Battery automatic sorting device and method based on servo control

Abstract

The invention relates to the technical field of sorting devices, and provides an automatic battery sorting device and method.The automatic battery sorting device comprises a mechanical arm positioning mechanism, a mechanical arm sorting mechanism, a laser color sensor and a positioning control system.The mechanical arm positioning mechanism is used for driving the mechanical arm sorting mechanism to move in the X-axis direction and the Y-axis direction; the positioning control system comprises a programmable logic controller control unit, a programmable logic controller IO unit, a programmable logic controller bus communication unit and a servo driving unit, the laser color sensor is connected with the programmable logic controller IO unit, and the laser color sensor is used for detecting the color change of a material tray below the laser color sensor; and a digital signal is output to a programmable controller IO unit, and the coordinates of the central position of each battery are determined through a laser color sensor and a positioning control system. The position of the battery on the charging tray is automatically identified, the programmable controller automatically calculates, time is saved, and efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sorting devices, and in particular to a battery automatic sorting device and method based on servo control. Background Art

[0002] In the process of small battery production line, battery sorting and loading is an important process. Batteries are loaded on trays. A certain number of trays are stacked together and pushed into the equipment to automatically sort the batteries one by one. Different specifications of batteries have different numbers of trays. In the production of small batteries, the battery shell is generally gray or silver-white, and the tray is generally black, with a very large color contrast. Under the existing technology, every time the equipment switches the battery production specifications, the operator needs to input parameters for the location and quantity of the battery, which takes a lot of time each time and the equipment cannot automatically recognize it. If the wrong parameters are entered, the action will be wrong and it may even hit and damage the equipment.

[0003] The equipment in the prior art can only pick up one battery at a time. When the number of batteries is relatively large, the picking efficiency of the equipment will become a production bottleneck of the production line, restricting the overall production. After sorting a layer of trays, the equipment notifies the operator by sound and light to manually remove the empty trays of materials, which increases the safety risks of production to a certain extent. The sorting time for each layer of batteries is roughly 5-10 minutes in total, which means that the operator needs to remove the empty trays every 5-10 minutes. If the operator fails to remove the empty trays in time, production efficiency will be greatly reduced. In the prior art, the operator manually adjusts the parameters based on operating experience, can only sort one piece of material at a time, and the empty trays are removed manually, which seriously restricts production efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a battery automatic sorting device and method based on servo control, aiming to solve the problems mentioned in the background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a battery automatic sorting device based on servo control, comprising a manipulator positioning mechanism, a manipulator sorting mechanism, a laser color sensor and a positioning control system, wherein the manipulator positioning mechanism is used to drive the manipulator sorting mechanism to move along the X-axis and the Y-axis, and the positioning control system comprises a programmable controller control unit, a programmable controller IO unit, a programmable controller bus communication unit and a servo drive unit, wherein the servo drive unit is connected to the programmable controller bus communication unit via a bus communication cable, and the laser color sensor is connected to the programmable controller IO unit, and the laser color sensor is used to detect the color change on the material tray below and output a digital signal to the programmable controller IO unit, and the center position coordinates of each battery are determined by the laser color sensor and the positioning control system.

[0006] As a further solution of the present invention, the manipulator positioning mechanism includes a fixed gantry, on which a Y-axis linear transmission slide base plate and a Y-axis tank chain fixing bracket are arranged, the Y-axis tank chain fixing bracket is used to install the Y-axis tank chain, the Y-axis linear transmission slide base plate is fixed above the gantry, a Y-axis linear transmission slide is arranged below the Y-axis linear transmission slide base plate, a Y-axis moving servo motor is arranged on the driving side of the Y-axis linear transmission slide, an X-axis linear transmission slide base plate is arranged below the Y-axis linear transmission slide, and the X-axis linear transmission slide base plate is arranged below the X-axis linear transmission slide An X-axis linear transmission slide is arranged on the side, an X-axis tank chain fixing bracket is arranged on the side of the bottom plate of the X-axis linear transmission slide, the X-axis tank chain fixing bracket is used to install the X-axis tank chain, an X-axis moving servo motor is arranged on the driving side of the X-axis linear transmission slide, and a manipulator sorting mechanism bottom plate is arranged on one side of the X-axis linear transmission slide; a manipulator sorting mechanism and a laser color sensor are installed on the manipulator sorting mechanism bottom plate, and the cables of the X-axis servo motor, the manipulator sorting mechanism and the laser color sensor are connected to the positioning control system through the Y-axis tank chain and the X-axis tank chain.

