Tray positioning device for battery cell

Abstract

The utility model discloses a tray positioning device for a battery cell. The tray positioning device comprises a tray group, a feeding station, a manipulator, a first detection device and a second detection device, the feeding station comprises a fence, and an opening is formed in one side of the fence and allows the tray set to go in and out of the fence. The manipulator is arranged close to the feeding station and is used for grabbing the battery cells on the tray group; the first detection device is arranged on the inner side of the fence and used for detecting the distance between the tray set and the side wall of the fence. And the second detection device is arranged on the manipulator. The first detection device is arranged on the peripheral side of the feeding station, the plane position of the tray set is positioned, the second detection device is arranged on the mechanical arm, the height of the tray set is detected, the tray set is formed by stacking multiple layers of trays, the heights of battery cells on different layers are different, distance measurement is conducted through the second detection device, and the detection accuracy is improved. And therefore, the position of the topmost tray is positioned.

Description

Technical Field

[0001] The utility model relates to the technical field of battery core feeding, in particular to a tray positioning device for battery cores. Background Art

[0002] In order to replace manual labor in cell loading, the cells placed in the tray are grabbed and loaded one by one, and this action is often performed by a robotic arm. For example, Chinese patent 201721598037.4 discloses a cell loading system, including: a tray placed on a conveyor line, a cell receiving device arranged on a transmission line, a robotic arm arranged between the conveyor line and the transmission line, and a loading fixture arranged at the moving end of the robotic arm.

[0003] With the above-mentioned prior art, the position of the tray is offset when it is placed, and the robot needs to spend more time on positioning and identification. In addition, in order to save space, the battery cell trays are often stacked in multiple layers. Multi-layer stacking will cause the height of the tray to change, which will also affect the positioning and identification of the robot. Therefore, how to effectively position the multi-layer stacked trays is a technical problem that needs to be solved. Utility Model Content

[0004] The purpose of the utility model is to overcome the above technical deficiencies, and to provide a battery tray positioning device to solve the technical problem of how to effectively position multi-layer stacked trays in the prior art.

[0005] In order to achieve the above technical purpose, the utility model adopts the following technical solutions:

[0006] The utility model provides a tray positioning device for a battery core, comprising:

[0007] Pallet set;

[0008] A loading station, the loading station comprising an enclosure, one side of the enclosure is provided with an opening for the pallet group to enter and exit the enclosure;

[0009] A manipulator, which is disposed adjacent to the loading station and is used to grab the battery cells on the tray group;

[0010] A first detection device, which is disposed on the inner side of the enclosure and is used to detect the distance between the tray group and the side wall of the enclosure; and

[0011] A second detection device is provided on the robot arm and is used for detecting the distance from the top of the tray group.

[0012] In some embodiments, a positioning plate is provided on the side wall of the enclosure opposite to the opening, and the positioning plate abuts against the tray group to locate the depth of the tray group inserted into the enclosure.

[0013] In some embodiments, the first detection device includes a first distance measuring sensor, which is respectively disposed on both sides of the enclosure to detect the distance between the pallet group and both sides of the enclosure.

[0014] In some embodiments, the second detection device includes a second distance measuring sensor, which is disposed at an end of the robot arm, and the second distance measuring sensor is used to detect the distance between the end of the robot arm and the top of the tray group.

[0015] In some embodiments, the second detection device further includes a camera, which is disposed at the end of the robot and is used to capture images of the top of the tray group.

[0016] In some embodiments, the tray group includes a base tray and a stacking tray, and a plurality of the stacking trays are stacked on top of the base tray in sequence from bottom to top.

[0017] In some embodiments, the stacking tray includes a square frame, an insulating pad and a battery slot. The insulating pad is arranged on the top of the square frame, and a plurality of battery slots are arranged in an array on the top of the insulating pad. The bottom of the square frame is open, and the battery slots on the lower stacking tray are inserted into the frame of the upper stacking tray.

[0018] In some embodiments, the stacking trays further include corner wraps, and four of the corner wraps are disposed at the top four corners of the square frame, and the upper stacking tray is inserted between the inner sides of the four corner wraps of the lower stacking tray.

[0019] In some embodiments, the top of the angled portion extends outward to form an inverted slope.

[0020] In some embodiments, an outwardly turned edge is provided on the top of the enclosure and the opening.

