Gluing equipment and gluing system

Abstract

The utility model relates to gluing equipment and a gluing system.The gluing equipment comprises a rack, a gluing mechanism, a driving mechanism, a jacking positioning mechanism and a camera shooting mechanism, and the gluing mechanism is movably arranged on the rack; the driving mechanism is fixedly arranged on the rack and is used for driving the gluing mechanism to move along a preset gluing track; the jacking positioning mechanism is fixedly arranged on the rack and is used for bearing and positioning a tool to be glued; the camera shooting mechanism is arranged on the gluing mechanism and used for shooting the position of the tool to be glued. In this way, before gluing operation, a gluing track is rectified under the guidance of the camera shooting mechanism, and it is guaranteed that the gluing track is located in the middle of a to-be-glued tool; when the gluing equipment works, a to-be-glued tool is conveyed to flow into a machine table of the rack through the line body, the jacking and positioning mechanism jacks the to-be-glued tool and fixes the to-be-glued tool at a working position, the driving mechanism drives the gluing mechanism to move along a preset gluing track and glue the to-be-glued tool, and after gluing is completed, the jacking and positioning mechanism descends, and the tool flows out through the line body.

Description

Technical Field

[0001] The present disclosure relates to the technical field of battery manufacturing equipment, and more particularly, to a glue application device and a glue application system. Background Art

[0002] With the increasing demand for new energy electric vehicles and the trend towards high-end and luxury cars, the size of the battery pack, which is the core product of electric vehicles, is also getting larger. The battery pack is assembled by modules, and the module and the battery tray are bonded together with structural glue. In the existing glue application method, the glue application trajectory of the module is controlled by a robot. Due to reasons such as the reach and weight of the robot arm, the spatial speed cannot be very fast. In addition, after each battery cell is glued, the robot needs to wait for the preparation signal of the glue machine to start the next glue application. Therefore, the glue application speed cannot be very fast, and the module cycle time is relatively slow. For this reason, there is an urgent need for a glue machine that is compatible with large sizes and has a faster glue application speed. Summary of the Utility Model

[0003] The purpose of the present disclosure is to provide a glue application device and a glue application system configured with the glue application device to at least partially solve the problems existing in the related art.

[0004] To achieve the above purpose, the present disclosure provides a glue application device, including:

[0005] A frame,

[0006] A glue application mechanism movably arranged on the frame for performing a glue application operation on a workpiece to be glued flowing in through a line body,

[0007] A driving mechanism fixedly arranged on the frame for driving the glue application mechanism to move along a preset glue application trajectory,

[0008] A lifting and positioning mechanism fixedly arranged on the frame for carrying and positioning the workpiece to be glued, and

[0009] A camera mechanism arranged on the glue application mechanism so as to be able to move synchronously with the glue application mechanism, and the camera mechanism is used for photographing the position of the workpiece to be glued.

[0010] Optionally, the driving mechanism includes:

[0011] An X-direction driving mechanism fixedly arranged on the frame, the X-direction driving mechanism including an X-direction moving part capable of linearly moving along the X direction, and,

[0012] A Y-direction driving mechanism connected to the X-direction moving part, the Y-direction driving mechanism including a Y-direction moving part capable of linearly moving along the Y direction, and the glue application mechanism is connected to the Y-direction moving part.

[0013] Optionally, the number of the X-direction moving parts is two, and the two X-direction moving parts are arranged at intervals along the X direction.

[0014] Optionally, the X-direction driving mechanism is a double-rotor linear motor, and the two X-direction moving parts respectively correspond to the two rotors of the double-rotor linear motor; and / or, the Y-direction driving mechanism is a single-rotor linear motor, and the glue application mechanism is fixedly connected to the rotor of the single-rotor linear motor.

[0015] Optionally, the number of the double-rotor linear motors is two, and the two double-rotor linear motors are arranged at intervals along the Y direction. Among them, the rotors on the same side of the two double-rotor linear motors are respectively connected to both ends of the single-rotor linear motor to form a frame structure.

[0016] Optionally, among the two glue application mechanisms corresponding to the two X-direction moving parts, one of the glue application mechanisms is used to spray thermal conductive glue onto the work piece to be glued, and the other glue application mechanism is used to spray structural glue onto the work piece to be glued.

[0017] Optionally, the glue application mechanism includes a glue head and a driving component for driving the glue head to move in the Z direction. The driving component includes a slide rail extending in the Z direction, a slider slidably arranged on the slide rail, and a driving member for driving the slider to slide along the slide rail. The slide rail is fixedly connected to the Y-direction moving part, and the slider is fixedly connected to the glue head.

