Carrying equipment and working method thereof

Abstract

The invention discloses carrying equipment and a working method thereof. The carrying equipment is used for carrying nickel sheets and comprises a translation mechanism, a taking mechanism, a sensing device and a removing device, the taking mechanism is installed on the translation mechanism, and the taking mechanism at least can do translational motion in the first direction under the action of the driving force of the translation mechanism; the taking mechanism comprises an adsorption device, the adsorption device is configured to be used for adsorbing the nickel sheet, and under the condition that the nickel sheet is adsorbed to the adsorption device, the first direction corresponds to the thickness direction of the nickel sheet; the sensing device is connected with the taking mechanism, and the sensing device is configured to be used for measuring the total thickness of all the nickel sheets adsorbed by the adsorption device and providing a feedback signal; when the feedback signal is judged that the number of the nickel sheets adsorbed by the adsorption device is at least two, the first nickel sheet is directly connected with the adsorption device, and the other nickel sheets are stacked on the side, away from the adsorption device, of the first nickel sheet, the removing device is configured to be used for removing the other nickel sheets.

Description

Technical Field

[0001] The present application relates to the field of battery manufacturing technology, and more specifically, to a handling device and a working method thereof. Background Art

[0002] As my country pays more and more attention to energy conservation and environmental protection, the use of green and environmentally friendly electrical equipment is becoming more and more widespread. The power source of such electrical equipment is lithium batteries, which have the advantages of high energy density, long cycle life, and high energy conversion efficiency. In the production process of lithium batteries, there is a process that requires the handling of nickel sheets.

[0003] Since nickel sheets are very small, it is easy to cause stacking problems when multiple nickel sheets are stacked together during transportation. The nickel sheet transport mechanism in the prior art cannot determine whether the nickel sheets taken have stacking problems; and in order to solve and avoid the stacking problem after welding, the prior art often manually checks all products to determine whether there are stacked products; and directly scraps the stacked products, which not only has low detection efficiency but also high cost.

[0004] Therefore, it is necessary to propose a new technical solution to solve the above technical problems. Summary of the invention

[0005] An object of the present application is to provide a new technical solution for a handling device and a working method thereof.

[0006] According to a first aspect of the present application, a transport device is provided, the transport device being used for transporting nickel sheets, the transport device comprising:

[0007] A translation mechanism, wherein the translation mechanism can at least provide a driving force for translational movement along a first direction;

[0008] A picking mechanism, the picking mechanism is installed on the translation mechanism, and the picking mechanism can move translationally at least along a first direction under the driving force of the translation mechanism; the picking mechanism includes an adsorption device, and the adsorption device is configured to adsorb the nickel sheet. When the nickel sheet is adsorbed on the adsorption device, the first direction corresponds to the thickness direction of the nickel sheet;

[0009] A sensing device, the sensing device is connected to the taking mechanism, and the sensing device is configured to measure the total thickness of all nickel sheets adsorbed by the adsorption device and provide a feedback signal;

[0010] A removal device, when the feedback signal is judged that the adsorption device adsorbs at least two nickel sheets, the first nickel sheet is directly connected to the adsorption device, and the remaining nickel sheets are stacked on a side of the first nickel sheet away from the adsorption device, the removal device is configured to remove the remaining nickel sheets.

[0011] Optionally, the translation mechanism includes a first translation device, a second translation device and a third translation device; the taking mechanism is installed on the first translation device, the first translation device is installed on the second translation device, and the second translation device is installed on the third translation device;

[0012] The picking mechanism moves translationally along the first direction under the driving force of the first translation device, the first translation device moves translationally along the second direction under the driving force of the second translation device, and the second translation device moves translationally along the third direction under the driving force of the third translation device.

[0013] Optionally, the picking mechanism also includes a support frame, and the adsorption device is installed on the support frame; the adsorption device includes a fixed block and an adsorption head, the fixed block is connected to the support frame, the first end of the adsorption head is connected to the fixed block, and the second end of the adsorption head is used to adsorb the nickel sheet.

[0014] Optionally, the cross-section of the adsorption head is rectangular, and the adsorption head is made of stainless steel.

