An automatic stacking apparatus

Abstract

The application belongs to the field of power battery manufacturing, and provides an automatic stacking equipment. The equipment comprises a first rack and a second rack, which are adjacent and have a lower support frame fixed to the ground; a heating sheet feeding component and a composite sheet feeding component are arranged in parallel, with one end extending into the second rack and the bottom fixed to the top of the first rack; a current collector sheet feeding component and a base sheet feeding component are symmetrically arranged on the upper surface of the middle partition plate in the second rack; one end of a material collecting component is fixed in the middle of the middle partition plate, and the other end is suspended outside the second rack; a stacking manipulator is suspended in the middle of the bottom of the square steel structure at the top of the second rack; and a visual positioning assembly is fixed in the middle of the square steel crossbeam at the top of the second rack close to the first rack. The heating sheet and the composite sheet are fed by a single sheet assembly line, and switching products does not require tool changing; the current collector sheet feeding component, the base sheet feeding component and the material collecting component can automatically adjust the size of the centering mechanism to adapt to the pole piece, improve the flexibility of the equipment, and meet the efficient stacking requirements of pole pieces of multiple specifications.

Description

Technical Field

[0001] This invention relates to the field of power battery manufacturing, and in particular to an automated stacking equipment. Background Technology

[0002] In the field of power battery manufacturing, thermal batteries, as a special type of battery, play an irreplaceable and crucial role in fields with extremely stringent battery performance requirements, such as military and aerospace, due to their unique performance advantages. The manufacturing process of thermal batteries is complex and delicate, among which the stacking process is one of the core steps in the entire production process, which has a decisive impact on the performance and quality of thermal batteries. Thermal batteries are usually composed of multiple individual battery cells stacked in a specific order. At present, the stacking operation of thermal batteries mainly relies on manual operation, which has problems such as low stacking efficiency, poor stability and consistency, high labor intensity, and harsh working environment.

[0003] Patent CN201911130947.3 discloses an automatic stacking system that stacks electrode sheets using a stacking unit, a rotating device, a sleeve assembly, a six-axis robotic arm, and a lifting device, significantly improving the stacking efficiency of thermal batteries. However, this system is complex, requiring the replacement of sleeve assemblies of corresponding specifications for stacking electrode sheets of different sizes, resulting in poor versatility. The variety of sleeve assemblies also leads to management difficulties and increased costs, making it unsuitable for multi-variety, small-batch production. Furthermore, since heating elements and composite sheets are permeable powder electrode sheets, the stacking and lifting feeding method can easily lead to the accumulation of multiple sheets, causing equipment instability. Patent CN201810525188.X provides an automatic prompting and error correction device and method for thermal battery stacking. Through indicator lights, alarms, and a high-speed digital camera, it provides step prompts and monitors the correctness of the entire stacking operation process, reducing the probability of operator errors and providing alerts when operators make mistakes. Although this device can prevent stacking errors, it still relies on manual stacking, which has the drawbacks of high labor intensity and low efficiency. Therefore, it is necessary to design an automatic stacking equipment that can not only achieve accurate and efficient automatic stacking of electrode sheets, but also has high flexibility; when switching products, the equipment can automatically adjust through the mechanism to meet the stacking requirements of electrode sheets of various specifications. Summary of the Invention

[0004] This invention addresses the problems existing in the prior art by proposing an automatic stacking device. The device automatically feeds heating sheets through a heating sheet feeding component, composite sheet feeding component, current collector feeding component, and substrate feeding component. A stacking robot then stacks the above-mentioned electrode sheets into a battery unit group in a prescribed order. The stacking is then automatically repeated until a set number of battery units are reached. Finally, a receiving component transports the stacked battery units to the next process.

[0005] The specific technical solution adopted in this invention is as follows:

[0006] This invention provides an automatic stacking device, comprising a first frame, a heating element feeding component, a composite sheet feeding component, a second frame, a current collector feeding component, a substrate feeding component, a receiving component, a stacking robot, and a vision positioning component; the first frame and the second frame are arranged adjacent to each other, and their lower support frames are fixedly connected to the ground; the heating element feeding component and the composite sheet feeding component are arranged in parallel and one end extends into the second frame for a certain distance, and their bottoms are fixedly connected to the top surface of the first frame; the current collector feeding component and the substrate feeding component are symmetrically arranged on both sides of the upper surface of the middle partition plate of the second frame along the length direction; one end of the receiving component is fixedly fixed. The first end is fixedly connected to the middle of the upper surface of the middle partition plate of the second frame along the length direction, and the other end is suspended outside the second frame at a certain distance; the stacking robot is suspended and fixed at the bottom middle position of the square steel structure at the top of the second frame; the vision positioning component is fixedly connected to the middle position of the top square steel beam on the side of the second frame near the first frame; the current collector feeding component and the substrate feeding component have the same structure, including a turnover mechanism, a detection component and a dispensing mechanism; the detection component and the dispensing mechanism are arranged in a straight line at equal intervals, with two detection components in the middle and two dispensing mechanisms at both ends; the turnover mechanism is located above the detection component and the dispensing mechanism.

[0007] Furthermore, the material distribution mechanism includes a mounting plate, a lifting mechanism, and a first centering mechanism; the bottom surface of the mounting plate is fixedly connected to the middle partition of the second frame, and the top surface is fixedly connected to the adjacent lifting mechanism and the first centering mechanism; the first centering mechanism includes a mounting housing, a servo motor, a drive gear, a driven gear, a flange bearing, a rotating shaft, a light-shielding plate, a second slotted photoelectric sensor, a limit rod, a follower bearing, a second linear guide rail, a magnet, an air blowing pipe, an optical fiber sensor, and a cover plate; the bottom surface of the mounting housing is fixedly connected to the mounting plate, and the top surface is fixedly connected to the cover plate; the cover plate is disc-shaped, and a second clearance groove is arrayed on its circumference; the bottom surface of the cover plate is fixedly connected to the second linear guide rail; the output shaft of the servo motor passes through a through hole on the bottom surface of the mounting housing and is fixedly connected to the drive gear; the flange bearing... Fixed at the center of the bottom surface of the mounting box; the rotating shaft passes through the flange bearing and is fixedly connected to the driven gear; the driving gear and the driven gear rotate in cooperation; the driven gear has three arc-shaped cam slots arranged in an array, and a light-shielding plate is also provided at a distance from the center in the radial direction of the lower surface of the driven gear; three second slotted photoelectric sensors are fixedly connected to the inner bottom surface of the mounting box; three limit rods are respectively set through the second clearance groove towards the axis of the cover plate, and the bottom surface of the limit rod is fixedly connected to the follower bearing; the roller of the follower bearing and the arc-shaped cam slot are in rolling cooperation; the lower part of the limit rod has a rectangular protrusion, which is slidably connected to the slider of the second linear guide; the upper back of the limit rod also has a rectangular groove, and a magnet is fixedly connected to the bottom of the rectangular groove; the air pipe and the fiber optic sensor are on both sides.

