 140 - second motor, 150 - guide wheel, 160 - positioning baffle;

[0043] 200-plastic nail feeding mechanism, 210-vibration feeding plate, 220-feeding guide groove, 230-feeding assembly;

[0044] 300-visual pinning mechanism, 310-mounting seat, 320-first camera, 330-second camera, 340-first pinning head, 350-second pinning head, 360-spacing adjustment assembly, 361-first motor, 362-screw rod, 363-nut, 364-moving seat, 365-bearing seat, 366-driving wheel, 367-driven wheel, 368-synchronous belt;

[0045] 400-Transplanting robot;

[0046] 500-lifting mechanism, 510-lifting plate, 520-lifting rod, 530-cylinder, 540-sliding sleeve. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the present invention. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the invention can be combined interchangeably without conflicting with each other.

[0048] Reference Figures 1 to 4 An example of the present invention provides a nail inserting machine, which includes a battery conveying mechanism 100, a glue nail feeding mechanism 200, a visual nail inserting mechanism 300 and a transplanting robot 400.

[0049] Functionally, the battery conveying mechanism 100 is used to convey batteries, the glue nail feeding mechanism 200 is used to convey the glue nails to the visual nail insertion mechanism 300, the visual nail insertion mechanism 300 is used to detect the liquid injection port of the battery cell and insert the glue nails into the liquid injection port of the battery cell, and the transplanting robot 400 is used to transplant the visual nail insertion mechanism 300.

[0050] Structurally, the glue nail feeding mechanism 200 includes a vibrating feeding tray 210, two feeding guide grooves 220 and two feeding assemblies 230. One end of the two feeding guide grooves 220 is connected to the discharge port of the vibrating feeding tray 210, and the two feeding assemblies 230 are respectively located at the other end of the two feeding guide grooves 220.

[0051] Furthermore, the visual nail insertion mechanism 300 includes a mounting base 310, a first camera 320, a second camera 330, a first nail insertion head 340, a second nail insertion head 350 and a spacing adjustment component 360 arranged on the mounting base 310, the spacing adjustment component 360 is used to adjust the spacing between the first nail insertion head 340 and the second nail insertion head 350, the first camera 320 and the second camera 330 are respectively used to take pictures of two liquid injection ports of a group of battery cells, and the first nail insertion head 340 and the second nail insertion head 350 are respectively used to insert nails into the two liquid injection ports of a group of battery cells.

[0052] During operation, the battery conveying mechanism 100 conveys the battery to the bottom of the visual nail insertion mechanism 300, and the first camera 320 and the second camera 330 respectively take photos of the two injection ports of a group of battery cells and establish the coordinates of the two injection ports. Then, the transplanting robot 400 transplants the visual nail insertion mechanism 300 as a whole according to the coordinate data of the two injection ports, so that the connection line between the two injection ports of a group of battery cells coincides with the connection line between the first nail insertion head 340 and the second nail insertion head 350. Then, the spacing adjustment component 360 adjusts the spacing between the two nail insertion heads according to the coordinate data of the two injection ports. The coordinate data of the liquid injection ports are used to adjust the spacing between the first nail head 340 and the second nail head 350 to the same spacing between the two liquid injection ports, so that the first nail head 340 and the second nail head 350 are respectively aligned with the two liquid injection ports. Finally, the glue nails are transported to the first nail head 340 and the second nail head 350 through the glue nail feeding mechanism 200, and the first nail head 340 and the second nail head 350 respectively insert the glue nails into the corresponding two liquid injection ports, thereby reducing equipment costs, achieving accurate nail insertion, and improving nail insertion efficiency.

[0053] Specifically, the transplanting robot 400 is a four-axis robot.

[0054] In some preferred embodiments, the spacing adjustment assembly 360 includes a first motor 361, a screw rod 362, a nut 363, a movable seat 364 and two bearing seats 365. The two bearing seats 365 are fixed on the mounting seat 310. The two ends of the screw rod 362 are rotatably connected to the two bearing seats 365 respectively. The first motor 361 is used to drive the screw rod 362 to rotate. The nut 363 is threadedly connected to the screw rod 362. The nut 363 is fixed on the movable seat 364. The second nail head 350 is connected to the movable seat 364.

[0055] It can be understood that the first motor 361 drives the screw rod 362 to rotate, the screw rod 362 drives the nut 363 and the movable seat 364 to move along the length direction of the screw rod 362, and the movable seat 364 drives the second nail head 350 to approach or move away from the first nail head 340, so that the distance between the first nail head 340 and the second nail head 350 can be accurately adjusted.

