Battery cell stacking system

Abstract

The utility model relates to the technical field of battery cell packaging, in particular to a battery cell stacking system which comprises two conveying lines and a stacking robot, the conveying lines are arranged in parallel in the longitudinal direction at intervals, the stacking robot is arranged on the left side of the conveying lines, and the battery cell stacking system further comprises a carrying mechanism, a gripper mechanism and a positioning table. The carrying mechanism is arranged at the left ends of the two conveying lines, the gripper mechanism is installed at the execution tail end of the stacking robot, and the positioning table is arranged on the left side of the stacking robot. The utility model provides a battery cell stacking system which is simple in structural design, high in stacking efficiency, high in compatibility and capable of fully using pallets, and the placement effect and the stacking effect are both guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of battery core packaging, in particular to a battery core palletizing system. Background Art

[0002] After the battery cells are assembled, they need to be securely packaged before they can be safely transported. In order to better protect the battery cells, the battery cells are usually placed in foam, and then the foam filled with battery cells is palletized.

[0003] In traditional production lines, battery cells are mainly placed and stacked manually, which is time-consuming, labor-intensive, and inefficient. At present, some companies also use palletizers to automatically place and stack battery cells, but the structural design of the palletizer is relatively complex, the palletizing efficiency is relatively low, the placement and stacking effects cannot be guaranteed, and it is not compatible with battery cells of different specifications. In addition, after the empty foam on the foam feeding conveyor line is used up, the empty pallets will be taken offline for recycling, and immediate recycling is not achieved, resulting in a low utilization rate of the pallets. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the deficiencies in the prior art and provide a battery cell stacking system with simple structural design, high stacking efficiency, guaranteed placement effect and stacking effect, strong compatibility, and full use of pallets.

[0005] The utility model solves the technical problem by adopting the following technical solution: a battery cell palletizing system, comprising a conveyor line and a palletizing robot, wherein the conveyor lines are two and are arranged in parallel and spaced apart in the longitudinal direction, the palletizing robot is arranged on the left side of the conveyor line, and further comprises a transport mechanism, a gripper mechanism and a positioning platform, the transport mechanism is arranged at the left end of the two conveyor lines, the gripper mechanism is installed at the execution end of the palletizing robot, and the positioning platform is arranged on the left side of the palletizing robot.

[0006] Furthermore, the conveying mechanism includes a bottom beam, a conveying frame, a driving assembly, a linear module and a clamping assembly. The bottom beam is longitudinally arranged at the left end of the conveying line, the bottom end of the conveying frame is longitudinally slidably connected to the top end of the bottom beam, the driving assembly is distributed on the bottom beam and the conveying frame to drive the conveying frame to move longitudinally, the linear module is vertically arranged in the middle of the conveying frame, the left end of the clamping assembly is connected to the slide plate on the linear module, and is vertically slidably connected to the right end of the conveying frame, and the clamping assembly is arranged above the conveying line.

[0007] Furthermore, the driving assembly includes a first rack, a first gear and a first motor, the first rack is longitudinally arranged at the top of the bottom beam and is located below the transport frame, the first motor is vertically installed at the bottom end of the transport frame, and its output end passes through the transport frame and is connected to the first gear, and the first rack and the first gear are meshed; the clamping assembly includes a U-shaped frame, a first slide cylinder and a support plate, the left end of the U-shaped frame is connected to the slide plate on the linear module, and is vertically slidably connected to the right end of the transport frame, the first slide cylinder is symmetrically arranged on the front and rear sides of the U-shaped frame, and the driving end of the first slide cylinder is connected to the top of the support plate.

[0008] Furthermore, the gripper mechanism includes a palm frame, a battery cell clamping assembly, a foam clamping assembly, a piezoelectric core assembly and a visual assembly. The top of the palm frame is connected to the execution end of the palletizing robot, the battery cell clamping assembly is installed in the middle of the bottom end of the palm frame, the foam clamping assembly is arranged on the left and right sides of the bottom end of the palm frame, the piezoelectric core assembly is installed at the bottom end of the palm frame, and the visual assembly is arranged on the left side of the palm frame.

[0009] The movable block is composed of a plurality of blocks, and the top end of the movable block is connected to the bottom end of the movable plate and the top end of the movable block is connected to the bottom end of the movable plate and the right end of the movable block is slidably penetrated into the right end of the movable plate. The first buffer spring is sleeved on the first guide shaft, the left end of the first buffer spring contacts with the right end of the movable block, and the right end of the first buffer spring contacts with the right end of the movable plate. The screw is rotatably mounted on the bottom end of the palm frame, the screw nut is sleeved on the screw, and the bottom end of the screw is connected to the top end of the movable plate. The driving member is arranged in the middle of the right end of the palm frame, and the output end of the screw is connected to the right end of the screw.

[0010] Furthermore, the foam clamping assembly includes a double cylinder, a suction cup frame, a second guide shaft, a second buffer spring and a suction cup, the double cylinder is vertically installed on one side of the palm frame, and a driving end thereof is connected to the top end of the suction cup frame, the top end of the second guide shaft is slidably passed through the suction cup frame, and the bottom end thereof is connected to the top end of the suction cup, the second buffer spring is sleeved on the second guide shaft, the top end of the second buffer spring is in contact with the bottom end of the suction cup frame, and the bottom end thereof is in contact with the top end of the suction cup.

[0011] Furthermore, the piezoelectric core assembly includes a pressure rod, a first fisheye joint, a pressure shaft, a third buffer spring and a second slide cylinder. The pressure rod is longitudinally arranged below the palm frame and between the reference plate and the movable block. The two ends of the pressure rod are respectively inserted into the bearing ends of the first fisheye joint. The pressure shaft is vertically arranged. The top end of the pressure shaft is slidably penetrated through the driving end of the second slide cylinder, and the bottom end thereof is connected to the rod end of the first fisheye joint. The third buffer spring is sleeved on the pressure shaft. The top end of the third buffer spring is in contact with the driving end of the second slide cylinder, and the bottom end thereof is in contact with the rod end of the first fisheye joint. The second slide cylinder is vertically installed at the bottom end of the palm frame.