[0007] As a further solution of the present invention, the manipulator sorting mechanism includes telescopic cylinder 1 and telescopic cylinder 2, each telescopic cylinder is provided with a vacuum suction cup, an air pipe is provided on the vacuum suction cup to provide vacuum pressure, a retraction magnetic sensor is provided on the telescopic cylinder, a vacuum pressure detection sensor 1 and a vacuum pressure detection sensor 2 are respectively provided on the two vacuum suction cups, and a vacuum control solenoid valve and a telescopic control solenoid valve are also provided on the telescopic cylinder.

[0008] As a further solution of the present invention, the manipulator sorting mechanism is controlled by a sorting control system, the sorting control system includes a programmable controller control unit and an IO unit, the vacuum pressure detection sensor is connected to the programmable controller IO unit, and the vacuum control solenoid valve and the telescopic control solenoid valve of the telescopic cylinder are connected to the programmable controller IO unit.

[0009] As a further solution of the present invention, after determining the center position coordinates of each battery, the programmable controller control unit controls the telescopic control solenoid valve of the telescopic cylinder 1 through the IO unit, so that the telescopic cylinder 1 extends and starts to sort the battery 1, and controls the vacuum control solenoid valve so that the vacuum suction cup on the telescopic cylinder 1 sucks the battery 1, and the vacuum pressure detection sensor 1 feeds back the signal of sucking the battery 1 to the control unit through the IO unit, and the control unit controls the telescopic cylinder 1 to retract through the IO unit, and the corresponding retracted magnetic sensor feeds back the retraction signal to the control unit through the IO unit, and the battery 1 completes the sorting; the control unit automatically analyzes the battery in The position distribution of the material tray selects the correct sorting path, controls the X-axis moving servo motor and the Y-axis moving servo motor to locate to the coordinate position of battery two, and the control unit controls the telescopic solenoid valve of the telescopic cylinder two through the IO unit, and the telescopic cylinder two extends to start sorting battery two, controls the vacuum solenoid valve, and the vacuum suction cup of the telescopic cylinder two sucks battery two, and the vacuum pressure detection sensor two feeds back the signal of sucking battery two to the control unit through the IO unit, and the control unit controls the telescopic cylinder two to retract through the IO unit, and the retraction magnetic sensor of the telescopic cylinder two feeds back the retraction signal to the control unit through the IO unit, and the battery two is sorted.

[0010] As a further solution of the present invention, the automatic battery sorting device also includes a fixed frame, an empty tray picking mechanism, an empty tray moving mechanism and an empty tray removal control system. The fixed frame is set on the ground, and an empty tray moving mechanism is installed on the fixed frame. The empty tray moving mechanism includes a group of transmission slides, and a mobile servo motor is arranged on the driving side of the transmission slide; an empty tray picking mechanism fixing plate is arranged on the transmission slide; a picking mechanism tank chain and a picking mechanism tank chain bracket are arranged on the outside of the empty tray moving mechanism, and one end of the picking mechanism tank chain is connected to the empty tray picking mechanism fixing plate; an empty tray picking mechanism is installed on the empty tray picking mechanism fixing plate, and the empty tray picking mechanism includes a picking mechanism L-shaped bracket, and the picking mechanism L-shaped bracket is arranged on the A telescopic cylinder of a picking mechanism and a vacuum pressure detection sensor of the picking mechanism are installed; a Y-direction bottom plate is arranged at the telescopic cylinder of the picking mechanism; the Y-direction bottom plate has four adjustable long holes; two X-direction bottom plates are arranged on the Y-direction bottom plate; the X-direction bottom plate is connected with the Y-direction bottom plate through the adjustable long holes; two adjustable long holes are arranged on the X-direction bottom plate, and two vacuum suction cups of the picking mechanism are arranged; an air pipe is arranged on the vacuum suction cup of the picking mechanism to provide vacuum pressure; a retraction magnetic sensor is arranged on the telescopic cylinder of the picking mechanism; a vacuum pressure detection sensor of the picking mechanism is arranged on the vacuum suction cup of the picking mechanism; the telescopic cylinder of the picking mechanism is controlled by a vacuum control solenoid valve and a telescopic control solenoid valve.

[0011] As a further solution of the present invention, the empty tray removal control system includes a programmable controller control unit and an IO unit, a programmable controller bus communication unit and a servo drive unit; the vacuum pressure detection sensor of the picking mechanism is connected to the programmable controller IO unit with a cable through a tank chain, the vacuum control solenoid valve of the telescopic cylinder of the picking mechanism and the cable of the telescopic control solenoid valve are connected to the programmable controller IO unit through the tank chain, the mobile servo motor is connected to the servo drive unit through a cable, and the servo drive unit is connected to the programmable control unit through a bus communication unit; when the batteries are sorted from the tray, the manipulator sorting mechanism leaves the sorting area, the control unit controls the servo drive unit through the bus communication unit, and the servo drive unit The control unit drives the empty tray picking mechanism to be positioned at the sorting area, and the control unit controls the cylinder extension solenoid valve of the empty tray picking mechanism through the IO unit to extend the cylinder, and the control unit controls the vacuum solenoid valve of the cylinder of the empty tray picking mechanism through the IO unit. After the vacuum suction cup sucks the empty tray, the vacuum pressure detection sensor feeds back the suction signal to the IO unit, and the control unit controls the cylinder extension solenoid valve of the empty tray picking mechanism through the IO unit, and the cylinder of the empty tray picking mechanism retracts, and the cylinder retracts The magnetic sensor feeds back the suction signal to the IO unit, the control unit controls the servo drive unit to position the empty tray moving mechanism to the empty tray release position, and the cylinder of the empty tray picking mechanism extends. After the vacuum suction cup releases the empty tray, the empty tray remains in the empty tray position, and the cylinder of the empty tray picking mechanism retracts, waiting for the next removal of the empty tray.

