A nail insertion device

Abstract

The present invention discloses a nail insertion device, comprising two frames arranged opposite to each other, a Y-axis linear module, a mechanism support plate, a mechanism mounting plate, an X-axis linear module, a Z-axis linear module, a nail insertion mechanism and a photographing positioning mechanism, wherein the Y-axis linear module is arranged at the top of one of the frames, one end of the mechanism support plate is arranged at the top of the Y-axis linear module, the other end of the mechanism support plate is slidably connected with the top of the other frame, the mechanism mounting plate is arranged at the top of the mechanism support plate, the X-axis linear module is arranged at one side of the mechanism mounting plate, the Z-axis linear module is arranged at the side of the X-axis linear module away from the mechanism mounting plate, the side of the Z-axis linear module away from the X-axis linear module is provided with a mechanism fixing plate, and the nail insertion mechanism and the photographing positioning mechanism are both arranged at the side of the mechanism fixing plate away from the Z-axis linear module. The present invention has a wide range of application, and does not require the operation of changing the type and adjusting the type, thereby reducing the time of changing the type and improving the production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of battery production, and in particular to a nail inserting device. Background Art

[0002] In the lithium battery processing and production process, after the battery cell undergoes a high-temperature formation process, it is generally necessary to use a nail insertion device to perform a nail insertion operation on the injection hole at the center of the top of the battery cell to seal the injection hole of the battery cell. At present, the nail insertion device is mainly divided into a linear module nail insertion device and a robot nail insertion device. In the linear module nail insertion device, it generally includes two mounting frames arranged opposite to each other on the left and right, a front and rear linear module, a mounting plate, an upper and lower linear module, a fixed plate and two nail insertion mechanisms, the front and rear linear module is arranged at the top of one of the mounting frames, one end of the mounting plate is arranged at the top of the front and rear linear module, and the other end of the mounting plate is slidably connected to the top of the other mounting frame, the upper and lower linear modules are arranged on one side of the mounting plate, and the fixed plate is arranged on the side of the upper and lower linear modules away from the mounting plate. The two nail insertion mechanisms are arranged at intervals on the left and right and are both arranged on the side of the fixed plate away from the upper and lower linear modules. The front and rear linear modules are used to drive the mounting plate to move forward and backward, thereby driving the upper and lower linear modules, the fixed plate and the two nail insertion mechanisms to move forward and backward, and the upper and lower linear modules are used to drive the fixed plate and the two nail insertion mechanisms to move up and down. The heads of the two glue nails can be inserted into the injection holes of the two battery cells respectively through the upper and lower linear modules and the two nail insertion mechanisms. This structure has two nail insertion mechanisms, and because there are only front and rear linear modules and upper and lower linear modules, the two nail insertion mechanisms cannot move left and right. Therefore, this structure is only suitable for the scene where two rows of battery cells are loaded in the tray, and the spacing between the two nail insertion mechanisms is fixed. When the battery cells of the production line are changed, the spacing between the two nail insertion mechanisms needs to be manually adjusted. However, the space in the device is limited, and the operation is very inconvenient, which increases the change time. At the same time, in order to ensure that the positions of the two nail insertion mechanisms correspond to the positions of the two rows of battery cells in the tray, it is usually necessary to mechanically position the battery cells again through other positioning devices before nail insertion, which increases production time and reduces production efficiency. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the present invention provides a nail insertion device, which has a wide range of applications, can meet the needs of multiple scenarios, and does not require the operation of changing models and adjusting models, thereby reducing the changeover time, while reducing the production time and improving the production efficiency.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A nail insertion device comprises two frames arranged opposite to each other in the left and right directions, a Y-axis linear module, a mechanism support plate, a mechanism mounting plate, an X-axis linear module, a Z-axis linear module, a nail insertion mechanism and a photographing positioning mechanism, wherein the Y-axis linear module is arranged at the top of one of the frames, one end of the mechanism support plate is arranged at the top of the Y-axis linear module, and the other end of the mechanism support plate is slidably connected to the top of the other frame, the Y-axis linear module is used to drive the mechanism support plate to move forward and backward relative to the two frames, the mechanism mounting plate is arranged at the top of the mechanism support plate, the X-axis linear module is arranged at one side of the mechanism mounting plate, the Z-axis linear module is arranged at a side of the X-axis linear module away from the mechanism mounting plate, the X-axis linear module is used to drive the Z-axis linear module to move left and right, a mechanism fixing plate is arranged at a side of the Z-axis linear module away from the X-axis linear module, the Z-axis linear module is used to drive the mechanism fixing plate to move up and down, the nail insertion mechanism and the photographing positioning mechanism are both arranged at a side of the mechanism fixing plate away from the Z-axis linear module, and the photographing positioning mechanism is located at one side of the nail insertion mechanism.

[0006] As a preferred technical solution, the nail insertion mechanism includes a nail separation assembly, a rotation assembly and a clamping nail assembly connected in sequence from top to bottom, the nail separation assembly and the rotation assembly are both arranged on the side of the mechanism fixing plate away from the Z-axis linear module, and the camera positioning mechanism corresponds to the nail separation assembly.

[0007] As a preferred technical solution, the nail separation assembly includes a nail separation block, a nail separation tube, a horizontally arranged upper nail separation cylinder, a horizontally arranged lower nail separation cylinder and a blow pipe, the nail separation block, the upper nail separation cylinder and the lower nail separation cylinder are all arranged on the side of the mechanism fixing plate away from the Z-axis linear module, an axial nail separation channel is provided in the nail separation block, the top and bottom ends of the nail separation block are respectively provided with a first nail separation installation hole and a second nail separation installation hole connected to the nail separation channel, one end of the nail separation tube is arranged in the first nail separation installation hole, the nail separation tube is connected to the nail separation channel, the upper nail separation cylinder and the lower nail separation cylinder are located in the One side of the nail block and the two are arranged at an interval up and down, and a first nail through hole and a second nail through hole connected to the nail channel are provided on one side of the nail block close to the upper nail cylinder and the lower nail cylinder, and the end of the output shaft of the upper nail cylinder extends into the first nail through hole, and the end of the output shaft of the lower nail cylinder extends into the second nail through hole, one end of the air blowing pipe is arranged on the side of the nail block away from the upper nail cylinder and the lower nail cylinder, and a blowing channel is provided in the nail block, one end of the blowing channel is connected to the blowing pipe, and the other end of the blowing channel is connected to the bottom end of the nail channel.

[0008] As a preferred technical solution, the rotating assembly includes a hollow rotating shaft and a driving structure for driving the rotating shaft to rotate, the outer periphery of the rotating shaft is provided with a bearing seat, the bearing seat and the driving structure are both arranged on the side of the mechanism fixing plate away from the Z-axis linear module, the upper end of the rotating shaft is gap-fitted with the second split nail mounting hole, the interior of the rotating shaft is connected to the split nail channel, and the axis of the split nail channel and the axis of the rotating shaft are collinear.

[0009] As a preferred technical solution, the driving structure includes a rotating motor and a synchronous belt module, the rotating motor is arranged on the side of the mechanism fixing plate away from the Z-axis linear module and located on one side of the rotating shaft, the synchronous belt module includes a driving wheel, a driven wheel and a synchronous belt sleeved on the outer periphery of the driving wheel and the driven wheel, the driving wheel is sleeved on the outer periphery of the end of the output shaft of the rotating motor, the driven wheel is sleeved on the outer periphery of the rotating shaft and is located above the bearing seat, the outer periphery of the rotating shaft is sleeved with a spacer and a clamping ring, one end of the spacer passes through the The bearing seat through hole at the top of the bearing seat extends into the bearing seat, and an annular step is formed on the outer wall of the rotating shaft. One end of the spacer sleeve abuts against the annular step, and the other end of the spacer sleeve abuts against the bottom end of the driven wheel. The bottom end of the clamping ring abuts against the top of the driven wheel. The clamping ring has an opening, and two clamping ring mounting holes are respectively provided on the inner walls on both sides of the opening. The two clamping ring mounting holes extend to the outer wall of the clamping ring respectively, and clamping ring fasteners are installed in the two clamping ring mounting holes, and the clamping ring fasteners abut against the outer wall of the rotating shaft.