[0056] Furthermore, the first motor 361 is arranged at the top of the mounting base 310, and the two bearing seats 365 are arranged at the bottom of the mounting base 310. The main shaft of the first motor 361 is connected to a driving wheel 366, and one end of the screw rod 362 is connected to a driven wheel 367. The driving wheel 366 and the driven wheel 367 are connected by a synchronous belt 368. The first motor 361 drives the driving wheel 366 to rotate, and the driving wheel 366 drives the driven wheel 367 to rotate through the synchronous belt 368, and the driven wheel 367 drives the screw rod 362 to rotate, thereby facilitating the position layout of the first motor 361, reducing the occupancy of the lateral space, and making the structure compact.

[0057] In some preferred embodiments, the battery conveying mechanism 100 includes a base plate 110, two vertical plates 120 arranged on both sides of the top of the base plate 110, a plurality of conveying rollers 130 rotatably connected to the two vertical plates 120, and a second motor 140 for driving the plurality of conveying rollers 130 to rotate. The plurality of conveying rollers 130 are arranged in sequence along the conveying direction of the battery, and the battery is placed on the plurality of conveying rollers 130. The second motor 140 drives the plurality of conveying rollers 130 to rotate, and the plurality of conveying rollers 130 drive the battery to translate. When the battery moves to the nail insertion station, the second motor 140 stops working, thereby enabling smooth conveying of the battery.

[0058] Furthermore, a plurality of guide wheels 150 are disposed on opposite sides of the two vertical plates 120 . The guide wheels 150 on the two vertical plates 120 respectively limit and guide the two sides of the battery, thereby ensuring the stability of the battery during transportation.

[0059] Furthermore, a positioning baffle 160 is disposed on the other side of the bottom plate 110 , and the positioning baffle 160 is used to limit the battery to one side of the conveying direction.

[0060] It is understandable that when the battery is transported to the nail insertion station, the second motor 140 stops working. At this time, under the action of inertia, the battery still has a tendency to move forward, and the positioning baffle prevents the battery from continuing to move, thereby achieving accurate positioning of the battery.

[0061] In some preferred embodiments, a lifting mechanism 500 is further included. The lifting mechanism 500 is used to lift the battery. The lifting mechanism 500 is arranged on the battery conveying mechanism 100. The lifting mechanism 500 includes a lifting plate 510, a plurality of lifting rods 520 arranged on the lifting rod 520, and a cylinder 530 for driving the lifting plate 510 to rise and fall. The lifting plate 510 is located at the bottom of the bottom plate 110, the plurality of lifting rods 520 penetrate the bottom plate 110, and the cylinder 530 is arranged at the bottom of the bottom plate 110.

[0062] It can be understood that after the battery is positioned, the cylinder 530 drives the lifting plate 510 to rise, and the lifting plate 510 drives the plurality of lifting rods 520 to rise together, and the plurality of lifting rods 520 lift the battery.

[0063] Furthermore, a plurality of sliding sleeves 540 are provided at the bottom of the base plate 110. The sliding sleeves 540 are vertically arranged and are respectively sleeved on the outer peripheries of a plurality of lifting rods 520. The sliding sleeves 540 can guide the lifting rods 520, thereby ensuring that the lifting rods 520 are lifted and lowered in the vertical direction, thereby improving the stability of the lifting rods 520 when being lifted and lowered.

[0064] Reference Figure 7 An embodiment of the present invention further provides a nail insertion method, using the above nail insertion machine, comprising the following steps:

[0065] Step 1: The battery conveying mechanism 100 conveys the battery to the nail insertion station.

[0066] Step 2: The positioning baffle 160 positions the incoming battery.

[0067] Step 3: The lifting mechanism 500 drives the battery to rise.

[0068] Step 4: The transplanting robot 400 transplants the visual pin insertion mechanism 300 to the top of one group of battery cells.

[0069] Step 5: The first camera 320 and the second camera 330 respectively take photos of two liquid injection ports of a group of battery cells and analyze and cache the data.

[0070] Furthermore, after the first camera 320 and the second camera 330 respectively take pictures of the two injection ports of a group of battery cells, an image coordinate system of the two injection ports and a coordinate system of the transplanting robot 400 are established, and data fitting is performed on the corresponding relationship between the two to obtain the difference X, Y, θ between the two, and the straight-line distance value L of the two injection ports, and the values ​​X, Y, θ are transmitted to the transplanting robot 400, and the value L is transmitted to the spacing adjustment component 360.