[0015] Optionally, the handling device further comprises a measuring platform, the measuring platform is arranged opposite to the second end of the adsorption head, and the measuring platform is used to abut against the second end of the adsorption head;

[0016] The sensing device is a contact displacement sensor, comprising a housing and a contact rod. The housing is mounted on the support frame, one end of the contact rod is connected to the housing, and the other end of the contact rod is directly or indirectly in contact with the adsorption device.

[0017] Optionally, the taking mechanism further comprises a linear guide rail and a transfer block, the linear guide rail comprises a track and a slider, the track is mounted on the support frame, and the track is extended along the first direction;

[0018] The adapter block is connected to the slider, the adsorption device is arranged on the adapter block, and the adsorption device is installed on the support frame through the adapter block and the linear guide rail.

[0019] Optionally, the taking mechanism further comprises a connecting block, a limiting rod and an elastic member, the connecting block is connected to the supporting frame, and the connecting block and the adapter block are arranged opposite to each other and spaced apart along the first direction;

[0020] One end of the limiting rod is connected to the connecting block, the other end of the limiting rod is connected to the transfer block, the elastic member is sleeved on the outside of the limiting rod, and the elastic member is located between the connecting block and the transfer block.

[0021] Optionally, the connecting block is provided with a through hole, the limiting rod comprises a rod body and a limiting platform, the rod body is passed through the through hole; the end of the rod body connected to the connecting block is provided with the limiting platform;

[0022] The elastic member is sleeved on the outside of the rod body; along the first direction, the projection of the limit platform covers the projection of the through hole.

[0023] Optionally, the taking mechanism further includes a buffer sleeve, which is sleeved on the outside of the rod body, and the buffer sleeve is arranged between the limit platform and the connecting block, between the elastic member and the connecting block, and between the elastic member and the adapter block.

[0024] Optionally, the number of the adsorption devices is two, and the two adsorption devices independently adsorb the nickel sheet respectively; the sensing device, the linear guide rail, the adapter block, the connecting block, the limit rod and the elastic member are all arranged corresponding to the adsorption device.

[0025] Optionally, the removal device includes an air blowing pipe and an air supply member, one end of the air blowing pipe is connected to the air supply member, and the other end of the air blowing pipe is used to blow gas to remove the remaining nickel sheets.

[0026] Optionally, the handling equipment further comprises a recovery box, which is arranged below the removing device and is used to receive the remaining nickel sheets removed by the removing device.

[0027] According to a second aspect of the present application, a working method of the handling device according to the first aspect is provided, the working method comprising:

[0028] The taking mechanism moves translationally at least along a first direction under the driving force of the translation mechanism so that the adsorption device adsorbs the nickel sheet;

[0029] The sensing device performs a measurement operation on the nickel sheet to measure the total thickness of all the nickel sheets adsorbed by the adsorption device and provide a feedback signal;

[0030] When the feedback signal is judged that the adsorption device adsorbs at least two nickel sheets, wherein the first nickel sheet is directly connected to the adsorption device, and the remaining nickel sheets are stacked on a side of the first nickel sheet away from the adsorption device, the removal device removes the remaining nickel sheets;

[0031] The sensing device repeats the measuring action, and when the feedback signal is judged that the adsorption device adsorbs at least two nickel sheets, the removing device repeats the removing action; until the feedback signal is judged that the adsorption device adsorbs one nickel sheet.

[0032] The technical solution adopted in this application can achieve the following beneficial effects:

[0033] The transporting equipment provided in the embodiment of the present application can measure and judge the nickel sheet transported by the adsorption device. When there are multiple nickel sheets stacked together and transported by the adsorption device, the transporting equipment provided in the embodiment of the present application can remove the excess nickel sheets to ensure that the adsorption device adsorbs and transports a single nickel sheet, thereby improving the material yield and material stability of the transported nickel sheets.

[0034] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0036] Figure 1 is a schematic diagram of the overall structure of a handling device according to an embodiment of the present application;

[0037] Figure 2 This is a schematic diagram of a partial structure of a handling device according to an embodiment of the present application. Figure 1 ;

[0038] Figure 3 This is a schematic diagram of a partial structure of a handling device according to an embodiment of the present application. Figure 2 ;

[0039] Figure 4 The structure diagram of the picking mechanism and the sensing device in the handling device according to one embodiment of the present application is shown in FIG. Figure 1 ;

[0040] Figure 5 The structure diagram of the picking mechanism and the sensing device in the handling device according to one embodiment of the present application is shown in FIG. Figure 2 ;

[0041] Figure 6 It is a schematic diagram of the structure of an adsorption device in a handling device according to an embodiment of the present application.