[0010] As a preferred technical solution, the clamping nail assembly includes a clamping nail part, a clamping nail cylinder, a first connecting rod, two second connecting rods arranged opposite to each other on the left and right, and two third connecting rods arranged opposite to each other on the left and right, the top end of the clamping nail part is connected to the rotating shaft, an axial clamping nail channel is provided in the clamping nail part, the top and bottom ends of the clamping nail part are respectively provided with a clamping nail mounting hole and a clamping nail through hole connected to the clamping nail channel, the lower end of the rotating shaft is gap-matched with the clamping nail mounting hole, the interior of the rotating shaft is connected to the clamping nail channel, the axis of the clamping nail channel is collinear with the axis of the rotating shaft, the axis of the clamping nail through hole is collinear with the axis of the clamping nail channel, when the clamping nail assembly is located directly above the battery cell, the clamping nail through hole corresponds to the injection hole of the battery cell, the clamping nail cylinder is arranged on the side of the clamping nail part away from the mechanism fixing plate, the first connecting rod is horizontally arranged and located below the clamping nail cylinder, the top end of the first connecting rod is connected to the end of the output shaft of the clamping nail cylinder, and the two second connecting rods are in an eight-shaped shape, One end of the two second connecting rods is rotatably connected to the two ends of the first connecting rod, and the other ends of the two second connecting rods are respectively provided with two first connecting parts, two clamping nail grooves are respectively provided on both sides of the clamping nail piece, and the two clamping nail grooves are connected to the clamping nail through hole, and the two third connecting rods are respectively located in the two clamping nail grooves, and the two third connecting rods are in an inverted eight-shaped shape, and two rotating shafts are respectively provided in the two clamping nail grooves, and the two ends of the rotating shafts are respectively rotatably arranged in the mounting holes on the inner walls of the two sides of the corresponding clamping nail grooves, and the two third connecting rods are respectively sleeved on the outer circumference of the two rotating shafts, one end of the two third connecting rods extends out from the two clamping nail grooves and is respectively provided with two second connecting parts, and the two second connecting parts are respectively rotatably connected to the two first connecting parts, and the other ends of the two third connecting rods are respectively provided with two third connecting parts arranged opposite to each other on the left and right, and the angle between the third connecting part and the corresponding third connecting rod is an obtuse angle and is located in the clamping nail through hole, and the end of the third connecting part is provided with a clamping groove, and the clamping groove corresponds to the clamping nail channel.

[0011] As a preferred technical solution, the clamp assembly also includes a photoelectric sensor, which includes a photoelectric transmitter and a photoelectric receiver arranged in a front-to-back relationship, the photoelectric transmitter is arranged on the side of the clamp away from the mechanism fixing plate, the side of the clamp away from the mechanism fixing plate is provided with a first light-transmitting hole connected to the clamp through hole, the first light-transmitting hole corresponds to the photoelectric transmitter, the photoelectric receiver is arranged on the side of the clamp close to the mechanism fixing plate, the side of the clamp close to the mechanism fixing plate is provided with a second light-transmitting hole connected to the clamp through hole, the second light-transmitting hole corresponds to the first light-transmitting hole and the photoelectric receiver, the side of the third connecting part close to the mechanism fixing plate and the side away from the mechanism fixing plate are respectively provided with a first avoidance groove and a second avoidance groove, the first avoidance groove and the second avoidance groove both extend to the end of the third connecting part, the first avoidance groove and the second avoidance groove are both connected to the clamping groove, and the first avoidance groove corresponds to the first light-transmitting hole, and the second avoidance groove corresponds to the second light-transmitting hole.

[0012] As a preferred technical solution, the photographing positioning mechanism includes a photographing fixing plate, an adjustment component, a camera and a ring light source. The photographing fixing plate is arranged on a side of the mechanism fixing plate away from the Z-axis linear module. The adjustment component includes an adjustment screw, an adjustment seat and a camera mounting seat. The adjustment seat is arranged at the top of the photographing fixing plate and is threadedly matched with the adjustment screw. The camera mounting seat is located below the adjustment seat. The bottom end of the adjustment screw is arranged at the top of the camera mounting seat. The side of the photographing fixing plate away from the mechanism fixing plate is provided with a fixing plate strip hole extending in the height direction of the photographing fixing plate. The camera mounting seat is provided with a fixing plate strip hole that is aligned with the fixing plate strip hole. Corresponding circular holes, mounting fasteners are installed in the circular holes and the strip-shaped holes of the fixing plate, the camera is arranged on the side of the camera mounting seat away from the photographing fixing plate and the camera lens faces downward, and a light source fixing plate is provided on the side of the photographing fixing plate away from the mechanism fixing plate, the light source fixing plate is located below the camera lens and is provided with a fixing plate through hole passing through the top and bottom ends thereof, the fixing plate through hole corresponds to the camera lens, the annular light source is arranged at the bottom end of the light source fixing plate, the inner hole of the annular light source corresponds to the camera lens and the fixing plate through hole, and when the photographing positioning mechanism is located directly above the battery cell, the camera lens corresponds to the liquid injection hole of the battery cell.

[0013] As a preferred technical solution, it also includes a detection mechanism, which is arranged on one side of the mechanism fixing plate away from the Z-axis linear module and located on the other side of the nail insertion mechanism, and the detection mechanism corresponds to the clamping nail assembly of the nail insertion mechanism.

[0014] As a preferred technical solution, the detection mechanism includes a detection fixing plate, a bearing fixing plate, a movable rod, an elastic member, a nail detection hammer, a shading sheet, an upper photoelectric sensor and a lower photoelectric sensor. The detection fixing plate is arranged on the side of the mechanism fixing plate away from the Z-axis linear module, the bearing fixing plate is arranged on the side of the detection fixing plate away from the nail insertion mechanism, the bearing fixing plate is provided with a fixing plate mounting hole passing through the top and bottom ends thereof, the movable rod passes through the fixing plate mounting hole, the top and bottom ends of the movable rod are respectively located above and below the bearing fixing plate, a linear bearing is provided in the fixing plate mounting hole, the linear bearing is sleeved on the outer periphery of the movable rod, the nail detection hammer is arranged at the bottom end of the movable rod and the bottom end of the nail detection hammer is aligned with the clamp assembly. The bottom end of the clamping piece is flush, the elastic piece is sleeved on the outer periphery of the movable rod, one end of the elastic piece is connected to the top of the nail detection hammer, and the other end of the elastic piece is connected to the bottom end of the linear bearing, the upper photoelectric sensor and the lower photoelectric sensor are arranged opposite to each other up and down and are located in front of the bearing fixing plate, the upper photoelectric sensor and the lower photoelectric sensor are both removable and installed on the L-shaped mounting plate, the L-shaped mounting plate is connected to the bearing fixing plate, the shading sheet is horizontally arranged and located above the bearing fixing plate, one end of the shading sheet is connected to the movable rod, and the other end of the shading sheet extends forward and is located in the groove of the lower photoelectric sensor, and when the detection mechanism is located directly above the battery cell, the nail detection hammer corresponds to the liquid injection hole of the battery cell.

[0015] The beneficial effects of the present invention are as follows: the present invention comprises two frames, a Y-axis linear module, a mechanism support plate, a mechanism mounting plate, an X-axis linear module, a Z-axis linear module, a nail insertion mechanism and a photographing and positioning mechanism. The nail insertion mechanism is one, and the nail insertion mechanism can realize forward and backward, left and right, and up and down movement through the Y-axis linear module, the X-axis linear module and the Z-axis linear module. Therefore, the present invention is suitable for scenes where a tray is loaded with one, two, three or other columns of battery cells. The present invention has a wide range of applications and can meet the needs of multiple scenes. When the battery cells of the production line are changed, there is no need to perform the changeover and adjustment operation, which reduces the changeover time. At the same time, the battery cells can be photographed and positioned before the nails are inserted through the photographing and positioning mechanism. There is no need to perform mechanical secondary positioning of the battery cells through other positioning devices, which reduces the production time and improves the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0017] Figure 1 is a structural schematic diagram of a nail insertion device provided by an embodiment of the present invention;

[0018] Figure 2 yes Figure 1A schematic diagram of the structure of the mechanism fixing plate, the nail inserting mechanism, the camera positioning mechanism and the detection mechanism of the nail inserting device shown;

[0019] Figure 3 yes Figure 2 The schematic diagram of the front view of the fixing plate, the pinning mechanism, the camera positioning mechanism and the detection mechanism shown;

[0020] Figure 4 yes Figure 2 A cross-sectional schematic diagram of the mechanism fixing plate, the pinning mechanism, the photographing and positioning mechanism, and the detection mechanism shown;

[0021] Figure 5 yes Figure 2 A schematic structural diagram of a nail splitting assembly of the nail insertion mechanism shown;

[0022] Figure 6 yes Figure 5 A schematic cross-sectional view of the nail assembly shown;

[0023] Figure 7 yes Figure 2 An exploded schematic diagram of the rotating assembly of the pin insertion mechanism shown;

[0024] Figure 8 yes Figure 7 A schematic cross-sectional view of a rotating shaft, a driven wheel, a bearing seat, a flange, a spacer sleeve and a clamping ring of the rotating assembly shown;

[0025] Fig. 9 yes Figure 2 A schematic structural diagram of a nail clamping assembly of the nail insertion mechanism shown;

[0026] Fig.10 yes Fig. 9 A schematic cross-sectional view of the clamp assembly at a first angle;

[0027] Fig.11 yes Fig. 9 A schematic cross-sectional view of the clamp assembly at a second angle;

[0028] Fig.12 yes Fig. 9 A schematic front view of a nail clamping cylinder, a first connecting rod, two second connecting rods and a third connecting rod of the nail clamping assembly shown;

[0029] Fig.13 yes Fig. 9 A schematic structural diagram of a nail clamping cylinder, a first connecting rod, two second connecting rods and a third connecting rod of the nail clamping assembly shown;

[0030] Fig.14 yes Figure 2 The structural schematic diagram of the photographing positioning mechanism shown;

[0031] Fig.15 yes Figure 2 Schematic diagram of the structure of the detection mechanism shown. DETAILED DESCRIPTION

[0032] 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.

