Conveying mechanism, pole piece detection device and laminating machine

Abstract

The application provides a carrying mechanism, a pole piece detection device and a laminating machine, and belongs to the technical field of battery cell preparation. The carrying mechanism comprises a supporting seat, a moving arm and an abutting structure, the supporting seat has a first region and a second region; the moving arm comprises a first supporting arm and a second supporting arm, the first supporting arm is movably connected to the supporting seat, the second supporting arm is elastically connected to the first supporting arm, the abutting structure comprises a first abutting piece and a second abutting piece, the first abutting piece is arranged on the second supporting arm, and the second abutting piece is arranged on the supporting seat; the first abutting piece and the second abutting piece can slide and abut, and are configured to: in the process that the moving arm moves from the first region to the second region, the second supporting arm is driven to elastically move in the first direction, and in the process that the moving arm moves from the second region to the first region, the second supporting arm is made to elastically move in the second direction. The application has the advantages of simple structure, high running speed and high running stability.

Description

Technical Field

[0001] This application belongs to the technical field of workpiece handling, and more specifically, relates to a handling mechanism, an electrode detection device, and a stacking machine. Background Technology

[0002] Currently, for the movement of robotic arms in handling mechanisms in multiple directions, multiple drives are usually used to drive them separately. Each drive drives the movement in one direction, which makes the structure of the equipment more complex. Furthermore, it is necessary to consider the coordinated control between different drives, which not only increases the manufacturing cost of the equipment but also reduces the reliability and stability of the system. Summary of the Invention

[0003] The purpose of this application is to provide a handling mechanism, an electrode detection device, and a stacking machine to solve the shortcomings of the prior art that requires multiple drives to achieve multi-directional movement of the robotic arm.

[0004] To achieve the above objectives, the first aspect of this application provides a handling mechanism, comprising:

[0005] The support base has a first region and a second region;

[0006] The movable arm includes a first support arm and a second support arm. The first support arm is movably connected to the support base so that the movable arm can move between the first region and the second region. The second support arm is elastically connected to the first support arm and configured to grip a workpiece to be transported.

[0007] The abutting structure includes a first abutting member and a second abutting member, wherein the first abutting member is disposed on one of the support base and the second support arm, and the second abutting member is disposed on the other of the support base and the second support arm;

[0008] The first abutting member and the second abutting member are slidably abutting each other and are configured to: drive the second supporting arm to move elastically in a first direction during the process of the moving arm moving from the first region to the second region, and cause the second supporting arm to move elastically in a second direction during the process of the moving arm moving from the second region to the first region.

[0009] In some embodiments, the first abutment has a contact surface and a mounting surface facing away from each other, the mounting surface being connected to the support base or the second support arm, and the second abutment being slidably abutting against the contact surface;

[0010] The contact surface is configured such that the distance between it and the mounting surface increases or decreases in the direction from the first region toward the second region.

[0011] In some embodiments, the contact surface includes a first contact surface and a second contact surface connected in sequence, wherein the distance between the first contact surface and the mounting surface increases in the direction toward the second contact surface;

[0012] The second abutment is configured such that, during the movement of the movable arm from the first region toward the second region, it moves from the first contact surface toward the second contact surface, thereby increasing the distance between the second support arm and the support base; and during the movement of the movable arm from the second region toward the first region, it moves from the second contact surface toward the first contact surface, thereby decreasing the distance between the second support arm and the support base.

[0013] In some embodiments, the number of first contact surfaces is two, and the second contact surface is connected between the two first contact surfaces.

[0014] In some embodiments, the second abutment includes a mounting base and an abutment wheel rotatably connected to the mounting base, the mounting base being connected to the support base or the second support arm, and the abutment wheel being capable of rolling abutting against the contact surface.

[0015] In some embodiments, the second abutment includes a mounting base and an abutment wheel rotatably connected to the mounting base. The peripheral side of the abutment wheel has a first contact point and a second contact point. The distance between the peripheral side of the abutment wheel and the rotation axis of the abutment wheel increases in the direction from the first contact point toward the second contact point.

[0016] The abutting wheel is capable of rolling abutting with the first abutting member and is configured to: rotate along a third direction during the movement of the movable arm from the first region toward the second region, and the abutting point of the abutting wheel and the first abutting member moves from the first contact point toward the second contact point, thereby increasing the distance between the second support arm and the support base; and rotate along a fourth direction during the movement of the movable arm from the second region toward the first region, and the abutting point of the abutting wheel and the first abutting member moves from the second contact point toward the first contact point, thereby decreasing the distance between the second support arm and the support base.

[0017] In some embodiments, the movable arm further includes an elastic arm connected between the first support arm and the second support arm, such that the second support arm can elastically move relative to the first support arm along the first direction or the second direction.

[0018] In some embodiments, the elastic arm includes at least one elastic plate, the two extended ends of which are respectively connected to the first support arm and the second support arm.

[0019] In some embodiments, there are two elastic plates, which are spaced apart, and the first support arm and the second support arm are both connected between the two elastic plates.

[0020] In some embodiments, the conveying mechanism further includes a main shaft rotatably connected to the support base, a first support arm connected to the main shaft, and the first region and the second region arranged sequentially along the circumferential direction of the main shaft.

[0021] In some embodiments, the support has two second regions, with the first region located between the two second regions.

