A handling apparatus and a method of operation thereof

Abstract

The application discloses a carrying device and a working method thereof. The carrying device 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 can at least move in a first direction under the driving force of the translation mechanism. The taking mechanism comprises an adsorption device configured to adsorb the nickel sheets. In the case that the nickel sheets are adsorbed on the adsorption device, the first direction corresponds to the thickness direction of the nickel sheets. The sensing device is connected with the taking mechanism and is configured to measure the total thickness of all the nickel sheets adsorbed on the adsorption device and provide a feedback signal. When the feedback signal is judged as the nickel sheets adsorbed on the adsorption device being at least two, and the first nickel sheet being directly connected with the adsorption device and the remaining nickel sheets being stacked on the side of the first nickel sheet away from the adsorption device, the removing device is configured to remove the remaining nickel sheets.

Description

Technical Field

[0001] This application relates to the field of battery manufacturing technology, and more specifically, to a handling device and its operating method. Background Technology

[0002] With my country placing increasing emphasis on energy conservation and environmental protection, the use of green and environmentally friendly electrical equipment is becoming more and more widespread. The power source for this type of equipment is lithium batteries, which have advantages such as high energy density, long cycle life, and high energy conversion efficiency. The lithium battery manufacturing process involves handling nickel sheets.

[0003] Due to the small size of nickel sheets, multiple sheets are prone to stacking during handling. Existing nickel sheet handling mechanisms cannot determine whether the picked-up nickel sheets have stacking issues; furthermore, to solve and avoid stacking problems after welding, existing technologies often require manual inspection of all products to determine if any have stacked sheets; and stacked products are directly scrapped, which is not only inefficient but also costly.

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

[0005] One objective of this application is to provide a new technical solution for a handling device and its working method.

[0006] According to a first aspect of this application, a handling device is provided for handling nickel sheets, the handling device comprising:

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

[0008] The picking mechanism is mounted on the translation mechanism and can be translated along at least a first direction under the driving force of the translation mechanism; the picking mechanism includes an adsorption device configured to adsorb nickel sheets, wherein when the nickel sheets are adsorbed by the adsorption device, the first direction corresponds to the thickness direction of the nickel sheets.

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

[0010] The removal device is configured to remove the remaining nickel sheets when the feedback signal determines that the adsorption device has adsorbed 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 the side of the first nickel sheet away from the adsorption device.

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

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

[0013] Optionally, the picking mechanism further includes a support frame, and the adsorption device is mounted on the support frame; the adsorption device includes a fixing block and an adsorption head, the fixing block is connected to the support frame, the first end of the adsorption head is connected to the fixing block, and the second end of the adsorption head is used to adsorb nickel sheets.

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

[0015] Optionally, the conveying device further includes a measuring platform, which is disposed 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, which includes 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 directly or indirectly abuts against the adsorption device.

[0017] Optionally, the picking mechanism further includes a linear guide rail and a transition block. The linear guide rail includes a track and a slider. The track is mounted on the support frame and extends along a first direction.

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

[0019] Optionally, the picking mechanism further includes a connecting block, a limiting rod, and an elastic element. The connecting block is connected to the support frame, and the connecting block and the adapter block are arranged opposite to each other and spaced apart along a first direction.

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

[0021] Optionally, the connecting block has a through hole, and the limiting rod includes a rod body and a limiting platform, with the rod body passing through the through hole; the limiting platform is provided at the end of the rod body that connects to the connecting block.

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

[0023] Optionally, the picking mechanism further includes a buffer sleeve, which is sleeved on the outside of the rod body, and the buffer sleeve is provided between the limiting platform and the connecting block, between the elastic element and the connecting block, and between the elastic element and the adapter block.

[0024] Optionally, two adsorption devices are provided, and the two adsorption devices adsorb nickel sheets independently; the sensing device, the linear guide rail, the adapter block, the connecting block, the limiting rod, and the elastic element are all provided corresponding to the adsorption devices.

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

[0026] Optionally, the handling device further includes a recycling box disposed below the removal device, the recycling box being used to receive the remaining nickel sheets removed by the removal device.