[0012] Furthermore, the gripper mechanism also includes a single-sided bottom-covering component and a movable bottom-covering component, which are arranged laterally opposite to each other, and both the single-sided bottom-covering component and the movable bottom-covering component include a bottom-covering rod, a second fisheye joint, a lifting seat, a first lifting cylinder, an optical axis, a first linear bearing and a bottom-covering cylinder. The bottom-covering rod is longitudinally arranged below the battery cell clamping assembly, and the two ends of the bottom-covering rod are respectively inserted into the bearing ends of the second fisheye joint. The lifting seats are respectively vertically arranged on the front and rear sides of the palm frame, and the middle part is horizontally slidably connected to the palm frame. The first lifting cylinder is vertically installed at the top of the lifting seat, and its driving end is connected to the top of the optical axis. The first linear bearing is installed at the bottom end of the lifting seat, and the bottom end of the optical axis passes through the first linear bearing and is connected to the rod end of the second fisheye joint. The bottom-covering cylinder is horizontally arranged, and its driving end is connected to the middle part of the lifting seat. The bottom cylinder in the single-sided bottom-covering component is connected to the palm frame, and the bottom cylinder in the movable bottom-covering component is connected to the battery cell clamping assembly.

[0013] Furthermore, the positioning platform includes a frame, a base plate, a corner column, a conveying assembly, a positioning assembly, a clamping assembly, a reference block, a second lifting cylinder and a positioning assembly. The base plate is arranged at the top of the frame, the corner columns are respectively installed at the four corners of the top of the base plate, the conveying assembly is arranged directly above the base plate, and its left and right ends are respectively slidably connected with the corner columns, the positioning assembly is installed at the top of the base plate and is located below the conveying assembly, the clamping assembly is installed at the top of the positioning assembly, and its top passes through the conveying assembly, the reference block is installed at the top of the clamping assembly, and its top passes through the conveying assembly, the second lifting cylinders are respectively arranged at the left and right ends of the base plate, and its driving end is connected to the end of the conveying assembly, and the positioning assembly is installed at the end of the base plate.

[0014] Furthermore, it also includes a transverse positioning mechanism, a longitudinal positioning mechanism and a blocking mechanism, the transverse positioning mechanism includes a positioning plate and a clamp, the positioning plate is longitudinally arranged at the left end of the conveyor line, and the clamp is respectively arranged at the front and rear sides of the left end of the conveyor line; the longitudinal positioning mechanism includes a side frame, a positioning cylinder and a side plate, the side frame is relatively arranged at the front and rear sides of the left end of the conveyor line, the positioning cylinder is longitudinally installed at the top of the side frame, and its output end is connected to the middle part of the side plate, and the side plate is transversely arranged; the blocking mechanism includes a base frame plate, a blocking arm and a blocking cylinder, the base frame plate and the blocking arm are both transversely arranged in the conveyor line, the left end of the blocking arm is hinged to the left end of the base frame plate, and the blocking cylinder is vertically installed at the right end of the base frame plate, and its driving end is hinged to the right end of the blocking arm.

[0015] The beneficial effects of the utility model are:

[0016] (1) The utility model has two conveyor lines, one is a loading line for loading empty foam cotton, and the other is a unloading line for unloading battery cells after packaging. The gripper mechanism grabs the empty foam cotton on the loading line and places it on the pallet of the unloading line. The positioning table changes the distance of the arranged battery cells according to the center distance of the notches of the empty foam cotton. Then the gripper mechanism grabs the battery cells after the distance change and places them in the notches of the empty foam cotton on the unloading line until the empty foam cotton is filled with battery cells. Then the gripper mechanism grabs the empty foam cotton on the loading line and stacks it on the foam cotton loaded with battery cells on the unloading line. The cycle is repeated to realize automatic stacking and packaging of battery cells. The stacking efficiency is high, the placement effect and the stacking effect are guaranteed, and the compatibility is strong.

[0017] (2) The utility model uses a transport mechanism to transport the pallets on the loading line to the unloading line for recycling, so that the pallets are fully utilized. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0019] Figure 1 It is a structural schematic diagram of the utility model;

[0020] Figure 2 It is a schematic diagram of the conveying line in the utility model;

[0021] Figure 3 It is a schematic diagram of the transport mechanism in the utility model;

[0022] Figure 4 yes Figure 3 Enlarged view of part A in the middle;

[0023] Figure 5 It is a schematic diagram of the clamping assembly in the utility model;

[0024] Figure 6It is a schematic diagram of the drive assembly in the utility model;

[0025] Figure 7 It is a schematic diagram of the blocking mechanism in the utility model;

[0026] Figure 8 It is a schematic diagram of the gripper mechanism in the utility model;

[0027] Fig. 9 It is a schematic diagram of the battery cell clamping assembly in the utility model;

[0028] Fig.10 It is a schematic diagram of the medium voltage battery core assembly of the utility model;

[0029] Fig.11 It is a schematic diagram of a single-side bottom support component in the utility model;

[0030] Fig.12 It is a schematic diagram of the positioning platform in the utility model;

[0031] Fig.13 It is a schematic diagram of the second lifting cylinder in the utility model;

[0032] Fig.14 yes Fig.13 Enlarged view of middle part B;

[0033] Fig.15 It is a schematic diagram of the conveying assembly in the utility model;

[0034] Fig.16 yes Fig.15 Enlarged view of the middle C part;

[0035] Fig.17 It is a schematic diagram of the lifting and stabilizing group in the utility model;

[0036] Fig.18 yes Fig.17 Enlarged view of the middle D part;

[0037] Fig.19 It is a schematic diagram of the micro pitch group in the utility model;

[0038] Fig. 20 It is a schematic diagram of the components in place in the utility model;

[0039] Fig.21 It is a schematic diagram of the variable pitch stabilization group in the utility model;

[0040] Fig. 22 It is a schematic diagram of the guide assembly in the utility model.