[0022] A second aspect of this application provides an electrode detection device, comprising:

[0023] The conveying mechanism as described in the first aspect and any of the embodiments thereof; wherein the support base has two second regions;

[0024] A feeding assembly is located in one of the second regions and configured to convey the electrode to be tested toward the second region; the conveying mechanism is configured such that when the moving arm moves to the second region, the second support arm moves toward the feeding assembly and grasps the electrode to be tested;

[0025] A workbench is located in another second area; the transport mechanism is further configured such that when the moving arm moves to the second area, the second support arm moves toward the workbench and places the electrode to be tested on the workbench;

[0026] A detection component is disposed at the worktable and configured to detect the electrode placed on the worktable.

[0027] A third aspect of this application provides a stacking machine, including a transport mechanism as described in the first aspect and any embodiment thereof, or an electrode detection device as described in the second aspect.

[0028] The beneficial effects of the handling mechanism, electrode detection device and stacking machine provided in this application are as follows: compared with the prior art, the equipment structure is simplified, the number of drivers used is reduced, thereby reducing manufacturing costs, increasing the operating speed of the mechanism, and improving the reliability and stability of the equipment. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the transport mechanism in the first embodiment of this application;

[0031] Figure 2 This is an exploded view of the conveying mechanism in the first embodiment of this application;

[0032] Figure 3 This is a partial top view of the conveying mechanism in the first embodiment of this application;

[0033] Figure 4 for Figure 3 A partial view along direction A in the middle;

[0034] Figure 5 for Figure 4 Another state diagram;

[0035] Figure 6 for Figure 4 A schematic diagram of another implementation of the middle abutment structure;

[0036] Figure 7 for Figure 6 Another state diagram;

[0037] Figure 8 This is an exploded view of the movable arm in the first embodiment of this application;

[0038] Figure 9 This is a side view of the movable arm in the first embodiment of this application;

[0039] Figure 10 for Figure 9 Another state diagram;

[0040] Figure 11 This is a partial view of the abutment structure in the second embodiment of this application;

[0041] Figure 12 for Figure 11 Another state diagram;

[0042] Figure 13 for Figure 11 A schematic diagram of another implementation of the middle abutment structure;

[0043] Figure 14 for Figure 13 Another state diagram;

[0044] Figure 15 This is a side view of the movable arm in the third embodiment of this application;

[0045] Figure 16 for Figure 15 Another state diagram;

[0046] Figure 17 for Figure 15 Enlarged view of section B;

[0047] Figure 18 This is a schematic diagram of the transport mechanism in the fourth embodiment of this application;

[0048] Figure 19 This is a schematic diagram of the structure of the electrode detection device in an exemplary embodiment of this application.

[0049] The following are the labeling elements in the figure:

[0050] 100 - Support base; 101 - First area; 102 - Second area;

[0051] 200 - Moving arm; 210 - First support arm; 220 - Second support arm; 221 - Suction cup; 230 - Elastic arm; 231 - First elastic plate; 232 - Second elastic plate; 233 - Fixed plate; 234 - Guide post; 235 - Elastic element;

[0052] 300 - Abutting structure; 310 - First abutting member; 311 - Contact surface; 311a - First contact surface; 311b - Second contact surface; 3111 - First protruding tooth; 312 - Mounting surface; 320 - Second abutting member; 321 - Mounting base; 322 - Abutting wheel; 322a - First contact point; 322b - Second contact point; 3221 - Second protruding tooth; 323 - Support shaft;

[0053] 400 - Drive assembly; 410 - Drive motor; 411 - Output shaft; 420 - Motor mount; 430 - Coupling;

[0054] 500 - Workbench; 510 - Base; 520 - Platform;

[0055] 600 - Detection component; 610 - Bracket; 620 - Camera;

[0056] 700-Electrode Film. Detailed Implementation

[0057] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0058] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0059] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0061] Reference Figure 1 In a first aspect, embodiments of this application provide a handling mechanism, including a support base 100, a support arm, and an abutment structure 300. The support arm is movably connected to the support base 100, and the abutment structure 300 is disposed between the support base 100 and the movable arm 200.

[0062] The support base 100 can be a support structure of any shape, providing stable support for the movement of the support arm. The movable arm 200 can be rotatably connected to the support base 100, allowing the movable arm 200 to rotate or swing relative to the support base 100 about a certain axis. The movable arm 200 can also be slidably connected to the support base 100, allowing the movable arm 200 to slide back and forth relative to the support base 100 along a certain straight line.

[0063] Reference Figure 2In this embodiment, the conveying mechanism may further include a main shaft rotatably connected to the support base 100, and a movable arm 200 connected to the main shaft, thereby enabling the movable arm 200 to rotate or swing around the axis of the main shaft on the support base 100. In one example, the conveying mechanism may further include a drive assembly 400, which may include a drive motor 410 and a motor base 420. The motor base 420 is fixed to the support base 100, and the drive motor 410 is mounted on the motor base 420. The drive motor 410 has an output shaft 411, which can be directly used as the main shaft, that is, the movable arm 200 can be directly connected to the output shaft 411 of the drive motor 410, for example, by using a coupling 430 to connect the movable arm 200 to the output shaft 411, thereby enabling the rotation of the movable arm 200 to be controlled by the drive motor 410. Alternatively, a rotatable main shaft can be separately installed on the support base 100, and a coupling 430 or similar structure can be used to connect the output shaft 411 of the drive motor 410 to this main shaft, allowing the drive motor 410 to control the rotation of the moving arm 200 by driving the main shaft to rotate. The moving arm 200 can be directly connected to the drive motor 410, offering advantages such as simple structure and low cost. Furthermore, by simply controlling the output shaft 411 of the drive motor 410 to reciprocate within a certain angle, the moving arm 200 can achieve a reciprocating swing motion within a certain range, making the control method simple and reliable. Moreover, compared to linear movement, the rotational swing motion of the moving arm 200 reduces the need for transmission structures (such as lead screws), thereby increasing the movement speed of the moving arm 200 and improving the operating speed of the conveying mechanism.