[0008] Furthermore, the axial direction of the air blowing tube and the fiber optic sensor.

[0009] Furthermore, the lifting mechanism includes a rod motor, a vertical fixing block, a mounting strip, a first slotted photoelectric sensor, a first linear guide rail, and a top plate. The rod motor is a standard component comprising a main body drive mechanism and a rack. The main body drive mechanism is fixed to the mounting plate, and the top of the rack is fixedly connected to the lower surface of the left end of the top plate. The left end of the top plate has a square protrusion, and the right end of the disc has an array of first clearance grooves. Limiting rods pass through the first clearance grooves respectively. The bottom of the vertical fixing block is fixedly connected to the mounting plate, and the mounting strip is fixedly connected vertically to its side. Three first slotted photoelectric sensors are linearly arrayed on the mounting strip. The front of the vertical fixing block is also fixedly connected to the first linear guide rail. The slider on the left vertical surface of the top plate is slidably connected to the first linear guide rail.

[0010] Furthermore, the turnover mechanism includes a first support base, a transverse mounting plate, a transverse rodless cylinder, a pad, an "L"-shaped mounting base, a first slide cylinder, an ejector plate, a contact displacement sensor, a crossbeam, and a suction plate assembly; the bottom of the first support base is fixedly connected to the upper surface of the middle partition plate of the second frame, and the transverse mounting plate is fixedly attached to the top side; the transverse rodless cylinder is fixedly connected to the side of the transverse mounting plate; the pad is slidably connected to the slider of the transverse rodless cylinder; the bottom of the long side of the "L"-shaped mounting base is fixedly connected to the pad, and the side of the short side is fixedly connected to the first slide cylinder; the ejector plate is slidably connected to the bottom of the slider of the first slide cylinder; the contact displacement sensor... The sensor is vertically positioned and fixedly connected to the ejector plate; the middle position of the side of the crossbeam is fixedly connected to the lower part of the side of the pad; the bottom surface of the long side of the crossbeam is linearly arrayed with three equally spaced suction plate assemblies; the suction plate assembly includes a horizontal mounting block, a dual-axis cylinder, a guide rail slide cylinder, an "L"-shaped connecting plate, and a first vacuum suction cup; the upper surface of the horizontal mounting block is fixedly connected to the crossbeam, and the lower surface is fixedly connected to the dual-axis cylinder; the guide rail slide cylinder is slidably connected to the ejector slider of the dual-axis cylinder through an adapter plate; the vertical side of the "L"-shaped connecting plate is slidably connected to the slider of the guide rail slide cylinder, and the horizontal surface is fixedly connected to the first vacuum suction cup in the vertical direction.

[0011] Furthermore, the detection assembly includes a dust cover, high-transparency glass, a camera mount, a CCD camera, and a refractive prism; the lower part of the dust cover is fixedly connected to the upper surface of the middle partition of the second frame, and the top is provided with high-transparency glass; inside the dust cover, a camera mount is provided and fixedly connected to the upper surface of the middle partition of the second frame; a horizontally arranged CCD camera is fixedly connected to the top side of the camera mount; the refractive prism is a standard part, and its side is fixedly connected to the head of the CCD camera, with the illumination surface parallel to the high-transparency glass.

[0012] Furthermore, the stacking robot includes a parallel robot and a suction nozzle; the parallel robot is a standard product, with its bottom flange mounting surface and suction nozzle fixedly connected.

[0013] Furthermore, the receiving component includes a back plate, a first receiving assembly, a second receiving assembly, and a protective cover; the first receiving assembly and the second receiving assembly are symmetrically fixed on the upper surface of the back plate along the length direction; the protective cover is fixed to one end of the back plate; the first receiving assembly and the second receiving assembly have the same structure; the second receiving assembly includes a lead screw module, a support plate, and a second centering mechanism; the lead screw module is fixed on the upper surface of the back plate; the sliders of the support plate and the lead screw module are slidably connected; four second centering mechanisms are arranged in a rectangular array on the support plate; the structure of the second centering mechanism is the same as that of the first centering mechanism.

[0014] Furthermore, the heating element feeding component and the composite element feeding component have the same structure, including a belt conveyor fixing seat, a first conveyor belt, a second conveyor belt, a handling component, and a positioning detection component; the bottom of the belt conveyor fixing seat is fixed to the top surface of the first frame, and its top inner side is fixedly connected to the side aluminum profile of the first conveyor belt; the second conveyor belt and the first conveyor belt are fixed in the same way, and the two are aligned along the length direction; the handling component is located above the middle position of the second conveyor belt and the first conveyor belt; the positioning detection component is located above the end of the first conveyor belt near the second conveyor belt; the handling component includes a second support seat, a connecting beam, a rodless slide cylinder, a vertical plate, a three-axis cylinder, a horizontal support plate, and The second vacuum suction cup; there are two second support bases, the bottom of which is fixed to the top surface of the first frame, and a connecting beam is fixedly connected to the top side; the rodless slide cylinder is fixedly connected to the connecting beam; the vertical plate and the slider of the rodless slide cylinder are slidably connected; the three-axis cylinder is fixedly connected to the vertical plate; the horizontal support plate and the moving part of the three-axis cylinder are slidably connected; multiple second vacuum suction cups are arranged in a rectangular array on the horizontal support plate; the positioning detection component includes a square base, a square tube, a flange support, a bending plate and a digital camera; the square tube is square, and the square base and the flange support pass through the square tube and are fixedly connected by bolts; the bending plate is "L" shaped, with the short side fixedly connected to the side of the flange support, and the digital camera fixedly connected to the bottom end of the long side.

[0015] Furthermore, the visual positioning component includes a light source fixing component, a light source, a camera mounting component, and an industrial camera; the vertical side of the light source fixing component is fixedly connected to the outer side of the top crossbeam of the second frame, and the light source is fixedly connected to the horizontal bottom surface; the camera mounting component is fixedly connected to the inner side of the top crossbeam of the second frame, and the industrial camera is fixedly connected to the lower part of its side; the industrial camera and the light source are coaxial, and the camera lens extends into the center hole of the light source to a certain depth.