[0042] Description of reference numerals:

[0043] 1. Translation mechanism; 11. First translation device; 12. Second translation device; 13. Third translation device; 2. Pick-up mechanism; 21. Adsorption device; 211. Fixed block; 212. Adsorption head; 200. Adsorption hole; 213. Vacuum generator; 22. Support frame; 221. Mounting bracket; 222. Vertical plate; 223. Fixed plate; 23. Linear guide rail; 231. Rail; 232. Slider; 24. Adapter block; 25. Connecting block; 26. Limit rod; 261. Rod body; 260. Limit table; 27. Elastic member; 28. Buffer sleeve; 3. Sensing device; 31. Casing; 32. Contact rod; 4. Removal device; 41. Air blow pipe; 5. Measuring platform; 6. Recovery box; 7. Rack. DETAILED DESCRIPTION

[0044] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0045] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0046] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0047] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0048] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0049] Reference Figure 1-Figure 6 As shown, according to one embodiment of the present application, a handling device is provided. The handling device is used to carry nickel sheets, and the handling device includes a translation mechanism 1, a taking mechanism 2, a sensing device 3 and a removing device 4. The translation mechanism 1 can at least provide a driving force for translational movement along a first direction;

[0050] The picking mechanism 2 is installed on the translation mechanism 1, and the picking mechanism 2 can move translationally at least along a first direction under the driving force of the translation mechanism 1; the picking mechanism 2 includes an adsorption device 21, and the adsorption device 21 is configured to adsorb the nickel sheet. When the nickel sheet is adsorbed on the adsorption device 21, the first direction corresponds to the thickness direction of the nickel sheet;

[0051] The sensing device 3 is connected to the taking mechanism 2, and the sensing device 3 is configured to measure the total thickness of all nickel sheets adsorbed by the adsorption device 21 and provide a feedback signal;

[0052] When the feedback signal is judged that there are at least two nickel sheets adsorbed by the adsorption device 21, and the first nickel sheet is directly connected to the adsorption device 21, and the remaining nickel sheets are stacked on the side of the first nickel sheet away from the adsorption device 21, the removal device 4 is configured to remove the remaining nickel sheets.

[0053] In the handling equipment provided in the embodiment of the present application, the picking mechanism 2 is used to carry nickel sheets. The picking mechanism 2 can at least move to a designated station along a first direction under the driving force of the translation mechanism 1, and then adsorb the nickel sheets through its adsorption device 21. The nickel sheets are stacked at the designated station, that is, multiple nickel sheets are stacked along the thickness direction of the nickel sheets. When the adsorption device 21 adsorbs the nickel sheets, it is required that the adsorption device 21 adsorbs only a single nickel sheet at a time for qualified operation; however, since the nickel sheets are generally small in size and thin in thickness, adjacent stacked nickel sheets are prone to mutual adhesion. In this way, when the adsorption device 21 adsorbs the nickel sheets, it often occurs that when the adsorption device 21 adsorbs the first nickel sheet, the first nickel sheet will be lifted up together with the remaining nickel sheets stacked with it. This is an unqualified operation, and the remaining nickel sheets lifted up together need to be removed.

[0054] In the handling device provided in the embodiment of the present application, the total thickness of all nickel sheets adsorbed by the adsorption device 21 is measured by the sensing device 3 and a feedback signal is provided, so that it can be determined whether the adsorption device 21 adsorbs a single nickel sheet or multiple nickel sheets. If the feedback signal is determined to indicate that the adsorption device 21 adsorbs at least two nickel sheets, as described above, that is, the adsorption device 21 not only adsorbs the first nickel sheet that is predetermined to be adsorbed, but also the first nickel sheet is attached to and carries the remaining nickel sheets, in this case, the handling device provided in the embodiment of the present application can remove the remaining nickel sheets through the removal device 4.