[0012] Another object of the present invention is to provide a servo-controlled automatic battery sorting method, which is applied to the servo-controlled automatic battery sorting device. After the new material tray is in place, the manipulator is driven to move to the coordinate origin, and the manipulator scans along the Y-axis direction to reach the edge of the material tray; the manipulator is driven to move to the coordinate origin, and the manipulator scans along the X-axis direction to reach the edge of the material tray, and the formula is used to calculate the picking coordinates of each battery to complete the battery position coordinate identification calculation.

[0013] In summary, the beneficial effects of the present invention are:

[0014] The present invention automatically identifies the position of the battery on the tray through the closed-loop system of sensor and servo motor feedback, and the programmable controller automatically calculates without manual parameter modification, saving time and improving efficiency. At the same time, it can avoid the hidden danger of equipment collision caused by modifying the wrong parameters, automatically generate the sorting route through the programmable controller, drive the servo motor to position the sorting device, automatically match the action according to the number of batteries, pick up two batteries at a time, and improve efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0016] Figure 1 The figure is a schematic diagram of the three-dimensional structure of an automatic battery sorting device based on servo control according to an embodiment of the present invention.

[0017] Figure 2 The figure is a schematic top view of the structure of a servo-controlled automatic battery sorting device according to an embodiment of the present invention.

[0018] Figure 3 The figure is a front structural schematic diagram of an automatic battery sorting device based on servo control according to an embodiment of the present invention.

[0019] Figure 4 The present invention is a schematic diagram of a control system for an automatic battery sorting device based on servo control according to an embodiment of the present invention.

[0020] Figure 5 The present invention is a flowchart of a method for automatic battery sorting based on servo control.

[0021] Figure 6 This is a simplified diagram of the calculation position of a battery automatic sorting device based on servo control according to an embodiment of the present invention.

[0022] Figure 7 The present invention is a battery sorting flow chart of an automatic battery sorting device based on servo control according to an embodiment of the present invention.

[0023] Figure numerals: 1-gantry, 2-Y-axis linear transmission slide base plate, 3-Y-axis tank chain fixing bracket, 4-Y-axis linear transmission slide, 5-Y-axis moving servo motor, 6-X-axis linear transmission slide base plate, 7-X-axis linear transmission slide, 8-X-axis tank chain fixing bracket, 9-X-axis moving servo motor, 10-manipulator sorting mechanism base plate, 12-laser color sensor, 13-X-axis tank chain, 14-Y-axis tank chain, 15-telescopic cylinder one, 16-telescopic cylinder two, 17 -vacuum suction cup, 18-vacuum pressure detection sensor 1, 19-vacuum pressure detection sensor 2, 20-fixed frame, 21-transmission slide, 22-mobile servo motor, 23-empty disc picking mechanism fixed plate, 24-picking mechanism tank chain, 25-picking mechanism tank chain bracket, 26-picking mechanism L-shaped bracket, 27-picking mechanism telescopic cylinder, 28-picking mechanism vacuum pressure detection sensor, 29-Y direction bottom plate, 30-X direction bottom plate, 31-picking mechanism vacuum suction cup. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0026] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 An embodiment of the present invention provides a battery automatic sorting device based on servo control, including a manipulator positioning mechanism, a manipulator sorting mechanism, a laser color sensor 12 and a positioning control system, wherein the manipulator positioning mechanism is used to drive the manipulator sorting mechanism to move the X-axis and the Y-axis, and the positioning control system includes a programmable controller control unit, a programmable controller IO unit, a programmable controller bus communication unit and a servo drive unit, wherein the servo drive unit is connected to the programmable controller bus communication unit via a bus communication cable, and the laser color sensor 12 is connected to the programmable controller IO unit, and the laser color sensor 12 is used to detect the color change on the lower material tray, and the laser color sensor 12 emits laser from top to bottom and outputs a digital signal to the programmable controller IO unit, and the center position coordinates of each battery are determined by the laser color sensor 12 and the positioning control system.