[0027] According to a second aspect of this application, a method of operating the handling equipment as described in the first aspect is provided, the method comprising:

[0028] The picking mechanism moves 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 action on the nickel sheets 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 indicates that the adsorption device has adsorbed 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 the 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 measurement action. When the feedback signal indicates that the adsorption device has adsorbed at least two nickel sheets, the removal device repeats the removal action until the feedback signal indicates that the adsorption device has adsorbed only one nickel sheet.

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

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

[0034] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

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

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

[0037] Figure 2 This is a partial structural diagram of a handling device according to an embodiment of this application. Figure 1 ;

[0038] Figure 3 This is a partial structural diagram of a handling device according to an embodiment of this application. Figure 2 ;

[0039] Figure 4 This is a schematic diagram of the structure of the picking mechanism and sensing device in a handling device according to an embodiment of this application. Figure 1 ;

[0040] Figure 5 This is a schematic diagram of the structure of the picking mechanism and sensing device in a handling device according to an embodiment of this application. Figure 2 ;

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

[0042] Explanation of reference numerals in the attached figures:

[0043] 1. Translation mechanism; 11. First translation device; 12. Second translation device; 13. Third translation device; 2. Picking mechanism; 21. Adsorption device; 211. Fixing block; 212. Adsorption head; 200. Adsorption hole; 213. Vacuum generator; 22. Support frame; 221. Mounting bracket; 222. Vertical plate; 223. Fixing plate; 23. Linear guide rail; 231. Track; 232. Slider; 24. Adapter block; 25. Connecting block; 26. Limiting rod; 261. Rod body; 260. Limiting platform; 27. Elastic element; 28. Buffer sleeve; 3. Sensing device; 31. Housing; 32. Contact rod; 4. Removal device; 41. Air blowing pipe; 5. Measuring platform; 6. Recycling box; 7. Frame. Detailed Implementation

[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, numerical expressions, and values ​​of the components and steps 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 and is in no way intended to limit the scope of this application and its application or use.

[0046] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

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

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

[0049] Reference Figures 1-6 As shown, according to one embodiment of this application, a handling device is provided. The handling device is used to handle nickel sheets and includes a translation mechanism 1, a picking mechanism 2, a sensing device 3, and a removal device 4. The translation mechanism 1 can provide at least a driving force for translational movement along a first direction.

[0050] The picking mechanism 2 is mounted on the translation mechanism 1. Under the driving force of the translation mechanism 1, the picking mechanism 2 can translate at least along a first direction. The picking mechanism 2 includes an adsorption device 21, which is configured to adsorb nickel sheets. When the nickel sheets are adsorbed by the adsorption device 21, the first direction corresponds to the thickness direction of the nickel sheets.

[0051] The sensing device 3 is connected to the picking 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 determines that the adsorption device 21 has adsorbed at least two nickel sheets, 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 this application embodiment, the picking mechanism 2 is used to handle nickel sheets. Under the driving force of the translation mechanism 1, the picking mechanism 2 can move to a designated station along at least a first direction, 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 a qualified operation; however, since the nickel sheets are generally small in size and very thin, adjacent stacked nickel sheets are prone to sticking together. Thus, when the adsorption device 21 adsorbs the nickel sheets, it often happens that when the adsorption device 21 adsorbs the first nickel sheet, the first nickel sheet will be picked up along with the other nickel sheets stacked together. This is a qualified operation, and the other nickel sheets picked up along with it need to be removed.

[0054] In the conveying device provided in this embodiment, 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. This allows it to determine whether the adsorption device 21 adsorbs a single nickel sheet or multiple nickel sheets. If the feedback signal indicates 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 intended to be adsorbed, but also the first nickel sheet adheres to and carries the remaining nickel sheets, in this case, the conveying device provided in this embodiment can remove the remaining nickel sheets using the removal device 4.

[0055] In summary, the conveying equipment provided in this application embodiment can measure and judge the nickel sheet conveyed by the adsorption device 21. When multiple nickel sheets are stacked together and conveyed by the adsorption device 21, the conveying equipment provided in this application embodiment can also remove the excess nickel sheets to ensure that the adsorption device 21 adsorbs and conveys a single nickel sheet, thereby improving the yield and stability of conveying 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 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.