[0055] To sum up, the transporting equipment provided in the embodiment of the present application can measure and judge the nickel sheet transported by the adsorption device 21. When there are multiple nickel sheets stacked together and transported by the adsorption device 21, the transporting equipment provided in the embodiment of the present application can also remove excess nickel sheets to ensure that the adsorption device 21 adsorbs and transports a single nickel sheet, thereby improving the material yield and material stability of the transported nickel sheets.

[0056] Reference Figure 1 , Figure 2As shown, in one embodiment, the translation mechanism 1 includes a first translation device 11, a second translation device 12 and a third translation device 13; the taking mechanism 2 is installed on the first translation device 11, the first translation device 11 is installed on the second translation device 12, and the second translation device 12 is installed on the third translation device 13;

[0057] The picking mechanism 2 moves translationally along the first direction under the driving force of the first translation device 11, the first translation device 11 moves translationally along the second direction under the driving force of the second translation device 12, and the second translation device 12 moves translationally along the third direction under the driving force of the third translation device 13.

[0058] In this specific example, the translation mechanism 1 includes a first translation device 11, which can provide a driving force for translational movement along a first direction; a second translation device 12, which can provide a driving force for translational movement along a second direction; and a third translation device 13, which can provide a driving force for translational movement along a third direction. Thus, under the driving force of the translation mechanism 1, the picking mechanism 2 can perform translational movement along the first direction, the second direction and the third direction, so as to ensure that the picking mechanism 2 can move to the designated station to pick up the nickel sheet.

[0059] Optionally, the first translation device 11, the second translation device 12 and the third translation device 13 are all servo screw modules, which have high translation accuracy. Figure 1 As shown, the first direction is Figure 1 The Z direction shown in the figure, the second direction is Figure 1 The Y direction shown in the figure, the third direction is Figure 1 The X direction shown in .

[0060] Reference Figure 4 As shown, in one embodiment, the picking mechanism 2 also includes a support frame 22, and the adsorption device 21 is installed on the support frame 22; the adsorption device 21 includes a fixed block 211 and an adsorption head 212, the fixed block 211 is connected to the support frame 22, the first end of the adsorption head 212 is connected to the fixed block 211, and the second end of the adsorption head 212 is used to adsorb the nickel sheet.

[0061] In this specific example, the support frame 22 provides support and installation for the adsorption device 21, the support frame 22 is connected to the first translation device 11, and the adsorption device 21 is installed on the first translation device 11 through the support frame 22. The fixed block 211 in the adsorption device 21 is connected to the support frame 22, and the adsorption head 212 in the adsorption device 21 is used to adsorb the nickel sheet.

[0062] Furthermore, the fixed block 211 has a first cavity, the adsorption head 212 has a second cavity, and the first cavity and the second cavity are connected to each other; the adsorption device 21 also includes a vacuum generator 213, which is arranged on the fixed block 211 and is connected to the first cavity of the fixed block 211. Through the vacuuming effect of the vacuum generator 213, negative pressure is formed in the first cavity and the second cavity to achieve the effect of adsorbing the nickel sheet through the adsorption head 212. Further, an adsorption hole 200 is opened at the second end of the adsorption head 212.

[0063] Reference Figure 6 As shown, in one embodiment, the cross-section of the adsorption head 212 is rectangular, and the material of the adsorption head 212 is stainless steel.

[0064] In this specific example, the cross section of the adsorption head 212 is rectangular, and the adsorption head 212 is a cuboid as a whole to better fit the shape of the nickel sheet. The adsorption head 212 is made of stainless steel, which is non-magnetic and has high hardness and good wear resistance.

[0065] Reference Figure 2 to Figure 4 As shown, in one embodiment, the handling device further includes a measuring platform 5, the measuring platform 5 is arranged opposite to the second end of the adsorption head 212, and the measuring platform 5 is used to abut against the second end of the adsorption head 212;

[0066] The sensing device 3 is a contact displacement sensor, and includes a housing 31 and a contact rod 32. The housing 31 is mounted on the support frame 22, one end of the contact rod 32 is connected to the housing 31, and the other end of the contact rod 32 is directly or indirectly in contact with the adsorption device 21.