[0027] In the embodiment of the present invention, the manipulator positioning mechanism includes a fixed gantry 1, on which a Y-axis linear transmission slide base plate 2 and a Y-axis tank chain fixing bracket 3 are arranged, and the Y-axis tank chain fixing bracket 3 is used to install a Y-axis tank chain 14, the Y-axis linear transmission slide base plate 2 is fixed above the gantry 1, and a Y-axis linear transmission slide 4 is arranged below the Y-axis linear transmission slide base plate 2, a Y-axis moving servo motor 5 is arranged on the driving side of the Y-axis linear transmission slide 4, an X-axis linear transmission slide base plate 6 is arranged below the Y-axis linear transmission slide 4, and an X-axis is arranged below the X-axis linear transmission slide base plate 6. Linear transmission slide 7, X-axis tank chain fixing bracket 8 is set on the side of X-axis linear transmission slide bottom plate 6, X-axis tank chain fixing bracket 8 is used to install X-axis tank chain 13, X-axis moving servo motor 9 is set on the driving side of X-axis linear transmission slide 7, and a manipulator sorting mechanism bottom plate 10 is set on one side of X-axis linear transmission slide 7; manipulator sorting mechanism and laser color sensor 12 are installed on the manipulator sorting mechanism bottom plate 10, and the cables of X-axis servo motor 9, manipulator sorting mechanism and laser color sensor 12 are connected to the positioning control system through Y-axis tank chain 14 and X-axis tank chain 13. Relying on the two servo motors of XY axis, the manipulator sorting mechanism bottom plate 10 and the laser color sensor 12 set on the bottom plate can be driven to position in the two directions of XY of the gantry 1, and the battery material tray below can be detected for color distinction.

[0028] In the embodiment of the present invention, the manipulator sorting mechanism includes a telescopic cylinder 15 and a telescopic cylinder 2 16, each telescopic cylinder is provided with a vacuum suction cup 17, an air pipe is provided on the vacuum suction cup 17 to provide vacuum pressure, a retraction magnetic sensor is provided on the telescopic cylinder, a vacuum pressure detection sensor 18 and a vacuum pressure detection sensor 2 19 are respectively provided on the two vacuum suction cups 17, and a vacuum control solenoid valve and a telescopic control solenoid valve are also provided on the telescopic cylinder.

[0029] See also Figure 5 , Figure 6 and Figure 7 In the embodiment of the present invention, after the newly loaded tray enters the sorting position, the programmable controller control unit controls the XY axis servo motor through bus communication to position the laser color sensor to the [0,0] coordinate point of the tray. The laser color sensor 12 can detect the color change on the tray below. The battery shell color is generally gray or silver-white, and the tray is generally black, and the color contrast is very large. The laser color sensor 12 can identify the color difference and output a digital signal to the programmable controller IO unit, and the IO unit further sends the digital signal to the control unit.

[0030] When in use, the laser color sensor 12 is driven to position along the Y-axis direction at a speed of 10 mm / s. When a color change difference is detected, the dividing point between the tray and the battery is confirmed. The Y-axis servo motor feeds back the actual position in real time, and the control unit records the Y-axis position data at this time, i.e., Y1. In the process of driving the laser color sensor 12 to position to the edge of the tray area along the Y-axis direction, Y1, Y2, Y3, Y4, Y5, Y6, ..., Ym will be recorded in the Y-axis direction, and the control unit will record and store them. The control unit controls the XY-axis servo motor through bus communication to position the laser color sensor 12 to the [0,0] coordinate point of the tray again. The laser color sensor is driven to position along the X-axis direction at a speed of 10 mm / s. When a color change difference is detected, the dividing point between the material tray and the battery is confirmed. The X-axis movement servo motor 9 feeds back the actual position in real time, and the control unit records the X-axis position data at this time, that is, X1. In the process of driving the laser color sensor to position to the edge of the material tray area along the X-axis direction, X1, X2, X3, X4, X5, Y6, ..., Xn will be recorded in the X-axis direction, and the control unit will record and store them. The manipulator sorting mechanism needs to locate the center position of the battery for sorting. The controller will automatically calculate the center position coordinates of each battery in the Y-axis direction according to the formula YCm center point position = (Y2m-Y2m-1) / 2+Y2m-1, and automatically calculate the center position coordinates of each battery in the X-axis direction according to the formula XCn center point position = (X2n+1-X2n-1) / 2+X2n-1. The specific coordinates of the sorting center position of each battery on the entire tray can be obtained based on the position of each battery on the Y-axis and X-axis. In this way, the equipment can automatically identify and calculate the position of the battery on the tray, and no manual parameter input is required, which improves efficiency and saves time, while avoiding damage to the equipment due to incorrect parameter input.