[0064] Reference Figure 3The support base 100 has a first region 101 and a second region 102, which are areas on the support base 100 used to realize different movement ranges or functional positioning of the movable arm 200. The first region 101 and the second region 102 are arranged sequentially in the moving direction of the movable arm 200. In this embodiment, the movable arm 200 can rotate around the axis of the main shaft, so the first region 101 and the second region 102 can be arranged sequentially along the circumferential direction of the main shaft, so that the movable arm 200 can pass through the first region 101 and the second region 102 sequentially during rotation. One of the first region 101 and the second region 102 can serve as the working area of ​​the movable arm 200, and the other can serve as the transition area of ​​the movable arm 200. In the working area, the movable arm 200 can perform main grasping and placing operations, while the transition area is the intermediate area that the movable arm 200 needs to pass through during the process of transporting workpieces. The number of first area 101 and second area 102 can be set according to actual handling needs. For example, in some simple handling scenarios, only one first area 101 and one second area 102 can be set; while in some complex handling scenarios, multiple first areas 101 and multiple second areas 102 may be set to meet the handling and operation needs of different workpieces.

[0065] In one example, there can be two second regions 102, with a first region 101 located between the two second regions 102. One second region 102 can serve as a workpiece gripping area, and the other second region 102 can serve as a workpiece placement area. When the moving arm 200 rotates to the workpiece gripping area, it performs the action of gripping the workpiece; when it rotates to the workpiece placement area, it performs the action of placing the workpiece, thereby realizing the workpiece handling process. Specifically, refer to... Figure 3 The mobile arm 200 can first swing from the second area 102 (which serves as the workpiece gripping area) along the D1 direction to the first area 101, and then, after passing through the first area 101, enter the second area 102 (which serves as the workpiece placement area) along the D1' direction to complete the workpiece handling. Then, the mobile arm 200 can rotate in the opposite direction again, swinging from the second area 102 (which serves as the workpiece placement area) along the D2 direction to the first area 101, and then, after passing through the first area 101, return to the second area 102 (which serves as the workpiece gripping area) along the D2' direction for the next workpiece gripping. This configuration allows the handling mechanism to efficiently complete workpiece gripping, handling, and placement operations, improving production efficiency. Simultaneously, because the first area 101 is located between the two second areas 102, the mobile arm 200 can maintain a relatively stable motion trajectory during rotation, reducing errors and instabilities caused by frequent changes in motion direction.

[0066] Reference Figure 2The movable arm 200 may include a first support arm 210 and a second support arm 220. The first support arm 210 is movably connected to a support base, such as to a spindle, so that the movable arm 200 can move between a first region 101 and a second region 102. The second support arm 220 is elastically connected to the first support arm 210 and configured to grip a workpiece to be transported.

[0067] The first support arm 210 can be of any shape, such as a rod, plate, or other suitable shape. In one example, the first support arm 210 is connected to the output shaft 411 of the drive motor 410 via a coupling 430, and extends radially along the output shaft 411. Similarly, the second support arm 220 can also be of any shape, such as a rod, plate, or other suitable shape. The extension direction of the second support arm 220 can be parallel to the extension direction of the first support arm 210, and the second support arm 220 is located on the side of the first support arm 210 facing away from the output shaft 411. The second support arm 220 is elastically connected to the first support arm 210, allowing the second support arm 220 to move elastically relative to the first support arm 210. In one example, the movable arm 200 may further include an elastic arm 230 connected between the first support arm 210 and the second support arm 220, allowing the second support arm 220 to move elastically relative to the first support arm 210. This elastic movement of the second support arm 220 relative to the first support arm 210 can be either a movement along a first direction, causing the elastic arm 230 to be compressed and store energy, or a movement along a second direction, causing the elastic arm 230 to release its elastic potential energy and return to its original position. The first and second directions can be opposite directions. In one example, the movable arm 200 is located below a portion of the structure of the support base 100. The first direction can be the direction in which the second support arm 220 faces away from the support base 100, and the second direction can be the direction in which the second support arm 220 faces towards the support base 100.

[0068] A gripping structure can be provided on the second support arm 220 to achieve stable gripping of the workpiece to be transported. This gripping structure can be a suction cup 221, a gripper, or other suitable gripping structure, selected according to factors such as the material, shape, and size of the workpiece. In one example, a suction cup 221 can be provided on the lower surface of the second support arm 220. The suction cup 221 is suitable for gripping thin sheet-like workpieces such as electrode sheets. The suction cup 221 can be connected to a vacuum generator via an air pipe. When a workpiece needs to be gripped, the vacuum generator operates, creating negative pressure in the suction cup 221, adsorbing the workpiece onto the lower surface of the second support arm 220. When the moving arm 200 transports the workpiece to the designated position, the vacuum generator stops operating, and the suction cup 221 releases the negative pressure, thus realizing the placement of the workpiece.

[0069] The abutment structure 300 is disposed between the movable arm 200 and the support base 100, and includes a first abutment member 310 and a second abutment member 320. The first abutment member 310 is disposed on one of the support base 100 and the second support arm 220, and the second abutment member 320 is disposed on the other of the support base 100 and the second support arm 220. For example, the first abutment member 310 is disposed on the support base 100, and the second abutment member 320 is disposed on the second support arm 220; or, the first abutment member 310 is disposed on the second support arm 220, and the second abutment member 320 is disposed on the support base 100. The first abutment 310 and the second abutment 320 are slidably abutting each other and are configured such that: during the movement of the movable arm 200 from the first region 101 toward the second region 102, the distance between the second support arm 220 and the support base 100 increases, thereby driving the second support arm 220 to elastically move away from the support base 100; and during the movement of the movable arm 200 from the second region 102 toward the first region 101, the distance between the second support arm 220 and the support base 100 decreases, thereby driving the second support arm 220 to elastically move toward the support base 100.