[0018] Optionally, the glue application mechanism further includes a connecting plate, a vertical plate and a glue machine mounting plate. The connecting plate is fixedly connected to the Y-direction moving part. The vertical plate is located above the connecting plate and fixedly connected to the connecting plate. The slide rail is fixedly connected to the vertical plate. The glue machine mounting plate is fixedly connected to the slider, and the glue head is fixedly mounted on the glue machine mounting plate.

[0019] Optionally, a support mechanism is arranged between the X-direction moving part and the Y-direction driving mechanism. The support mechanism includes a column and a cross beam. One end of the column is connected to the X-direction moving part, and the other end is connected to the cross beam. The cross beam is located below the Y-direction driving mechanism and fixedly connected to the Y-direction driving mechanism.

[0020] Optionally, the jacking and positioning mechanism includes a servo motor, a reduction motor, a commutator, a screw lift and a support plate. The support plate is used to support and position the work piece to be glued.

[0021] Optionally, the glue - applying mechanism includes a glue - machine mounting plate, and the camera mechanism includes a camera, a camera mounting plate, a guiding support assembly, and a camera adjustment block. The camera mounting plate is fixedly mounted on the glue - machine mounting plate through the guiding support assembly, and the camera is adjustably mounted on the camera mounting plate through the camera adjustment block.

[0022] On the basis of the above - mentioned technical solution, the present disclosure further provides a glue - applying system, which includes a control module and the glue - applying device in the above - mentioned technical solution. The control module is connected to the glue - applying mechanism, the driving mechanism, the lifting and positioning mechanism, and the camera mechanism of the glue - applying device. Among them, during the glue - applying process, the control module controls the glue head of the glue - applying mechanism to continuously discharge glue and move at a constant speed to form a continuous glue - applying trajectory.

[0023] Through the above - mentioned technical solution, when the glue - applying device works, the work - piece to be glue - applied flows into the machine table of the frame through the line body. The lifting and positioning mechanism lifts the work - piece to be glue - applied and fixes it at the working position. The driving mechanism drives the glue - applying mechanism to move along the preset glue - applying trajectory to glue the work - piece to be glue - applied. After the glue - applying is completed, the lifting and positioning mechanism descends, and the work - piece flows out through the line body. This glue - applying device directly drives the glue - applying mechanism on the machine table to perform glue - applying operations on the work - piece to be glue - applied by the driving mechanism arranged on the frame, thereby effectively improving the glue - applying speed. In addition, the camera mechanism is arranged on the glue - applying mechanism, and can drive the camera mechanism to move synchronously by driving the glue - applying mechanism, so that the work - piece to be glue - applied can be photographed before the glue - applying operation, and the glue - applying trajectory can be corrected according to the position coordinates of the work - piece to be glue - applied to ensure that the glue - applying trajectory is in the middle of the work - piece to be glue - applied.

[0024] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification. They are used together with the following specific implementation to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the drawings:

[0026] Figure 1 is a schematic structural diagram of the glue - applying device in the specific implementation of the present disclosure;

[0027] Figure 2 is Figure 1 a schematic structural diagram of the X - direction driving mechanism and the Y - direction driving mechanism in the shown glue - applying device;

[0028] Figure 3 is Figure 1 a schematic structural diagram of the lifting and positioning mechanism in the shown glue - applying device;

[0029] Figure 4 isFigure 1 Schematic structural diagram of the glue application mechanism and the camera mechanism in the shown glue application equipment;

[0030] Figure 5 is Figure 1 Schematic structural diagram of the glue application mechanism in the shown glue application equipment from another angle;

[0031] Figure 6 Glue application trajectory diagram of the quantitative glue application mode in the related art;

[0032] Figure 7 Glue application trajectory diagram of the continuous glue application mode in the specific embodiment of the present disclosure;

[0033] Figure 8 is the comparison diagram of the quantitative and continuous glue application trajectories.

[0034] Description of the reference numerals

[0035] 10 - Frame, 11 - Anchor bolts,

[0036] 20 - Glue application mechanism, 21 - Glue head, 22 - Slide rail, 23 - Driving member, 24 - Connecting plate, 25 - Vertical plate, 26 - Glue machine mounting plate, 27 - Slide block,

[0037] 30 - Driving mechanism, 31 - X - direction driving mechanism, 311 - X - direction moving part, 32 - Y - direction driving mechanism, 321 - Y - direction moving part, 33 - Column, 34 - Cross beam,

[0038] 40 - Lifting and positioning mechanism, 41 - Servo motor, 42 - Reduction motor, 43 - Commutator, 44 - Screw jack, 45 - Support plate, 46 - Blocking cylinder,

[0039] 50 - Camera mechanism, 51 - Camera, 52 - Camera mounting plate, 53 - Guide support assembly, 54 - Camera adjustment block. Specific embodiment