[0016] The beneficial effects of this invention are as follows: Heating sheets are automatically fed by the heating sheet feeding component, composite sheets by the composite sheet feeding component, current collector sheets by the current collector feeding component, and substrate sheets by the substrate feeding component. A stacking robot then stacks these electrode sheets into a battery unit group according to a specified order. The stacking process is then automatically repeated until a set number of battery units are reached. Finally, a receiving component transports the stacked battery units to the next process. When switching products, there is no need to change tooling. The current collector feeding component, substrate feeding component, and receiving component can automatically adjust the size of the centering mechanism storing the electrode sheets to adapt to the size of the electrode sheets, thereby improving the flexibility of the equipment and meeting the high-efficiency stacking requirements of various electrode sheet specifications. Attached Figure Description

[0017] Figure 1 This is an overall structural diagram of the present invention;

[0018] Figure 2 This is a structural diagram of the current collector feeding component involved in the present invention;

[0019] Figure 3 yes Figure 2 Structural diagram of the material distribution mechanism;

[0020] Figure 4 yes Figure 2 Another perspective structural diagram of the material distribution mechanism;

[0021] Figure 5 yes Figure 4 Exploded view of the first centering mechanism structure;

[0022] Figure 6 yes Figure 5 Detailed drawing of the cover plate structure;

[0023] Figure 7 yes Figure 5 Detailed drawing of the driven gear structure;

[0024] Figure 8 yes Figure 5 Structural diagram of the limiting rod and its connected parts;

[0025] Figure 9 yes Figure 4 Top slab structure diagram;

[0026] Figure 10 yes Figure 2 A structural diagram of the turnover mechanism;

[0027] Figure 11 yes Figure 2 External structure diagram of the detection component;

[0028] Figure 12 yes Figure 11 Internal structure diagram of the detection component;

[0029] Figure 13 This is a structural diagram of the stacking robot of the present invention;

[0030] Figure 14 This is a structural diagram of the material receiving component of the present invention;

[0031] Figure 15 This is a structural diagram of the heating element feeding component of the present invention;

[0032] Figure 16 yes Figure 15 Structure diagram of the transport component;

[0033] Figure 17 yes Figure 15 The structural diagram of the positioning detection component;

[0034] Figure 18 This is a structural diagram of the visual positioning component of the present invention.

[0035] In the diagram: 1 - First frame, 2 - Heating element feeding component, 21 - Conveyor belt fixing seat, 22 - First conveyor belt, 23 - Second conveyor belt, 24 - Handling component, 241 - Second support seat, 242 - Connecting beam, 243 - Rodless slide cylinder, 244 - Vertical plate, 245 - Three-axis cylinder, 246 - Horizontal support plate, 247 - Second vacuum suction cup, 25 - Arrival detection component, 251 - Square seat, 252 - Square tube, 253 - Flange support, 254 - Bending plate, 255 - Digital camera, 3 - Composite sheet feeding component, 4 - Second frame, 5 - Collector sheet feeding component, 51 - Turnover mechanism, 511 - First support seat, 51 2 - Horizontal mounting plate, 513 - Horizontal rodless cylinder, 514 - Pad plate, 515 - "L" shaped mounting base, 516 - First slide cylinder, 517 - Ejection plate, 518 - Contact displacement sensor, 519 - Crossbeam, 5110 - Suction plate assembly, 51101 - Horizontal mounting block, 51102 - Dual-axis cylinder, 51103 - Guide rail slide cylinder, 51104 - "L" shaped connecting plate, 51105 - First vacuum suction cup, 52 - Detection assembly, 521 - Dust cover, 522 - High-transparency glass, 523 - Camera mounting base, 524 - CCD camera, 525 - Refractive prism, 53 - Material distribution mechanism, 531 - Mounting plate, 532 - Lifting mechanism, 5321-Pole motor, 5322-Vertical fixing block, 5323-Mounting strip, 5324-First slotted photoelectric sensor, 5325-First linear guide rail, 5326-Top plate, 53261-Square protrusion, 53262-First clearance groove, 533-First centering mechanism, 5331-Mounting housing, 5332-Servo motor, 5333-Driving gear, 5334-Driven gear, 53341-Arc-shaped cam groove, 5335-Flange bearing, 5336-Rotating shaft, 5337-Light shield, 5338-Second slotted photoelectric sensor, 5339-Limiting rod, 53391-Rectangular protrusion, 533 92 - Rectangular groove, 53310 - Follower bearing, 53311 - Second linear guide rail, 53312 - Magnet, 53313 - Air blowing pipe, 53314 - Fiber optic sensor, 53315 - Cover plate, 533151 - Second clearance groove, 6 - Substrate feeding component, 7 - Receiving component, 71 - Back plate, 72 - First receiving assembly, 73 - Second receiving assembly, 731 - Lead screw module, 732 - Support plate, 733 - Second centering mechanism, 74 - Protective cover, 8 - Stacking robot, 81 - Parallel robot, 82 - Nozzle, 9 - Vision positioning component, 91 - Light source fixing component, 92 - Light source, 93 - Mounting component, 94 - Industrial camera. Detailed Implementation

[0036] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0037] This invention relates to stacking circular heating elements, composite sheets, current collectors, and substrates in a specific order to form battery cells. Then, multiple battery cells are stacked repeatedly to form a battery stack, which is then sent to a subsequent individual assembly process for individual assembly. The heating elements and composite sheets are made of powder and are breathable, the current collectors are made of steel sheets and have a certain degree of magnetism, and the substrate is made of thin graphite paper.

[0038] The first embodiment of the present invention relates to, for example Figure 1 - Figure 18An automated stacking device is shown. It includes a first frame 1, a heating element feeding component 2, a composite sheet feeding component 3, a second frame 4, a current collector feeding component 5, a substrate feeding component 6, a receiving component 7, a stacking robot 8, and a vision positioning assembly 9. The first frame 1 and the second frame 4 are arranged adjacent to each other, and their lower support frames are fixedly connected to the ground. The heating element feeding component 2 and the composite sheet feeding component 3 are arranged in parallel, with one end extending into the second frame 4, and their bottoms are fixedly connected to the top surface of the first frame 1. The current collector feeding component 5 and the substrate feeding component 6 are symmetrically arranged on both sides of the upper surface of the middle partition plate of the second frame 4 along its length. One end of the receiving component 7 is fixedly connected to the second frame 4. The middle partition plate is positioned at the midpoint of its upper surface along its length, with the other end suspended a certain distance outside the second frame 4. The stacking robot 8 is suspended and fixed at the bottom center of the top square steel structure of the second frame 4. The visual positioning component 9 is fixedly connected to the middle position of the top square steel beam on the side of the second frame 4 closest to the first frame 1. The current collector plate feeding component 5 and the substrate feeding component 6 have the same structure, including a turnover mechanism 51, a detection component 52, and a material distribution mechanism 53. To improve material handling efficiency, the detection component 52 and the material distribution mechanism 53 are arranged in a straight line with equal spacing, with two detection components 52 positioned in the middle and two material distribution mechanisms 53 positioned at both ends. The turnover mechanism 51 is located within the detection component 5. Above the material distribution mechanism 53, the left suction assembly 5110 of the turnover mechanism 51 picks up material from the left material distribution mechanism 53 while the right suction assembly 5110 releases material, and vice versa. The heating sheet feeding component 2 and the composite sheet feeding component 3 have the same structure and are used to transport the heating sheet and the composite sheet to the stacking position, respectively. They are both supported by the first frame 1. The current collector sheet feeding component 5 and the substrate feeding component 6 have basically the same structure and are used to feed the current collector sheet and the substrate, respectively. They are both supported by the second frame 4. The difference is that the substrate has no magnetism, therefore, when the substrate is fed... The centering mechanism corresponding to the first centering mechanism 533 in component 6 does not have a magnet 53312; the stacking robot 8 is used to stack heating elements, composite elements, and current collectors into a battery stack; the receiving component 7 is used to position and store the battery stack; the vision positioning component 9 is used to visually position the heating elements and composite elements on the heating element feeding component 2 and the composite element feeding component 3, so that the stacking robot 8 can accurately grasp them; the turnover mechanism 51 is used for turnover and detection to see if multiple current collectors are picked up during a single operation; the detection component 52 is used to take pictures to obtain the center position of the current collectors so that the stacking robot 8 can grasp them; the material sorting mechanism 53 is mainly used for lifting and feeding current collectors and dividing stacked sheets into single sheets for feeding.