[0070] Specifically, when the support base 100 has two second regions 102 and one first region 101, one second region 102 serves as a workpiece gripping area, and the other second region 102 serves as a workpiece placement area. When the moving arm 200 moves from the first region 101 along the D2' direction to the second region 102, which serves as the workpiece gripping area, the first abutment 310 and the second abutment 320 slide and abut against each other, with their contact points gradually changing, causing the distance between the second support arm 220 and the support base 100 to increase. The second support arm 220 elastically moves away from the support base 100, at which point the suction cup 221 prepares to grip the electrode to be tested located in the second region 102. When the moving arm 200 reaches the second region 102, the suction cup 221 generates negative pressure under the action of the vacuum generator, tightly adsorbing the electrode to be tested. Subsequently, the moving arm 200 begins to move from the second region 102, which serves as the workpiece gripping area, along the D1 direction to the first region 101. During this process, the contact points of the first abutment member 310 and the second abutment member 320 change again, causing the distance between the second support arm 220 and the support base 100 to decrease. The second support arm 220 elastically moves towards the support base 100, increasing the height of the second support arm 220 and the workpiece, avoiding positional interference during movement, and providing reserved space for the next movement. After the moving arm 200 passes the first region 101, it continues to move along the D1' direction to the second region 102, which serves as the workpiece placement area. Similarly, the first abutment member 310 and the second abutment member 320 slide and abut against each other. The distance between the second support arm 220 and the support base 100 first increases and then decreases until the moving arm 200 reaches the workpiece placement area. At this point, the vacuum generator stops working, the suction cup 221 releases negative pressure, and performs the purpose of moving downward to place the workpiece. By setting an abutment structure 300 between the second support arm 220 and the support base 100, the distance between the second support arm 220 and the support base 100 can be automatically adjusted after the second support arm 220 moves to the corresponding position, thereby achieving stable gripping and placement of the workpiece to be transported. The lifting and lowering movement of the second support arm 220 does not require additional drive components, which simplifies the overall structure of the transport mechanism, increases the operating speed of the entire transport mechanism, and reduces energy consumption during operation.

[0071] In some embodiments, the first abutment 310 has a contact surface 311 and a mounting surface 312 facing away from each other. The contact surface 311 is configured such that the distance between it and the mounting surface 312 increases or decreases in the direction from the first region 101 to the second region 102. The mounting surface 312 is connected to the support base 100 or the second support arm 220. The second abutment 320 can slide against the contact surface 311 to achieve a sliding abutment effect between the first abutment 310 and the second abutment 320. Specifically, when the distance between the contact surface 311 and the mounting surface 312 of the first abutment 310 increases in the direction from the first region 101 to the second region 102, the second abutment 320 slides along the contact surface 311 as the moving arm 200 moves, causing the distance between the second support arm 220 and the support base 100 to gradually increase. This design allows the second support arm 220 to move elastically away from the support base 100, providing sufficient space for the suction cup 221 to grip the workpiece. Conversely, when the moving arm 200 moves from the second region 102 toward the first region 101, the distance between the contact surface 311 and the mounting surface 312 decreases, and the second abutment 320 slides in the opposite direction along the contact surface 311, driving the second support arm 220 to move elastically toward the support base 100, thereby adjusting the height of the workpiece and avoiding interference with other components during the movement.

[0072] Reference Figure 4 and Figure 5 In one example, the first abutment 310 can be mounted on the second support arm 220. The mounting surface 312 of the first abutment 310 is its lower surface and is fixedly connected to the second support arm 220, while its contact surface 311 faces the support base 100. The second abutment 320 is disposed on the support base 100, and the height of the second abutment 320 is not lower than the lowest point of the contact surface 311. When the second support arm 220 is in the second region 102, the abutment point between the second abutment 320 and the contact surface 311 is located at the position where the distance between the contact surface 311 and the mounting surface 312 is the largest, at which time the distance between the second support arm 220 and the support base 100 reaches its maximum. During the process of the second support arm 220 moving from the second region 102 to the first region 101 along the D1 direction, the second abutment 320 slides on the contact surface 311. As the distance between the contact surface 311 and the mounting surface 312 gradually decreases, the second support arm 220 moves toward the support seat 100 under the action of elastic force until the distance between the second support arm 220 and the support seat 100 reaches the minimum.

[0073] Further, the contact surface 311 may include a first contact surface 311a and a second contact surface 311b connected in sequence, wherein the distance between the first contact surface 311a and the mounting surface 312 increases in the direction toward the second contact surface 311b. The second abutment 320 may be configured such that, during the movement of the movable arm 200 from the first region 101 toward the second region 102, it moves from the first contact surface 311a toward the second contact surface 311b, thereby increasing the distance between the second support arm 220 and the support base 100; and during the movement of the movable arm 200 from the second region 102 toward the first region 101, it moves from the second contact surface 311b toward the first contact surface 311a, thereby decreasing the distance between the second support arm 220 and the support base 100. The first contact surface 311a may be a curved surface or inclined surface with an increasing distance from the mounting surface 312, and the second contact surface 311b may be a plane with a predetermined distance from the mounting surface 312. This design allows the second support arm 220 to transition smoothly during movement, avoiding impacts or instability caused by sudden changes in spacing. In one example, the contact surface 311 may include two first contact surfaces 311a, with a second contact surface 311b connecting the two first contact surfaces 311a. This allows the second abutment 320 to engage with the contact surfaces 311 from two directions. Specifically, when the support base 100 has two second regions 102, a second abutment 320 may be provided in each second region 102. During the movement of the second support arm 220 between the two second regions 102, the two second abutments 320 located in the two second regions 102 can engage with the first contact surfaces 311a on both sides respectively, to achieve a smooth increase and decrease in the spacing between the second support arm 220 and the support base 100.