[0031] In an embodiment of the present invention, the manipulator sorting mechanism is controlled by a sorting control system, which includes a programmable controller control unit and an IO unit, a vacuum pressure detection sensor connected to the programmable controller IO unit, and a vacuum control solenoid valve and a telescopic control solenoid valve of the telescopic cylinder connected to the programmable controller IO unit.

[0032] In the embodiment of the present invention, after determining the center position coordinates of each battery, the programmable controller control unit controls the telescopic control solenoid valve of the telescopic cylinder 15 through the IO unit, so that the telescopic cylinder 15 extends and starts to sort the battery 1, and controls the vacuum control solenoid valve so that the vacuum suction cup 17 on the telescopic cylinder 15 sucks the battery 1, and the vacuum pressure detection sensor 18 feeds back the signal of sucking the battery 1 to the control unit through the IO unit, and the control unit controls the telescopic cylinder 15 to retract through the IO unit, and the corresponding retraction magnetic sensor feeds back the retraction signal to the control unit through the IO unit, and the battery 1 is sorted; the control unit automatically analyzes the position of the battery in the tray The control unit controls the telescopic solenoid valve of the telescopic cylinder 16 through the IO unit, and the telescopic cylinder 16 extends to start sorting the battery 2. The vacuum solenoid valve is controlled, and the vacuum suction cup 17 of the telescopic cylinder 16 sucks the battery 2. The vacuum pressure detection sensor 2 19 feeds back the signal of sucking the battery 2 to the control unit through the IO unit. The control unit controls the telescopic cylinder 16 to retract through the IO unit, and the retracted magnetic sensor of the telescopic cylinder 16 feeds back the retraction signal to the control unit through the IO unit, and the battery 2 is sorted. In this way, the robot sorting mechanism can sort out two batteries to the production line in one sorting process, doubling the sorting efficiency.

[0033] Specifically, after the control unit calculates the battery position coordinates, the battery sorting process begins, and the telescopic cylinder 1 15 is sorted first, and the telescopic cylinder 2 16 is sorted later. The sorting mechanism is driven to the battery one, the telescopic cylinder 1 15 is extended, the corresponding vacuum suction cup pressure is activated, and the vacuum pressure detection sensor feedbacks whether the pressure is qualified. After it is qualified, the telescopic cylinder 1 15 retracts to complete the sorting of battery 1. The telescopic cylinder 1 15 and the telescopic cylinder 2 16 are arranged in parallel, so when sorting batteries, sorting in the X-axis direction is prioritized, and the XY axis movement is minimal. The control unit calculates the number of columns of the battery in the X direction based on the battery position coordinates. When the number of columns is greater than or equal to 2, battery 2 exists on the X axis, and battery 2 is sorted first. The sorting device is positioned at battery 2, the telescopic cylinder 2 16 is extended, the corresponding vacuum suction cup pressure is activated, and the vacuum pressure detection sensor feedbacks whether the pressure is qualified. After it is qualified, the telescopic cylinder 2 16 retracts to complete the sorting of battery 2. After sorting battery 1 and battery 2, the control unit drives the sorting device to the release position and releases the battery according to the production line instructions. If there are still batteries on the tray, the control unit drives the sorting device to the battery 3 for the next cycle. If the last battery is sorted, the control unit drives the sorting device to the release position, which will trigger the subsequent empty tray removal process, saving time and improving efficiency.

[0034] When the number of battery columns in the X direction is an odd number, when the sorting is positioned to the last column, the action will automatically switch. After the telescopic cylinder 15 sorts the Ni battery, there is no Ni battery on the right side of the X axis. The control unit drives the sorting device to locate the Ni+1 battery for sorting. Similarly, if the number of batteries on the tray is an odd number, after the telescopic cylinder 15 sorts the last battery, the control unit will directly drive the sorting device to locate the battery release position and will not sort again. If the number of battery columns in the X direction is an even number, the sorting device will locate the battery on the right side of the X axis of the first battery each time and sort it as the second battery. According to the battery position coordinates, the telescopic cylinder 15 and the telescopic cylinder 2 16 will automatically adapt to the configuration, optimize the most reasonable positioning and sorting route, and improve efficiency. Each sorting cycle can be changed from the original one battery to the current two batteries, and the automatic recognition and calculation of the position coordinates are realized, and the function of automatic adaptation and matching switching of the action is realized, which improves efficiency and optimizes the action.