[0057] The picking mechanism 2 moves along a first direction under the driving force of the first translation device 11, the first translation device 11 moves along a second direction under the driving force of the second translation device 12, and the second translation device 12 moves along a 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 provides a driving force for translational movement along a first direction; a second translation device 12, which provides a driving force for translational movement along a second direction; and a third translation device 13, which provides 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 movements along the first, second, and third directions to ensure that the picking mechanism 2 can move to the designated workstation 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 lead screw modules, which have high translation accuracy. (Refer to...) Figure 1 As shown, the first direction mentioned above is Figure 1 The Z-direction shown is the second direction. Figure 1 The Y-axis shown is the third direction. Figure 1 The X direction is shown in the diagram.

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

[0061] In this specific example, the support frame 22 provides support and mounting for the adsorption device 21. The support frame 22 is connected to the first translation device 11, and the adsorption device 21 is mounted on the first translation device 11 via the support frame 22. The fixing 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 nickel sheets.

[0062] Furthermore, the fixing block 211 has a first cavity, and the adsorption head 212 has a second cavity, with the first and second cavities interconnected. The adsorption device 21 also includes a vacuum generator 213, which is disposed on the fixing block 211 and communicates with the first cavity of the fixing block 211. Through the vacuuming action of the vacuum generator 213, a negative pressure is formed in the first and second cavities to achieve the effect of adsorbing nickel sheets through the adsorption head 212. Further, an adsorption hole 200 is provided at the second end of the adsorption head 212.

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

[0064] In this specific example, the adsorption head 212 has a rectangular cross-section and is generally cuboid in shape 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 Figures 2-4 As shown, in one embodiment, the conveying device further includes a measuring platform 5, which is disposed 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. The sensing device 3 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 directly or indirectly abuts against the adsorption device 21.

[0067] In this specific example, a contact displacement sensor is selected as the sensing device 3, which can provide relatively accurate measurement results. During measurement, before the adsorption device 21 picks up 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 comes into contact with the measuring platform 5 and has a certain amount of compression (e.g., 0.5 filament compression). At this time, the reading of the sensing device 3 is cleared to zero, that is, the sensing device 3 is zeroed, which is used as the zero point of the measurement. Then, after the adsorption device 21 picks up 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 picked up by the adsorption device 21. Based on this total thickness value, it can be determined whether there is a stacking of multiple nickel sheets. Since the first translation device 11 is a servo screw module, it has high repeatability and positioning accuracy, which can ensure that the adsorption device 21 descends to the same height every 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, the contact rod 32 is indirectly contacted by the measuring platform 5 while the measuring platform 5 is in contact with the adsorption head 212, thereby achieving the purpose of measurement through the sensing device 3.

[0069] Reference Figure 4 As shown, in one embodiment, the picking mechanism 2 further includes a linear guide rail 23 and a transition 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 extends along a 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 mounted 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 provides precise guidance; the adsorption device 21 is connected to the slider 232 of the linear guide 23 via the adapter block 24, which allows the adsorption head 212 of the adsorption device 21 to be in a flexible state; when the adsorption device 21 moves downward along the first direction (Z direction) and comes into contact with the measuring platform 5, the adsorption device 21 will be subjected to 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 by the sensing device 3.

[0072] Reference Figure 4 , Figure 5 As shown, in one embodiment, the picking mechanism 2 further includes a connecting block 25, a limiting rod 26, and an elastic element 27. The connecting block 25 is connected to the support 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 element 27 is sleeved on the outside of the limiting rod 26, and the elastic element 27 is located between the connecting block 25 and the adapter block 24.

[0074] In this specific example, the elastic element 27 can provide an elastic reset driving force for the adsorption device 21. After the adsorption device 21 moves upward in the first direction (Z direction) under the driving force of the first translation device 11 to disengage the adsorption head 212 from the measuring platform 5, the adsorption device 21 can be reset under the elastic reset driving force of the elastic element 27. Furthermore, the limiting 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 element 27.