[0067] In this specific example, a contact displacement sensor is selected as the sensing device 3, which can provide a more accurate measurement result. During measurement, first, before the adsorption device 21 takes the nickel sheet, the first translation device 11 of the translation mechanism 1 is controlled to descend along the first direction (Z direction) so that the adsorption device 21 abuts against the measuring platform 5 and has a certain amount of compression (for example, a compression of 0.5 wires). At this time, the reading of the sensing device 3 is controlled to be cleared, that is, the sensing device 3 is reset to zero, which is used as the zero point of the measurement; then after the adsorption device 21 takes the nickel sheet, the first translation device 11 of the translation mechanism 1 is controlled to descend along the first direction (Z direction) to the same height. At this time, the data fed back by the sensing device 3 is the total thickness of all the nickel sheets taken by the adsorption device 21. According to the total thickness value, it can be judged whether there are multiple nickel sheets stacked. Since the first translation device 11 is a servo screw module, it has a high repeatability positioning accuracy, which can ensure that the adsorption device 21 is lowered to the same height each time under the driving force of the first translation device 11.

[0068] Since the contact rod 32 of the sensing device 3 is in direct or indirect contact with the adsorption device 21 , when the measuring platform 5 is in contact with the adsorption head 212 , the contact rod 32 is indirectly contacted by the measuring platform 5 , thereby achieving the purpose of measuring by the sensing device 3 .

[0069] Reference Figure 4 As shown, in one embodiment, the taking mechanism 2 further includes a linear guide rail 23 and a transfer block 24, the linear guide rail 23 includes a track 231 and a slider 232, the track 231 is mounted on the support frame 22, and the track 231 is extended along the first direction;

[0070] The adapter block 24 is connected to the slider 232 , the adsorption device 21 is disposed on the adapter block 24 , and the adsorption device 21 is installed on the support frame 22 through the adapter block 24 and the linear guide rail 23 .

[0071] In this specific example, the linear guide 23 can provide precise guiding action; the adsorption device 21 is connected to the slider 232 of the linear guide 23 through the adapter block 24, so that the adsorption head 212 of the adsorption device 21 can be in a flexible state; when the adsorption device 21 moves downward along the first direction (Z direction) to abut against the measuring platform 5, the adsorption device 21 will be affected by the reaction force of the measuring platform 5 and move upward. The upward movement of the adsorption device 21 is precisely guided by the linear guide 23, which can ensure the accuracy of the measurement of the sensing device 3.

[0072] Reference Figure 4 , Figure 5 As shown, in one embodiment, the taking mechanism 2 further includes a connecting block 25, a limiting rod 26 and an elastic member 27, the connecting block 25 is connected to the supporting frame 22, and the connecting block 25 and the adapter block 24 are arranged opposite to each other and spaced apart along a first direction;

[0073] One end of the limiting rod 26 is connected to the connecting block 25 , and the other end of the limiting rod 26 is connected to the adapter block 24 . The elastic member 27 is sleeved on the outside of the limiting rod 26 , and the elastic member 27 is located between the connecting block 25 and the adapter block 24 .

[0074] In this specific example, the elastic member 27 can provide an elastic reset driving force for the adsorption device 21. When the adsorption device 21 moves upward along the first direction (Z direction) under the driving force of the first translation device 11 to separate the adsorption head 212 from the measurement platform 5, the adsorption device 21 can be reset under the elastic reset driving force of the elastic member 27. In addition, the limit rod 26 can limit the adsorption device 21 to ensure that the adsorption device 21 can be reset to the initial position under the action of the elastic member 27.

[0075] Reference Figure 5 As shown, in one embodiment, the connecting block 25 is provided with a through hole, and the limiting rod 26 includes a rod body 261 and a limiting platform 260, wherein the rod body 261 is passed through the through hole; and the limiting platform 260 is provided at the end where the rod body 261 is connected to the connecting block 25;

[0076] The elastic member 27 is sleeved on the outside of the rod body 261 ; along the first direction, the projection of the limiting platform 260 covers the projection of the through hole.

