Special machine and method for disassembling, positioning and detecting middle support of lithium battery

Abstract

The invention relates to a special machine and method for disassembling, positioning and detecting a middle support of a lithium battery, and the machine comprises a rack which is provided with a working space, the bottom of the working space is provided with a clamping station, the upper part of the working space is provided with a positioning station and a detection station, and the detection station is located above the positioning station; the conveying line is located on the lower portion of the machine frame and conveys the mother support provided with the middle tray set to the clamping station in the first direction, and the middle tray set is formed by stacking a plurality of middle supports in the vertical direction; the lifting mechanism is arranged on the rack and used for clamping the middle support on the bottommost layer on the female support at the clamping station and enabling the middle support on the uppermost layer to sequentially ascend to the positioning station and the detection station in the working space in the vertical direction; the centering positioning mechanism is located on the upper portion of the rack and enables the middle support located at the positioning station to be centered; the foreign matter detection mechanism is located on the upper end face of the rack and used for detecting whether foreign matter exists in the middle support located at the detection station or not. The special detection machine can detect foreign matters in the middle supports, and ensures the efficiency of stack and unstacking of the middle supports.

Description

Technical Field

[0001] The invention relates to the field of lithium battery processing, and in particular to a special machine and method for detecting the positioning of a tray disassembly in a lithium battery. Background Art

[0002] With the vigorous development of new energy and the continuous expansion of the scale of the power battery industry, the production standards, quality and safety control of lithium batteries are becoming increasingly strict and mature. Based on the terminal packaging and packaging stage of the battery cells, the pallets are stacked. On the one hand, the robot needs to disassemble and assemble the pallets one by one. However, if there are foreign objects in the disassembled pallets, the position of the subsequent battery cells loaded into the pallets will be deviated, which will cause the position of the battery cells to be grasped from the pallets in the subsequent battery assembly process to deviate, resulting in a decrease in the grasping efficiency of the battery cells. On the other hand, the robot needs to disassemble the pallets layer by layer, and the grasping height of the robot will change, which is prone to deviations in the grasping position, resulting in low grasping efficiency and low disassembly efficiency. Summary of the invention

[0003] The invention provides a special machine and method for detecting the positioning of a lithium battery tray disassembly, which can detect foreign matter in the tray and ensure the efficiency of the tray disassembly.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A special machine for positioning and detecting the disassembly of a lithium battery tray, comprising:

[0006] The frame has a working space, wherein a clamping station is arranged at the bottom of the working space, and a positioning station and a detection station are arranged at the upper part, wherein the detection station is located above the positioning station;

[0007] A transport line, located at the lower part of the frame, transports the mother tray with the middle tray group to the clamping station along the first direction, wherein the middle tray group is formed by stacking a plurality of middle trays in the vertical direction;

[0008] A lifting mechanism, arranged on the frame, for clamping the bottom middle tray on the mother tray at the clamping station, and making the top middle tray rise successively to the positioning station and the detection station along the vertical direction in the working space;

[0009] A centering positioning mechanism is located on the upper part of the frame and centers the center support located at the positioning station;

[0010] The foreign matter detection mechanism is located on the upper end surface of the frame and is used to detect whether there is a foreign matter in the tray located at the detection station, and then moved to the outside by the external grasping mechanism.

[0011] Preferably, it also includes a guiding mechanism disposed on the frame, and the guiding mechanism is used to guide the middle support in the vertical direction during the ascending process so as to perform preliminary positioning.

[0012] Preferably, the lifting mechanism comprises two lifting sub-mechanisms, and the two lifting sub-mechanisms are symmetrically arranged at two ends of the frame distributed along the second direction;

[0013] The lifting sub-mechanism comprises a lifting device and a clamping assembly, wherein the clamping assembly is arranged at the output end of the lifting device to drive the clamping assembly to move in a vertical direction;

[0014] The clamping ends in the two clamping components can be close to each other or far away from each other, and can be close to each other to clamp the bottom layer of the middle support.

[0015] Preferably, the centering positioning mechanism comprises a plurality of positioning components, the plurality of positioning components are arranged on the upper portion of the frame, and each outer side wall of the center support corresponds to at least one of the positioning components;

[0016] The positioning assembly comprises a positioning cylinder and a positioning plate, and the positioning plate is arranged on the output shaft of the positioning cylinder.