[0074] Reference Figure 6 and Figure 7In another example, the first abutment 310 can be mounted on the support base 100. In this case, the mounting surface 312 of the first abutment 310 is its upper surface and is fixedly connected to the support base 100, while its contact surface 311 faces the second support arm 220. The second abutment 320 is disposed on the second support arm 220, and the position of the second abutment 320 corresponds to the contact surface 311 to ensure that it can slide against the contact surface 311. When the second support arm 220 is in the second region 102, the abutment point between the second abutment 320 and the contact surface 311 is located at the position where the distance between the contact surface 311 and the mounting surface 312 is at its maximum. At this time, the distance between the second support arm 220 and the support base 100 is at its maximum. As the second support arm 220 moves from the second region 102 toward the first region 101, the second abutment 320 slides along the contact surface 311 of the first abutment 310. As the distance between the contact surface 311 and the mounting surface 312 gradually decreases, the second support arm 220 moves toward the support base 100 under the action of elastic force until the distance between the second support arm 220 and the support base 100 reaches the minimum value.

[0075] In some embodiments, the second abutment 320 may include a mounting base 321 and an abutment wheel 322 rotatably connected to the mounting base 321. The mounting base 321 is connected to the support base 100 or the second support arm 220, and the abutment wheel 322 is capable of rolling abutting against the contact surface 311. The mounting base 321 may be provided with a support shaft 323, and the abutment wheel 322 is rotatably connected to the support shaft 323, allowing the abutment wheel 322 to rotate about the axis of the support shaft 323. During the sliding contact between the first abutment 310 and the second abutment 320, the abutment wheel 322 can roll due to the reaction force of the contact surface 311. This rolling contact method can greatly reduce the friction between the first abutment 310 and the second abutment 320, reduce wear, and improve the durability and operational stability of the entire abutment structure 300. Meanwhile, because the abutment wheel 322 can rotate flexibly, even if the shape of the contact surface 311 changes during the movement of the moving arm 200, the abutment wheel 322 can adapt well and always maintain good contact with the contact surface 311, ensuring the accuracy of the distance adjustment between the second support arm 220 and the support base 100. For example, when there are some slight undulations or angle changes in the contact surface 311, the abutment wheel 322 can smoothly transition through its own rotation, without any jamming or loose contact, thus ensuring the continuity and accuracy of the handling mechanism when gripping and placing workpieces, effectively improving the overall performance and work efficiency of the handling mechanism.

[0076] Reference Figures 8-10In some embodiments, the elastic arm 230 may include an elastic plate, which is a flat plate made of an elastic material. The elastic plate can be a metal plate with elasticity, such as a spring steel plate, or a non-metal plate with elasticity, such as a rubber plate or a plastic plate. The two extended ends of the elastic plate are respectively connected to the first support arm 210 and the second support arm 220. When the second support arm 220 is subjected to an external force and undergoes elastic movement, the elastic plate will undergo corresponding bending deformation, thereby providing a stable elastic force for the second support arm 220. Specifically, when in the first region 101, the second support arm 220 is not subjected to an external force, and the elastic plate can be in a straight state. When moving to the second region 102, the second support arm 220 is subjected to the action of the abutment structure 300 and moves along the D3 direction, causing the elastic plate to bend and produce elastic deformation, thereby providing a stable rebound force for the second support arm 220. When the moving arm 200 moves back to the first region 101, the second support arm 220 resets along the D4 direction under the action of the elastic plate. This elastic plate structure is simple and reliable, capable of withstanding large elastic deformation, and can quickly return to its original shape after deformation, ensuring the stability and reliability of the second support arm 220 during the process of gripping and placing workpieces.

[0077] In one example, the elastic arm 230 may include two elastic plates, namely a first elastic plate 231 and a second elastic plate 232, which are spaced apart. A first support arm 210 and a second support arm 220 are both connected between the first elastic plate 231 and the second elastic plate 232. A certain elastic buffer space is formed between the first elastic plate 231 and the second elastic plate 232. When the second support arm 220 is subjected to external force, the first elastic plate 231 and the second elastic plate 232 can deform collaboratively, providing a uniform and stable elastic support force for the second support arm 220. This double-elastic-plate design not only enhances the overall strength of the elastic arm 230 but also improves its adaptability to external forces in different directions, making the second support arm 220 more stable and reliable when gripping and placing workpieces. In practical applications, the spacing between the two elastic plates, as well as the material and thickness of the elastic plates, can be adjusted according to specific needs to obtain the best elastic support effect. Furthermore, when using two elastic plates, different materials can be selected for each plate. For example, one elastic plate can be made of spring steel to provide strong elastic support, ensuring that the second support arm 220 has sufficient elastic recovery capacity when gripping heavier workpieces; the other elastic plate can be made of rubber, which has a certain degree of flexibility and shock absorption, reducing vibration during the movement of the second support arm 220 and making the workpiece gripping and placement process more stable. This combination of elastic plates made of different materials can give full play to the advantages of different materials, further improving the overall performance and stability of the handling mechanism and better adapting to the requirements of workpiece handling under various complex working conditions.