[0075] Reference Figure 5 As shown, in one embodiment, the connecting block 25 has a through hole, and the limiting rod 26 includes a rod body 261 and a limiting platform 260. The rod body 261 passes through the through hole; the limiting platform 260 is provided at the end of the rod body 261 that is connected to the connecting block 25.

[0076] The elastic element 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 passes through the through hole of the connecting block 25, and the end of the rod body 261 away from the connecting block 25 can be plugged into or snapped into 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 protrude out of 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 picking mechanism 2 further includes a buffer sleeve 28, which is sleeved on the outside of the rod body 261, and the buffer sleeve 28 is provided between the limiting 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, a total of 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 adsorption devices 21 is two, and the two adsorption devices 21 adsorb nickel sheets independently; the sensing device 3, the linear guide rail 23, the adapter block 24, the connecting block 25, the limiting rod 26 and the elastic element 27 are all arranged corresponding to the adsorption devices 21.

[0081] In this specific example, by setting two adsorption devices 21 in the picking mechanism 2, the two adsorption devices 21 adsorb nickel sheets independently, which can speed up the handling of nickel sheets and improve 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 component. One end of the air blowing pipe 41 is connected to the air supply component, 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, air blowing is used to remove excess nickel sheets. Because the nickel sheets are small and thin, contact removal methods are not only difficult to operate but also easily damage the sheets. Therefore, using a non-contact air blowing method to remove the remaining nickel sheets avoids damage. Furthermore, since the first nickel sheet directly connected to the adsorption device 21 is adhered to the adsorption head 212 of the adsorption device 21 through vacuum adsorption, as long as the adsorption device 21 does not break the vacuum, the first nickel sheet is firmly connected to the adsorption device 21. When the air blowing pipe 41 blows air onto the nickel sheet, it will not detach from the adsorption device 21. The remaining nickel sheets, which are stacked on top of the first nickel sheet, have weak adhesion to it, so the air blowing action of the air blowing pipe 41 makes them easy to remove.

[0084] Reference Figure 3 As shown, in one embodiment, the handling device further includes a recycling box 6 disposed below the removal device 4, the recycling box 6 being 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 recycled into the recycling box 6 to prevent the remaining nickel sheets from flowing into the next process, thus ensuring the stability and accuracy of each process.

[0086] In addition, the handling equipment also includes 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, a linear guide rail 23 and a connecting block 25 fixed to the vertical plate 222; it also includes a fixing plate 223, which is connected to the vertical plate 222, and the housing 31 of the sensing device 3 is mounted on the fixing plate 223.

[0088] According to another embodiment of this application, a method for operating the conveying device as described above is provided, the method comprising:

[0089] The picking mechanism 2 moves at least along the 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 action on the nickel sheet 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 determines that the adsorption device 21 has adsorbed 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 the 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 measurement action. When the feedback signal indicates that the adsorption device 21 has adsorbed at least two nickel sheets, the removal device 4 repeats the removal action until the feedback signal indicates that the adsorption device 21 has adsorbed only one nickel sheet.

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

[0094] In other embodiments, in order to improve production efficiency, after each nickel sheet is picked up by the adsorption device 21, the nickel sheet can be blown by the removal device 4 without the measurement action of the sensing device 3. As mentioned above, the first nickel sheet that is directly attached to the adsorption device 21 is very firmly connected, while the adhesion between the remaining nickel sheets and the first nickel sheet is small. The blowing action of the air blowing pipe 41 can basically ensure the removal of the remaining nickel sheets.

[0095] Furthermore, to maximize efficiency, the measurement process is typically repeated only once in actual production before waste disposal. This is because multiple failures could be due to deformation of the nickel sheet or residual nickel on the measuring platform. Since a pre-treatment involving blowing away nickel has already been performed before measurement, waste disposal can be performed directly after the first measurement.

[0096] The above embodiments mainly describe 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. For the sake of brevity, they will not be elaborated here.