[0021] Compared with the prior art, the battery cell pallet positioning device provided by the utility model positions the plane position of the pallet group by setting a first detection device on the peripheral side of the loading station, and detects the height of the pallet group by setting a second detection device on the manipulator. The pallet group is stacked with multiple layers of pallets, and the battery cells in different layers have different heights. The second detection device is used to measure the distance and thus position the top pallet, which is convenient for the manipulator to grab. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional structural diagram of a tray positioning device for a battery cell provided in an embodiment of the utility model;

[0023] Figure 2 This is another perspective structural three-dimensional diagram of the battery tray positioning device provided in the embodiment of the utility model;

[0024] Figure 3 This utility model Figure 2 A partial enlarged view of part A;

[0025] Figure 4 It is a left view of the tray assembly and the loading station provided in the embodiment of the utility model.

[0026] Explanation of the reference numerals: 1. Tray assembly; 11. Base tray; 12. Stacking tray; 121. Square frame; 122. Insulating pad; 123. Battery slot; 124. Corner wrap; 1241. Inclined surface; 2. Loading station; 21. Enclosure; 201. Opening; 202. Positioning plate; 203. Outward turning edge; 3. Manipulator; 4. First detection device; 41. First ranging sensor; 5. Second detection device; 51. Second ranging sensor; 52. Camera. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0028] In order to solve the technical problem of how to effectively position multi-layer stacked trays, the utility model provides a battery tray positioning device, which can effectively position multi-layer stacked trays.

[0029] It should be noted that the battery cell tray positioning device described in the utility model is used for but not limited to tray positioning, etc. For the convenience of explanation, in the utility model, only the battery cell tray positioning device is applied to battery cell loading as an example for explanation, and the principle of applying the battery cell tray positioning device to other types of equipment is substantially the same as the principle applied to battery cell loading, which will not be elaborated here.

[0030] See also Figure 1-4 The battery cell tray positioning device comprises a tray group 1, a loading station 2, a manipulator 3, a first detection device 4 and a second detection device 5. The loading station 2 is used to accommodate the tray group 1, and cooperates with the first detection device 4 to locate the position of the tray group 1 on the plane coordinate, and the manipulator 3 locates the height coordinate of the tray group 1 through the second detection device 5, so as to determine and locate the position information of the top plane of the tray group 1, and can achieve the effect of quickly locating the top plane position of the tray group 1 with different heights caused by multi-layer stacking.

[0031] In this embodiment, the manipulator 3 is arranged adjacent to the loading station 2, and is used to grab the battery cells on the tray group 1, wherein the manipulator 3 refers to a high-precision, high-speed dispensing robot, and a clamp for clamping the battery cells is provided at its end. It is a complex system with multiple inputs and outputs, high nonlinearity, and strong coupling. It is an existing mature industrial equipment and will not be described in detail here.

[0032] In this embodiment, in order to form a positioning effect for the pallet group 1 at a specific position and facilitate the transportation of the pallet group 1, the loading station 2 includes an enclosure 21, and an opening 201 is provided on one side of the enclosure 21 for the pallet group 1 to enter and exit the enclosure 21, wherein the pallet group 1 is transported by a forklift, and at the position of the opening 201, the forklift can conveniently insert the pallet group 1 into the enclosure 21, so as to preliminarily locate the position of the pallet group 1 with the enclosure 21.

[0033] It can be understood that the enclosure 21 is U-shaped when viewed from a top view, and the opening 201 is a passage for entering and exiting the enclosure 21.

[0034] In this embodiment, in order to avoid the collision of the pallet group 1 with the opening 201 when entering and exiting the enclosure 21, the width of the opening 201 is greater than the width of the pallet group 1. Therefore, it is necessary to measure the distance between the pallet group 1 and the inner walls of the enclosure 21 on both sides of the opening 201 to make the distances on both sides equal and located at the center, thereby forming a position positioning on the plane coordinates. Specifically, the first detection device 4 is arranged on the inner side of the enclosure 21 to detect the distance between the pallet group 1 and the side wall of the enclosure 21. The first detection device 4 can be one or two, and it is only necessary to detect whether the distance between the pallet group 1 and the side wall of the enclosure 21 on one side meets the standard.

[0035] In addition, a positioning plate 202 is provided on the side wall of the enclosure 21 opposite to the opening 201, and the positioning plate 202 abuts against the pallet group 1 to locate the depth of the pallet group 1 inserted into the enclosure 21. In conjunction with the positioning of the first detection device 4, the position of the pallet group 1 on a specific plane coordinate can be formed.