[0071] Reference Figure 5 and Figure 6 Specifically, the first nail head 340 is set as the fixed end, the second nail head 350 is set as the movable variable end, the tool coordinates of the transplanting robot 400 are established, and the origin of the tool coordinates is established at the center of the first nail head 340, and the tool coordinates are set as Q J , set the rectangular coordinate of the first camera 320 to Q S1 , set the rectangular coordinate of the second camera 330 to Q S2 .

[0072] During the photographing process, the transplanting robot 400 transplants the visual pin insertion mechanism 400 to the corresponding position of a group of cells to be photographed, ensuring that the group of cells to be photographed are respectively within the photographing range of the first camera 320 and the second camera 330. At this time, the coordinates of the transplanting robot 400 are Q J (X J1 ,Y J1 ,Z J1 ,R J1 ), the first camera 320 and the second camera 330 take pictures of two injection ports of a group of battery cells, and the coordinates of the injection ports photographed by the first camera 320 are set as Q S1-1 (X S1 ,Y S1 ), the coordinates of the injection port photographed by the second camera 330 are set as Q S2-1 (X S2 ,Y S2 ), the straight-line distance between the two injection ports is L S1S21 .

[0073] Then, Q S2-1 (X S2 ,Y S2 ) to Q S1 In the coordinate system, that is, Q S1-1 (X S2-1 ,Y S2-1 );

[0074] Among them, X S2-1 =Z SX +X S2 , Y S2-1 =Z S +Y S1 -Y S2 ;

[0075] Set Q S1-1 and Q S2-1 The distance in the X-axis direction is N, and the distance in the Y-axis direction is M;

[0076] Then N = X S2-1 -X S1 ,M=Y S2-1 -Y S1 ;

[0077] Therefore, it can be calculated

[0078] Set the line L between the two injection ports S1S21 The angle between the first nail head 340 and the second nail head 350 and the Y-axis direction is &, and the angle between the first nail head 340 and the second nail head 350 and the Y-axis direction is @. It can be obtained that tan&=M / N, that is, &=arctan(tan(&));

[0079] And Q S1-1 (X S1 ,Y S1 ) and the above formula & converted to Q J In the coordinate system, we get Q JS1 (X JS1 ,Y JS1 ,Z JS1 ,R JS1 ),Right now:

[0080] X JS1 =X J1 -X ZX1 ;

[0081] Y JS1 =Y J1 -Y ZY1 ;

[0082] R JS1 =R J1 -&+@;

[0083] It should be noted that Z JS1 The transplanting robot 400 is directly taught, and according to the battery height teaching, the height of each battery remains unchanged.

[0084] Therefore, after the above conversion, the coordinates that the transplanting robot 400 needs to adjust when inserting the nail are Q JS1 (X JS1 ,Y JS1 ,Z JS1 ,R JS1 ), the value of the distance between the first nail head 340 and the second nail head 350 that the distance adjustment component 360 needs to adjust is L S1S21 .

[0085] Step 6: The plastic nail feeding mechanism 200 transports the plastic nails to the first nail head 340 and the second nail head 350 .

[0086] Step 7: The transplanting robot 400 adjusts the position of the visual nail insertion mechanism 300 according to the photographed and analyzed data of the first camera 320 and the second camera 330 .

[0087] Step 8: The spacing adjustment component 360 adjusts the spacing between the first nail head 340 and the second nail head 350 according to the photographed and analyzed data of the first camera 320 and the second camera 330 .

[0088] Step 9: The first nail head 340 and the second nail head 350 are respectively used to insert nails into two liquid injection ports of a group of battery cells.

[0089] Step 10: After the nail insertion is completed, take photos of the two injection ports of the next group of battery cells, and repeat steps 4 to 9 until all battery cell groups have completed the nail insertion.

[0090] Step 11: The lifting mechanism 500 drives the battery to descend, and the battery conveying mechanism 100 drives the battery to exit the nail insertion station.