[0033] Please refer to Figure 1 A nail insertion device provided by an embodiment of the present invention includes two frames 10 arranged opposite to each other on the left and right, a Y-axis linear module 20, a mechanism support plate 21, a mechanism mounting plate 30, an X-axis linear module 40, a Z-axis linear module 50, a nail insertion mechanism 70, a camera positioning mechanism 80 and a detection mechanism 90.

[0034] The Y-axis linear module 20 is arranged at the top of one of the frames 10, for example, the frame 10 located on the right. One end of the mechanism support plate 21 is arranged at the top of the Y-axis linear module 20, and the other end of the mechanism support plate 21 is slidably connected with the top of another frame 10, for example, the frame 10 located on the left. In this embodiment, the top of the other frame 10 is provided with a slide rail 11 extending in the front-to-back direction, and the slide rail 11 is slidably matched with a slider 12, and the slider 12 is arranged at the bottom of the other end of the mechanism support plate 21.

[0035] The mechanism mounting plate 30 is arranged at the top of the mechanism support plate 21. The X-axis linear module 40 is arranged on one side of the mechanism mounting plate 30, and the Z-axis linear module 50 is arranged on the side of the X-axis linear module 40 away from the mechanism mounting plate 30 through the Z-axis mounting plate 51. A mechanism fixing plate 60 is arranged on the side of the Z-axis linear module 50 away from the X-axis linear module 40. The nail insertion mechanism 70, the camera positioning mechanism 80 and the detection mechanism 90 are all arranged on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50. The camera positioning mechanism 80 is located on one side of the nail insertion mechanism 70, for example, on the right side of the nail insertion mechanism 70, and the detection mechanism 90 is located on the other side of the nail insertion mechanism 70, for example, on the left side of the nail insertion mechanism 70.

[0036] The Y-axis linear module 20 is used to drive the mechanism support plate 21 to move forward and backward relative to the two frames 10. The forward and backward movement of the mechanism support plate 21 can drive the mechanism mounting plate 30 to move forward and backward, thereby driving the X-axis linear module 40, the Z-axis linear module 50, the mechanism fixing plate 60, the pin insertion mechanism 70, the camera positioning mechanism 80 and the detection mechanism 90 to move forward and backward. The X-axis linear module 40 is used to drive the Z-axis linear module 50 to move left and right. The left and right movement of the Z-axis linear module 50 can drive the mechanism fixing plate 60 to move left and right, thereby driving the pin insertion mechanism 70, the camera positioning mechanism 80 and the detection mechanism 90 to move left and right. The Z-axis linear module 50 is used to drive the mechanism fixing plate 60 to move up and down. The up and down movement of the mechanism fixing plate 60 can drive the pin insertion mechanism 70, the camera positioning mechanism 80 and the detection mechanism 90 to move up and down. The nail insertion mechanism 70 and the Z-axis linear module 50 are used to insert the head of the glue nail 200 into the injection hole of the battery cell, the camera positioning mechanism 80 is used to photograph and position the battery cell, and the detection mechanism 90 is used to detect the height size of the glue nail 200 in the injection hole of the battery cell.

[0037] Combination Figures 2 to 4 As shown, the nail insertion mechanism 70 includes a nail separation assembly 71, a rotating assembly 73 and a nail clamping assembly 75 connected in sequence from top to bottom, and the nail separation assembly 71 and the rotating assembly 73 are both arranged on a side of the mechanism fixing plate 60 away from the Z-axis linear module 50. The camera positioning mechanism 80 corresponds to the nail separation assembly 71, and the detection mechanism 90 corresponds to the nail clamping assembly 75.

[0038] Specific, combined Figure 5 and Figure 6 As shown, the nail assembly 71 includes a U-shaped nail block 711, a nail pipe 712, a horizontally arranged upper nail cylinder 713, a horizontally arranged lower nail cylinder 714 and a blow pipe 715. The nail block 711 is arranged on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50. An axial nail channel 7111 (i.e., the axial direction of the nail insertion mechanism 70) is provided in the nail block 711. The inner diameter of the nail channel 7111 is slightly larger than the maximum outer diameter of the glue nail 200, so that the glue nail 200 can move downward under its own gravity. The top and bottom ends of the nail block 711 are respectively provided with a first nail installation hole and a second nail installation hole 7112 connected to the nail channel 7111. One end of the nail tube 712 is arranged in the first nail installation hole, and the other end of the nail tube 712 is used to connect with the nail feeding device. The nail tube 712 is connected with the nail channel 7111, and the nail feeding device can continuously feed the glue nail 200 into the nail channel 7111 through the nail tube 712.

[0039] The upper nail cylinder 713 and the lower nail cylinder 714 are both arranged on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50 through an L-shaped nail cylinder seat 7131. The upper nail cylinder 713 and the lower nail cylinder 714 are located on one side of the nail block 711, for example, on the right side of the nail block 711, and the two are arranged with an upper and lower spacing. The nail block 711 is provided with a first nail through hole 7113 and a second nail through hole 7114 connected to the nail channel 7111 on one side close to the upper nail cylinder 713 and the lower nail cylinder 714. The end of the output shaft of the upper nail cylinder 713 extends into the first nail through hole 7113, and the end of the output shaft of the lower nail cylinder 714 extends into the second nail through hole 7114. The upper nail-separating cylinder 713 and the lower nail-separating cylinder 714 can be used to separate the glue nails 200 that are continuously fed into the nail-separating channel 7111 into individual glue nails 200 and send them out. In actual application, the output shaft of the lower nail cylinder 714 is extended so that the end of its output shaft extends into the nail channel 7111 and abuts against the inner wall of the nail channel 7111. After the glue nails 200 are continuously fed into the nail channel 7111 through the nail tube 712 by the nail feeding device, when the head of the first glue nail 200 in the nail channel 7111 abuts against the output shaft of the lower nail cylinder 714, the output shaft of the upper nail cylinder 713 is extended to abut the second glue nail 200 against the inner wall of the nail channel 7111 through the end of the output shaft of the upper nail cylinder 713, and then the output shaft of the lower nail cylinder 714 retracts to its initial position, so that the first glue nail 200 can move downward along the nail channel 711 under its own gravity, and the first glue nail 200 is sent out. After the first glue nail 200 is inserted, the output shaft of the lower nail cylinder 714 extends so that the end of its output shaft extends into the nail channel 7111 and abuts against the inner wall of the nail channel 7111, and at the same time, the output shaft of the upper nail cylinder 713 retracts to its initial position, so that the glue nail 200 in the nail channel 7111 can continue to move downward, and when the head of the second glue nail 200 in the nail channel 7111 abuts against the output shaft of the lower nail cylinder 714, the output shaft of the upper nail cylinder 713 extends to abut the third glue nail 200 against the inner wall of the nail channel 7111 through the end of the output shaft of the upper nail cylinder 713, and then the output shaft of the lower nail cylinder 714 retracts to its initial position, so that the second glue nail 200 can move downward along the nail channel 711 under its own gravity, and the second glue nail 200 is sent out. After the second glue nail 200 is inserted, the aforementioned steps are followed, and the glue nails 200 continuously fed into the nail separation channel 7111 can be divided into individual glue nails 200 and sent out.

[0040] One end of the air blowing pipe 715 is arranged on a side of the nail block 711 away from the upper nail cylinder 713 and the lower nail cylinder 714, and the other end of the air blowing pipe 715 is inclined toward the upper left and is used to be connected to the air blowing device. The nail block 711 is provided with an air blowing channel 7115, one end of the air blowing channel 7115 is communicated with the air blowing pipe 715, and the other end of the air blowing channel 7115 is communicated with the bottom end of the nail channel 7111. The air blowing device can blow air into the nail channel 7111 through the air blowing pipe 715 and the air blowing channel 7115, so that the glue nails 200 in the nail channel 7111 can quickly fall into the rotating shaft 731 of the rotating assembly 73.

[0041] Combination Figure 7 and Figure 8 As shown, the rotating assembly 73 includes a hollow rotating shaft 731 and a driving structure for driving the rotating shaft 731 to rotate. A bearing seat 733 is sleeved on the outer periphery of the rotating shaft 731. The bearing seat 733 and the driving structure are both arranged on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50. The bearing seat 733 provides rotation support for the rotating shaft 731. The upper end of the rotating shaft 731 is clearance-matched with the second split nail installation hole 7112, which can reduce the friction between the upper end of the rotating shaft 731 and the inner wall of the second split nail installation hole 7112. The interior of the rotating shaft 731 is connected to the split nail channel 7111. The axis of the split nail channel 7111 is colinear with the axis of the rotating shaft 731. The inner diameter of the rotating shaft 731 is the same as the inner diameter of the split nail channel 7111.