[0041] In the figure: 100, conveyor line; 200, palletizing robot; 300, handling mechanism; 310, bottom beam; 320, handling frame; 330, driving assembly; 331, first rack; 332, first gear; 333, first motor; 340, linear module; 350, clamping assembly; 351, U-shaped frame; 352, first slide cylinder; 353, support plate; 400, gripper mechanism; 410, palm frame; 420, battery core clamping assembly; 421, fixed plate; 422, movable plate; 423, reference plate; 424, movable block; 425, first guide shaft; 426, first buffer spring; 427, lead screw; 428, lead screw nut; 429, driving member; 430, foam clamping assembly Components; 431, double cylinder; 432, suction cup frame; 433, second guide shaft; 434, second buffer spring; 435, suction cup; 440, piezoelectric core assembly; 441, pressure rod; 442, first fisheye joint; 443, pressure shaft; 444, third buffer spring; 445, second slide cylinder; 450, visual assembly; 460, single-side bottom assembly; 461, bottom rod; 462, second fisheye joint; 463, lifting seat; 464, first lifting cylinder; 465, optical axis; 466, first linear bearing; 467, bottom cylinder; 470, movable bottom assembly; 500, positioning table; 510, frame; 520, substrate; 530, corner column; 540, conveying assembly; 541, baffle; 542, roller; 543, transmission group; 544, conveying motor; 545, lifting and stabilizing group; 5451, rotating shaft; 5452, second gear; 5453, second rack; 550, positioning assembly; 551, pitch-changing module; 552, pitch-changing frame; 553, micro pitch-changing group; 5531, third slide cylinder; 5532, cam plate; 5533, cam; 5534, cam frame; 5535, cam hole; 554, pitch-changing stabilizing group; 5541, sliding shaft; 5542, second linear bearing; 5543, connecting strip; 560, clamping assembly; 561, bottom plate; 562, clamping claw cylinder; 563, clamping plate; 570, reference block; 580, second lifting and Cylinder; 590, in-position component; 591, bracket; 592, in-position base plate; 593, in-position cylinder; 600, lateral positioning mechanism; 610, in-position plate; 620, clamp; 700, longitudinal positioning mechanism; 710, side frame; 720, positioning cylinder; 730, side plate; 800, blocking mechanism; 810, base frame plate; 820, blocking arm; 830, blocking cylinder; 900, rolling door; 1000, fence; 1100, floor height detector; 1200, first buffer; 1300, first buffer block; 1400, second buffer; 1500, second buffer block; 1600, guide component; 1610, mounting frame; 1620, guide plate; 1700, sensor. DETAILED DESCRIPTION

[0042] The present invention is now further described in conjunction with the accompanying drawings. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0043] like Figure 1 and Figure 2 As shown, a battery cell palletizing system includes a conveyor line 100, a palletizing robot 200, a handling mechanism 300, a gripper mechanism 400 and a positioning table 500. There are two conveyor lines 100, which are arranged in parallel and spaced apart in the longitudinal direction. The palletizing robot 200 is arranged on the left side of the conveyor line 100, the handling mechanism 300 is arranged at the left end of the two conveyor lines 100, the gripper mechanism 400 is installed at the execution end of the palletizing robot 200, and the positioning table 500 is arranged on the left side of the palletizing robot 200. There are two conveyor lines 100, one is a loading line for empty foam, and the other is a unloading line for unloading after the battery cell is packaged. The gripper mechanism 400 grabs the empty foam on the loading line and places it on the pallet S of the unloading line. The positioning platform 500 changes the distance of the arranged battery cells according to the center distance of the notch of the empty foam. Then the gripper mechanism 400 grabs the battery cells after the distance change and places them in the notch of the empty foam on the unloading line until the empty foam is filled with battery cells. Then the gripper mechanism 400 continues to grab the empty foam on the loading line and stacks it on the foam loaded with battery cells on the unloading line. The cycle is repeated to realize the automatic stacking of the battery cells. The stacking efficiency is high, the placement effect and the stacking effect are guaranteed, and the compatibility is strong. At the same time, through the setting of the transport mechanism 300, the pallet S on the loading line is transported to the unloading line for recycling, so that the pallet S is fully used. Specifically, the front conveyor line 100 is a unloading line, the rear conveyor line 100 is a loading line, and the conveyor line 100 is a roller conveyor line. This is a prior art, and its specific structure will not be described in detail here; a rolling door 900 is provided in the middle of the conveyor line 100, and a fence 1000 is provided at its right end; in order to detect whether the palletizing is completed, layer height detectors 1100 are provided on the front and rear sides of the conveyor line 100.

[0044] like Figure 2 and Figure 3As shown, the conveying mechanism 300 includes a bottom beam 310, a conveying frame 320, a driving assembly 330, a linear module 340 and a clamping assembly 350. The bottom beam 310 is longitudinally arranged at the left end of the conveying line 100, and the bottom end of the conveying frame 320 is longitudinally slidably connected to the top end of the bottom beam 310. The driving assembly 330 is distributed on the bottom beam 310 and the conveying frame 320 to drive the conveying frame 320 to move longitudinally. The linear module 340 is vertically arranged in the middle of the conveying frame 320. The left end of the clamping assembly 350 is connected to the slide plate on the linear module 340 and is vertically slidably connected to the right end of the conveying frame 320. The clamping assembly 350 is arranged above the conveying line 100. During transportation, the clamping assembly 350 holds the pallet S on the loading line from the front and rear sides, and then the linear module 340 drives the clamping assembly 350 to rise and hold up the pallet S, and then the driving assembly 330 drives the transport frame 320 to move to the lowering line. After reaching the position, the linear module 340 drives the clamping assembly 350 to descend until the pallet S falls on the unloading line, and the clamping assembly 350 no longer holds the pallet S and resets. Specifically, the linear module 340 is a prior art, and its specific structure will not be described in detail here.