[0091] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A nail driving machine, characterized in that: include: A battery conveying mechanism, used for conveying batteries; The plastic nail feeding mechanism is used to convey the plastic nails; A visual nail insertion mechanism, which detects the liquid injection port of the battery cell and inserts the glue nail into the liquid injection port of the battery cell, is located above the battery conveying mechanism, and includes a mounting seat, a first camera, a second camera, a first nail insertion head, a second nail insertion head, and a spacing adjustment component arranged on the mounting seat, wherein the spacing adjustment component is used to adjust the spacing between the first nail insertion head and the second nail insertion head, the first camera and the second camera are respectively used to take pictures of the two liquid injection ports of a group of battery cells, and the first nail insertion head and the second nail insertion head are respectively used to insert nails into the two liquid injection ports of a group of battery cells; A transplanting robot is used to transplant the visual pin insertion mechanism.

2. A nail driving machine according to claim 1, characterized in that: The spacing adjustment assembly includes a first motor, a screw rod, a nut, a movable seat and two bearing seats, the two bearing seats are fixed on the mounting seat, the two ends of the screw rod are rotatably connected to the two bearing seats respectively, the first motor is used to drive the screw rod to rotate, the nut is threadedly connected to the screw rod, the nut is fixed on the movable seat, and the second nail head is connected to the movable seat.

3. A nail driving machine according to claim 2, characterized in that: The first motor is arranged on the top of the mounting seat, the two bearing seats are arranged on the bottom of the mounting seat, the main shaft of the first motor is connected to a driving wheel, one end of the screw rod is connected to a driven wheel, and the driving wheel and the driven wheel are connected by a synchronous belt.

4. A nail driving machine according to claim 1, characterized in that: The battery conveying mechanism includes a bottom plate, two vertical plates arranged on both sides of the top of the bottom plate, a plurality of conveying rollers rotatably connected to the two vertical plates, and a second motor for driving the plurality of conveying rollers to rotate. The plurality of conveying rollers are arranged in sequence along the conveying direction of the battery.

5. A nail driving machine according to claim 4, characterized in that: A plurality of guide wheels are arranged on opposite sides of the two vertical plates.

6. A nail driving machine according to claim 4, characterized in that: A positioning baffle is arranged on the other side of the bottom plate, and the positioning baffle is used to limit one side of the battery toward the conveying direction.

7. A nail driving machine according to claim 4, characterized in that: It also includes a lifting mechanism, which is used to lift the battery. The lifting mechanism is arranged on the battery conveying mechanism. The lifting mechanism includes a lifting plate, a plurality of lifting rods arranged on the lifting rods, and a cylinder for driving the lifting plate to rise and fall. The lifting plate is located at the bottom of the base plate, and the plurality of lifting rods penetrate the base plate. The cylinder is arranged at the bottom of the base plate.

8. A nail driving machine according to claim 7, characterized in that: A plurality of sliding sleeves are arranged at the bottom of the bottom plate, the sliding sleeves are arranged vertically, and the plurality of sliding sleeves are respectively sleeved on the outer peripheries of the plurality of lifting rods.

9. A nail insertion method, characterized in that: The nail driving machine according to any one of claims 1 to 8 is used, comprising the following steps: Step 1: The battery conveying mechanism conveys the battery to the nail insertion station; Step 2, the positioning baffle is used to position the incoming battery; Step 3, the lifting mechanism drives the battery to rise; Step 4: The transplanting robot transplants the visual pin insertion mechanism to just above one group of battery cells; Step 5, the first camera and the second camera respectively take photos of two liquid injection ports of a group of battery cells and analyze and cache the data; Step 6: The plastic nail feeding mechanism conveys plastic nails to the first nail head and the second nail head; Step 7, the transplanting robot adjusts the position of the visual pin insertion mechanism according to the photographing and analysis data of the first camera and the second camera; Step 8, the spacing adjustment component adjusts the spacing between the first nail head and the second nail head according to the photographed and analyzed data of the first camera and the second camera; Step 9, the first nail head and the second nail head are respectively used to insert nails into two liquid injection ports of a group of battery cells; Step 10: After the nail insertion is completed, take photos of the two injection ports of the next group of battery cells, and repeat steps 4 to 9 until all battery cell groups have completed the nail insertion; Step 11: The lifting mechanism drives the battery to descend, and the battery conveying mechanism drives the battery to exit the nail insertion station.

10. A nail driving machine according to claim 9, characterized in that: After the first camera and the second camera in step 5 respectively take pictures of the two injection ports of a group of battery cells, an image coordinate system of the two injection ports and a coordinate system of the transplanting robot are established, and the corresponding relationship between the two is fitted with data to obtain the difference X, Y, θ between the two, and the straight-line distance value L of the two injection ports, and the values ​​X, Y, θ are transmitted to the transplanting robot, and the value L is transmitted to the spacing adjustment component.

Images