[0078] Reference Figure 11 and Figure 12 The conveying mechanism provided in the second embodiment of this application differs from the aforementioned embodiments. The second abutment member 320 includes a mounting base 321 and an abutment wheel 322 rotatably connected to the mounting base 321. The peripheral side of the abutment wheel 322 has a first contact point 322a and a second contact point 322b. The distance between the peripheral side of the abutment wheel 322 and the rotation axis of the abutment wheel 322 increases in the direction from the first contact point 322a toward the second contact point 322b. The abutment wheel 322 is capable of rolling abutting against the first abutment member 310, and is configured such that: during the movement of the movable arm 200 from the first region 101 toward the second region 102, it rotates along a third direction, and the abutment point of the abutment wheel 322 and the first abutment member 310 moves from the first contact point 322a toward the second contact point 322b, so that the distance between the second support arm 220 and the support base 100 increases; and during the movement of the movable arm 200 from the second region 102 toward the first region 101, it rotates along a fourth direction, and the abutment point of the abutment wheel 322 and the first abutment member 310 moves from the second contact point 322b toward the first contact point 322a, so that the distance between the second support arm 220 and the support base 100 decreases.

[0079] In one example, the first abutment 310 is disposed on the second support arm 220 and has an upward contact surface 311, which can be a plane. The second abutment 320 is disposed on the support base 100, wherein the abutment wheel 322 is a circular wheel or a cam, and a support shaft 323 is disposed on the mounting base 321. The abutment wheel 322 is rotatably connected to the support shaft 323, and the central axis of the abutment wheel 322 coincides with or is parallel to the central axis of the support shaft 323.

[0080] When the moving arm 200 moves from the first region 101 toward the second region 102, the abutment wheel 322 rotates in a third direction (e.g., clockwise), and the abutment point on its circumferential side gradually moves from the first contact point 322a to the second contact point 322b. Since the distance between the circumferential side of the abutment wheel 322 and the rotation axis increases in the direction from the first contact point 322a toward the second contact point 322b, this change causes the distance between the second support arm 220 and the support base 100 to gradually increase, thereby achieving elastic movement of the second support arm 220 away from the support base 100. At this time, the suction cup 221 can smoothly descend and grasp the electrode to be tested located in the second region 102. When the moving arm 200 moves from the second region 102 toward the first region 101, the abutment wheel 322 rotates in a fourth direction (e.g., counterclockwise), and the abutment point gradually returns from the second contact point 322b to the first contact point 322a. During this process, the distance between the circumferential surface of the abutting wheel 322 and the axis of rotation decreases, causing the distance between the second support arm 220 and the support base 100 to gradually decrease. Under the action of elastic force, the second support arm 220 moves towards the support base 100. This design not only avoids interference between the workpiece and other components during movement but also reserves sufficient space for the next gripping action. Of course, the second abutting member 320 can also be set on the second support arm 220, and the first abutting member 310 can be set on the support base 100. This will not be described in detail in this embodiment.

[0081] In one example, the rotation of the abutment wheel 322 can be achieved through the friction between the peripheral side of the abutment wheel 322 and the contact surface 311. For example, a damping pad can be provided on the peripheral side of the abutment wheel 322 or the contact surface 311. The damping pad can be made of rubber or other materials with a high coefficient of friction. When the abutment wheel 322 slides relative to the contact surface 311, the damping pad increases the friction between them, causing the abutment wheel 322 to rotate in a preset direction under the action of friction. This method of using friction to drive the rotation of the abutment wheel 322 is simple in structure and requires no additional power source, reducing the complexity and cost of the handling mechanism.

[0082] Reference Figure 13 and Figure 14In another example, the contact surface 311 may be provided with a plurality of first protrusions 3111, which are arranged along the extending direction of the contact surface 311. The circumferential surface of the abutment wheel 322 may be provided with a plurality of second protrusions 3221 adapted to the first protrusions 3111. When the abutment wheel 322 rolls against the contact surface 311, the first protrusions 3111 and the second protrusions 3221 mesh with each other. During the movement of the moving arm 200 from the first region 101 towards the second region 102, as the abutment wheel 322 rotates, the second protrusions 3221 sequentially mesh with different first protrusions 3111, enabling the abutment wheel 322 to rotate stably along a specific trajectory. This ensures that the distance between the second support arm 220 and the support base 100 increases smoothly, achieving precise elastic movement of the second support arm 220 away from the support base 100. When the moving arm 200 moves from the second region 102 toward the first region 101, the abutment wheel 322 rotates in the opposite direction, and the second tooth 3221 engages with the first tooth 3111 in sequence, causing the distance between the second support arm 220 and the support seat 100 to decrease smoothly. Under the action of elastic force, the second support arm 220 moves accurately toward the support seat 100. This tooth engagement design further improves the accuracy and stability of the relative movement between the abutment wheel 322 and the contact surface 311, effectively reducing possible slippage or misalignment during sliding, and ensuring the precision and reliability of the handling mechanism when gripping and placing workpieces.

[0083] In addition, a separate driver, such as a motor, electric motor or cylinder, can be set up to connect to the abutment wheel 322, so as to precisely control the rotation angle and speed of the abutment wheel 322.