[0017] Preferably, the guide mechanism comprises a guide plate arranged in the vertical direction, the frame is provided with a mounting plate, the mounting plate is provided with a vertical adjustment hole, the outer side wall of the guide plate is connected with a connecting rod, and one end of the connecting rod away from the guide plate is mounted on the vertical adjustment hole;

[0018] There are two guide plates in L shape, and the two guide plates are symmetrically distributed along the first direction, and are used in conjunction with two corners of the middle support respectively;

[0019] The length of the guide plate in the vertical direction is equal to the height difference between the clamping station and the detection station.

[0020] Preferably, the foreign body detection mechanism comprises a linear transport assembly, a mounting rod and a plurality of cameras;

[0021] The linear transport assembly is arranged on the upper side wall of the frame, and the output end is transported along the first direction;

[0022] The mounting rod is arranged along the second direction and is located directly above the detection station, and the end is installed at the output end of the linear transport assembly. The plurality of cameras are evenly distributed on the mounting rod, and the camera ends face the detection station below.

[0023] Preferably, the height difference between the positioning station and the detection station is set to the thickness of a middle support.

[0024] A method for positioning and detecting a special machine for removing a tray in a lithium battery, which is applied to the above-mentioned special machine for positioning and detecting a tray in a lithium battery, comprises:

[0025] The transport line transports the mother pallet with the middle pallet group to the clamping station;

[0026] The lifting mechanism clamps the bottom middle tray at the clamping station, so that the bottom middle tray moves upward in the vertical direction to separate from the mother tray, and at the same time, the transport line transports the mother tray out;

[0027] The lifting mechanism enables the uppermost middle support to be lifted to the positioning position, and the centering positioning mechanism at the positioning position enables the uppermost middle support to be centered;

[0028] Continue to raise the uppermost tray to the inspection station, and the foreign matter detection mechanism inspects the battery cell placement slots in the uppermost tray. If there are foreign matters, the external manipulator will move them to the external processing station. If there are no foreign matters, the external manipulator will move them to the battery cell loading station.

[0029] Finally, the new topmost tray is moved to the positioning station, and the centering positioning mechanism centers it. Then, it is raised to the inspection station, and the foreign body detection mechanism inspects it. Finally, it is grabbed to the outside by the robot, and the above operation is repeated until all the trays are grabbed by the robot.

[0030] Preferably, the lifting mechanism enables the uppermost tray to rise from the positioning station to the inspection station by the thickness of one tray.

[0031] Preferably, the detection machine further includes a guide mechanism, the guide mechanism includes two guide plates, the guide plates are in an L-shaped structure, and is characterized in that it also includes:

[0032] The transport line transports the mother pallet with the middle pallet group to the clamping station, and makes the two corners of the rear of the middle pallet group be located in the two guide plates respectively to perform initial positioning of the middle pallet;

[0033] The lifting mechanism enables the entire middle tray group to rise in the vertical direction along the guide plate.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. A foreign body detection mechanism is set up to detect whether there are foreign objects in the tray before removing the tray, to ensure that there are no foreign objects in the tray for subsequent loading of battery cells, to avoid the battery cells being placed crookedly, and to ensure the grabbing efficiency during subsequent battery cell assembly.

[0036] 2. Through the centering positioning mechanism and the lifting mechanism, the center support at the detection station is located at the center of the working space, ensuring that the position of the center support of the foreign body detection mechanism is the same each time it is detected, which is convenient for back-end comparison and improves the efficiency of detection.

[0037] 3. Set up a positioning station and a testing station. At the positioning station, the center support is centered through the centering positioning mechanism. When it rises to the testing station, the center support is still in the center of the workspace, ensuring the fixity of the manipulator's grasping position at the testing station each time, ensuring stable grasping by the manipulator, and improving grasping efficiency.