[0042] The driving structure includes a rotating motor 7321 and a synchronous belt module. The rotating motor 7321 is arranged on a side of the mechanism fixing plate 60 away from the Z-axis linear module 50 through a motor seat 73211, and is located on one side of the rotating shaft 731, for example, on the left side of the rotating shaft 731. The synchronous belt module includes a driving wheel 7322, a driven wheel 7323, and a synchronous belt 7324 sleeved on the outer periphery of the driving wheel 7322 and the driven wheel 7323. The synchronous belt 7324 is arranged horizontally. The driving wheel 7322 is sleeved on the outer periphery of the output shaft of the rotating motor 7321, and the driven wheel 7323 is sleeved on the outer periphery of the rotating shaft 731 and is located above the bearing seat 733. The rotating motor 7321 is used to drive the driving wheel 7322 to rotate, and under the action of the synchronous belt 7324 and the driven wheel 7323, the rotating shaft 731 can be driven to rotate.

[0043] In this embodiment, the outer periphery of the rotating shaft 731 is provided with a spacer sleeve 734 and a clamping ring 735, one end of the spacer sleeve 734 passes through the bearing seat through hole at the top of the bearing seat 733 and extends into the bearing seat 733, the outer wall of the rotating shaft 731 is formed with an annular step 731a, one end of the spacer sleeve 734 is abutted against the annular step 731a, the other end of the spacer sleeve 734 is abutted against the bottom end of the driven wheel 7323, the bottom end of the clamping ring 735 is abutted against the top end of the driven wheel 7323, the clamping ring 735 has an opening 7351, and the inner walls on both sides of the opening 7351 are respectively provided with two clamping ring mounting holes, the two clamping ring mounting holes respectively extend to the outer wall of the clamping ring 735, and clamping ring fasteners such as screws are installed in the two clamping ring mounting holes, and the clamping ring fasteners are abutted against the outer wall of the rotating shaft 731. The rotation of the rotating shaft 731 can drive the spacer sleeve 734 and the clamping ring 735 to rotate synchronously, and the driven wheel 7323 can be axially limited by the spacer sleeve 734 and the clamping ring 735.

[0044] The bearing seat 733 includes a shell 7331, a flange 7335, an upper rotating bearing 7332, a lower rotating bearing 7333 and a spacer 7334. The shell 7331 is arranged around the outer periphery of the rotating shaft 731. The upper rotating bearing 7332, the lower rotating bearing 7333 and the spacer 7334 are all arranged in the shell 7331. The upper rotating bearing 7332 is located above the lower rotating bearing 7333. The spacer 7334 is sandwiched between the upper rotating bearing 7332 and the lower rotating bearing 7333. The upper rotating bearing 7332 and the lower rotating bearing 7333 are both sleeved on the outer periphery of the rotating shaft 731 to provide rotating support for the rotating shaft 731. The spacer 7334 is arranged around the outer periphery of the rotating shaft 731. The flange 7335 is arranged The top of the outer shell 7331 and the top of the flange 7335 are provided with the above-mentioned bearing seat through hole, one end of the spacer sleeve 734 passes through the bearing seat through hole and extends into the flange 7335, and a round nut 7336 is provided in the flange 7335. The bottom end of the round nut 7336 abuts against the top of the upper rotating bearing 7332. The round nut 7336 is sleeved on the outer periphery of the rotating shaft 731, and the rotating shaft 731 can rotate relative to the round nut 7336. An annular boss 73311 is formed on the inner wall of the outer shell 7331, and the bottom end of the lower rotating bearing 7333 abuts against the top of the boss 73311. The upper rotating bearing 7332 and the lower rotating bearing 7333 can be axially limited by the provided round nut 7336 and the boss 73311.

[0045] Combination Figures 9 to 13As shown, the nail clamping assembly 75 includes a nail clamping member 751, a nail clamping cylinder 752, a first connecting rod 753, two second connecting rods 754 arranged opposite to each other in the left and right directions, and two third connecting rods 755 arranged opposite to each other in the left and right directions. The top end of the nail clamping member 751 is connected to the rotating shaft 731. In this embodiment, the outer wall of the rotating shaft 731 is provided with two protrusions 7311 arranged symmetrically in the front and back directions, and two mounting blocks 751a arranged symmetrically in the front and back directions are provided on both sides of the top end of the nail clamping member 751. The mounting blocks 751a partially protrude from the top end of the nail clamping member 751 and are respectively arranged on the side of the two protrusions 7311 away from the rotating shaft 731. An axial (i.e., circumferential direction of the nail insertion mechanism 70) clamping channel 7511 is provided in the clamping piece 751, and a clamping nail mounting hole 7512 and a clamping nail through hole 7513 connected to the clamping nail channel 7511 are respectively provided at the top and bottom ends of the clamping piece 751. The lower end of the rotating shaft 731 is clearance-matched with the clamping nail mounting hole 7512, which can reduce the friction between the lower end of the rotating shaft 731 and the inner wall of the clamping nail mounting hole 7512. The interior of the rotating shaft 731 is connected to the clamping nail channel 7511. In actual application, the glue nail 200 that falls into the rotating shaft 731 can fall into the clamping nail channel 7511 under the action of its own gravity, and then fall into the clamping nail through hole 7513. The axis of the clamping nail channel 7511 is collinear with the axis of the rotating shaft 731, the inner diameter of the clamping nail channel 7511 is the same as the inner diameter of the rotating shaft 731, the axis of the clamping nail through hole 7513 is collinear with the axis of the clamping nail channel 7511, and when the clamping nail assembly 75 is located directly above the battery cell, the clamping nail through hole 7513 corresponds to the injection hole of the battery cell. The clamping nail cylinder 752 is arranged on the side of the clamping nail member 751 away from the mechanism fixing plate 60. The first connecting rod 753 is arranged horizontally and is located below the clamping nail cylinder 752, and the top end of the first connecting rod 753 is connected to the end of the output shaft of the clamping nail cylinder 752. The two second connecting rods 754 are located between the first connecting rod 753 and the clamping nail member 751, and the two second connecting rods 754 are in an eight-shape. One end of the two second connecting rods 754 is rotatably connected to the two ends of the first connecting rod 753 through two first rotating shafts. Specifically, two first rotating shaft mounting holes 7531 are respectively provided at both ends of the first connecting rod 753, and two second rotating shaft mounting holes are respectively provided at one end of the two second connecting rods 754. The first rotating shaft is rotatably set in the first rotating shaft mounting hole 7531 of the corresponding first connecting rod 753 and the second rotating shaft mounting hole of the corresponding second connecting rod 754. In other embodiments, it can also be, for example, hinged by a hinge shaft. The other ends of the two second connecting rods 754 are respectively vertically provided with two first connecting parts 754a, and the two first connecting parts 754a are arranged opposite to each other on the left and right, and the first connecting part 754a and the corresponding second connecting rod 754 form an L-shaped structure.Two clamping nail grooves 7514 are respectively provided on both sides of the clamping nail member 751. The length direction of the clamping nail grooves 7514 is the same as the height direction of the clamping nail member 751. The two clamping nail grooves 7514 are both connected to the clamping nail through hole 7513. The two third connecting rods 755 are in an inverted eight shape and are respectively located in the two clamping nail grooves 7514. Two rotating shafts are respectively provided in the two clamping nail grooves 7514. The two ends of the rotating shafts are respectively rotatably arranged in the mounting holes on the inner walls of the two sides of the corresponding clamping nail grooves 7514. The two third connecting rods 755 are respectively provided with two connecting rod through holes 7552. The two third connecting rods 7552 are respectively sleeved on the outer periphery of the two rotating shafts through their respective connecting rod through holes 7552. One end of the two third connecting rods 755 respectively extends out from the two clamping grooves 7514 and is respectively vertically provided with two second connecting parts 755a, the two second connecting parts 755a are arranged opposite to each other on the left and right, and the two second connecting parts 755a are rotatably connected to the two first connecting parts 754a through two second rotating shafts, respectively. Specifically, a third rotating shaft mounting hole 7541 is provided at the end of the first connecting part 754a, and the third rotating shaft mounting hole 7541 extends to the corresponding second connecting rod 754, and the second connecting part 755a is provided with a fourth rotating shaft mounting hole 7551. The second rotating shaft is rotatably arranged in the corresponding third rotating shaft mounting hole 7541 and the corresponding fourth rotating shaft mounting hole 7551. In other embodiments, it can also be hinged, for example, by a hinge shaft, and the first connecting part 754a is located between the corresponding second connecting rod 754 and the corresponding second connecting part 755a. The other ends of the two third connecting rods 755 are respectively provided with two third connecting parts 755b arranged opposite to each other on the left and right. The angle between the third connecting part 755b and the corresponding third connecting rod 755 is an obtuse angle and is located in the clamping nail through hole 7513. The end of the third connecting part 755b is provided with a clamping groove 7553, and the clamping groove 7553 corresponds to the clamping nail channel 7511. The bottom of the clamping groove 7553 of the two third connecting parts 755b can be used to clamp or release the glue nail 200. The shape of the bottom of the clamping groove 7553 is adapted to the shape of the glue nail 200, so that the glue nail 200 will not be damaged when it is clamped by the bottom of the clamping groove 7553 of the two third connecting parts 755b. When the glue nail 200 is clamped by the bottom of the clamping groove 7553 of the two third connecting parts 755b, such as. Fig.11 , Fig.12 and Fig.13As shown, the two third connecting parts 755b are both in a horizontal state, and the head of the glue nail 200 protrudes from the bottom end of the clamping nail member 751. The third connecting rod 755 and the corresponding second connecting parts 755a and third connecting parts 755b form an approximately Z-shaped structure. The clamping nail cylinder 752 is used to drive the first connecting rod 753 to move up and down, thereby driving one end of the two second connecting rods 754 to move up and down, and then through the two first connecting parts 754a and the two second connecting parts 755a, the two third connecting rods 755 can be driven to rotate toward or away from each other around the axis of the two rotating shafts respectively, and the two rotating shafts can rotate relative to the clamping nail member 751. Through the rotation of the two third connecting rods 755 toward or away from each other, the ends of the two third connecting parts 755b can be driven to move away from or close to each other, so as to loosen or clamp the glue nail 200. The rotation of the rotating shaft 731 can drive the clamping member 751 to rotate, thereby driving the clamping cylinder 752, the first connecting rod 753, the two second connecting rods 754, the two first connecting parts 754a, the two third connecting rods 755, the two second connecting parts 755a, the two third connecting parts 755b and the two second rotating shafts to rotate.