[0084] Reference Figures 15-17The conveying mechanism provided in the third embodiment of this application differs from the aforementioned embodiments. The elastic arm 230 may include a fixed plate 233, a guide post 234, and an elastic element 235. The fixed plate 233 is fixedly connected to the first support arm 210, and the guide post 234 is fixedly connected to the fixed plate 233. The second support arm 220 has a sliding hole on its side facing the first support arm 210, and the guide post 234 is slidably inserted into the sliding hole, allowing the second support arm 220 to slide along the extension direction of the guide post 234. The elastic element 235 connects the fixed plate 233 and the second support arm 220, applying an elastic force to the second support arm 220 to drive it to move elastically. When the second support arm 220 is in the first region 101, the elastic element 235 is in its initial state and does not undergo significant deformation; at this time, the relative position of the second support arm 220 and the first support arm 210 remains stable. As the movable arm 200 moves from the first region 101 towards the second region 102, the second support arm 220 slides along the guide post 234 under the action of an external force. The elastic element 235 is stretched or compressed, generating an elastic force opposite to the direction of the external force. This elastic force allows the second support arm 220 to move elastically away from the first support arm 210, providing the necessary space for the suction cup 221 to grasp the workpiece. When the movable arm 200 moves from the second region 102 towards the first region 101, the elastic element 235 releases its stored elastic potential energy, driving the second support arm 220 to slide in the opposite direction along the guide post 234 towards the first support arm 210 until it returns to its initial position, thereby adjusting the workpiece height and avoiding interference with other components during movement.

[0085] In one example, the elastic element 235 can be a spring, which is sleeved on the guide post 234, with one end connected to the fixed plate 233 and the other end connected to the second support arm 220. This structure allows the elastic force of the spring to act directly on the second support arm 220, and the extension and contraction direction of the spring is consistent with the sliding direction of the second support arm 220, ensuring the effective transmission of the elastic force.

[0086] Reference Figure 18 The handling mechanism provided in the fourth embodiment of this application differs from the previous embodiments in that the movable arm 200 is slidably connected to the support base 100 along a straight line. In this case, the first region 101 and the second region 102 are arranged in a straight line. The support base 100 may be provided with a guide rail structure, and the first support arm 210 is connected to the guide rail structure, so that the movable arm 200 can slide smoothly along the straight line defined by the guide rail structure. The guide rail structure can take various forms, such as common ball bearing guides, roller guides, or sliding guides. Furthermore, the support base 100 may also be provided with a linear module to drive the movable arm 200 to move along the guide rail structure.

[0087] In one example, there may be two second regions 102, with a first region 101 located between the two second regions 102. One of the second regions 102 can serve as a workpiece gripping area, and the other as a workpiece placement area. Each second region 102 is provided with a second abutment 320, and a first abutment 310 is provided on the second support arm 220. The movable arm 200 can move along the D5 direction from the second region 102 serving as the workpiece gripping area toward the other second region 102 serving as the workpiece placement area, or along the D6 direction from the second region 102 serving as the workpiece placement area toward the second region 102 serving as the workpiece gripping area.

[0088] This linear movement layout makes the movement path of the handling mechanism simpler and clearer during the gripping and placement of workpieces, reducing unnecessary complex movements, improving the working efficiency and accuracy of the handling mechanism, and also facilitating the control and optimization of the entire handling process, thus better meeting the needs of automated production lines for fast and accurate workpiece handling.

[0089] Reference Figure 19 Based on the aforementioned conveying mechanism, this application also provides an electrode inspection device, including a feeding assembly (not shown in the figure), a worktable 500, an inspection assembly 600, and the conveying mechanism described in the first aspect embodiment. The support base 100 has two second regions 102, one of which can serve as a workpiece gripping region, and the other as a workpiece placement region.

[0090] The feeding assembly can be a conveyor belt, a vibratory feeder, or other device capable of orderly conveying the electrode sheet 700 to be tested to a designated position. The feeding assembly can be located at the workpiece gripping area and configured to convey the electrode sheet 700 to be tested towards the second area 102. The conveying mechanism is configured such that when the moving arm 200 moves to the second area 102, the second support arm 220 moves towards the feeding assembly and grips the electrode sheet 700 to be tested. Specifically, when the moving arm 200 moves to the second area 102, which serves as the workpiece gripping area, the first abutment 310 interacts with the second abutment 320 located in that area, such as by the rolling abutment wheel 322 and the contact surface 311 as described in the previous embodiments, or by toothed engagement, causing the second support arm 220 to move towards the feeding assembly under the action of elastic force. At this time, the suction cup 221 or other gripping components mounted on the second support arm 220 can accurately approach and grip the electrode sheet 700 to be tested conveyed by the feeding assembly.

[0091] The worktable 500 can be located at the workpiece placement area. The conveying mechanism is further configured such that when the moving arm 200 moves to the second area 102, the second support arm 220 moves toward the worktable 500 and places the electrode 700 to be tested onto the worktable 500. Specifically, when the moving arm 200 moves to the second area 102, which serves as the workpiece placement area, the first abutment 310 interacts with the second abutment 320 located in that area, thereby causing the second support arm 220 to move toward the worktable 500 under the action of an elastic force. Subsequently, the suction cup 221 or other gripping component mounted on the second support arm 220 accurately places the gripped electrode 700 to be tested onto the worktable 500.

[0092] In one example, the worktable 500 may include a base 510 and a platform 520 disposed on the base 510. The platform 520 is movably connected to the base 510. For example, the platform 520 can move relative to the base 510 in two mutually perpendicular horizontal directions, or rotate relative to the base 510 about a certain axis, so as to flexibly adjust the position and angle of the electrode 700 placed on the platform 520 and improve the detection effect of the electrode 700.