[0038] 4. The foreign object detection mechanism and the external center support grasping manipulator are set separately. Compared with setting the foreign object detection mechanism at the grasping end of the manipulator, the volume, weight and connection cost of the grasping end of the manipulator can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 This is an overall stereoscopic diagram of the inspection machine according to an embodiment of the present invention (the middle tray group has been clamped and raised for a certain distance, so that the uppermost middle tray is located at the inspection station);

[0041] Figure 2 The whole face of the detection machine of the embodiment of the present invention Figure 1 ;

[0042] Figure 3 The device of the embodiment of the present invention is viewed as a whole Figure 2 ;

[0043] Figure 4 This is a schematic diagram of a detection aircraft in an embodiment of the present invention without a transport line;

[0044] Figure 5 A schematic diagram of a lifting sub-mechanism in an embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the distribution of positioning components in a rack in an embodiment of the present invention;

[0046] Figure 7 Schematic diagram of the guide mechanism of an embodiment of the present invention.

[0047] Description of reference numerals:

[0048] 1. Frame; 11. Working space; 12. Mounting plate; 13. Vertical adjustment hole; 14. Clamping station; 15. Positioning station; 16. Inspection station; 2. Transport line; 3. Lifting sub-mechanism; 31. Lifting device; 32. Clamping assembly; 321. Clamping cylinder; 322. Clamping plate; 4. Centering positioning mechanism; 41. Positioning assembly; 411. Positioning cylinder; 412. Positioning plate; 5. Foreign matter detection mechanism; 51. Linear drive device; 52. Mounting rod; 53. Camera; 54. Slide rail; 6. Guide mechanism; 61. Guide plate; 7. Mother support; 8. Middle support. DETAILED DESCRIPTION

[0049] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] like Figure 1-7 As shown, the embodiment of the present invention provides a special machine for detecting the positioning of the tray disassembly of a lithium battery, which is used in the terminal subpackaging and packaging stage of the battery cell, such as Figure 1-4As shown, it specifically includes a transport line 2, a frame 1 and a lifting mechanism installed on the frame 1, a centering positioning mechanism 4, a guide mechanism 6 and a foreign matter detection mechanism 5, wherein a working space 11 is provided at the center of the frame 1, a clamping station 14 is provided at the bottom of the working space 11, a positioning station 15 and a detection station 16 are provided at the upper part, and the detection station 16 is located above the positioning station 15, and the lower part of the frame 1 has a transport channel along a first direction, the transport channel is connected with the working space 11, the transport line 2 is located at the transport channel, and transports a mother tray 7 equipped with a middle tray group along the first direction, and can transport the mother tray 7 to the clamping station 14, wherein the lifting mechanism located on the frame 1 can not only clamp objects but also make the objects move in the vertical direction in the clamping state, the lifting mechanism first clamps the middle tray group in the mother tray 7 located at the clamping station 14, and then moves in the vertical direction The whole is lifted. Specifically, the clamping end of the lifting structure needs to clamp the bottom middle tray 8 in the middle tray group, and then drive the bottom middle tray 8 to rise in the vertical direction. Then the upper middle tray 8 will be lifted and lifted. The upper middle tray 8 will rise to the positioning station 15 and the clamping station 14 in turn. The centering positioning mechanism 4 located at the positioning station 15 will center the uppermost middle tray 8 at the positioning station 15, which is at the center of the working space 11. The foreign matter detection mechanism 5 located at the detection station 16 will detect all the battery cell placement slots in the uppermost middle tray 8 at the detection station 16 to see if there are foreign matters in the battery cell placement slots. After the detection, the middle tray 8 without foreign matters is grabbed by the manipulator and placed at the subsequent battery cell placement station to place the battery cells, thereby ensuring the accuracy of the subsequent battery cells placed in the battery cell placement slots in the middle tray 8. It should be noted that it is necessary to stay at the station for a period of time for the corresponding mechanism to operate. Of course, the operation time is very short. The purpose of setting the centering positioning mechanism 4 is to prevent the position of the middle support 8 from changing during the rising process, which may cause the middle support 8 to be not centered at the detection station 16 later.