[0097] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A handling device, characterized in that, The handling equipment is used to handle nickel sheets, and the handling equipment includes: Translation mechanism (1), which can provide at least a driving force for translational motion in a first direction; The picking mechanism (2) is mounted on the translation mechanism (1) and can be translated along at least a first direction under the driving force of the translation mechanism (1); the picking mechanism (2) includes an adsorption device (21) configured to adsorb nickel sheet, wherein the first direction corresponds to the thickness direction of the nickel sheet when the nickel sheet is adsorbed by the adsorption device (21); A sensing device (3) is connected to the picking mechanism (2) and is configured to measure the total thickness of all nickel sheets adsorbed by the adsorption device (21) and provide a feedback signal. The removal device (4) is configured to remove the remaining nickel sheets when the feedback signal determines that the adsorption device (21) has adsorbed at least two nickel sheets, 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 picking mechanism (2) further includes a support frame (22), a linear guide rail (23), and a connecting 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 extends along a first direction. The connecting block (24) is connected to the slider (232). The adsorption device (21) is disposed on the connecting block (24) and is mounted on the support frame (22) through the connecting block (24) and the linear guide rail (23). The adsorption device (21) is provided in two quantities, and the two adsorption devices (21) adsorb nickel sheets independently; the sensing device (3), the linear guide rail (23) and the adapter block (24) are all provided in correspondence with the adsorption device (21); The sensing device (3) is a contact displacement sensor. The sensing device (3) 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) directly or indirectly abuts against the adsorption device (21). After the adsorption device (21) takes the nickel sheet, the first translation device (11) of the control translation mechanism (1) is lowered along the first direction to the same height as before the nickel sheet was taken.

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

3. The handling equipment according to claim 1, characterized in that, The adsorption device (21) includes a fixing block (211) and an adsorption head (212). The fixing block (211) is connected to the support frame (22). The first end of the adsorption head (212) is connected to the fixing block (211), and the second end of the adsorption head (212) is used to adsorb nickel sheets.

4. The handling equipment according to claim 3, characterized in that, The adsorption head (212) has a rectangular cross-section and is made of stainless steel.

5. The handling equipment according to claim 3, characterized in that, The transport device also includes a measuring platform (5), which is disposed 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).

6. The handling equipment according to claim 1, characterized in that, The picking mechanism (2) further includes a connecting block (25), a limiting rod (26) and an elastic element (27). The connecting block (25) is connected to the support frame (22). The connecting block (25) and the adapter block (24) are opposite to each other and spaced apart along the 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 element (27) is sleeved on the outside of the limiting rod (26), and the elastic element (27) is located between the connecting block (25) and the adapter block (24).

7. The handling equipment according to claim 6, characterized in that, The connecting block (25) has a through hole, and the limiting rod (26) includes a rod body (261) and a limiting platform (260). The rod body (261) passes through the through hole; the end of the rod body (261) connected to the connecting block (25) is provided with the limiting platform (260). The elastic element (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.

8. The handling equipment according to claim 7, characterized in that, The picking mechanism (2) also includes a buffer sleeve (28), which is sleeved on the outside of the rod body (261). The buffer sleeve (28) is provided between the limiting platform (260) and the connecting block (25), between the elastic element (27) and the connecting block (25), and between the elastic element (27) and the adapter block (24).

9. The handling equipment according to claim 6, characterized in that, The connecting block (25), the limiting rod (26), and the elastic element (27) are all correspondingly provided with the adsorption device (21).

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

11. The handling equipment according to claim 1, characterized in that, The handling equipment also includes a recycling box (6), which is located below the removal device (4) and is used to receive the remaining nickel sheets removed by the removal device (4).

12. A method of operating the conveying equipment as described in any one of claims 1-11, characterized in that, The working method includes: The picking mechanism (2) moves at least in the 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 measurement action on the nickel sheet 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 determined to indicate that the adsorption device (21) has adsorbed 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 the 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 measurement action. When the feedback signal is determined to indicate that the adsorption device (21) has adsorbed at least two nickel sheets, the removal device (4) repeats the removal action until the feedback signal is determined to indicate that the adsorption device (21) has adsorbed only one nickel sheet.

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