[0046] The clamp assembly 75 also includes a photoelectric sensor, which is used to detect whether there is a glue nail 200 between the other ends of the two third connecting rods 755. The photoelectric sensor is a pair of photoelectric sensors, including a photoelectric transmitter 7561 and a photoelectric receiver 7562 arranged in a front-to-back manner. The photoelectric transmitter 7561 is arranged on the side of the clamp member 751 away from the mechanism fixing plate 60. The side of the clamp member 751 away from the mechanism fixing plate 60 is provided with a first light-transmitting hole 7515 connected to the clamp through hole 7513. The first light-transmitting hole 7515 corresponds to the photoelectric transmitter 7561. The photoelectric receiver 7562 is arranged on the side of the clamp member 751 close to the mechanism fixing plate 60. The side of the clamp member 751 close to the mechanism fixing plate 60 is provided with a second light-transmitting hole 7513 connected to the clamp through hole 7513. Light-transmitting hole 7516, the second light-transmitting hole 7516 corresponds to the first light-transmitting hole 7515 and the photoelectric receiver 7562, and the first avoidance groove 7554 and the second avoidance groove 7555 are respectively provided on the side of the third connecting part 755b close to the mechanism fixing plate 60 and the side away from the mechanism fixing plate 60, the first avoidance groove 7554 and the second avoidance groove 7555 both extend to the end of the third connecting part 755b, the first avoidance groove 7554 and the second avoidance groove 7555 are both connected to the clamping groove 7553, and the first avoidance groove 7554 corresponds to the first light-transmitting hole 7515, and the second avoidance groove 7555 corresponds to the second light-transmitting hole 7516. The photoelectric transmitter 7561 is used to emit infrared light to the photoelectric receiver 7562, and the photoelectric receiver 7562 is used to receive the infrared light emitted by the photoelectric transmitter 7561. The first avoidance groove 7554 and the second avoidance groove 7555 are respectively used to avoid the infrared light emitted by the photoelectric transmitter 7561. In actual detection, when the infrared light emitted by the photoelectric transmitter 7561 can be received by the photoelectric receiver 7562 through the first light-transmitting hole 7515, the clamping nail through hole 7513, and the second light-transmitting hole 7516, it indicates that there is no glue nail 200 between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b. When the infrared light emitted by the photoelectric transmitter 7561 cannot be received by the photoelectric receiver 7562 through the first light-transmitting hole 7515, the clamping nail through hole 7513, and the second light-transmitting hole 7516, it indicates that the infrared light is blocked by the glue nail 200, which indicates that the two third connecting parts 755 b, there is a glue nail 200 between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b, so detection is achieved. When it is detected that there is a glue nail 200 between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b, the two third connecting rods 755 are driven by the clamping cylinder 752 to rotate in opposite directions around the axes of the two rotating shafts, thereby driving the ends of the two third connecting parts 755b to approach each other, so that the glue nail 200 located between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b can be clamped through the bottoms of the clamping grooves 7553 of the two third connecting parts 755b.

[0047] Combination Fig.14As shown, the photographing positioning mechanism 80 includes a photographing fixing plate 81, an adjustment component, a camera 83 and a ring light source 84. The photographing fixing plate 81 is arranged on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50. The adjustment component includes an adjustment screw 821, a T-shaped adjustment seat 822 and a T-shaped camera mounting seat 823. The adjustment seat 822 is arranged at the top of the photographing fixing plate 81 and is threadedly matched with the adjustment screw 821. In this embodiment, the adjustment seat 822 has a threaded hole, and the adjustment screw 821 passes through the threaded hole and is threadedly matched with the threaded hole. The camera mounting seat 823 is located below the adjustment seat 822, and the bottom end of the adjustment screw 821 is arranged at the top of the camera mounting seat 823. In this embodiment, a hole is provided at the top of the camera mounting seat 823, and the bottom end of the adjustment screw 821 is arranged in the hole at the top of the camera mounting seat 823. A fixing plate strip-shaped hole 811 extending along the height direction of the fixing plate 81 is provided on one side of the fixing plate 81 away from the mechanism fixing plate 60, and a camera mounting seat 823 is provided with a circular hole 8231 corresponding to the fixing plate strip-shaped hole 811. The circular hole 8231 and the fixing plate strip-shaped hole 811 are installed with mounting fasteners such as screws. In this embodiment, there are two fixing plate strip-shaped holes 811, and the two fixing plate strip-shaped holes 811 are arranged at intervals from left to right. There are two circular holes 8231 corresponding to each fixing plate strip-shaped hole 811, and the two circular holes 8231 are arranged at intervals from top to bottom. It can be understood that the number of fixing plate strip-shaped holes 811 and circular holes 8231 can be set according to actual conditions. The camera 83 is arranged on the side of the camera mounting seat 823 away from the fixing plate 81 for taking pictures, and the lens 831 of the camera 83 faces downward. A light source fixing plate 812 is provided on the side of the photographing fixing plate 81 away from the mechanism fixing plate 60. The light source fixing plate 812 is located below the lens 831 of the camera 83 and is provided with a fixing plate through hole 8121 that passes through the top and bottom ends thereof. The fixing plate through hole 8121 corresponds to the lens 831 of the camera 83. The annular light source 84 is provided at the bottom end of the light source fixing plate 812. The inner hole 841 of the annular light source 84 corresponds to the lens 831 of the camera 83 and the fixing plate through hole 8121. The inner diameter of the fixing plate through hole 8121 and the inner diameter of the inner hole 8121 of the annular light source 84 can be set according to actual conditions. The axis of the lens 831 of the camera 83 and the axis of the rotating shaft 731 of the pin insertion mechanism 70 are located in the same vertical plane. When the photographing positioning mechanism 80 is located directly above the battery cell, the lens 831 of the camera 83 corresponds to the injection hole of the battery cell. The camera 83 is used to take pictures of the battery cells. After the pictures are uploaded to the image processing system, the images are processed and analyzed by the image processing system to obtain the positions of the battery cells. The ring light source 84 provides light for the camera. The ring light source 84 is, for example, a ring LED lamp.

[0048] The height of the camera 83 can be adjusted by the above structure, so that the focal length between the lens 831 of the camera 83 and the top of the battery cell can be adjusted to achieve the best photographic effect. When actually adjusting, for example, when the height of the camera 83 is to be increased, first loosen the mounting fasteners installed in the fixed plate strip-shaped hole 811 and the corresponding round hole 8231, and then rotate the head of the adjusting screw 821 to drive the camera mounting seat 823 and the camera 83 to move upward through the adjusting screw 821. After moving to a suitable height, tighten the mounting fasteners installed in the fixed plate strip-shaped hole 811 and the corresponding round hole 8231, and the adjustment is completed. When the height of the camera 83 needs to be adjusted down, first loosen the mounting fasteners installed in the strip-shaped hole 811 of the fixing plate and the corresponding circular hole 8231, then rotate the head of the adjusting screw 821, and drive the camera mounting base 823 and the camera 83 to move downward through the adjusting screw 821. After moving to a suitable height, tighten the mounting fasteners installed in the strip-shaped hole 811 of the fixing plate and the corresponding circular hole 8231, and the adjustment is completed.