[0039] The material distribution mechanism 53 includes a mounting plate 531, a lifting mechanism 532, and a first centering mechanism 533. The bottom surface of the mounting plate 531 is fixedly connected to the middle partition of the second frame 4, and the top surface is fixedly connected to the adjacent lifting mechanism 532 and the first centering mechanism 533. The mounting plate 531 is used to fix and support the lifting mechanism 532 and the first centering mechanism 533. The first centering mechanism 533 is used to position the stacked current collectors and can automatically adjust the storage space according to the size of the collector diameter. It also has a sheet-separating function to achieve single-piece feeding. The lifting mechanism 532 is used to hold the stacked current collectors and achieve precise displacement lifting and feeding. The first centering mechanism 533 includes a mounting housing 5331, a servo motor 5332, a drive gear 5333, and a driven gear 5333. 334, flange bearing 5335, rotating shaft 5336, light shield 5337, second slotted photoelectric sensor 5338, limit rod 5339, follower bearing 53310, second linear guide rail 53311, magnet 53312, air blowing pipe 53313, fiber optic sensor 53314, and cover plate 53315; the bottom surface of the mounting box 5331 is fixedly connected to the mounting plate 531, and the top is fixedly connected to the cover plate 53315; the cover plate 53315 is disc-shaped, and second clearance grooves 533151 are arrayed on its circumference; the bottom surface of the cover plate 53315 is fixedly connected to the second linear guide rail 53311; the output shaft of the servo motor 5332 passes through the through hole on the bottom surface of the mounting box 5331 and is fixedly connected to the drive gear 5333; A flange bearing 5335 is fixed at the center of the bottom surface of the mounting housing 5331; a rotating shaft 5336 passes through the flange bearing 5335 and is fixedly connected to the driven gear 5334; the driving gear 5333 and the driven gear 5334 rotate in cooperation; three arc-shaped cam slots 53341 are arranged in an array on the driven gear 5334, and a light-shielding plate 5337 is also provided at a distance from the center in the radial direction of the lower surface of the driven gear 5334; three second slotted photoelectric sensors 5338 are fixedly connected to the inner bottom surface of the mounting housing 5331; three limit rods 5339 are respectively set through the second clearance slot 533151 towards the axis of the cover plate 53315, and a follower bearing 53310 is fixedly connected to the bottom surface of the limit rod 5339; the follower bearing 53310... The rollers of the 10 and the arc-shaped cam groove 53341 roll in a rolling engagement; the lower part of the limit rod 5339 is provided with a rectangular protrusion 53391, which is slidably connected to the slider of the second linear guide rail 53311; the upper back of the limit rod 5339 is also provided with a rectangular groove 53392, and a magnet 53312 is fixedly connected to the bottom of the groove 53392; the air blowing pipe 53313 and the fiber optic sensor 53314 are fixed to both sides of the limit rod 5339 by their own mounting accessories; the mounting box 5331 is used to fix the servo motor 5332, the flange bearing 5335 and the second groove-shaped photoelectric sensor 5338; the servo motor 5332 serves as a power source to drive the active gear 5333 to rotate, thereby driving the driven gear 5334 to rotate;The rotating shaft 5336 serves as the rotation center of the driven gear 5334; the flange bearing 5335 ensures smooth rotation; the light-shielding plate 5337 is inserted into the groove of the second slotted photoelectric sensor 5338 to block the sensor from emitting light and providing an action signal; there are three second slotted photoelectric sensors 5338 in total, the two at both ends are used to determine the rotation limit position of the driven gear 5334, and the middle one is used to search for the origin during reset; there are three limit rods 5339 in total to limit the current collector in the circumferential direction; the follower bearing 53310 and the arc-shaped cam groove 53341 roll together to reduce friction and ensure smooth movement; the second linear guide rail 53311 is used to ensure that the limit rod 5339 is within the circumferential radius. The directional movement is smooth and stable; magnet 53312 is mainly used to provide magnetic force to pull the electrode sheet during feeding, preventing the problem of picking up multiple sheets; air blowing pipe 53313 is used to blow air above the current collector to create negative pressure to facilitate electrode sheet picking; fiber optic sensor 53314 is used to detect the current collector's position and provide a picking signal; cover plate 53315 is used to fix the second linear guide rail 53311, and the second clearance groove 533151 on it can ensure the movement of the limit rod 5339 in the circumferential radius direction; arc-shaped cam through groove 53341 drives follower bearing 53310, thereby driving the limit rod 5339 to move in the circumferential radius direction to achieve positioning of current collectors of different diameters.

[0040] To ensure that the fiber optic sensor 53314 can effectively detect when switching between wafers of different diameters, and at the same time, the air blowing pipe 53313 can blow air onto the wafer. The heads of the air blowing pipe 53313 and the fiber optic sensor 53314 are both pointing in the axial direction of the cover plate 53315.

[0041] The lifting mechanism 532 includes a rod motor 5321, a vertical fixing block 5322, a mounting strip 5323, a first slotted photoelectric sensor 5324, a first linear guide rail 5325, and a top plate 5326. The rod motor 5321 is a standard component including a main body drive mechanism and a rack. Its main body drive mechanism is fixed on the mounting plate 531, and the top of its rack is fixedly connected to the lower surface of the left end of the top plate 5326. The left end of the top plate 5326 has a square protrusion 53261, and the right end of the disc has an array of first clearance grooves 53262. Limiting rods 5339 pass through the first clearance grooves 53262 respectively. The bottom of the vertical fixing block 5322 is fixedly connected to the mounting plate 531, and the mounting strip 5323 is fixedly connected vertically to its side. Three first slotted photoelectric sensors 5324 are linearly arrayed on the mounting strip 5323. The front of the vertical fixing block 5322 is also fixedly connected to the first linear guide rail 5325. The top plate The slider of the left vertical surface of 5326 and the first linear guide 5325 are slidably connected; the rod motor 5321 is used to provide precise lifting motion of the current collector; the vertical fixing block 5322 is used to fix the mounting strip 5323 and the first linear guide 5325; the mounting strip 5323 can fix the first slotted photoelectric sensor 5324 and adjust its position; the first linear guide 5325 can ensure the smoothness of the top plate 5326 when moving up and down; the top plate 5326 is mainly used to support the stack of current collectors; the first clearance groove 53262 is mainly used to avoid the movement of the limit rod 5339; the square protrusion 53261 is used to block the light-emitting axis of the first slotted photoelectric sensor 5324 and provide the action signal of the rod motor 5321; the upper and lower two positions of the first slotted photoelectric sensor 5324 are used to control the extreme positions of the up and down movement of the rod motor 5321, and the middle one is used to search for the origin when the rod motor 5321 resets.