[0035] In the embodiment of the present invention, when the battery sorting is completed, there is no need to manually remove the empty trays, and the empty trays are automatically transported. When a certain number of empty trays are accumulated, the operator is notified by sound and light to transport them together, which improves production efficiency and reduces safety hazards. Therefore, the battery automatic sorting device also includes a fixed frame 20, an empty tray picking mechanism, an empty tray moving mechanism and an empty tray removal control system. The fixed frame 20 is set on the ground, and an empty tray moving mechanism is installed on the fixed frame 20. The empty tray moving mechanism includes a group of transmission slides 21, and a mobile servo motor 22 is arranged on the driving side of the transmission slide 21; an empty tray picking mechanism fixing plate 23 is arranged on the transmission slide 21; a picking mechanism tank chain 24 and a picking mechanism tank chain bracket 25 are arranged on the outside of the empty tray moving mechanism, and one end of the picking mechanism tank chain 24 is connected to the empty tray picking mechanism fixing plate 23; an empty tray picking mechanism is installed on the empty tray picking mechanism fixing plate 23, and the empty tray picking mechanism includes a picking mechanism L-shaped bracket 26, and a picking mechanism L-shaped bracket 26 is installed with a picking mechanism. The picking mechanism telescopic cylinder 27 and the picking mechanism vacuum pressure detection sensor 28, the picking mechanism telescopic cylinder 27 is provided with a Y-direction bottom plate 29, the Y-direction bottom plate 29 has four adjustable long holes, two X-direction bottom plates 30 are provided on the Y-direction bottom plate 29, and the X-direction bottom plate 30 is connected with the Y-direction bottom plate 29 through the adjustable long holes; the X-direction bottom plate 30 is provided with two adjustable long holes, and two picking mechanism vacuum suction cups 31 are provided; the picking mechanism vacuum suction cups 31 are provided with an air pipe to provide vacuum pressure, the picking mechanism telescopic cylinder 27 is provided with a retraction magnetic sensor, the picking mechanism vacuum suction cup 31 is provided with a picking mechanism vacuum pressure detection sensor 28, and the picking mechanism telescopic cylinder 27 is controlled by a vacuum control solenoid valve and a telescopic control solenoid valve.

[0036] In the embodiment of the present invention, the empty tray removal control system includes a programmable controller control unit and an IO unit, a programmable controller bus communication unit and a servo drive unit; the vacuum pressure detection sensor 28 of the picking mechanism is connected to the programmable controller IO unit by a cable through a tank chain, the vacuum control solenoid valve of the telescopic cylinder 27 of the picking mechanism and the cable of the telescopic control solenoid valve are connected to the programmable controller IO unit through a tank chain, the mobile servo motor 22 is connected to the servo drive unit through a cable, and the servo drive unit is connected to the programmable control unit through a bus communication unit; when the batteries are sorted from the tray, the manipulator sorting mechanism leaves the sorting area, the control unit controls the servo drive unit through the bus communication unit, and the servo drive The unit drives the empty tray picking mechanism to be positioned to the sorting area, the control unit controls the cylinder extension solenoid valve of the empty tray picking mechanism through the IO unit to extend the cylinder, the control unit controls the vacuum solenoid valve of the empty tray picking mechanism cylinder through the IO unit, after the vacuum suction cup sucks the empty tray, the vacuum pressure detection sensor feeds back the suction signal to the IO unit, the control unit controls the cylinder extension solenoid valve of the empty tray picking mechanism through the IO unit, the empty tray picking mechanism cylinder retracts, the cylinder retracts the magnetic sensor to feed back the suction signal to the IO unit, the control unit controls the servo drive unit to position the empty tray moving mechanism to the empty tray release position, the empty tray picking mechanism cylinder extends, after the vacuum suction cup releases the empty tray, the empty tray remains in the empty tray position, the empty tray picking mechanism cylinder retracts, and waits for the next removal of the empty tray. Relying on this device and method, the empty trays can be picked up and positioned from the working sorting position to the empty tray release position in sequence, and then manually transported after being concentrated, thereby improving production efficiency.

[0037] After all the batteries have been sorted, the empty tray transfer process is triggered, and the robot sorting mechanism is checked to be not in the sorting area. The control unit drives the servo motor to locate the empty tray picking mechanism in the sorting area, and the cylinder extends. The vacuum pressure is activated, and the vacuum pressure sensor feedback sucks the empty tray, and the cylinder retracts. The control unit drives the servo motor to locate the empty tray picking mechanism to release the empty tray area, and the cylinder extends, and the vacuum pressure is turned off. The cylinder retracts, and the empty tray transfer is completed. When a certain number of empty trays accumulate, the light buzzes to notify the operator to take out the empty trays together. The prior art lacks this device. After the single-layer batteries are sorted, the empty trays need to be removed manually before sorting can continue. The production efficiency is low and there are safety risks. The improved device and method can effectively improve efficiency.

[0038] An embodiment of the present invention also provides a servo-controlled automatic battery sorting method, which is applied to the servo-controlled automatic battery sorting device. After the new material tray is in place, the manipulator is driven to move to the coordinate origin, and the manipulator scans along the Y-axis direction to reach the edge of the material tray; the manipulator is driven to move to the coordinate origin, and the manipulator scans along the X-axis direction to reach the edge of the material tray, and the formula is used to calculate the picking coordinates of each battery to complete the battery position coordinate identification calculation.