[0049] Combination Fig.15As shown, the detection mechanism 90 includes an L-shaped detection fixed plate 91, a bearing fixed plate 92, a movable rod 93, an elastic member 94, a nail detection hammer 95, a light shielding sheet 96, an upper photoelectric sensor 97 and a lower photoelectric sensor 98. The detection fixed plate 91 is arranged on the side of the mechanism fixed plate 60 away from the Z-axis linear module 50, and the bearing fixed plate 92 is arranged on the side of the detection fixed plate 91 away from the nail insertion mechanism 70. The bearing fixed plate 92 is provided with a fixed plate mounting hole passing through the top and bottom ends thereof, and the movable rod 93 passes through the fixed plate mounting hole. The top and bottom ends of the movable rod 93 are respectively located above and below the bearing fixed plate 92. A linear bearing 921 is arranged in the fixed plate mounting hole, and the linear bearing 921 is sleeved on the outer periphery of the movable rod 93. The linear bearing 921 provided provides moving support for the movable rod 93, which can ensure the stability of the moving rod 93 moving up and down. The nail detection hammer 95 is arranged at the bottom end of the movable rod 9 and the bottom end of the nail detection hammer 95 is flush with the bottom end of the nail clamping member 751 of the nail clamping assembly 75. The elastic member 94 is a compression spring. The elastic member 94 is sleeved on the outer periphery of the movable rod 93. One end of the elastic member 94 is connected to the top end of the nail detection hammer 95, and the other end of the elastic member 94 is connected to the bottom end of the linear bearing 921. The upper photoelectric sensor 97 and the lower photoelectric sensor 98 are both slot-type photoelectric sensors. The upper photoelectric sensor 97 and the lower photoelectric sensor 98 are arranged opposite to each other up and down and are located in front of the bearing fixing plate 92 and the detection fixing plate 91. The upper photoelectric sensor 97 and the lower photoelectric sensor 98 can be detachably installed on the L-shaped mounting plate 99, and the L-shaped mounting plate 99 is connected to the bearing fixing plate 92. The light shielding sheet 96 is arranged horizontally and is located above the bearing fixing plate 92. One end of the light shielding sheet 96 is connected to the movable rod 93, and the other end of the light shielding sheet 96 extends forward and is located in the groove 98a of the lower photoelectric sensor 98. The drawings of this embodiment show that the other end of the light shielding sheet 96 is located in the groove 97a of the upper photoelectric sensor 97. The axis of the nail detection hammer 95 is colinear with the axis of the movable rod 93, and the axis of the movable rod 93 and the axis of the rotating shaft 731 of the nail insertion mechanism 70 are located in the same vertical plane. When the detection mechanism 90 is located directly above the battery cell, the nail detection hammer corresponds to the injection hole of the 95 battery cell.

[0050] In this embodiment, the L-shaped mounting plate 99 includes a vertical portion 991 and a horizontal portion 992, the vertical portion 991 is located in front of the bearing fixing plate 92 and the detection fixing plate 91, one end of the vertical portion 991 extends upward, the other end of the vertical portion 991 is connected to one end of the horizontal portion 992, and the other end of the horizontal portion 992 is connected to the bottom end of the bearing fixing plate 92, and a vertical strip hole 9911 extending along its height direction is provided on one side of the vertical portion 991 close to the bearing fixing plate 92, and the upper photoelectric sensor 97 is arranged on one side of the upper sensing seat 971, and the upper sensing seat 971 is located on the upper photoelectric sensor 97 and the vertical plate 991, the upper sensing seat 971 is provided with a first circular hole 9711 corresponding to the vertical bar hole 9911, and a first fastener such as a screw is installed in the first circular hole 9711 and the vertical bar hole 9911. The lower photoelectric sensor 98 is arranged on one side of the lower sensing seat 981, and the lower sensing seat 981 is located between the lower photoelectric sensor 98 and the vertical plate 991, and the lower sensing seat 981 is provided with a second circular hole 9811 corresponding to the vertical bar hole 9911, and a second fastener such as a screw is installed in the second circular hole 9811 and the vertical bar hole 9911. There are two vertical bar holes 9911, and the two vertical bar holes 9911 are arranged at intervals on the left and right. The first circular hole 9711 and the second circular hole 9811 correspond to the number of the vertical bar holes 9911, and are also two respectively. It can be understood that the number of the vertical bar holes 9911, the first circular hole 9711, and the second circular hole 9811 can be set according to actual conditions. By disassembling the first fastener and the second fastener, the upper photoelectric sensor 97 and the lower photoelectric sensor 98 can be disassembled and assembled, which is convenient for replacing the upper photoelectric sensor 97 and the lower photoelectric sensor 98. In addition, this structure can also adjust the height of the upper photoelectric sensor 97 and the lower photoelectric sensor 98. During actual adjustment, when the height of the upper photoelectric sensor 97 is to be increased, first loosen the first fastener, then move the upper photoelectric sensor 97 and the upper sensing seat 971 upward, and after moving to a suitable height, tighten the first fastener, and the adjustment is completed. When the height of the upper photoelectric sensor 97 is to be reduced, first loosen the second fastener, then move the upper photoelectric sensor 97 and the upper sensing seat 971 downward, and after moving to a suitable height, tighten the first fastener, and the adjustment is completed. The height adjustment steps of the lower photoelectric sensor 98 are the same as those of the upper photoelectric sensor 97, which will not be repeated here.

[0051] In actual operation of the present invention, after the tray loaded with the battery cells enters between the two racks 10 and is positioned, the nail insertion mechanism 70, the camera positioning mechanism 80 and the detection mechanism 90 are all located above the tray. Taking the battery cells in the first row in the tray as an example, the nail insertion mechanism 70, the camera positioning mechanism 80 and the detection mechanism 90 are first driven to move by the Y-axis linear module 20 and the X-axis linear module 40, so that the camera positioning mechanism 80 is located directly above the first battery cell. Then, the camera 83 is used to take a photo of the first battery cell, so as to obtain the position of the first battery cell. Then, the nail feeding device continuously feeds the glue nails 200 into the nail separation channel 7111 through the nail separation pipe 712, and the first glue nail 200 is fed out through the upper nail separation cylinder 713 and the lower nail separation cylinder 714. The first glue nail 200 can fall into the interior of the rotating shaft 731 under its own weight, i.e., along the nail separation channel 7111, and then fall into the nail clamping channel 7511, and then fall into the nail clamping through hole 7513 and be located between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b. In the process of the first glue nail 200 falling into the interior of the rotating shaft 731 along the nail separation channel 7111, the blowing device blows air into the nail separation channel 7111 through the blowing pipe 715 and the blowing channel 7115, so that the first glue nail 200 can quickly fall into the interior of the rotating shaft 731. In the initial state, the ends of the two third connecting parts 755b are away from each other. When the first glue nail 200 falls into the clamping nail through hole 7513 and is located between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b, the photoelectric receiver 7562 cannot receive the infrared light emitted by the photoelectric transmitter 7561, indicating that there is a glue nail 200 between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b. At this time, the two third connecting rods 755 are driven by the clamping nail cylinder 752 to rotate in opposite directions so that the ends of the two third connecting parts 755b are close to each other, so that the first glue nail 200 can be clamped by the bottoms of the clamping grooves 7553 of the two third connecting parts 755b. Fig.10 , Fig.11 As shown, at this time, the head of the first glue nail 200 protrudes from the bottom end of the clamping nail member 751.

[0052] Then, the Y-axis linear module 20 and the X-axis linear module 40 drive the nail insertion mechanism 70, the camera positioning mechanism 80 and the detection mechanism 90 to move according to the position of the first battery cell, so that the clamping nail assembly 75 of the nail insertion mechanism 70 is located directly above the first battery cell. At this time, the clamping nail through hole 7513 of the clamping nail assembly 75 and the first glue nail 200 correspond to the injection hole of the first battery cell, and the camera positioning mechanism 80 is located directly above the second battery cell. Then, the Z-axis linear module 50 drives the nail insertion mechanism 70, the camera positioning mechanism 80 and the detection mechanism 90 to move downward, and at the same time, the rotating motor 7321 drives the rotating shaft 731 to rotate, thereby driving the clamping member 751, the clamping cylinder 752, the first connecting rod 753, the two second connecting rods 754, the two first connecting parts 754a, the two third connecting rods 755, the two second connecting parts 755a, the two third connecting parts 755b and the first glue nail 200 to rotate, and the head of the first glue nail 200 is inserted into the injection hole of the first battery cell by rotating and moving downward. In this way, the first glue nail 200 is inserted into the liquid injection hole. Then, the two third connecting rods 755 are driven to rotate toward each other by the clamping nail cylinder 752, so that the ends of the two third connecting parts 755b are separated from each other, so that the first glue nail 200 can be loosened through the bottom of the clamping groove 7553 of the two third connecting parts 755b, and the nail insertion mechanism 70, the photo positioning mechanism 80 and the detection mechanism 90 are driven to move upward to the initial position by the Z-axis linear module 50, and then the second battery cell is photographed by the camera 83 of the photo positioning mechanism 80, so that the position of the second battery cell can be obtained. Then, the second glue nail 200 is sent out by the upper nail separation cylinder 713 and the lower nail separation cylinder 714, and the nail separation channel 7111 is blown by the blowing device, so that the second glue nail 200 can fall into the interior of the rotating shaft 731 along the nail separation channel 7111 under its own gravity, and then fall into the nail clamping channel 7511, and then fall into the nail clamping through hole 7513 and be located between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b. Then clamp the second glue nail 200 in the aforementioned manner.