[0053] In summary, the lifting mechanism is used to make the uppermost tray 8 move to the inspection station 16 for transportation each time, so that the manipulator only needs to move to the inspection station 16 each time, and no other movement operations are required, which facilitates the transportation operation of the manipulator, and before moving to the inspection station 16, the uppermost tray 8 is first centered, so that the uppermost tray 8 moved to the inspection station 16 is in the middle of the working space 11, which is more convenient for the positioning and grasping of the manipulator, and the grasping efficiency is higher. Furthermore, a foreign matter detection mechanism 5 is set above the inspection station 16, and all the battery cell placement slots in the tray 8 are checked for foreign matter before the tray is disassembled and transported, to ensure that there are no foreign objects in the tray 8 for subsequent loading of the battery cells. The foreign object detection mechanism 5 is arranged at the grasping end of the manipulator, so as to avoid the battery cell being placed crookedly. Moreover, a foreign object detection mechanism 5 is arranged separately. Compared with the foreign object detection mechanism 5 being arranged at the grasping end of the manipulator, the manufacturing cost and the movement space can be reduced. Moreover, the separate detection is more efficient and the movement is more convenient. The manipulator only needs to carry it. Because the foreign object detection mechanism 5 is arranged at the grasping end of the manipulator, in order to install it on the manipulator, it is also necessary to consider that the foreign object detection mechanism 5 does not interfere with the grasping end of the manipulator, so a series of components need to be added, which will increase the volume, weight and connection cost of the grasping end of the manipulator. Moreover, in order to be able to detect all the battery cell placement slots in the center tray 8, the manipulator is relatively large, the movement space will also be larger, heavier, and the efficiency will be relatively lower.

[0054] Specifically, Figure 7As shown, a guide mechanism 6 is also provided on the frame 1, and the guide mechanism 6 is used to guide the middle support 8 in the vertical direction during the rising process so as to perform preliminary positioning. Specifically, the guide mechanism 6 includes a guide plate 61 arranged in the vertical direction, and correspondingly, a mounting plate 12 is provided on the frame 1, and a vertical adjustment hole 13 is provided on the mounting plate 12. A connecting rod is connected to the outer wall of the guide plate 61, and one end of the connecting rod away from the guide plate 61 passes through the vertical adjustment hole 13 and is installed on the vertical adjustment hole 13. In this embodiment, the guide plate 61 is locked at the vertical adjustment hole 13 by a bolt, and the setting of the vertical adjustment hole 13 can adjust the installation height of the guide plate 61, and the user can adjust it according to needs; in order to achieve the guiding effect of the guide plate 61, the number of the guide plates 61 is two and both are L-shaped, and the two guide plates 61 are symmetrically distributed along the second direction , the second direction is perpendicular to the first direction, and the two guide plates 61 are used in conjunction with the two corners of the middle tray 8 when playing a guiding role, and the length of the guide plate 61 in the vertical direction is equal to the height difference between the positioning station 15 and the detection station 16, so when the middle tray group is located at the clamping station 14, the two corners of the rear end of the middle tray group set along the transportation direction of the transportation line 2 are respectively located in the two guide plates 61, and the side wall of the rear end of the middle tray group contacts the inner side wall of the guide plate 61 to achieve the effect of preliminary positioning, and play a role of guiding and limiting when rising, so that the middle tray 8 will not deviate too much from the center position when rising, and then under the secondary centering positioning of the centering positioning mechanism 4, the uppermost middle tray 8 is easier to center, and the two are used in conjunction with each other, so that the uppermost middle tray 8 is in the center of the working space 11 faster.

[0055] Specifically, Figure 4-5 As shown, the lifting mechanism includes two lifting sub-mechanisms 3, wherein the two lifting sub-mechanisms 3 are symmetrically arranged at the two ends of the frame 1 distributed along the second direction, wherein the lifting sub-mechanism 3 includes a lifting device 31 and a clamping assembly 32, the clamping assembly 32 is arranged at the output end of the lifting device 31 to drive the clamping assembly 32 to move in the vertical direction, and the middle tray group is located between the two clamping assemblies 32, the clamping ends in the two clamping assemblies 32 can be close to each other or away from each other, and when clamping is required, the two clamping ends are made to approach at the same time, so as to contact the bottom middle tray 8 at the same time and clamp the bottom middle tray 8, and driven by the two lifting sub-mechanisms 3, the middle tray group moves in the vertical direction.