[0039] For those skilled in the art, although several embodiments and examples of the present invention are described, these embodiments and examples are presented as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the scope of the subject matter of the invention. These embodiments and their variations are included in the scope and subject matter of the invention, and are included in the invention described in the claims and the scope of their equivalents.

[0040] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A battery automatic sorting device based on servo control, characterized in that: The invention comprises a manipulator positioning mechanism, a manipulator sorting mechanism, a laser color sensor (12) and a positioning control system. The manipulator positioning mechanism is used to drive the manipulator sorting mechanism to move along the X-axis and the Y-axis. The positioning control system comprises a programmable controller control unit, a programmable controller IO unit, a programmable controller bus communication unit and a servo drive unit. The servo drive unit is connected to the programmable controller bus communication unit via a bus communication cable. The laser color sensor (12) is connected to the programmable controller IO unit. The laser color sensor (12) is used to detect the color change on the material tray below and output a digital signal to the programmable controller IO unit. The center position coordinates of each battery are determined by the laser color sensor (12) and the positioning control system.

2. The servo-controlled automatic battery sorting device according to claim 1 is characterized in that: The manipulator positioning mechanism comprises a fixed gantry (1), on which a Y-axis linear transmission slide base plate (2) and a Y-axis tank chain fixing bracket (3) are arranged, the Y-axis tank chain fixing bracket (3) is used to install a Y-axis tank chain (14), the Y-axis linear transmission slide base plate (2) is fixed above the gantry (1), a Y-axis linear transmission slide (4) is arranged below the Y-axis linear transmission slide base plate (2), a Y-axis moving servo motor (5) is arranged on the driving side of the Y-axis linear transmission slide (4), an X-axis linear transmission slide base plate (6) is arranged below the Y-axis linear transmission slide (4), and an X-axis linear transmission slide base plate (6) is arranged below the X-axis linear transmission slide base plate (6). A movable slide (7), an X-axis tank chain fixing bracket (8) is arranged on the side of the X-axis linear transmission slide bottom plate (6), and the X-axis tank chain fixing bracket (8) is used to install the X-axis tank chain (13). An X-axis moving servo motor (9) is arranged on the driving side of the X-axis linear transmission slide (7), and a manipulator sorting mechanism bottom plate (10) is arranged on one side of the X-axis linear transmission slide (7); a manipulator sorting mechanism and a laser color sensor (12) are installed on the manipulator sorting mechanism bottom plate (10), and the cables of the X-axis servo motor (9), the manipulator sorting mechanism and the laser color sensor (12) are connected to the positioning control system through the Y-axis tank chain (14) and the X-axis tank chain (13).

3. The automatic battery sorting device based on servo control according to claim 1 is characterized in that: The manipulator sorting mechanism comprises a telescopic cylinder 1 (15) and a telescopic cylinder 2 (16), each telescopic cylinder is provided with a vacuum suction cup (17), an air pipe is provided on the vacuum suction cup (17) to provide vacuum pressure, a retraction magnetic sensor is provided on the telescopic cylinder, a vacuum pressure detection sensor 1 (18) and a vacuum pressure detection sensor 2 (19) are respectively provided on the two vacuum suction cups (17), and a vacuum control solenoid valve and a telescopic control solenoid valve are also provided on the telescopic cylinder.

4. The servo-controlled automatic battery sorting device according to claim 3 is characterized in that: The manipulator sorting mechanism is controlled by a sorting control system, which includes a programmable controller control unit and an IO unit, a vacuum pressure detection sensor connected to the programmable controller IO unit, and a vacuum control solenoid valve and a telescopic control solenoid valve of the telescopic cylinder connected to the programmable controller IO unit.

5. The servo-controlled automatic battery sorting device according to claim 4 is characterized in that: After determining the center position coordinates of each battery, the programmable controller control unit controls the telescopic control solenoid valve of the telescopic cylinder (15) through the IO unit, so that the telescopic cylinder (15) extends and starts to sort the battery, and controls the vacuum control solenoid valve so that the vacuum suction cup (17) on the telescopic cylinder (15) sucks the battery, and the vacuum pressure detection sensor (18) feeds back the signal of sucking the battery to the control unit through the IO unit. The control unit controls the telescopic cylinder (15) to retract through the IO unit, and the corresponding retracted magnetic sensor feeds back the retracted signal to the control unit through the IO unit, and the battery is sorted; the control unit automatically analyzes the position distribution of the battery on the tray and selects the correct one. The control unit controls the telescopic solenoid valve of the telescopic cylinder (16) through the IO unit, and the telescopic cylinder (16) extends to start sorting the battery. The vacuum solenoid valve is controlled, and the vacuum suction cup (17) of the telescopic cylinder (16) sucks the battery. The vacuum pressure detection sensor (19) feeds back the signal of sucking the battery to the control unit through the IO unit. The control unit controls the telescopic cylinder (16) to retract through the IO unit. The retracted magnetic sensor of the telescopic cylinder (16) feeds back the retracted signal to the control unit through the IO unit, and the battery is sorted.