[0045] like Figure 3 , Figure 5 and Figure 6 As shown, the driving assembly 330 includes a first rack 331, a first gear 332 and a first motor 333. The first rack 331 is longitudinally arranged at the top of the bottom beam 310 and is located below the transport frame 320. The first motor 333 is vertically installed at the bottom end of the transport frame 320, and its output end passes through the transport frame 320 and is connected to the first gear 332. The first rack 331 and the first gear 332 are meshed; the clamping assembly 350 includes a U-shaped frame 351, a first slide cylinder 352 and a support plate 353. The left end of the U-shaped frame 351 is connected to the slide plate on the linear module 340, and is vertically slidably connected to the right end of the transport frame 320. The first slide cylinder 352 is symmetrically arranged on the front and rear sides of the U-shaped frame 351, and the driving end of the first slide cylinder 352 is connected to the top of the support plate 353. During clamping, the first slide cylinder 352 drives the support plate 353 to move longitudinally until the bottom end of the support plate 353 is inserted into the pallet S. During driving, the first motor 333 drives the first gear 332 to rotate, and since the first rack 331 and the first gear 332 are engaged, the transport frame 320 is driven to move longitudinally along the first rack 331. Specifically, the cross section of the support plate 353 is L-shaped.

[0046] like Figure 8As shown, the gripper mechanism 400 includes a palm frame 410, a battery clamping assembly 420, a foam clamping assembly 430, a piezoelectric core assembly 440 and a visual assembly 450. The top of the palm frame 410 is connected to the execution end of the palletizing robot 200, the battery clamping assembly 420 is installed in the middle of the bottom end of the palm frame 410, the foam clamping assembly 430 is arranged on the left and right sides of the bottom end of the palm frame 410, the piezoelectric core assembly 440 is installed at the bottom end of the palm frame 410, and the visual assembly 450 is arranged on the left side of the palm frame 410. Specifically, the visual assembly 450 is three shooting devices, which are arranged vertically on the left side of the palm frame 410.

[0047] like Figure 8 and Fig. 9 As shown, the battery cell clamping assembly 420 includes a fixed plate 421, a movable plate 422, a reference plate 423, a movable block 424, a first guide shaft 425, a first buffer spring 426, a screw 427, a screw nut 428 and a driving member 429. The fixed plate 421 is longitudinally installed on the left bottom end of the palm frame 410, the top end of the movable plate 422 is horizontally slidably connected to the right bottom end of the palm frame 410, and corresponds to the fixed plate 421, the reference plate 423 is longitudinally installed on the bottom end of the fixed plate 421, and the movable block 424 is a plurality of blocks, and the top end thereof is horizontally slidably connected to the bottom end of the movable plate 422. The left end of the first guide shaft 425 is connected to the right end of the movable block 424, and its right end is slidably inserted into the right end of the movable plate 422. The first buffer spring 426 is sleeved on the first guide shaft 425, and the left end of the first buffer spring 426 abuts against the right end of the movable block 424, and its right end abuts against the right end of the movable plate 422. The screw rod 427 is rotatably installed at the bottom end of the palm frame 410, and the screw nut 428 is sleeved on the screw rod 427, and its bottom end is connected to the top end of the movable plate 422. The driving member 429 is arranged at the middle of the right end of the palm frame 410, and its output end is connected to the right end of the screw rod 427. The arrangement of the first guide shaft 425 and the first buffer spring 426 realizes the flexible clamping of the battery cell. When the battery cell is clamped, the driving member 429 drives the screw 427 to rotate, drives the screw nut 428 to move axially along the screw 427, and then synchronously drives the movable plate 422 to move toward the fixed plate 421, and then the reference plate 423 and the movable block 424 clamp the battery cell. Specifically, the driving member 429 can be a servo motor.

[0048] like Figure 8 and Fig. 9As shown, the foam clamping assembly 430 includes a double cylinder 431, a suction cup frame 432, a second guide shaft 433, a second buffer spring 434 and a suction cup 435. The double cylinder 431 is vertically installed on one side of the palm frame 410, and its driving end is connected to the top of the suction cup frame 432. The top of the second guide shaft 433 is slidably penetrated in the suction cup frame 432, and its bottom end is connected to the top of the suction cup 435. The second buffer spring 434 is sleeved on the second guide shaft 433, and the top of the second buffer spring 434 is in contact with the bottom end of the suction cup frame 432, and its bottom end is in contact with the top of the suction cup 435. The second guide shaft 433 and the second buffer spring 434 are provided to achieve flexible absorption of the empty foam.

[0049] like Figure 8 and Fig.10 As shown, the piezoelectric core assembly 440 includes a pressure rod 441, a first fisheye joint 442, a pressure shaft 443, a third buffer spring 444 and a second slide cylinder 445. The pressure rod 441 is longitudinally arranged below the palm frame 410 and is located between the reference plate 423 and the movable block 424. The two ends of the pressure rod 441 are respectively inserted into the bearing ends of the first fisheye joint 442. The pressure shaft 443 is vertically arranged. The top end of the pressure shaft 443 is slidably penetrated through the driving end of the second slide cylinder 445, and its bottom end is connected to the rod end of the first fisheye joint 442. The third buffer spring 444 is sleeved on the pressure shaft 443. The top end of the third buffer spring 444 is in contact with the driving end of the second slide cylinder 445, and its bottom end is in contact with the rod end of the first fisheye joint 442. The second slide cylinder 445 is vertically installed at the bottom end of the palm frame 410. The arrangement of the piezoelectric core assembly 440 ensures that the core in the foam groove is placed in place, thus ensuring the placement effect.