[0042] The turnover mechanism 51 includes a first support base 511, a transverse mounting plate 512, a transverse rodless cylinder 513, a pad 514, an "L"-shaped mounting base 515, a first slide cylinder 516, an ejector plate 517, a contact displacement sensor 518, a crossbeam 519, and a suction plate assembly 5110. The bottom of the first support base 511 is fixedly connected to the upper surface of the middle partition plate of the second frame 4, and the transverse mounting plate 512 is fixedly attached to the top side. The transverse rodless cylinder 513 is fixedly connected to the side of the transverse mounting plate 512. The pad 514 is slidably connected to the slider of the transverse rodless cylinder 513. The bottom of the long side of the "L"-shaped mounting base 515 and the... The pad 514 is fixedly connected, and its short side is fixedly connected to the first slide cylinder 516; the ejector plate 517 is slidably connected to the bottom of the slider of the first slide cylinder 516; the contact displacement sensor 518 is vertically positioned and fixedly connected to the ejector plate 517; the middle position of the side of the crossbeam 519 is fixedly connected to the lower part of the side of the pad 514; the bottom surface of the long side of the crossbeam 519 is linearly arrayed with three equally spaced suction plate assemblies 5110; the first support base 511 is used to fix the transverse mounting plate 512; the transverse mounting plate 512 is mainly used to fix the transverse rodless cylinder 513; the transverse rodless cylinder 513 can provide movement when the collector plate rotates; The "L"-shaped mounting base 515 is used to fix the first slide cylinder 516; the first slide cylinder 516 provides the movement required for the contact displacement sensor 518 to detect; the contact displacement sensor 518 can detect whether there are multiple sheets on the high-transparency glass 522, ensuring the subsequent stacking quality; the crossbeam 519 is used to fix three equally spaced suction assemblies 5110; the suction assembly 5110 includes a horizontal mounting block 51101, a dual-axis cylinder 51102, a guide rail slide cylinder 51103, an "L"-shaped connecting plate 51104, and a first vacuum suction cup 51105; the upper surface of the horizontal mounting block 51101 and the crossbeam 51105 are fixed. 9. Fixed connection: A dual-axis cylinder 51102 is fixedly connected to the lower surface; a guide rail slide cylinder 51103 is slidably connected to the ejector slider of the dual-axis cylinder 51102 via an adapter plate; an "L"-shaped connecting plate 51104 is slidably connected to the slider of the guide rail slide cylinder 51103 on its vertical side; a vertical first vacuum suction cup 51105 is fixedly connected to the horizontal surface; a horizontal mounting block 51101 is used to fix the dual-axis cylinder 51102; the dual-axis cylinder 51102 provides the power for the first vacuum suction cup 51105 to move back and forth; the guide rail slide cylinder 51103 provides the power for the first vacuum suction cup 51105 to move up and down.

[0043] The detection assembly 52 includes a dust cover 521, a high-transparency glass 522, a camera mount 523, a CCD camera 524, and a refractive prism 525. The lower part of the dust cover 521 is fixedly connected to the upper surface of the middle partition plate of the second frame 4, and the top is provided with the high-transparency glass 522. Inside the dust cover 521, the camera mount 523 is fixedly connected to the upper surface of the middle partition plate of the second frame 4. The CCD camera 524, which is arranged horizontally, is fixedly connected to the top side of the camera mount 523. The refractive prism 525 is a standard part, and its side and the head of the CCD camera 524 are connected to it. The fixed connection is parallel to the irradiation surface and the high-transparency glass 522; the dust cover 521 is used to protect the CCD camera 524 and the refractive prism 525 from being blocked by dust; the high-transparency glass 522 provides high transparency, making it easy to take pictures and obtain the position of the film; the camera mount 523 is used to fix the CCD camera 524; the refractive prism 525 can be used to reflect the image of the film to the horizontally set CCD camera 524, thereby saving vertical space; the image of the film captured by the CCD camera 524 is processed by the host computer system to calculate the center coordinates of the film and send them to the stacking robot 8.

[0044] The second embodiment of the present invention is basically the same as the first embodiment, mainly in the optimization of the stacking robot 8. The stacking robot 8 includes a parallel robot 81 and a suction nozzle 82; the parallel robot 81 is a standard product, and its bottom flange mounting surface is fixedly connected to the suction nozzle 82; the parallel robot 81 has a large range of motion and a high speed, and can efficiently move to each feeding position to grab the sheets and accurately stack them; the suction nozzle 82 is mainly used to pick up the sheets from each feeding position.

[0045] The third embodiment of the present invention is basically the same as the first embodiment, mainly in the optimization of the material receiving component 7. The material receiving component 7 includes a back plate 71, a first material receiving assembly 72, a second material receiving assembly 73, and a protective cover 74; the first material receiving assembly 72 and the second material receiving assembly 73 are symmetrically fixed along the length direction on the upper surface of the back plate 71; the protective cover 74 is fixed to one end of the back plate 71; the first material receiving assembly 72 and the second material receiving assembly 73 have the same structure; the second material receiving assembly 73 includes a lead screw module 731, a support plate 732, and a second centering mechanism 733; the lead screw module 731 is fixed to the upper surface of the back plate 71; the support plate 732 and the lead screw module 731 are slidably connected by a slider; a rectangular array on the support plate 732... Four second centering mechanisms 733 are arranged; the second centering mechanism 733 has the same structure as the first centering mechanism 533; the first receiving assembly 72 and the second receiving assembly 73 have the same structure, which mainly enables parallel operation to improve receiving efficiency; the lead screw module 731 can ensure the accurate position of the second centering mechanism 733, thereby ensuring stacking accuracy; the support plate 732 is used to support the second centering mechanism 733; the second centering mechanism 733, as a container for stacking, has the same structure as the first centering mechanism 533, and can automatically adjust the size of the storage space according to the different diameters of the sheets, thereby improving the flexibility of the equipment.