[0036] It can be understood that the detection of the first detection device 4 is used to feedback whether the position of the pallet group 1 entering the enclosure 21 is in the specified position. If it does not meet the requirements, the forklift can be used to adjust its position to meet the requirements. Correspondingly, the first detection device 4 can be electrically connected to an indicator light to prompt whether it is within the positioning deviation range, and different colors of indicator lights can be used to indicate whether the deviation is to the left or to the right.

[0037] In this embodiment, in order to position the pallet groups 1 of different heights, the second detection device 5 is arranged on the manipulator 3 to detect the distance from the top of the pallet group 1. When the end of the manipulator 3 is facing the top of the pallet group 1 below, the height difference between the pallet group 1 and the end of the manipulator 3 can be known according to the feedback of the second detection device 5, and the height of the pallet group 1 can be obtained according to the height difference. Correspondingly, it is also easy to locate the height position of the top plane of the pallet group 1 according to the height difference, so as to perform subsequent grasping.

[0038] It can be understood that after the first detection device 4 and the enclosure 21 position the pallet group 1 in the XY plane, the time required for the manipulator 3 to calibrate and position it in the plane is saved. In addition, at the top of the pallet group 1 under the end of the manipulator 3, the height position is fed back based on the second detection device 5, so that the top plane position of the pallet group 1 can be quickly located for subsequent grasping operations.

[0039] In one embodiment, see Figure 1-4 The first detection device 4 includes a first distance measuring sensor 41, which is respectively arranged on both sides of the enclosure 21 to detect the distance between the pallet group 1 and the enclosure 21 on both sides. The first distance measuring sensor 41 can also be arranged on one side of the enclosure 21, and whether the distance on the other side meets the standard can be determined based on the distance on one side.

[0040] Furthermore, the second detection device 5 includes a second distance measuring sensor 51, which is arranged at the end of the manipulator 3. The second distance measuring sensor 51 is used to detect the distance between the end of the manipulator 3 and the top of the pallet group 1. According to the distance between the end of the manipulator 3 and the top of the pallet group 1, the height of the pallet group 1 can be known to determine the height position of the top plane of the pallet group 1.

[0041] The first distance measuring sensor 41 and the second distance measuring sensor 51 can both be laser distance measuring sensors of model HG-C1030.

[0042] Furthermore, the second detection device 5 also includes a camera 52, which is arranged at the end of the manipulator 3 and is used to capture the top of the tray group 1. The camera 52 is mainly used to obtain an image of the top plane of the tray group 1, which can be used to assist in determining the position offset between the clamp of the manipulator 3 and the battery cell, so as to adjust the position of the manipulator 3 and improve the accuracy of the clamp on the manipulator 3 when clamping the battery cell.

[0043] It can be understood that when the clamp on the robot 3 is located at the battery cell clamping position, the image obtained by taking the photo is certain. According to the image capture principle of machine vision, by comparing the clamping position picture with the actual shot image, it can be determined whether there is an offset and whether it is aligned.

[0044] In one embodiment, in order to facilitate the forklift transfer of the pallet group 1 and to make it stackable, please refer to Figure 1 and Figure 4 The pallet group 1 includes a base pallet 11 and a stacking pallet 12. Several stacking pallets 12 are stacked on top of the base pallet 11 from bottom to top. Several forklift slots are provided at the bottom of the base pallet 11 for forklifts to insert and mainly play the role of bottom support. The stacking pallets 12 are stacked from bottom to top for placing battery cells.

[0045] Among them, the stacking tray 12 includes a square frame 121, an insulating pad 122 and a battery slot 123. The insulating pad 122 is arranged on the top of the square frame 121, and a plurality of the battery slots 123 are arranged in an array on the top of the insulating pad 122. The bottom of the square frame 121 is open, and the battery slots 123 on the lower stacking tray 12 are inserted into the frame 121 of the upper stacking tray 12, and the bottom is supported by the square frame 121. The insulating pad 122 and the battery slots 123 provide a safe placement slot for the battery cell on the top of the square frame 121, and extend through the bottom of the square frame 121 to the open space in the middle, so that multiple stacking trays 12 can be stacked up and down.