[0050] like Figure 8 and Fig.11As shown, the gripper mechanism 400 also includes a single-sided bottom-covering component 460 and a movable bottom-covering component 470, which are arranged horizontally opposite to each other, and each of the single-sided bottom-covering component 460 and the movable bottom-covering component 470 includes a bottom-covering rod 461, a second fisheye joint 462, a lifting seat 463, a first lifting cylinder 464, an optical axis 465, a first linear bearing 466 and a bottom-covering cylinder 467, the bottom-covering rod 461 is longitudinally arranged below the battery cell clamping component 420, and both ends of the bottom-covering rod 461 are respectively inserted into the bearing ends of the second fisheye joint 462, and the lifting seats 463 are respectively vertically arranged on the palm frame 41 0, and the middle part is connected with the palm frame 410 in a horizontal sliding manner. The first lifting cylinder 464 is vertically installed at the top of the lifting seat 463, and its driving end is connected with the top of the optical axis 465. The first linear bearing 466 is installed at the bottom of the lifting seat 463. The bottom end of the optical axis 465 passes through the first linear bearing 466 and is connected with the rod end of the second fisheye joint 462. The bottom-covering cylinder 467 is arranged horizontally, and its driving end is connected with the middle part of the lifting seat 463. The bottom-covering cylinder 467 in the single-sided bottom-covering assembly 460 is connected with the palm frame 410, and the bottom-covering cylinder 467 in the movable bottom-covering assembly 470 is connected with the battery cell clamping assembly 420. The arrangement of the single-sided bottom-covering assembly 460 and the movable bottom-covering assembly 470 covers the battery cell after the gripper mechanism 400 clamps the battery cell, so as to prevent it from falling. After the battery cell is clamped, the bottom cylinder 467 drives the lifting seat 463 to move horizontally until the bottom rod 461 comes under the battery cell, and the first lifting cylinder 464 drives the bottom rod 461 to rise and hold the battery cell through the optical axis 465. Specifically, the bottom cylinder 467 in the movable bottom assembly 470 is connected to the movable plate 422.

[0051] like Figure 12-16 As shown, the positioning platform 500 includes a frame 510, a base plate 520, a corner column 530, a conveying assembly 540, a positioning assembly 550, a clamping assembly 560, a reference block 570, a second lifting cylinder 580 and an in-position assembly 590. The base plate 520 is arranged at the top of the frame 510, the corner columns 530 are respectively installed at the four corners of the top of the base plate 520, the conveying assembly 540 is arranged directly above the base plate 520, and its left and right ends are respectively slidably connected to the corner columns 530, the positioning assembly 550 is installed at the top of the base plate 520 and is located below the conveying assembly 540, the clamping assembly 560 is installed at the top of the positioning assembly 550, and its top end passes through the conveying assembly 540, the reference block 570 is installed at the top of the clamping assembly 560, and its top end passes through the conveying assembly 540, the second lifting cylinder 580 is respectively arranged at the left and right ends of the base plate 520, and its driving end is connected to the end of the conveying assembly 540, and the in-position assembly 590 is installed at the end of the base plate 520. Specifically, there are multiple clamping mechanisms 560 that are evenly spaced apart in the transverse direction.

[0052] like Fig.13 , Fig.17 and Fig.18 As shown, the positioning assembly 550 includes a pitch-changing module 551, a pitch-changing frame 552 and a micro pitch-changing group 553. The pitch-changing module 551 is horizontally installed in the middle of the top surface of the base plate 520. The top of the pitch-changing frame 552 is slidably connected to the bottom of the clamping assembly 560, and its bottom is connected to the slider on the pitch-changing module 551. The micro pitch-changing group 553 is installed in the middle of the pitch-changing frame 552, and its top is connected to the middle of the bottom end of the clamping assembly 560. Specifically, the pitch-changing module 551 is a prior art and will not be described in detail here; the pitch-changing frame 552 and the micro pitch-changing group 553 are both multiple and arranged at intervals in the horizontal direction.

[0053] like Fig.18 and Fig.19 As shown, the micro pitch group 553 includes a third slide cylinder 5531, a cam plate 5532, a cam 5533 and a cam frame 5534. The third slide cylinder 5531 is installed in the middle of the pitch frame 552, the cam plate 5532 is installed at the driving end of the third slide cylinder 5531, an inclined cam hole 5535 is opened in the middle of the cam plate 5532, the cam 5533 is embedded in the cam hole 5535, and the cam hole 5535 is rollingly matched, the bottom end of the cam frame 5534 is rotatably connected to the cam 5533, and the top end thereof is connected to the middle of the bottom end of the clamping mechanism 560. When the pitch is micro-varied, the third slide cylinder 5531 drives the cam plate 5532 to move longitudinally, the cam 5533 rolls in the cam hole 5535, and drives the clamping mechanism 560 to move slightly laterally through the cam frame 5534.

[0054] like Fig.12 , Fig.16 and Fig.19 As shown, the clamping assembly 560 includes a base plate 561, a clamping cylinder 562 and a clamping plate 563. The base plate 561 is slidably mounted on the top of the variable pitch frame 552. The middle of the bottom end of the base plate 561 is connected to the top of the cam frame 5534. The reference block 570 is mounted on the top of the base plate 561. The clamping cylinder 562 is mounted on the middle of the top end of the base plate 561. The clamping plate 563 is arranged above the conveying assembly 540, and its bottom end passes through the conveying assembly 540 and is connected to the driving end of the clamping cylinder 562.

[0055] like Fig.12 and Fig.15As shown, the conveying assembly 540 includes a baffle 541, a roller 542, a transmission group 543 and a conveying motor 544. The baffles 541 are respectively arranged at the left and right ends of the base plate 520 and are slidably connected to the corner column 530. The middle part of the baffle 541 is connected to the driving end of the second lifting cylinder 580. The roller 542 is arranged between the two baffles 541 and is evenly spaced along the length direction of the baffle 541. The left and right ends of the roller 542 are respectively rotatably connected to the top of the baffle 541. The transmission group 543 and the conveying motor 544 are installed on one of the baffles 541. The conveying motor 544 is connected to the roller 542 through the transmission group 543. Before the conveying assembly 540 conveys the battery cell, the second lifting cylinder 580 drives the baffle 541 to rise until the highest point of the roller 542 is higher than the top surface of the reference block 570. Specifically, the transmission group 543 is a belt and pulley combination structure, which is a prior art, and its function is to drive all rollers 542 to rotate synchronously.