[0046] The fourth embodiment of the present invention is basically the same as the first embodiment, mainly in the optimization of the heating element feeding component 2. The heating element feeding component 2 and the composite sheet feeding component 3 have the same structure, including a belt conveyor fixing seat 21, a first conveyor belt 22, a second conveyor belt 23, a handling component 24, and a positioning detection component 25. The bottom of the belt conveyor fixing seat 21 is fixed to the top surface of the first frame 1, and its top inner side is fixedly connected to the side aluminum profile of the first conveyor belt 22. The second conveyor belt 23 and the first conveyor belt 22 are fixed in the same way, and are aligned along their length. The handling component 24 is located above the middle position of the second conveyor belt 23 and the first conveyor belt 22. The positioning detection component 25 is located above the end of the first conveyor belt 22 near the second conveyor belt 23. The heating element and the composite sheet are... The permeable powder electrode sheet is fed individually by the heating sheet feeding component 2 and the composite sheet feeding component 3; the first conveyor belt 22 is used to buffer the heating sheet, and multiple sheets can be placed laterally to ensure continuous feeding for subsequent stacking; the second conveyor belt 23 is mainly used to quickly transport the sheet to the picking position of the stacking robot 8; the handling component 24 can pick up multiple electrode sheets from the first conveyor belt 22 and place them on the second conveyor belt 23 at one time; the arrival detection component 25 is used to detect the arrival status of the sheet at the end of the first conveyor belt 22 to provide a picking signal to the handling component 24; the handling component 24 includes a second support base 241, a connecting beam 242, a rodless slide cylinder 243, and a vertical plate 24. 4. A three-axis cylinder 245, a horizontal support plate 246, and a second vacuum suction cup 247; two second support bases 241 are fixed at the bottom to the top surface of the first frame 1, and a connecting beam 242 is fixedly connected to the top side; a rodless slide cylinder 243 is fixedly connected to the connecting beam 242; a vertical plate 244 is slidably connected to the slider of the rodless slide cylinder 243; a three-axis cylinder 245 is fixedly connected to the vertical plate 244; a horizontal support plate 246 is slidably connected to the moving part of the three-axis cylinder 245; a rectangular array of second vacuum suction cups 247 is provided on the horizontal support plate 246; the second support base 241 is used to fix the connecting beam 242; the rodless slide cylinder 243 provides the lateral movement required for transferring the electrode sheet; the three-axis... Cylinder 245 provides the power for the up-and-down movement when picking up the electrode sheet; horizontal support plate 246 is used to fix the second vacuum suction cup 247; the arrival detection component 25 includes a square base 251, a square tube 252, a flange support 253, a bending plate 254, and a digital camera 255; the square tube 252 is square for quick installation and positioning of the installation direction, the square base 251 and the flange support 253 pass through the square tube 252 and are fixedly connected by bolts; the bending plate 254 is "L" shaped, with its short side fixedly connected to the side of the flange support 253, and the digital camera 255 fixedly connected to the bottom end of its long side; the digital camera 255 is mainly used to detect the arrival status of multiple materials through image recognition.

[0047] The fifth embodiment of the present invention is basically the same as the first embodiment, mainly in further optimization. The visual positioning component 9 includes a light source fixing component 91, a light source 92, a camera mounting component 93, and an industrial camera 94; the vertical side of the light source fixing component 91 is fixedly connected to the outer side of the top crossbeam of the second frame 4, and the light source 92 is fixedly connected to its horizontal bottom surface; the camera mounting component 93 is fixedly connected to the inner side of the top crossbeam of the second frame 4, and the industrial camera 94 is fixedly connected to its lower side; the industrial camera 94 and the light source 92 are coaxial, and the camera lens extends into the center hole of the light source 92 to a certain depth; the light source fixing component 91 is used to fix the light source 92; the light source 92 can illuminate the material picking area so that the industrial camera 94 can obtain a clearer image, thereby providing the coordinates of the film more accurately; the camera mounting component 93 is used to fix the industrial camera 94.

[0048] Based on this, a typical working process of the present invention is as follows:

[0049] S1: As Figure 1 , Figure 13 , Figure 15 - Figure 18 As shown, the heating element feeding component 2 and the composite sheet feeding component 3 have the same structure. Taking the heating element feeding as an example, the mechanism picks up qualified heating elements from the detection equipment and places them side by side on the first conveyor belt 22. After a row is placed, the first conveyor belt 22 moves forward one material position. After the digital camera 255 of the arrival detection component 25 detects that a set number of sheets have arrived, the three-axis cylinder 245 of the handling component 24 extends to drive the second vacuum suction cup 247 to pick up a group of heating elements. The rodless slide cylinder 243 moves to transport the heating elements to the left end of the second conveyor belt 23. The second conveyor belt 23 quickly transports the heating elements to the right end of the feeding area. At this time, the industrial camera 94 takes pictures of the heating elements in the feeding area and gives the center position coordinates to the stacking robot 8, which picks them up by the suction nozzle 82 for stacking. The composite sheet feeding method is the same as the heating element feeding method. The above actions are repeated in sequence to realize the automatic feeding of heating elements and composite sheets.

[0050] S2: As Figure 1 - Figure 13 As shown, the current collector loading component 5 and the substrate loading component 6 have the same structure. Taking the current collector loading component as an example, the current collector loading component 5 includes a set of symmetrically arranged detection components 52 and a material distribution mechanism 53 that work alternately to improve loading efficiency. The operation process is as follows:

[0051] First, stacked collectors are pre-placed in the first centering mechanism 533 of the material distribution mechanism 53. During left-side loading, the rod motor 5321 drives the top plate 5326 to lift the collectors upwards. When the fiber optic sensor 53314 detects the top collector, the air blowing pipe 53313 blows air upwards to create negative pressure, causing the top collector to float upwards. At this time, the dual-axis cylinder 51102 in the left-side suction assembly 5110 of the turnover mechanism 51 extends, and then the guide rail slide cylinder 51103 drives the first vacuum suction cup 51105 downwards. The first sheet is picked up, and then the rod motor 5321 drives the top plate 5326 to move downward. Because the magnet 53312 in the limit rod 5339 exerts an attractive force on the collecting sheet below the picked-up sheet, it prevents the lower collecting sheet from being carried away, thus achieving the sheet separation function. The guide rail slide cylinder 51103 resets, and the horizontal rodless cylinder 513 moves to the right, placing the electrode sheet on the high-transparency glass 522 of the left detection component 52. At this time, the sheet-picking component 5110 on the right side of the turnover mechanism 51 is located above the right-side material distribution mechanism 53, repeating the process. The material handling process is completed when the right-side suction assembly 5110 picks up the material. When the suction assembly 5110 on the left side of the turnover mechanism 51 picks up the material from the left-side distribution mechanism 53, the contact displacement sensor 518 is located above the left-side detection assembly 52. ​​The first slide cylinder 516 drives the contact displacement sensor 518 to move downward to contact the current collector on the high-transparency glass 522 of the left-side detection assembly 52. ​​Based on the displacement data, it is determined whether there is a duplicate sheet. If there is a duplicate sheet, it is picked up by the first vacuum suction cup 51105 of the suction assembly 5110 in the middle of the turnover mechanism 51. The dual-axis cylinder 51102 retracts to discard the wafer; if it is a single wafer, the CCD camera 524 of the detection component 52 will capture the center position coordinates of the current collector and send them to the stacking robot 8, which will pick it up by the suction nozzle 82 for stacking. When the wafer suction component 5110 on the right side of the turnover mechanism 51 picks up the wafer from the right side of the distribution mechanism 53, the above detection and processing process is repeated; the substrate and current collector are fed in the same way, the difference being that the substrate is not magnetic and does not need to be fitted with magnets 53312, but the substrate itself is not sticky and is relatively easy to distribute.