[0046] Furthermore, in order to improve the stacking position positioning, the stacking tray 12 also includes corner wraps 124, and the four corner wraps 124 are arranged at the top four corners of the square frame 121. The upper stacking tray 12 is inserted between the inner sides of the four corner wraps 124 of the lower stacking tray 12, and the upper stacking tray 12 is positioned by the four corner wraps 124.

[0047] The first distance measuring sensor 41 detects the distance between the stacking tray 12 and the side wall of the enclosure 21 to avoid positional offset of the stacking tray 12 when placed on the base tray 11 , mainly based on the positioning of the stacking tray 12 .

[0048] Furthermore, the height of the square frame 121 of the stacking tray 12 can be increased or decreased, and is not limited to the same height, so as to match the placement of battery cells of different heights.

[0049] Furthermore, the top of the corner wrap 124 extends outward to form an inverted slope 1241, which facilitates the insertion of the upper stacking tray 12.

[0050] Furthermore, an outwardly turned edge 203 is provided on the top of the enclosure 21 and the opening 201 , so as to facilitate the insertion of the tray set 1 into the enclosure 21 .

[0051] In order to better understand the present invention, the following Figures 1 to 4 The technical solution of the utility model is described in detail: the pallet group 1 is transported by a forklift and forked into the enclosure 21, the pallet group 1 is first abutted against the positioning plate 202, and then the distance between the pallet group 1 and the side wall of the enclosure 21 is located according to the first distance measuring sensor 41, adjusted to the positioning position, and the pallet group 1 is put down, and then the end of the pallet group 1 is positioned downward to the loading station 2 by the manipulator 3, and the top surface height position of the top stacked tray 12 is located according to the second distance measuring sensor 51, so as to locate the top surface position of the upper stacked tray 12 for grabbing the battery cell. According to the above principle, whether the number of stacked trays 12 increases or decreases, the top surface position of the top stacked tray 12 can be effectively obtained, so that the manipulator 3 can grab and load the material.

[0052] The specific implementation methods of the utility model described above do not constitute a limitation on the protection scope of the utility model. Any other corresponding changes and modifications made according to the technical concept of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. A battery tray positioning device, characterized in that: include: Pallet set; A loading station, the loading station comprising an enclosure, one side of the enclosure is provided with an opening for the pallet group to enter and exit the enclosure; A manipulator, which is disposed adjacent to the loading station and is used to grab the battery cells on the tray group; A first detection device, which is disposed on the inner side of the enclosure and is used to detect the distance between the tray group and the side wall of the enclosure; as well as A second detection device is provided on the robot arm and is used for detecting the distance from the top of the tray group.

2. The battery tray positioning device according to claim 1, characterized in that: A positioning plate is provided on the side wall of the enclosure opposite to the opening, and the positioning plate abuts against the tray group to locate the depth of the tray group inserted into the enclosure.

3. The battery tray positioning device according to claim 2, characterized in that: The first detection device includes a first distance measuring sensor, which is respectively arranged on both sides of the enclosure and is used to detect the distance between the tray group and both sides of the enclosure.

4. The battery tray positioning device according to claim 3, characterized in that: The second detection device includes a second distance measuring sensor, which is arranged at the end of the robot arm, and the second distance measuring sensor is used to detect the distance between the end of the robot arm and the top of the tray group.

5. The battery tray positioning device according to claim 4, characterized in that: The second detection device also includes a camera, which is arranged at the end of the robot and is used to capture the image of the top of the tray group.

6. The battery tray positioning device according to claim 5, characterized in that: The tray group includes a base tray and a stacking tray, and a plurality of stacking trays are stacked on top of the base tray in sequence from bottom to top.

7. The battery tray positioning device according to claim 6, characterized in that: The stacking tray includes a square frame, an insulating pad and a battery slot. The insulating pad is arranged on the top of the square frame. A plurality of battery slots are arranged in an array on the top of the insulating pad. The bottom of the square frame is open. The battery slots on the lower stacking tray are inserted into the frame of the upper stacking tray.

8. The battery tray positioning device according to claim 7, characterized in that: The stacking tray further comprises corners, and four corners are arranged at the top four corners of the square frame, and the upper stacking tray is inserted between the inner sides of the four corners of the lower stacking tray.

9. The battery tray positioning device according to claim 8, characterized in that: The top of the wrap angle extends outward to form an inverted slope.

10. The battery tray positioning device according to claim 9, characterized in that: The top of the enclosure and the opening are both provided with outward turning edges.

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