[0093] The detection component 600 can be positioned at the worktable 500 and configured to detect the electrode 700 placed on the worktable 500. In one example, the detection component 600 may include a support 610 and a camera 620 mounted on the support 610, with the camera 620 facing the worktable 500. After the second support arm 220 places the electrode 700 on the worktable 500, the camera 620 can acquire image information of the electrode 700. Through analysis and processing of the image information, quality problems such as defects and dimensional deviations on the surface of the electrode 700 can be detected. For example, using image recognition algorithms, defects such as scratches, stains, and breaks on the electrode 700 can be accurately identified, as well as whether the dimensional parameters of the electrode 700, such as its length, width, and thickness, meet standard requirements.

[0094] The electrode testing device in this embodiment of the application realizes the automated handling process of the electrode 700 to be tested from the feeding assembly to the worktable 500 by using the above-mentioned handling mechanism, which reduces equipment costs, speeds up equipment operation, and effectively improves the efficiency and accuracy of electrode 700 testing.

[0095] Thirdly, embodiments of this application also provide a stacking machine for stacking positive and negative electrode sheets and a separator in a specific order and number of layers to form a battery cell. The stacking machine may include the handling mechanism provided in the first aspect embodiment above, which enables precise and efficient handling of the electrode sheets during the stacking process. The stacking machine may also include the electrode sheet inspection device provided in the second aspect embodiment above, which performs quality inspection on the electrode sheets to ensure that all electrode sheets participating in the stacking meet quality standards, thereby improving the overall performance and reliability of the battery cell.

[0096] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A carrying mechanism characterized by, include: The support base has a first region and a second region; The movable arm includes a first support arm and a second support arm. The first support arm is movably connected to the support base so that the movable arm can move between the first region and the second region. The second support arm is elastically connected to the first support arm and configured to grip a workpiece to be transported. The abutment structure includes a first abutment member and a second abutment member. The first abutment member is disposed on one of the support base and the second support arm, and the second abutment member is disposed on the other of the support base and the second support arm. The first abutment member has a contact surface and a mounting surface facing away from each other. The mounting surface is connected to the support base or the second support arm, and the second abutment member is slidably abutting against the contact surface. The contact surface includes a first contact surface and a second contact surface connected in sequence, and the distance between the first contact surface and the mounting surface increases in the direction toward the second contact surface. The first and second abutting members are slidably abutting each other and are configured to: drive the second support arm to move elastically in a first direction during the movement of the movable arm from the first region to the second region, and cause the second support arm to move elastically in a second direction during the movement of the movable arm from the second region to the first region; the second abutting member is configured to: move from the first contact surface to the second contact surface during the movement of the movable arm from the first region to the second region, thereby increasing the distance between the second support arm and the support base; and move from the second contact surface to the first contact surface during the movement of the movable arm from the second region to the first region, thereby decreasing the distance between the second support arm and the support base.

2. The carrying mechanism according to claim 1, characterized in that There are two first contact surfaces, and the second contact surface is connected between the two first contact surfaces.

3. The carrying mechanism of claim 1, wherein The second abutment includes a mounting base and an abutment wheel rotatably connected to the mounting base. The mounting base is connected to the support base or the second support arm, and the abutment wheel is capable of rolling against the contact surface.

4. The carrying mechanism of claim 1, wherein The second abutment includes a mounting base and an abutment wheel rotatably connected to the mounting base. The peripheral side of the abutment wheel has a first contact point and a second contact point. The distance between the peripheral side of the abutment wheel and the rotation axis of the abutment wheel increases in the direction from the first contact point toward the second contact point. The abutting wheel is capable of rolling abutting with the first abutting member, and is configured to rotate in a third direction during movement of the moving arm from the first region to the second region, and the abutting point of the abutting wheel and the first abutting member is moved from the first contact point to the second contact point, so that the distance between the second supporting arm and the supporting seat is increased; and rotate in a fourth direction during movement of the moving arm from the second region to the first region, and the abutting point of the abutting wheel and the first abutting member is moved from the second contact point to the first contact point, so that the distance between the second supporting arm and the supporting seat is decreased.

5. The handling mechanism according to any one of claims 1-4, characterized in that, The moving arm further comprises an elastic arm connected between the first supporting arm and the second supporting arm, so that the second supporting arm is capable of elastically moving relative to the first supporting arm in the first direction or the second direction.

6. The transport mechanism of claim 5, wherein, The elastic arm comprises at least one elastic plate, and two extending ends of the elastic plate are respectively connected to the first supporting arm and the second supporting arm.

7. The handling mechanism of claim 6, wherein The number of the elastic plates is two, and the two elastic plates are arranged in a spaced manner, and the first supporting arm and the second supporting arm are both connected between the two elastic plates.

8. The handling mechanism of any one of claims 1-4, wherein, The carrying mechanism further comprises a main shaft rotationally connected to the supporting seat, and the first supporting arm is connected to the main shaft, and the first region and the second region are arranged in sequence along the circumferential direction of the main shaft.

9. The handling mechanism of claim 8, wherein, The supporting seat has two second regions, and the first region is located between the two second regions.

10. An electrode tab detection device, characterized by, The carrying mechanism comprises: The carrying mechanism according to any one of claims 1-9; wherein the supporting seat has two second regions; A feeding assembly is located at one of the second regions, and is configured to deliver a to-be-tested pole piece to the second region; and the carrying mechanism is configured to move the second supporting arm towards the feeding assembly and grasp the to-be-tested pole piece when the moving arm moves to the second region; A workbench is located at another second region; and the carrying mechanism is further configured to move the second supporting arm towards the workbench and place the to-be-tested pole piece on the workbench when the moving arm moves to the second region; A detection assembly is arranged at the workbench, and is configured to detect the pole piece placed on the workbench.

11. A lamination machine characterized by, The carrying mechanism according to any one of claims 1-9 or the pole piece detection device according to claim 10.

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