[0052] S3: As Figure 1 , Figure 13 , Figure 14As shown, the suction nozzle 82 of the stacking robot 8, driven by the parallel robot 81, picks up the wafers in the feeding positions of the heating element feeding component 2, the composite element feeding component 3, the current collector feeding component 5, and the substrate feeding component 6 in a set order, and then places them in the second centering mechanism 733 of the receiving component 7. The first receiving component 72 and the second receiving component 73 have the same structure. When all the second centering mechanisms 733 in the second receiving component 73 are filled, the lead screw module 731 transports all the second centering mechanisms 733 in the second receiving component to the protective cover 74 position, where the operator removes the stacked battery stack for subsequent operations. Then the empty second centering mechanism 733 returns to the working position, and the first receiving component 72 and the second receiving component 73 work alternately.

[0053] When switching between products of different sizes, heating elements and composite sheets are fed by visual positioning without changing tooling fixtures. The current collector and substrate are fed according to the pre-set formula, and their centering fixtures can automatically adjust the hopper to adapt to size changes. At the same time, the centering mechanism of the receiving component 7 can also automatically adjust the hopper size. By repeating steps S1-S3, automatic stacking of various specifications of thermal battery electrodes can be achieved.

[0054] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automatic stacking apparatus characterized by comprising: The assembly includes a first frame (1), a heating element feeding component (2), a composite sheet feeding component (3), a second frame (4), a current collector feeding component (5), a substrate feeding component (6), a receiving component (7), a stacking robot (8), and a vision positioning component (9). The first frame (1) and the second frame (4) are arranged adjacent to each other, and their lower support frames are fixedly connected to the ground. The heating element feeding component (2) and the composite sheet feeding component (3) are arranged in parallel and one end extends into the second frame (4) for a certain distance. The bottom of both is fixedly connected to the top surface of the first frame (1). The current collector feeding component (5) and the substrate feeding component (6) are symmetrically arranged on both sides of the upper surface of the middle partition plate of the second frame (4) in the length direction. One end of the receiving component (7) is fixedly connected to the... The middle part of the second frame (4) is located at the middle position of the upper surface of the middle partition plate along the length direction, and the other end is suspended at a certain distance outside the second frame (4); the stacking robot (8) is suspended and fixed at the middle position of the bottom of the top square steel structure of the second frame (4); the visual positioning component (9) is fixedly connected to the middle position of the top square steel beam of the second frame (4) near the first frame (1); the current collector loading component (5) and the substrate loading component (6) have the same structure, including a turnover mechanism (51), a detection component (52) and a material distribution mechanism (53); the detection component (52) and the material distribution mechanism (53) are arranged in a straight line with equal spacing, with two detection components (52) in the middle and two material distribution mechanisms (53) at both ends; the turnover mechanism (51) is set in the detection component ( 52) and above the material distribution mechanism (53); the turnover mechanism (51) includes a first support base (511), a transverse mounting plate (512), a transverse rodless cylinder (513), a pad (514), an "L"-shaped mounting base (515), a first slide cylinder (516), an ejector plate (517), a contact displacement sensor (518), a crossbeam (519), and a suction plate assembly (5110); the bottom of the first support base (511) is fixedly connected to the upper surface of the middle partition plate of the second frame (4), and the transverse mounting plate (512) is fixedly attached to the top side; the transverse rodless cylinder (513) is fixedly connected to the side of the transverse mounting plate (512); the pad (514) is slidably connected to the slider of the transverse rodless cylinder (513); the "L"-shaped mounting base (515) The bottom of the long side is fixedly connected to the pad (514), and the side of the short side is fixedly connected to the first slide cylinder (516); the bottom of the slider of the ejector plate (517) and the first slide cylinder (516) are slidably connected; the contact displacement sensor (518) is vertically set and fixedly connected to the ejector plate (517); the middle position of the side of the crossbeam (519) is fixedly connected to the lower part of the side of the pad (514); the bottom surface of the long side of the crossbeam (519) is linearly arrayed with three equally spaced suction plate assemblies (5110); the suction plate assembly (5110) includes a horizontal mounting block (51101), a dual-axis cylinder (51102), a guide rail slide cylinder (51103), an "L"-shaped connecting plate (51104), and a first vacuum suction cup (51105);The upper surface of the horizontal mounting block (51101) is fixedly connected to the crossbeam (519), and the lower surface is fixedly connected to a dual-axis cylinder (51102); the guide rail slide cylinder (51103) is slidably connected to the ejector slider of the dual-axis cylinder (51102) via an adapter plate; the vertical side of the "L"-shaped connecting plate (51104) is slidably connected to the slider of the guide rail slide cylinder (51103), and the horizontal surface is fixedly connected to a vertical first vacuum suction cup (51105).

2. The automatic stacking apparatus according to claim 1, characterized by: The material distribution mechanism (53) includes a mounting plate (531), a lifting mechanism (532), and a first centering mechanism (533). The bottom surface of the mounting plate (531) is fixedly connected to the middle partition of the second frame (4), and the top surface is fixedly connected to the adjacent lifting mechanism (532) and the first centering mechanism (533). The first centering mechanism (533) includes a mounting housing (5331), a servo motor (5332), a drive gear (5333), a driven gear (5334), a flange bearing (5335), a rotating shaft (5336), a light shield (5337), a second slotted photoelectric sensor (5338), a limit rod (5339), and a follower bearing (53310). The system includes a second linear guide rail (53311), a magnet (53312), an air blowing pipe (53313), a fiber optic sensor (53314), and a cover plate (53315). The bottom surface of the mounting housing (5331) and the mounting plate (531) are fixedly connected, and the top is fixedly connected to the cover plate (53315). The cover plate (53315) is disc-shaped, with a second clearance groove (533151) arrayed on its circumference. The bottom surface of the cover plate (53315) and the second linear guide rail (53311) are fixedly connected. The output shaft of the servo motor (5332) passes through a hole in the bottom surface of the mounting housing (5331) and is fixedly connected to the drive gear (5333). A flange bearing (5335) is fixed to the mounting housing. The bottom center of the housing (5331) is located; the rotating shaft (5336) passes through the flange bearing (5335) and is fixedly connected to the driven gear (5334); the driving gear (5333) and the driven gear (5334) are rotatably engaged; three arc-shaped cam slots (53341) are arranged on the driven gear (5334), and a light-shielding plate (5337) is also provided at a distance from the center in the radial direction on the lower surface of the driven gear (5334); three second slotted photoelectric sensors (5338) are fixedly connected to the inner bottom surface of the housing (5331); three limit rods (5339) pass through the second clearance slot (533151) and face the cover plate (53315). The axis setting is such that a follower bearing (53310) is fixedly connected to the bottom surface of the limiting rod (5339); the roller of the follower bearing (53310) and the arc-shaped cam groove (53341) are in rolling cooperation; a rectangular protrusion (53391) is provided at the lower part of the limiting rod (5339), and the rectangular protrusion (53391) is slidably connected to the slider of the second linear guide rail (53311); a rectangular groove (53392) is also provided on the upper back of the limiting rod (5339), and a magnet (53312) is fixedly connected to the bottom of the rectangular groove (53392); the air blowing pipe (53313) and the fiber optic sensor (53314) are fixed to both sides of the limiting rod (5339) by their own mounting accessories.