[0053] Then, the Y-axis linear module 20 and the X-axis linear module 40 drive the pin insertion mechanism 70, the camera positioning mechanism 80 and the detection mechanism 90 to move according to the obtained position of the second battery cell, so that the clamping nail assembly 75 of the pin insertion mechanism 70 is located directly above the second battery cell. At this time, the clamping nail through hole 7513 of the clamping nail assembly 70 and the second glue nail 200 correspond to the injection hole of the second battery cell, the camera positioning mechanism 80 is located directly above the third battery cell, and the detection mechanism 90 is located directly above the first battery cell. Then, the head of the second glue nail 200 is inserted into the injection hole of the second battery cell in the above manner. In the process of driving the detection mechanism 90 to move downward by the Z-axis linear module 50, when the bottom end of the detection hammer 95 contacts the end of the first glue nail 200 in the injection hole of the first battery cell, as the detection hammer 95 continues to move, the detection hammer 95 will push the movable rod 93 to move upward, thereby driving the shading sheet 96 to move upward, and the elastic member 94 is compressed. When the head of the second glue nail 200 is inserted into the injection hole of the second battery cell, if the other end of the shading sheet 96 is located in the groove 97a of the upper photoelectric sensor 97 at this time, the shading sheet 96 can be sensed by the upper photoelectric sensor 97, indicating that the injection of the first battery cell is completed. The height dimension of the first glue nail 200 in the liquid hole is qualified, and the nail insertion action can continue. Then, the two third connecting rods 755 are driven to rotate toward each other through the nail clamping cylinder 752, so that the ends of the two third connecting parts 755b are separated from each other. In this way, the second glue nail 200 can be loosened through the bottom of the clamping groove 7553 of the two third connecting parts 755b. At the same time, the nail insertion mechanism 70, the photo positioning mechanism 80 and the detection mechanism 90 are driven to move upward to the initial position through the Z-axis linear module 50, and then the camera 83 of the photo positioning mechanism 80 is used to take a photo of the third battery cell, so as to obtain the position of the third battery cell. In the process of the detection mechanism 90 moving upward, when the nail detection hammer 95 is separated from the end of the first glue nail 200, under the reset action of the elastic member 94, the nail detection hammer 95, the movable rod 93, and the light shielding sheet 96 can be driven to move downward to the initial position. At this time, the other end of the light shielding sheet 96 returns to the groove 98a of the lower photoelectric sensor 98. Then, the third glue nail 200 is sent out by the upper nail separation cylinder 713 and the lower nail separation cylinder 714, and the nail separation channel 7111 is blown by the blowing device, so that the third glue nail 200 can fall into the interior of the rotating shaft 731 along the nail separation channel 7111 under its own weight, and then fall into the clamping nail channel 7511, and then fall into the clamping nail through hole 7513 and be located between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b. Then, the third glue nail 200 is clamped in the above manner. Then, according to the above steps, the head of the third glue nail 200 is inserted into the injection hole of the third battery cell, and the height dimension of the second glue nail 200 in the injection hole of the second battery cell is detected by the detection mechanism 90, and the fourth battery cell is photographed and positioned by the camera positioning mechanism 80.This process is repeated until the height of the glue nail in the injection hole of the last battery cell in the first column is detected. Then, the injection holes of the batteries in all the remaining columns are nailed according to the above steps.

[0054] During the process of detecting the height dimension of the first glue nail 200 in the liquid injection hole of the first battery cell by the detection mechanism 90, if the other end of the shading sheet 96 is located below or above the groove 97a of the upper photoelectric sensor 97, the shading sheet 96 will not be sensed by the upper photoelectric sensor 97, indicating that the height dimension of the first glue nail 200 in the liquid injection hole of the first battery cell is unqualified, and an alarm is issued to notify the operator to stop the machine.

[0055] The present invention is provided with two frames 10, a Y-axis linear module 20, a mechanism support plate 21, a mechanism mounting plate 30, an X-axis linear module 40, a Z-axis linear module 50, a nail insertion mechanism 70 and a photographing and positioning mechanism 80. The nail insertion mechanism 70 is one, and the nail insertion mechanism 70 can realize forward and backward, left and right, and up and down movement through the Y-axis linear module 20, the X-axis linear module 40, and the Z-axis linear module 50. Therefore, it can be applied to the scene where a plurality of columns of battery cells such as one column, two columns, and three columns are loaded in the tray. It has a wide range of applications and can meet the needs of multiple scenes. When the battery cells of the production line are changed, there is no need to perform the changeover adjustment operation, which reduces the changeover time. At the same time, the battery cells can be photographed and positioned before the nails are inserted through the provided photographing and positioning mechanism 80, and there is no need to mechanically position the battery cells for secondary positioning through other positioning devices, which reduces the production time and improves the production efficiency. The detection mechanism 90 can detect the height of the glue nail 200 in the liquid injection hole of the battery cell. There is no need to detect the height of the glue nail 200 in the liquid injection hole of the battery cell through other detection devices, which further reduces the production time and improves the production efficiency.

[0056] 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 insertion device, characterized in that: The invention comprises two frames which are arranged opposite to each other in the left and right directions, a Y-axis linear module, a mechanism support plate, a mechanism mounting plate, an X-axis linear module, a Z-axis linear module, a pinning mechanism and a photographing positioning mechanism, wherein the Y-axis linear module is arranged at the top of one of the frames, one end of the mechanism support plate is arranged at the top of the Y-axis linear module, and the other end of the mechanism support plate is slidably connected with the top of the other frame, the Y-axis linear module is used to drive the mechanism support plate to move forward and backward relative to the two frames, the mechanism mounting plate is arranged at the top of the mechanism support plate, the X-axis linear module is arranged at one side of the mechanism mounting plate, the Z-axis linear module is arranged at a side of the X-axis linear module away from the mechanism mounting plate, the X-axis linear module is used to drive the Z-axis linear module to move left and right, a mechanism fixing plate is arranged at a side of the Z-axis linear module away from the X-axis linear module, the Z-axis linear module is used to drive the mechanism fixing plate to move up and down, the pinning mechanism and the photographing positioning mechanism are both arranged at a side of the mechanism fixing plate away from the Z-axis linear module, and the photographing positioning mechanism is located at one side of the pinning mechanism.

2. The nail insertion device according to claim 1, characterized in that: The nail insertion mechanism includes a nail separation assembly, a rotating assembly and a nail clamping assembly connected in sequence from top to bottom. The nail separation assembly and the rotating assembly are both arranged on a side of the mechanism fixing plate away from the Z-axis linear module, and the camera positioning mechanism corresponds to the nail separation assembly.

3. The nail insertion device according to claim 2, characterized in that: The nail separation assembly includes a nail separation block, a nail separation tube, a horizontally arranged upper nail separation cylinder, a horizontally arranged lower nail separation cylinder and a blow pipe. The nail separation block, the upper nail separation cylinder and the lower nail separation cylinder are all arranged on the side of the mechanism fixing plate away from the Z-axis linear module. An axial nail separation channel is provided in the nail separation block. The top and bottom ends of the nail separation block are respectively provided with a first nail separation installation hole and a second nail separation installation hole connected to the nail separation channel. One end of the nail separation tube is arranged in the first nail separation installation hole. The nail separation tube is connected to the nail separation channel. The upper nail separation cylinder and the lower nail separation cylinder are located on one side of the nail separation block. The first and second nail through holes are connected to the nail channel, and the end of the output shaft of the upper nail cylinder extends into the first nail through hole, and the end of the output shaft of the lower nail cylinder extends into the second nail through hole. One end of the air blowing pipe is arranged on the side of the nail block away from the upper and lower nail cylinders, and a blowing channel is arranged in the nail block. One end of the air blowing channel is connected to the air blowing pipe, and the other end of the air blowing channel is connected to the bottom end of the nail channel.