[0056] Specifically, the lifting device 31 can be an existing screw mechanism, and a first connecting plate is connected to the nut on the screw in the screw mechanism. The clamping assembly 32 includes a clamping cylinder 321 and a clamping plate 322. The clamping cylinder 321 is installed on the first connecting plate, and the output shaft of the clamping cylinder 321 is set along the second direction, toward the outer wall of the middle tray 8. The first connecting plate is connected to the output shaft of the clamping cylinder 321. By starting the two clamping cylinders 321, the two clamping plates 322 are approached until they abut against the outer wall of the middle tray 8, thereby realizing the clamping of the entire middle tray group. Preferably, a first elastic pad is provided on the side wall of the clamping plate 322 close to the outer wall of the middle tray 8, and the elastic pad can be a rubber pad.

[0057] Specifically, the centering positioning mechanism 4 includes a plurality of positioning components 41, which are mounted on the crossbar at the upper part of the frame 1, and each outer side wall of the middle support 8 corresponds to at least one positioning component 41, so that the plurality of positioning components 41 can act simultaneously and finally abut against the four side walls of the middle support 8 to complete the centering positioning of the middle support 8 at the positioning station 15, and in order not to interfere with the lifting mechanism, the positioning components 41 are mounted on the crossbars at both ends of the frame 1 distributed along the first direction, wherein the positioning components 41 include a positioning cylinder 411 and a positioning plate 412, and the positioning plate 412 is mounted at the output shaft of the positioning cylinder 411, and by starting the positioning cylinder 411, each positioning plate 412 moves toward the corresponding outer side wall of the middle support 8, so that under the action of the plurality of positioning plates 412, the middle support 8 stably moves to the middle of the working space 11. Preferably, each positioning plate 412 is provided with a second elastic pad on the side wall close to the middle support 8, and the elastic pad can be a rubber pad.

[0058] Specifically, Figure 2 and 4As shown, the foreign object detection mechanism 5 includes a linear transport component, a mounting rod 52 and a plurality of cameras 53, wherein the linear transport component is arranged on the upper side wall of the frame 1, and the output end is transported along the first direction, the mounting rod 52 is arranged along the second direction and is located directly above the detection station 16, and the end is installed at the output end of the linear transport component, and the plurality of cameras 53 are evenly distributed on the mounting rod 52 along the second direction, and the camera end faces the detection station 16 below, so that the mounting rod 52 can be driven by the linear transport component to move along the first direction. When the transportation distance of the mounting rod 52 exceeds the length of the middle tray 8 along the first direction, the plurality of cameras 53 distributed along the second direction can detect all the battery cell placement slots in the middle tray 8. Preferably, the mounting rod 52 should be transported back and forth once along the first direction, so that all the battery cell placement slots in the middle tray 8 are detected twice to ensure the correctness of the detection. Specifically, the linear transport assembly includes a linear drive device 51 and a slide rail 54. The linear drive device 51 can be an existing screw mechanism. The linear drive device 51 and the slide rail 54 are respectively installed on the upper side walls of the two ends of the frame 1 along the second direction. One end of the mounting rod 52 is installed on the nut on the screw in the screw mechanism, and the other end is installed on the slide rail 54 through a slider, thereby realizing stable transportation of the mounting rod 52 along the first direction.

[0059] Specifically, Figure 2 As shown, the height difference between the positioning station 15 and the inspection station 16 is set to the thickness of a middle tray 8, so that the uppermost middle tray 8 is centered at the positioning station 15, and then it only needs to be raised to a height of the thickness of the middle tray 8 to transport the uppermost middle tray 8 to the inspection station 16 for inspection and subsequent robot handling. After the robot handling, the new uppermost middle tray 8 will be located at the positioning station 15, and then it only needs the centering positioning mechanism 4 to continue to perform centering, and then it needs to be raised again to a height of the thickness of the middle tray 8 to transport the new uppermost middle tray 8 to the inspection station 16. There is no need to start the lifting mechanism again after the uppermost middle tray 8 is transported, so that the new uppermost middle tray 8 is transported upward to the positioning station 15, thereby ensuring the continuous switching of the uppermost middle tray 8 from top to bottom at the positioning station 15, and no additional stroke is required for the lifting mechanism, making the entire tray disassembly process faster and more efficient.