[0077] In this specific example, the rod body 261 of the limiting rod 26 is inserted into the through hole of the connecting block 25, and the end of the rod body 261 away from the connecting block 25 can be plug-connected or snap-connected with the adapter block 24. The size of the limiting platform 260 of the limiting rod 26 is larger than the size of the through hole to ensure that the end of the rod body 261 connected to the connecting block 25 will not pass through the through hole of the connecting block 25 and detach from the connecting block 25.

[0078] Reference Figure 5 As shown, in one embodiment, the taking mechanism 2 also includes a buffer sleeve 28, which is sleeved on the outside of the rod body 261, and the buffer sleeve 28 is arranged between the limit platform 260 and the connecting block 25, between the elastic member 27 and the connecting block 25, and between the elastic member 27 and the adapter block 24.

[0079] In this specific example, three U-shaped buffer sleeves 28 are provided to provide buffer protection for the limiting rod 26 , the connecting block 25 and the adapter block 24 .

[0080] Reference Figure 4 As shown, in one embodiment, the number of the adsorption devices 21 is two, and the two adsorption devices 21 independently adsorb the nickel sheet respectively; the sensing device 3, the linear guide rail 23, the adapter block 24, the connecting block 25, the limit rod 26 and the elastic member 27 are all arranged corresponding to the adsorption device 21.

[0081] In this specific example, two adsorption devices 21 are provided in the picking mechanism 2, and the two adsorption devices 21 adsorb the nickel sheets independently, thereby speeding up the conveying speed of the nickel sheets and improving the production efficiency.

[0082] Reference Figure 3 As shown, in one embodiment, the removal device 4 includes an air blowing pipe 41 and an air supply member, one end of the air blowing pipe 41 is connected to the air supply member, and the other end of the air blowing pipe 41 is used to blow gas to remove the remaining nickel sheets.

[0083] In this specific example, the excess nickel sheet is removed by blowing. Since the nickel sheet is small in size and thin in thickness, if a contact removal method is used, it is not only difficult to operate, but also easy to damage the nickel sheet; therefore, the non-contact method of blowing is used to remove the remaining nickel sheets, which can avoid damage to the nickel sheet. In addition, since the first nickel sheet directly connected to the adsorption device 21 is attached to the adsorption head 212 of the adsorption device 21 by vacuum adsorption, as long as the adsorption device 21 does not break the vacuum, the first nickel sheet is connected to the adsorption device 21 very firmly, and when the blowing pipe 41 blows air at the nickel sheet, the first nickel sheet will not be separated from the adsorption device 21; and the remaining nickel sheets stacked with the first nickel sheet have a small adhesion force with the first nickel sheet, so the remaining nickel sheets can be easily removed by the blowing action of the blowing pipe 41.

[0084] Reference Figure 3 As shown, in one embodiment, the handling device further includes a recovery box 6 , which is disposed below the removal device 4 , and the recovery box 6 is used to receive the remaining nickel sheets removed by the removal device 4 .

[0085] In this specific example, the remaining nickel sheets removed by the removal device 4 are recovered into the recovery box 6 to prevent the remaining nickel sheets from flowing into the next process, thereby ensuring the stability and accuracy of each process.

[0086] In addition, the handling equipment further comprises a frame 7 , and the third translation device 13 of the translation mechanism 1 is mounted and fixed on the frame 7 .

[0087] The support frame 22 of the picking mechanism 2 includes a mounting bracket 221, which is mounted and fixed on the first translation device 11 of the translation mechanism 1; it also includes a vertical plate 222, and the linear guide rail 23 and the connecting block 25 are fixed to the vertical plate 222; it also includes a fixing plate 223, the fixing plate 223 is connected to the vertical plate 222, and the housing 31 of the sensing device 3 is installed on the fixing plate 223.

[0088] According to another embodiment of the present application, a working method of the handling device as described above is provided, the working method comprising:

[0089] The taking mechanism 2 moves translationally at least along a first direction under the driving force of the translation mechanism 1 so that the adsorption device 21 adsorbs the nickel sheet;

[0090] The sensing device 3 performs a measurement operation on the nickel sheets to measure the total thickness of all the nickel sheets adsorbed by the adsorption device 21 and provide a feedback signal;

[0091] When the feedback signal is judged that there are at least two nickel sheets adsorbed by the adsorption device 21, wherein the first nickel sheet is directly connected to the adsorption device 21, and the remaining nickel sheets are stacked on a side of the first nickel sheet away from the adsorption device 21, the removal device 4 removes the remaining nickel sheets;

[0092] The sensing device 3 repeats the measuring action, and when the feedback signal is judged that the adsorption device 21 adsorbs at least two nickel sheets, the removing device 4 repeats the removing action; until the feedback signal is judged that the adsorption device 21 adsorbs one nickel sheet.