6. The automatic battery sorting device based on servo control according to claim 1 is characterized in that: The battery automatic sorting device further comprises a fixed frame (20), an empty tray picking mechanism, an empty tray moving mechanism and an empty tray removal control system. The fixed frame (20) is arranged on the ground, and an empty tray moving mechanism is installed on the fixed frame (20). The empty tray moving mechanism comprises a group of transmission slides (21), and a moving servo motor (22) is arranged on the driving side of the transmission slide (21); an empty tray picking mechanism fixing plate (23) is arranged on the transmission slide (21); a picking mechanism tank chain (24) and a picking mechanism tank chain bracket (25) are arranged on the outer side of the empty tray moving mechanism, and one end of the picking mechanism tank chain (24) is connected to the empty tray picking mechanism fixing plate (23); an empty tray picking mechanism is installed on the empty tray picking mechanism fixing plate (23), and the empty tray picking mechanism comprises a picking mechanism L-shaped bracket (26), and a picking mechanism extension is installed on the picking mechanism L-shaped bracket (26). The invention relates to a pick-up mechanism telescopic cylinder (27) and a pick-up mechanism vacuum pressure detection sensor (28). A Y-direction bottom plate (29) is arranged at the pick-up mechanism telescopic cylinder (27). The Y-direction bottom plate (29) has four adjustable long holes. Two X-direction bottom plates (30) are arranged on the Y-direction bottom plate (29). The X-direction bottom plates (30) are connected to the Y-direction bottom plate (29) through the adjustable long holes. Two adjustable long holes are arranged on the X-direction bottom plate (30), and two pick-up mechanism vacuum suction cups (31) are arranged. The pick-up mechanism vacuum suction cups (31) are arranged with an air pipe to provide vacuum pressure. A retraction magnetic sensor is arranged on the pick-up mechanism telescopic cylinder (27). A pick-up mechanism vacuum pressure detection sensor (28) is arranged on the pick-up mechanism vacuum suction cup (31). The pick-up mechanism telescopic cylinder (27) is controlled by a vacuum control electromagnetic valve and a telescopic control electromagnetic valve.

7. The automatic battery sorting device based on servo control according to claim 6 is characterized in that: The empty tray removal control system comprises a programmable controller control unit and an IO unit, a programmable controller bus communication unit and a servo drive unit; the vacuum pressure detection sensor (28) of the picking mechanism is connected to the programmable controller IO unit by a cable through a tank chain, the vacuum control solenoid valve and the telescopic control solenoid valve of the picking mechanism telescopic cylinder (27) are connected to the programmable controller IO unit by a cable through a tank chain, the mobile servo motor (22) is connected to the servo drive unit by a cable, and the servo drive unit is connected to the programmable control unit through a bus communication unit; when the batteries are sorted from the tray, the robot sorting mechanism leaves the sorting area, the control unit controls the servo drive unit through the bus communication unit, and the servo drive unit The control unit drives the empty tray picking mechanism to be positioned at the sorting area, and the control unit controls the cylinder extension solenoid valve of the empty tray picking mechanism through the IO unit to extend the cylinder, and the control unit controls the vacuum solenoid valve of the cylinder of the empty tray picking mechanism through the IO unit. After the vacuum suction cup sucks the empty tray, the vacuum pressure detection sensor feeds back the suction signal to the IO unit, and the control unit controls the cylinder extension solenoid valve of the empty tray picking mechanism through the IO unit, and the cylinder of the empty tray picking mechanism retracts, and the cylinder retracts The magnetic sensor feeds back the suction signal to the IO unit, the control unit controls the servo drive unit to position the empty tray moving mechanism to the empty tray release position, and the cylinder of the empty tray picking mechanism extends. After the vacuum suction cup releases the empty tray, the empty tray remains in the empty tray position, and the cylinder of the empty tray picking mechanism retracts, waiting for the next removal of the empty tray.

8. A battery automatic sorting method based on servo control, characterized in that: Applied to the servo-controlled automatic battery sorting device described in claim 1, after the new tray is in place, the manipulator is driven to move to the coordinate origin, and the manipulator scans along the Y-axis direction to reach the edge of the tray; Drive the robot to move to the coordinate origin, scan along the X-axis direction, reach the edge of the tray, use the formula to calculate the picking coordinates of each battery, and complete the battery position coordinate recognition calculation.

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