[0056] like Fig.13 and Fig.14 As shown, in order to prevent rigid collision of the conveying assembly 540 during lifting and lowering, a first buffer 1200 is installed on the top of the corner column 530, and a first buffer block 1300 is installed on the baffle 541, and the first buffer 1200 corresponds to the first buffer block 1300.

[0057] like Fig.12 and Fig. 20 As shown, the positioning assembly 590 includes a bracket 591, a positioning substrate 592 and a positioning cylinder 593. The bracket 591 is installed at the end of the substrate 520, the positioning substrate 592 is slidably installed at the top of the bracket 591, and the positioning cylinder 593 is installed at the top of the bracket 591, and its driving end is connected to the middle of the end of the positioning substrate 592. The positioning cylinder 593 drives the positioning substrate 592 to move longitudinally to align the cells on the conveying assembly 540. In order to ensure that the positioning substrate 592 is in flexible contact with the cells, a second buffer 1400 is installed at the bottom end of the positioning substrate 592, and a second buffer block 1500 is installed at the top end of the bracket 591, and the second buffer 1400 corresponds to the second buffer block 1500.

[0058] like Fig.13 , Fig. 20 and Fig.21 As shown, the positioning assembly 550 also includes a variable pitch stabilization group 554, which includes a sliding shaft 5541, a second linear bearing 5542 and a connecting strip 5543. The sliding shaft 5541 is horizontally installed at the end of the base plate 520, and the second linear bearing 5542 is slidably sleeved on the sliding shaft 5541. The second linear bearing 5542 is connected to the variable pitch frame 552 through the connecting strip 5543.

[0059] like Fig.12 , Fig.17 and Fig. 20 As shown, the conveying assembly 540 also includes a lifting and stabilizing group 545, which includes a rotating shaft 5451, a second gear 5452 and a second rack 5453. The rotating shaft 5451 is laterally arranged at the end of the baffle 541 and is rotatably connected to the baffle 541. The second gear 5452 is respectively installed at the left and right ends of the rotating shaft 5451, and the second rack 5453 is installed at the end of the corner column 530. The second gear 5452 and the second rack 5453 are meshed with each other.

[0060] like Fig.12 and Fig. 22 As shown, the positioning platform 500 also includes a guide assembly 1600, which includes a mounting frame 1610 and a guide plate 1620. The mounting frame 1610 is installed at the front end of the substrate 520, and the guide plate 1620 is arranged above the conveying assembly 540, and its bottom end passes through the conveying assembly 540 and is connected to the top of the mounting frame 1610, and the guide plates 1620 are evenly spaced along the length direction of the mounting frame 1610.

[0061] like Fig.12 As shown, a sensor 1700 is installed at the top of the corner column 530, and the sensor 1700 corresponds to the clamping assembly 560 and the guide assembly 1600 respectively.

[0062] When the positioning platform 500 is working, the second lifting cylinder 580 lifts the conveying assembly 540, and the arranged battery cells are conveyed from the front section to the front end of the conveying assembly 540, that is, the guide assembly 1600, and then guided by the guide assembly 1600 to the clamping assembly 560, and further conveyed by the conveying assembly 540 to the positioning assembly 590. The positioning assembly 590 aligns the arranged battery cells, and after the aligning, the clamping assembly 560 clamps the battery cells, and the positioning assembly 550 performs a distance adjustment. After the distance change is completed, the second lifting cylinder 580 drives the conveying assembly 540 to reset, and the battery cells fall onto the reference block 570.

[0063] like Figure 1-Figure 4 , Figure 7As shown, the battery cell stacking system also includes a transverse positioning mechanism 600, a longitudinal positioning mechanism 700 and a blocking mechanism 800. The transverse positioning mechanism 600 includes a positioning plate 610 and a clamp 620. The positioning plate 610 is longitudinally arranged at the left end of the conveyor line 100, and the clamp 620 is respectively arranged at the front and rear sides of the left end of the conveyor line 100; the longitudinal positioning mechanism 700 includes a side frame 710, a positioning cylinder 720 and a side plate 730. The side frame 710 is relatively arranged at the front and rear sides of the left end of the conveyor line 100. The positioning cylinder 720 is longitudinally installed at the top end of the side frame 710, and its output end is connected to the middle of the side plate 730, and the side plate 730 is horizontally arranged; the blocking mechanism 800 includes a base plate 810, a blocking arm 820 and a blocking cylinder 830, and the base plate 810 and the blocking arm 820 are both horizontally arranged in the conveyor line 100, the left end of the blocking arm 820 is hinged to the left end of the base plate 810, and the blocking cylinder 830 is vertically installed at the right end of the base plate 810, and its driving end is hinged to the right end of the blocking arm 820. When there is a pallet S at the left end of the conveyor line 100, the clamp 620 rotates into the conveyor line 100 and combines with the positioning plate 610 to achieve the lateral positioning of the pallet S; the positioning cylinder 720 drives the side plate 730 to move longitudinally into the conveyor line 100 to achieve the longitudinal positioning of the pallet S and the bottom foam; the blocking cylinder 830 drives the right end of the blocking arm 820 to lift up to block the pallet S at the right end of the conveyor line 100. Specifically, the clamp 620 is a prior art, and its specific structure is not described in detail here. Its main principle is that the cylinder drives the clamping finger to rotate 90 degrees to achieve clamping and release; the blocking mechanism 800 is set in the middle of the loading line.