[0060] This embodiment also provides a method for disassembling and positioning a lithium battery tray 8, which specifically includes:

[0061] First, the mother tray 7 with the middle tray group is transported to the clamping station 14 through the transport line 2, and the two corners of the rear of the middle tray group are respectively located in the two guide plates 61 to perform initial positioning of the middle tray 8.

[0062] Then the two clamping plates 322 in the lifting mechanism clamp the bottom middle pallet 8 at the clamping station 14, so that the bottom middle pallet 8 moves upward in the vertical direction to separate from the mother pallet 7, and at the same time the transport line 2 transports the mother pallet 7 out, and then the transport line 2 can transport the second batch of mother pallets 7 with middle pallet groups to wait outside the rack 1.

[0063] Then the lifting mechanism raises the top middle tray 8 to the positioning station 15, and the multiple positioning plates 412 in the center positioning mechanism 4 at the positioning station 15 act on the side walls of the top middle tray 8 located at the positioning station 15, finally centering the top middle tray 8, and then the positioning plates 412 return to their original positions.

[0064] Continue to make the topmost middle tray 8 rise to the inspection station 16, and the foreign matter detection mechanism 5 detects all the battery cell placement slots in the topmost middle tray 8 at the inspection station 16. Specifically, the screw mechanism makes the mounting rod 52 reciprocate once along the first direction, and the camera 53 thereon performs two foreign matter detections on the topmost middle tray 8. After the detection, if there is foreign matter, it is transported to the external processing station by an external robot. If there is no foreign matter, it is transported to the battery cell loading station by an external robot.

[0065] Then the new topmost tray 8 is moved to the positioning station 15, and the centering positioning mechanism 4 centers it, and then it is raised to the detection station 16, and the foreign matter detection mechanism 5 detects it, and then it is grabbed to the outside by the robot, and then the above operation is repeated until all the trays 8 are grabbed by the robot. It should be noted that the bottom tray 8 is clamped by the two clamping plates 322, and due to the action of the guide plate 61, it has been centered, but it still needs to stay at the positioning station 15, and the centering positioning mechanism 4 still needs to be operated, in order to facilitate the setting of the entire internal program of the board removal.

[0066] Specifically, in the present embodiment, the lifting mechanism enables the uppermost middle support 8 to rise from the positioning station 15 by the thickness of one middle support 8 to the detection station 16. Therefore, after the uppermost middle support 8 is detected and grabbed by foreign objects, the new uppermost middle support 8 is already located at the positioning station 15, and there is no need to start the lifting mechanism again. The centering positioning mechanism 4 can be directly started. After the new uppermost middle support 8 is centered, it only needs to be raised by the thickness of one middle support 8 so that the new uppermost middle support 8 is located at the detection station 16 for detection. Then, after the new uppermost middle support 8 is detected and grabbed by foreign objects, another new The topmost middle tray 8 is already located at the positioning station 15, and the operation is repeated, so each time it only needs to transport the thickness of a middle tray 8 upward to achieve the switching of the upper and lower middle trays 8 at the positioning station 15, so that the new topmost middle tray 8 is waiting at the positioning station 15, and there is no need for the new topmost middle tray 8 to continue moving to the positioning station 15 after the foreign matter detection and grasping of the topmost middle tray 8 is completed, thereby ensuring the continuous switching of the topmost middle tray 8 from top to bottom at the positioning station 15, and no additional travel is required for the lifting mechanism, making the entire tray disassembly process faster and more efficient.

[0067] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A special machine for positioning and detecting the disassembly of a lithium battery tray, characterized in that: include: The frame has a working space, wherein a clamping station is arranged at the bottom of the working space, and a positioning station and a detection station are arranged at the upper part, wherein the detection station is located above the positioning station; A transport line, located at the lower part of the frame, transports a mother tray with a middle tray group to the clamping station along a first direction, wherein the middle tray group is formed by stacking a plurality of middle trays in a vertical direction; A lifting mechanism, arranged on the frame, for clamping the bottom middle tray on the mother tray at the clamping station, and making the top middle tray rise successively to the positioning station and the detection station along the vertical direction in the working space; A centering positioning mechanism is located on the upper part of the frame and centers the center support located at the positioning station; The foreign body detection mechanism is located on the upper end surface of the frame and is used to detect whether there is a foreign body in the middle tray located at the detection station, and then moved to the outside by the external grasping mechanism.