3. The automatic stacking apparatus according to claim 2, characterized in that: The heads of the air blowing pipe (53313) and the fiber optic sensor (53314) both point towards the axis of the cover plate (53315).

4. The automatic stacking equipment according to claim 2, characterized in that: The lifting mechanism (532) includes a rod motor (5321), a vertical fixing block (5322), a mounting strip (5323), a first slotted photoelectric sensor (5324), a first linear guide rail (5325), and a top plate (5326). The rod motor (5321) is a standard component, including a main body drive mechanism and a rack. Its main body drive mechanism is fixed on the mounting plate (531), and the top of its rack is fixedly connected to the lower surface of the left end of the top plate (5326). The left end of the top plate (5326) is provided with a square protrusion (53261), and the right end of the disc is arrayed with... The first clearance groove (53262); the limiting rod (5339) passes through the first clearance groove (53262); the bottom of the vertical fixing block (5322) is fixedly connected to the mounting plate (531), and the side of the vertical fixing block (5322) is fixedly connected to the mounting strip (5323) in the vertical direction; the mounting strip (5323) is linearly arrayed with three first slot-shaped photoelectric sensors (5324); the front of the vertical fixing block (5322) is also fixedly connected to the first linear guide rail (5325); the left vertical surface of the top plate (5326) is slidably connected to the slider of the first linear guide rail (5325).

5. The automatic stacking apparatus according to claim 4, characterized in that: The detection component (52) includes a dust cover (521), a high-transparency glass (522), a camera mount (523), a CCD camera (524), and a refractive prism (525). The lower part of the dust cover (521) is fixedly connected to the upper surface of the middle partition of the second frame (4), and the top is provided with high-transparency glass (522). Inside the dust cover (521), there is a camera mount (523) which is fixedly connected to the upper surface of the middle partition of the second frame (4). A horizontally arranged CCD camera (524) is fixedly connected to the top side of the camera mount (523). The refractive prism (525) is a standard part, and its side is fixedly connected to the head of the CCD camera (524), and its irradiation surface is parallel to the high-transparency glass (522).

6. The automatic stacking apparatus according to claim 1, characterized by: The stacking robot (8) includes a parallel robot (81) and a suction nozzle (82); the parallel robot (81) is a standard product, and its bottom flange mounting surface is fixedly connected to the suction nozzle (82).

7. The automatic stacking apparatus according to claim 6, characterized in that: The receiving component (7) includes a back plate (71), a first receiving assembly (72), a second receiving assembly (73), and a protective cover (74); the first receiving assembly (72) and the second receiving assembly (73) are symmetrically fixed on the upper surface of the back plate (71) along the length direction; the protective cover (74) is fixed to one end of the back plate (71); the first receiving assembly (72) and the second receiving assembly (73) have the same structure; the second receiving assembly (73) includes a lead screw module (731), a support plate (732), and a second centering mechanism (733); the lead screw module (731) is fixed on the upper surface of the back plate (71); the sliders of the support plate (732) and the lead screw module (731) are slidably connected; four second centering mechanisms (733) are arranged in a rectangular array on the support plate (732); the structure of the second centering mechanism (733) is the same as that of the first centering mechanism (533).

8. The automatic stacking apparatus according to claim 1, characterized by: The heating element feeding component (2) and the composite sheet feeding component (3) have the same structure, including a belt conveyor fixing seat (21), a first conveyor belt (22), a second conveyor belt (23), a handling component (24), and a positioning detection component (25); the bottom of the belt conveyor fixing seat (21) is fixed to the top surface of the first frame (1), and its top inner side is fixedly connected to the aluminum profile on the side of the first conveyor belt (22); the second conveyor belt (23) and the first conveyor belt (22) are fixed in the same way, and the two are aligned along the length direction. Aligned; the conveying assembly (24) is positioned above the middle of the second conveyor belt (23) and the first conveyor belt (22); the arrival detection assembly (25) is positioned above the end of the first conveyor belt (22) near the second conveyor belt (23); the conveying assembly (24) includes a second support base (241), a connecting beam (242), a rodless slide cylinder (243), a vertical plate (244), a three-axis cylinder (245), a horizontal support plate (246), and a second vacuum suction cup (247); the second support base (241) There are two in total. The bottom is fixed to the top surface of the first frame (1), and the top side is fixedly connected to the connecting beam (242); the rodless slide cylinder (243) and the connecting beam (242) are fixedly connected; the vertical plate (244) and the slider of the rodless slide cylinder (243) are slidably connected; the three-axis cylinder (245) and the vertical plate (244) are fixedly connected; the horizontal support plate (246) and the moving part of the three-axis cylinder (245) are slidably connected; a rectangular array of multiple second vacuum suction cups is provided on the horizontal support plate (246). 247); The positioning detection component (25) includes a square base (251), a square tube (252), a flange support (253), a bending plate (254), and a digital camera (255); the square tube (252) is square, the square base (251) and the flange support (253) pass through the square tube (252) and are fixedly connected by bolts; the bending plate (254) is "L" shaped, the short side is fixedly connected to the side of the flange support (253), and the long bottom end is fixedly connected to the digital camera (255).

9. The automatic stacking apparatus according to claim 1, characterized by: The visual positioning component (9) includes a light source fixing component (91), a light source (92), a camera mounting component (93), and an industrial camera (94); the light source fixing component (91) is fixedly connected to the outside of the top crossbeam of the second frame (4) on its vertical side, and the light source (92) is fixedly connected to its horizontal bottom surface; the camera mounting component (93) is fixedly connected to the inside of the top crossbeam of the second frame (4), and the industrial camera (94) is fixedly connected to its lower side; the industrial camera (94) and the light source (92) are coaxial and the camera lens extends into the center hole of the light source (92) to a certain depth.

Images