[0064] During palletizing, the loading line conveys the pallet S fully loaded with empty foam to the left end of the loading line. The left end of the unloading line is placed with a pallet S on which a layer of empty foam is placed. The pallet S is positioned by the transverse positioning mechanism 600 and the longitudinal positioning mechanism 700. According to the known product blueprint, the variable pitch module 551 in the positioning platform 500 varies the pitch of the arranged cells. The visual component 450 on the gripper mechanism 400 photographs a column of the empty foam (i.e., the photographed column) and calculates the center distance of each notch in the column. According to the data, the micro-variable pitch group 553 in the positioning platform 500 varies the pitch of the arranged cells. The battery cell is slightly changed again, and the battery cell clamping component 420 in the gripper mechanism 400 grabs the battery cell from the positioning platform 500 and puts it into the photographing column. If the battery cell is not placed in place, the piezo battery cell component 440 is started until the empty foam is filled with battery cells; then the visual component 450 photographs the diagonal corner of the foam on the unloading line for positioning and addressing, and then photographs the diagonal corner of the empty foam on the loading line for positioning and addressing. The two positions are compared and aligned, and the gripper mechanism 400 absorbs the empty foam on the loading line and rotates the angle according to the comparison and alignment results, and then places it on the foam filled with battery cells. After palletizing is completed, the transverse positioning mechanism 600 and the longitudinal positioning mechanism 700 on the unloading line are opened, and the pallet S on the unloading line is transported away. At the same time, the transverse positioning mechanism 600 and the longitudinal positioning mechanism 700 on the loading line are opened, and the conveying mechanism 300 conveys the pallet S (including a layer of empty foam) at the left end of the loading line to the left end of the unloading line. The conveying mechanism 300 returns to its original position, and the transverse positioning mechanism 600 and the longitudinal positioning mechanism 700 are positioned again.

[0065] The above-mentioned implementation mode is only for illustrating the technical concept and features of the utility model, and its purpose is to enable people familiar with this technology to understand the content of the utility model and implement it. It cannot be used to limit the protection scope of the utility model. All equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A battery cell palletizing system, comprising a conveyor line (100) and a palletizing robot (200), wherein the conveyor lines (100) are two and are arranged in parallel and spaced apart in a longitudinal direction, and the palletizing robot (200) is arranged on the left side of the conveyor line (100), characterized in that: It also includes a transport mechanism (300), a gripper mechanism (400) and a positioning platform (500), wherein the transport mechanism (300) is arranged at the left end of the two conveyor lines (100), the gripper mechanism (400) is installed at the execution end of the palletizing robot (200), and the positioning platform (500) is arranged on the left side of the palletizing robot (200).

2. The battery cell palletizing system according to claim 1, characterized in that: The conveying mechanism (300) comprises a bottom beam (310), a conveying frame (320), a driving assembly (330), a linear module (340) and a clamping assembly (350); the bottom beam (310) is longitudinally arranged at the left end of the conveying line (100); the bottom end of the conveying frame (320) is longitudinally slidably connected to the top end of the bottom beam (310); the driving assembly (330) is distributed on the bottom beam (310) and the conveying frame (320) to drive the conveying frame (320) to move longitudinally; the linear module (340) is vertically arranged in the middle of the conveying frame (320); the left end of the clamping assembly (350) is connected to the upper slide of the linear module (340) and is vertically slidably connected to the right end of the conveying frame (320); and the clamping assembly (350) is arranged above the conveying line (100).

3. The battery cell palletizing system according to claim 2, characterized in that: The driving assembly (330) comprises a first rack (331), a first gear (332) and a first motor (333). The first rack (331) is longitudinally arranged at the top end of the bottom beam (310) and is located below the transport frame (320). The first motor (333) is vertically installed at the bottom end of the transport frame (320), and its output end passes through the transport frame (320) and is connected to the first gear (332). The first rack (331) and the first gear (332) are connected to each other. 2) are engaged; the clamping assembly (350) includes a U-shaped frame (351), a first slide cylinder (352) and a support plate (353), the left end of the U-shaped frame (351) is connected to the slide plate on the linear module (340), and is vertically slidably connected to the right end of the transport frame (320), the first slide cylinder (352) is symmetrically arranged on the front and rear sides of the U-shaped frame (351), and the driving end of the first slide cylinder (352) is connected to the top of the support plate (353).

4. The battery cell palletizing system according to claim 1, characterized in that: The gripper mechanism (400) comprises a palm frame (410), a battery cell clamping assembly (420), a foam clamping assembly (430), a piezoelectric core assembly (440) and a visual assembly (450); the top of the palm frame (410) is connected to the execution end of the palletizing robot (200); the battery cell clamping assembly (420) is installed in the middle of the bottom end of the palm frame (410); the foam clamping assembly (430) is arranged on the left and right sides of the bottom end of the palm frame (410); the piezoelectric core assembly (440) is installed at the bottom end of the palm frame (410); and the visual assembly (450) is arranged on the left side of the palm frame (410).

5. The battery cell palletizing system according to claim 4, characterized in that: The cell clamping assembly (420) comprises a fixed plate (421), a movable plate (422), a reference plate (423), a movable block (424), a first guide shaft (425), a first buffer spring (426), a screw (427), a screw nut (428) and a driving member (429); the fixed plate (421) is longitudinally mounted on the left bottom end of the palm frame (410); the top end of the movable plate (422) is transversely slidably connected to the right bottom end of the palm frame (410) and corresponds to the fixed plate (421); the reference plate (423) is longitudinally mounted on the bottom end of the fixed plate (421); the movable block (424) is composed of a plurality of blocks, and the top end of the movable block (424) is transversely slidably connected to the bottom end of the movable plate (422); The left end of the first guide shaft (425) is connected to the right end of the movable block (424), and the right end thereof is slidably inserted into the right end of the movable plate (422). The first buffer spring (426) is sleeved on the first guide shaft (425). The left end of the first buffer spring (426) abuts against the right end of the movable block (424), and the right end thereof abuts against the right end of the movable plate (422). The screw rod (427) is rotatably mounted on the bottom end of the palm frame (410) in a transverse direction. The screw rod nut (428) is sleeved on the screw rod (427), and the bottom end thereof is connected to the top end of the movable plate (422). The driving member (429) is arranged in the middle of the right end of the palm frame (410), and the output end thereof is connected to the right end of the screw rod (427).