2. The positioning detection machine according to claim 1, characterized in that: It also includes a guiding mechanism arranged on the frame, and the guiding mechanism is used to guide the middle support in the vertical direction during the rising process to perform preliminary positioning.

3. The positioning detection machine according to claim 2, characterized in that: The lifting mechanism comprises two lifting sub-mechanisms, and the two lifting sub-mechanisms are symmetrically arranged at two ends of the frame distributed along the second direction; The lifting sub-mechanism includes a lifting device and a clamping assembly, wherein the clamping assembly is arranged at the output end of the lifting device to drive the clamping assembly to move in a vertical direction; The clamping ends in the two clamping components can be close to each other or far away from each other, and can be close to each other to clamp the bottom layer of the middle support.

4. The positioning detection machine according to claim 1, characterized in that: The centering positioning mechanism includes a plurality of positioning components, and the plurality of positioning components are arranged on the upper part of the frame, and each outer side wall of the middle support corresponds to at least one positioning component; The positioning assembly comprises a positioning cylinder and a positioning plate, and the positioning plate is arranged on the output shaft of the positioning cylinder.

5. The positioning detection machine according to claim 2, characterized in that: The guide mechanism comprises a guide plate arranged in the vertical direction, a mounting plate is arranged on the frame, a vertical adjustment hole is arranged on the mounting plate, a connecting rod is connected to the outer side wall of the guide plate, and one end of the connecting rod away from the guide plate is mounted on the vertical adjustment hole; There are two guide plates in an L-shape, and the two guide plates are symmetrically distributed along the first direction and are used in conjunction with two corners of the middle support respectively; The length of the guide plate in the vertical direction is equal to the height difference between the clamping station and the detection station.

6. The positioning detection machine according to claim 1, characterized in that: The foreign body detection mechanism includes a linear transport assembly, a mounting rod, and a plurality of cameras; The linear transport assembly is arranged on the upper side wall of the frame, and the output end is transported along the first direction; The mounting rod is arranged along the second direction and is located directly above the detection station, and the end portion is mounted at the output end of the linear transport assembly. The plurality of cameras are evenly distributed on the mounting rod, and the camera ends face the detection station below.

7. The positioning detection machine according to claim 1, characterized in that: The height difference between the positioning station and the detection station is set to be the thickness of a middle support.

8. A method for positioning and detecting a tray dismantling machine for a lithium battery, applied to the tray dismantling machine for a lithium battery as claimed in any one of claims 1 to 7, characterized in that the method include: The transport line transports the mother pallet with the middle pallet group to the clamping station; The lifting mechanism clamps the bottom middle tray at the clamping station, so that the bottom middle tray moves upward in the vertical direction to separate from the mother tray, and at the same time, the transport line transports the mother tray out; The lifting mechanism enables the uppermost middle support to be lifted to the positioning position, and the centering positioning mechanism at the positioning position enables the uppermost middle support to be centered; Continue to raise the uppermost tray to the inspection station, and the foreign matter detection mechanism inspects the battery cell placement slots in the uppermost tray. If there are foreign matters, the external manipulator will move them to the external processing station. If there are no foreign matters, the external manipulator will move them to the battery cell loading station. Finally, the new topmost tray is moved to the positioning station, and the centering positioning mechanism centers it. Then, it is raised to the inspection station, and the foreign body detection mechanism inspects it. Finally, it is grabbed to the outside by the robot, and the above operation is repeated until all the trays are grabbed by the robot.

9. The method according to claim 8, characterized in that The lifting mechanism enables the uppermost support to rise from the positioning station by the thickness of a support to the inspection station.

10. The method according to claim 8, wherein the detection machine further comprises a guide mechanism, wherein the guide mechanism comprises two guide plates, and the guide plates are in an L-shaped structure, wherein: Also includes: The transport line transports the mother pallet with the middle pallet group to the clamping station, and makes the two corners of the rear of the middle pallet group be located in the two guide plates respectively to perform initial positioning of the middle pallet; The lifting mechanism enables the entire middle tray group to rise in the vertical direction along the guide plate.

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