[0093] The working method of the handling equipment provided in the embodiment of the present application can realize closed-loop control of the nickel sheet adsorbed by the adsorption device 21 through the cooperation of the sensing device 3 and the removing device 4; that is, through the closed-loop control of measuring action-removing action-measuring action-removing action, the missed stacked nickel sheets (the remaining nickel sheets stacked with the first nickel sheet) can still be removed to ensure that only a single nickel sheet is adsorbed by the adsorption device 21.

[0094] In other embodiments, in order to improve production efficiency, after the adsorption device 21 takes the nickel sheet each time, the removal device 4 may be used to blow air on the nickel sheet without going through the measurement action of the sensing device 3; as mentioned above, the first nickel sheet directly attached to the adsorption device 21 is very firmly connected, while the adhesion force between the remaining nickel sheets and the first nickel sheet is relatively small, and the blowing action of the blowing tube 41 can basically ensure that the remaining nickel sheets are removed.

[0095] In addition, in order to maximize efficiency, in actual production, the measurement action is generally repeated only once, and then the waste is discharged. Because if there are multiple unqualified cases, it may be because the nickel sheet has been deformed, or there may be nickel sheets remaining on the measurement platform. In addition, since the pre-treatment of blowing to remove the nickel sheet has been carried out before the measurement, the waste can be directly discharged after repeating the measurement action.

[0096] The above embodiments focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0097] Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration, not for limiting the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A handling device, characterized in that: The transport equipment is used to transport nickel sheets, and the transport equipment includes: A translation mechanism (1), wherein the translation mechanism (1) can at least provide a driving force for translational movement along a first direction; A picking mechanism (2), the picking mechanism (2) being mounted on the translation mechanism (1), the picking mechanism (2) being capable of at least translational movement along a first direction under the action of a driving force of the translation mechanism (1); the picking mechanism (2) comprising an adsorption device (21), the adsorption device (21) being configured to adsorb a nickel sheet, and when the nickel sheet is adsorbed on the adsorption device (21), the first direction corresponds to a thickness direction of the nickel sheet; A sensing device (3), the sensing device (3) being connected to the picking mechanism (2), the sensing device (3) being configured to measure the total thickness of all nickel sheets adsorbed by the adsorption device (21) and to provide a feedback signal; A removal device (4), when the feedback signal is judged that the adsorption device (21) adsorbs at least two nickel sheets, the first nickel sheet is directly connected to the adsorption device (21), and the remaining nickel sheets are stacked on a side of the first nickel sheet away from the adsorption device (21), the removal device (4) is configured to remove the remaining nickel sheets.

2. The handling equipment according to claim 1, characterized in that: The translation mechanism (1) comprises a first translation device (11), a second translation device (12) and a third translation device (13); the picking mechanism (2) is mounted on the first translation device (11), the first translation device (11) is mounted on the second translation device (12), and the second translation device (12) is mounted on the third translation device (13); The picking mechanism (2) moves translationally along a first direction under the driving force of the first translation device (11), the first translation device (11) moves translationally along a second direction under the driving force of the second translation device (12), and the second translation device (12) moves translationally along a third direction under the driving force of the third translation device (13).

3. The handling equipment according to claim 1, characterized in that: The picking mechanism (2) further comprises a support frame (22), and the adsorption device (21) is mounted on the support frame (22); the adsorption device (21) comprises a fixed block (211) and an adsorption head (212), the fixed block (211) is connected to the support frame (22), a first end of the adsorption head (212) is connected to the fixed block (211), and a second end of the adsorption head (212) is used for adsorbing the nickel sheet.

4. The handling equipment according to claim 3, characterized in that: The cross section of the adsorption head (212) is rectangular, and the material of the adsorption head (212) is stainless steel.