6. The battery cell palletizing system according to claim 4, characterized in that: The foam clamping assembly (430) includes a double cylinder (431), a suction cup frame (432), a second guide shaft (433), a second buffer spring (434) and a suction cup (435). The double cylinder (431) is vertically installed on one side of the palm frame (410), and its driving end is connected to the top of the suction cup frame (432). The top of the second guide shaft (433) is slidably inserted into the suction cup frame (432), and its bottom end is connected to the top of the suction cup (435). The second buffer spring (434) is sleeved on the second guide shaft (433), and the top of the second buffer spring (434) is in contact with the bottom of the suction cup frame (432), and its bottom end is in contact with the top of the suction cup (435).

7. The battery cell palletizing system according to claim 5, characterized in that: The piezoelectric core assembly (440) includes a pressure rod (441), a first fisheye joint (442), a pressure shaft (443), a third buffer spring (444) and a second slide cylinder (445). The pressure rod (441) is longitudinally arranged below the palm frame (410) and located between the reference plate (423) and the movable block (424). The two ends of the pressure rod (441) are respectively inserted into the bearing ends of the first fisheye joint (442). The pressure shaft (443) is vertically arranged. The top end of the pressing shaft (443) is slidably inserted into the driving end of the second slide cylinder (445), and the bottom end thereof is connected to the rod end of the first fisheye joint (442). The third buffer spring (444) is sleeved on the pressing shaft (443), the top end of the third buffer spring (444) abuts against the driving end of the second slide cylinder (445), and the bottom end thereof abuts against the rod end of the first fisheye joint (442). The second slide cylinder (445) is vertically installed at the bottom end of the palm frame (410).

8. The battery cell palletizing system according to claim 5, characterized in that: The gripper mechanism (400) further comprises a single-sided bottom-covering assembly (460) and a movable bottom-covering assembly (470), wherein the single-sided bottom-covering assembly (460) and the movable bottom-covering assembly (470) are arranged in a transverse direction opposite to each other, and the single-sided bottom-covering assembly (460) and the movable bottom-covering assembly (470) both comprise a bottom-covering rod (461), a second fisheye joint (462), a lifting seat (463), a first lifting cylinder (464), an optical axis (465), a first linear bearing (466) and a bottom-covering cylinder (467), wherein the bottom-covering rod (461) is longitudinally arranged below the battery cell clamping assembly (420), and the two ends of the bottom-covering rod (461) are respectively inserted into the bearing ends of the second fisheye joint (462), and the lifting seat (463) is respectively vertically arranged on the palm frame (4 10), and the middle part is slidably connected with the palm frame (410) in a transverse direction; the first lifting cylinder (464) is vertically installed at the top of the lifting seat (463), and its driving end is connected with the top of the optical axis (465); the first linear bearing (466) is installed at the bottom of the lifting seat (463); the bottom end of the optical axis (465) passes through the first linear bearing (466) and is connected with the rod end of the second fisheye joint (462); the bottom cylinder (467) is arranged transversely, and its driving end is connected with the middle part of the lifting seat (463); the bottom cylinder (467) in the single-sided bottom cylinder assembly (460) is connected with the palm frame (410); the bottom cylinder (467) in the movable bottom cylinder assembly (470) is connected with the battery cell clamping assembly (420).

9. The battery cell palletizing system according to claim 1, characterized in that: The positioning platform (500) comprises a frame (510), a base plate (520), a corner column (530), a conveying assembly (540), a positioning assembly (550), a clamping assembly (560), a reference block (570), a second lifting cylinder (580) and a positioning assembly (590). The base plate (520) is arranged at the top of the frame (510), the corner columns (530) are respectively installed at the top four corners of the base plate (520), the conveying assembly (540) is arranged directly above the base plate (520), and the left and right ends thereof are respectively slidably connected to the corner columns (530), and the positioning The component (550) is installed at the top of the base plate (520) and is located below the conveying component (540). The clamping component (560) is installed at the top of the positioning component (550) and its top passes through the conveying component (540). The reference block (570) is installed at the top of the clamping component (560) and its top passes through the conveying component (540). The second lifting cylinder (580) is respectively arranged at the left and right ends of the base plate (520), and its driving end is connected to the end of the conveying component (540). The positioning component (590) is installed at the end of the base plate (520).

10. The battery cell palletizing system according to claim 1, characterized in that: The invention also comprises a transverse positioning mechanism (600), a longitudinal positioning mechanism (700) and a blocking mechanism (800), wherein the transverse positioning mechanism (600) comprises a positioning plate (610) and a clamp (620), wherein the positioning plate (610) is longitudinally arranged at the left end of the conveying line (100), and the clamp (620) is respectively arranged at the front and rear sides of the left end of the conveying line (100); the longitudinal positioning mechanism (700) comprises a side frame (710), a positioning cylinder (720) and a side plate (730), wherein the side frame (710) is relatively arranged at the front and rear sides of the left end of the conveying line (100), and the positioning cylinder ( The side frame (720) is longitudinally mounted on the top of the side frame (710), and its output end is connected to the middle of the side plate (730), and the side plate (730) is arranged horizontally; the blocking mechanism (800) includes a base plate (810), a blocking arm (820) and a blocking cylinder (830), and the base plate (810) and the blocking arm (820) are both arranged horizontally in the conveyor line (100), the left end of the blocking arm (820) is hinged to the left end of the base plate (810), and the blocking cylinder (830) is vertically mounted on the right end of the base plate (810), and its driving end is hinged to the right end of the blocking arm (820).

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