4. The nail insertion device according to claim 3, characterized in that: The rotating assembly includes a hollow rotating shaft and a driving structure for driving the rotating shaft to rotate. A bearing seat is provided on the outer periphery of the rotating shaft. The bearing seat and the driving structure are both arranged on the side of the mechanism fixing plate away from the Z-axis linear module. The upper end of the rotating shaft is clearance-matched with the second split nail mounting hole. The interior of the rotating shaft is connected to the split nail channel. The axis of the split nail channel and the axis of the rotating shaft are collinear.

5. The nail insertion device according to claim 4, characterized in that: The driving structure includes a rotating motor and a synchronous belt module. The rotating motor is arranged on a side of the mechanism fixing plate away from the Z-axis linear module and located on one side of the rotating shaft. The synchronous belt module includes a driving wheel, a driven wheel and a synchronous belt sleeved on the outer periphery of the driving wheel and the driven wheel. The driving wheel is sleeved on the outer periphery of the end of the output shaft of the rotating motor, and the driven wheel is sleeved on the outer periphery of the rotating shaft and located above the bearing seat. The outer periphery of the rotating shaft is sleeved with a spacer and a clamping ring, and one end of the spacer passes through the top of the bearing seat The bearing seat through hole at the end extends into the bearing seat, the outer wall of the rotating shaft is formed with an annular step, one end of the spacer sleeve is abutted against the annular step, the other end of the spacer sleeve is abutted against the bottom end of the driven wheel, the bottom end of the clamping ring is abutted against the top end of the driven wheel, the clamping ring has an opening, and two clamping ring mounting holes are respectively provided on the inner walls on both sides of the opening, the two clamping ring mounting holes are respectively extended to the outer wall of the clamping ring, and clamping ring fasteners are installed in the two clamping ring mounting holes, and the clamping ring fasteners are abutted against the outer wall of the rotating shaft.

6. The nail insertion device according to claim 4, characterized in that: The clamping nail assembly comprises a clamping nail part, a clamping nail cylinder, a first connecting rod, two second connecting rods arranged opposite to each other on the left and right sides, and two third connecting rods arranged opposite to each other on the left and right sides, the top end of the clamping nail part is connected to the rotating shaft, the clamping nail part is provided with an axial clamping nail channel, the top and bottom ends of the clamping nail part are respectively provided with a clamping nail mounting hole and a clamping nail through hole connected to the clamping nail channel, the lower end of the rotating shaft is clearance-matched with the clamping nail mounting hole, the interior of the rotating shaft is connected to the clamping nail channel, the axis of the clamping nail channel and the axis of the rotating shaft are collinear, the axis of the clamping nail through hole and the axis of the clamping nail channel are collinear, when the clamping nail assembly is located directly above the battery cell, the clamping nail through hole corresponds to the injection hole of the battery cell, the clamping nail cylinder is arranged on the side of the clamping nail part away from the mechanism fixing plate, the first connecting rod is horizontally arranged and located below the clamping nail cylinder, the top end of the first connecting rod is connected to the end of the output shaft of the clamping nail cylinder, the two second connecting rods are in an eight-shaped shape, and the two second connecting rods are One end of the rod is rotatably connected to the two ends of the first connecting rod, and the other ends of the two second connecting rods are respectively provided with two first connecting parts, and two clamping nail grooves are respectively provided on both sides of the clamping nail member, and the two clamping nail grooves are connected to the clamping nail through hole, and the two third connecting rods are respectively located in the two clamping nail grooves, and the two third connecting rods are in an inverted eight-shaped shape, and two rotating shafts are respectively provided in the two clamping nail grooves, and the two ends of the rotating shafts are respectively rotatably arranged in the mounting hole positions on the inner walls of the two sides of the corresponding clamping nail grooves, and the two third connecting rods are respectively sleeved on the outer circumference of the two rotating shafts, one end of the two third connecting rods respectively extends out from the two clamping nail grooves and is respectively provided with two second connecting parts, and the two second connecting parts are respectively rotatably connected to the two first connecting parts, and the other ends of the two third connecting rods are respectively provided with two third connecting parts arranged opposite to each other on the left and right, and the angle between the third connecting part and the corresponding third connecting rod is an obtuse angle and is located in the clamping nail through hole, and the end of the third connecting part is provided with a clamping groove, and the clamping groove corresponds to the clamping nail channel.

7. The nail insertion device according to claim 6, characterized in that: The clamp assembly also includes a photoelectric sensor, which includes a photoelectric transmitter and a photoelectric receiver arranged in a front-to-back relationship, the photoelectric transmitter is arranged on a side of the clamp away from the mechanism fixing plate, the side of the clamp away from the mechanism fixing plate is provided with a first light-transmitting hole connected to the clamp through hole, the first light-transmitting hole corresponds to the photoelectric transmitter, the photoelectric receiver is arranged on a side of the clamp close to the mechanism fixing plate, the side of the clamp close to the mechanism fixing plate is provided with a second light-transmitting hole connected to the clamp through hole, the second light-transmitting hole corresponds to the first light-transmitting hole and the photoelectric receiver, the side of the third connecting part close to the mechanism fixing plate and the side away from the mechanism fixing plate are respectively provided with a first avoidance groove and a second avoidance groove, the first avoidance groove and the second avoidance groove both extend to the end of the third connecting part, the first avoidance groove and the second avoidance groove are both connected to the clamping groove, and the first avoidance groove corresponds to the first light-transmitting hole, and the second avoidance groove corresponds to the second light-transmitting hole.

8. The nail insertion device according to claim 1, characterized in that: The photographing positioning mechanism includes a photographing fixing plate, an adjustment component, a camera and a ring light source. The photographing fixing plate is arranged on a side of the mechanism fixing plate away from the Z-axis linear module. The adjustment component includes an adjustment screw, an adjustment seat and a camera mounting seat. The adjustment seat is arranged at the top of the photographing fixing plate and is threadedly matched with the adjustment screw. The camera mounting seat is located below the adjustment seat. The bottom end of the adjustment screw is arranged at the top of the camera mounting seat. A fixing plate strip hole extending along the height direction of the photographing fixing plate is provided on the side of the photographing fixing plate away from the mechanism fixing plate. The camera mounting seat is provided with a circular hole corresponding to the fixing plate strip hole. , mounting fasteners are installed in the circular hole and the strip-shaped hole of the fixing plate, the camera is arranged on a side of the camera mounting seat away from the photographing fixing plate and the camera lens faces downward, a light source fixing plate is provided on the side of the photographing fixing plate away from the mechanism fixing plate, the light source fixing plate is located below the camera lens and is provided with a fixing plate through hole passing through the top and bottom ends thereof, the fixing plate through hole corresponds to the camera lens, the annular light source is arranged at the bottom end of the light source fixing plate, the inner hole of the annular light source corresponds to the camera lens and the fixing plate through hole, and when the photographing positioning mechanism is located directly above the battery cell, the camera lens corresponds to the liquid injection hole of the battery cell.

9. The nail insertion device according to claim 1, characterized in that: It also includes a detection mechanism, which is arranged on one side of the mechanism fixing plate away from the Z-axis linear module and located on the other side of the nail insertion mechanism, and the detection mechanism corresponds to the clamping nail assembly of the nail insertion mechanism.

10. The nail insertion device according to claim 9, characterized in that: The detection mechanism includes a detection fixing plate, a bearing fixing plate, a movable rod, an elastic part, a nail detection hammer, a shading sheet, an upper photoelectric sensor and a lower photoelectric sensor. The detection fixing plate is arranged on a side of the mechanism fixing plate away from the Z-axis linear module, the bearing fixing plate is arranged on a side of the detection fixing plate away from the nail insertion mechanism, the bearing fixing plate is provided with a fixing plate mounting hole passing through the top and bottom ends thereof, the movable rod passes through the fixing plate mounting hole, the top and bottom ends of the movable rod are respectively located above and below the bearing fixing plate, a linear bearing is provided in the fixing plate mounting hole, the linear bearing is sleeved on the outer periphery of the movable rod, the nail detection hammer is arranged at the bottom end of the movable rod and the bottom end of the nail detection hammer is aligned with the bottom of the clamping part of the clamping assembly The ends are flush, the elastic member is sleeved on the outer periphery of the movable rod, one end of the elastic member is connected to the top of the nail inspection hammer, and the other end of the elastic member is connected to the bottom end of the linear bearing, the upper photoelectric sensor and the lower photoelectric sensor are arranged opposite to each other up and down and are located in front of the bearing fixing plate, the upper photoelectric sensor and the lower photoelectric sensor are both removable and mounted on the L-shaped mounting plate, the L-shaped mounting plate is connected to the bearing fixing plate, the shading sheet is horizontally arranged and located above the bearing fixing plate, one end of the shading sheet is connected to the movable rod, and the other end of the shading sheet extends forward and is located in the groove of the lower photoelectric sensor, when the detection mechanism is located directly above the battery cell, the nail inspection hammer corresponds to the injection hole of the battery cell.

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