5. The handling equipment according to claim 3, characterized in that: The handling device further comprises a measuring platform (5), wherein the measuring platform (5) is arranged opposite to the second end of the adsorption head (212), and the measuring platform (5) is used to abut against the second end of the adsorption head (212); The sensing device (3) is a contact displacement sensor, comprising a housing (31) and a contact rod (32), wherein the housing (31) is mounted on the support frame (22), one end of the contact rod (32) is connected to the housing (31), and the other end of the contact rod (32) is directly or indirectly in contact with the adsorption device (21).

6. The handling equipment according to claim 5, characterized in that: The taking mechanism (2) further comprises a linear guide rail (23) and a transfer block (24); the linear guide rail (23) comprises a track (231) and a slider (232); the track (231) is mounted on the support frame (22); and the track (231) is extended along a first direction; The adapter block (24) is connected to the slider (232), the adsorption device (21) is arranged on the adapter block (24), and the adsorption device (21) is installed on the support frame (22) through the adapter block (24) and the linear guide rail (23).

7. The handling equipment according to claim 6, characterized in that: The taking mechanism (2) further comprises a connecting block (25), a limiting rod (26) and an elastic member (27); the connecting block (25) is connected to the supporting frame (22); the connecting block (25) and the adapter block (24) are arranged opposite to each other and spaced apart along a first direction; One end of the limiting rod (26) is connected to the connecting block (25), and the other end of the limiting rod (26) is connected to the adapter block (24). The elastic member (27) is sleeved on the outside of the limiting rod (26), and the elastic member (27) is located between the connecting block (25) and the adapter block (24).

8. The handling equipment according to claim 7, characterized in that: The connecting block (25) is provided with a through hole, the limiting rod (26) comprises a rod body (261) and a limiting platform (260), the rod body (261) is passed through the through hole; the limiting platform (260) is provided at the end of the rod body (261) connected to the connecting block (25); The elastic member (27) is sleeved on the outside of the rod body (261); along the first direction, the projection of the limiting platform (260) covers the projection of the through hole.

9. The handling equipment according to claim 8, characterized in that: The taking mechanism (2) further comprises a buffer sleeve (28), the buffer sleeve (28) being sleeved on the outside of the rod body (261), and the buffer sleeve (28) being arranged between the limit platform (260) and the connecting block (25), between the elastic member (27) and the connecting block (25), and between the elastic member (27) and the adapter block (24).

10. The handling equipment according to claim 7, characterized in that: The number of the adsorption devices (21) is two, and the two adsorption devices (21) adsorb the nickel sheet independently respectively; the sensing device (3), the linear guide rail (23), the adapter block (24), the connecting block (25), the limit rod (26) and the elastic member (27) are all arranged corresponding to the adsorption device (21).

11. The handling equipment according to claim 1, characterized in that: The removal device (4) comprises an air blowing pipe (41) and an air supply member, one end of the air blowing pipe (41) is connected to the air supply member, and the other end of the air blowing pipe (41) is used to blow gas to remove the remaining nickel sheets.

12. The handling equipment according to claim 1, characterized in that: The handling equipment further comprises a recovery box (6), wherein the recovery box (6) is arranged below the removal device (4), and the recovery box (6) is used to receive the remaining nickel sheets removed by the removal device (4).

13. A working method of the handling device according to any one of claims 1 to 12, characterized in that: The working method comprises: The picking mechanism (2) moves translationally at least along a first direction under the driving force of the translation mechanism (1) so that the adsorption device (21) adsorbs the nickel sheet; The sensing device (3) performs a measuring action on the nickel sheets to measure the total thickness of all the nickel sheets adsorbed by the adsorption device (21) and provide a feedback signal; When the feedback signal is judged to indicate that the adsorption device (21) adsorbs at least two nickel sheets, wherein the first nickel sheet is directly connected to the adsorption device (21), and the remaining nickel sheets are stacked on a side of the first nickel sheet away from the adsorption device (21), the removal device (4) removes the remaining nickel sheets; The sensing device (3) repeats the measuring action, and when the feedback signal is judged that the number of nickel sheets adsorbed by the adsorption device (21) is at least two, the removing device (4) repeats the removing action; until the feedback signal is judged that the number of nickel sheets adsorbed by the adsorption device (21) is one.

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