[0040] The following will describe in detail the specific embodiment of the present disclosure with reference to the accompanying drawings. It should be understood that the specific embodiment described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0041] In the present disclosure, unless otherwise stated, the orientation terms such as "upper", "lower", "top", and "bottom" are usually defined according to the normal use state of the glue application equipment, and can specifically refer to Figures 1 to 4 the drawing direction shown; "inner" and "outer" refer to the inside and outside of the contour of the corresponding component itself. In addition, when the following description involves the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0042] According to the specific embodiments provided by the present disclosure, a glue coating device is provided. Referring to Figure 1 and Figure 4 , the glue coating device may include a frame 10, a glue coating mechanism 20, a driving mechanism 30, a lifting and positioning mechanism 40, and a camera mechanism 50. A machine table is provided at the central part of the frame 10 for implementing the operation of the glue coating operation; the glue coating mechanism 20 is movably arranged on the frame 10 to perform glue coating operations on the workpieces to be glue-coated flowing in through the line body; the driving mechanism 30 is fixedly arranged on the frame 10 and can drive the glue coating mechanism 20 to move along a preset glue coating trajectory in the horizontal plane; the lifting and positioning mechanism 40 is fixedly arranged on the frame 10, for example, it can be arranged above the above-mentioned machine table to carry and position the workpieces to be glue-coated; the camera mechanism 50 is arranged on the glue coating mechanism 20 to be able to move synchronously with the glue coating mechanism 20, and the camera mechanism 50 is used to photograph the position of the workpieces to be glue-coated. Referring to Figure 2 , the frame 10 can be fixed on the foundation through fasteners such as anchor bolts 11.

[0043] Through the above technical solution, before the glue coating operation, the driving mechanism 30 drives the glue coating mechanism 20 and then drives the camera mechanism 50 to move synchronously. After reaching the designated position, the camera mechanism 50 takes pictures of the workpieces to be glue-coated, and corrects the glue coating trajectory according to the position coordinates of the workpieces to be glue-coated to ensure that the glue coating trajectory is in the middle of the workpieces to be glue-coated; when the glue coating device is working, the workpieces to be glue-coated are transported through the line body and flow into the machine table of the frame 10. The lifting and positioning mechanism 40 lifts the workpieces to be glue-coated and fixes them in the working position. The driving mechanism 30 drives the glue coating mechanism 20 to move along the preset glue coating trajectory to perform glue coating on the workpieces to be glue-coated. After the glue coating is completed, the lifting and positioning mechanism 40 descends and releases the workpiece, and the workpiece flows out through the line body. Compared with the glue coating trajectory controlled by a robot, this glue coating device directly drives the glue coating mechanism 20 on the machine table to perform glue coating operations on the workpieces to be glue-coated by the driving mechanism 30 arranged on the frame 10, and is not limited by the spatial speed effects brought by factors such as the robot arm reach and weight, so as to effectively improve the glue coating speed.

[0044] In the specific embodiments provided by the present disclosure, referring to Figure 2, the driving mechanism 30 may include an X-direction driving mechanism 31 and a Y-direction driving mechanism 32 to drive the glue application mechanism 20 to move in the X direction and the Y direction in the horizontal plane respectively. Among them, the X-direction driving mechanism 31 may be fixedly arranged on the frame 10 and may include an X-direction moving part 311 capable of generating a linear movement in the X direction to drive the glue application mechanism 20 to move in the X direction through the X-direction moving part 311. The Y-direction driving mechanism 32 may be connected to the X-direction moving part 311 and may include a Y-direction moving part 321 capable of generating a linear movement in the Y direction, and the glue application mechanism 20 is connected to the Y-direction moving part 321. In this way, when the X-direction driving mechanism 31 works, the X-direction moving part 311 drives the Y-direction driving mechanism 32 and the glue application mechanism 20 to move in the X direction simultaneously. After reaching the designated position, the Y-direction driving mechanism 32 works, and the Y-direction moving part 321 drives the glue application mechanism 20 to move in the Y direction. The X-direction driving mechanism 31 and the Y-direction driving mechanism 32 may be linear driving structures such as linear motors, electric push rods, and cylinders. The present disclosure does not limit the specific structures and types of the X-direction driving mechanism 31 and the Y-direction driving mechanism 32, and they can be adaptively selected according to actual needs.

[0045] Further, the number of the X-direction moving parts 311 may be multiple to be able to arrange multiple glue application mechanisms 20 to perform synchronous glue application operations on multiple different positions of the workpieces to be glued. As an implementation manner, referring to Figure 2 , the number of the X-direction moving parts 311 may be two, and the two X-direction moving parts 311 are arranged at intervals in the X direction. By arranging two X-direction moving parts 311, a glue application mechanism 20 is connected to each X-direction moving part 311 through the Y-direction driving mechanism 32. During glue application, the workpiece to be glued is placed between the two X-direction moving parts 311, and the X-direction driving mechanism 31 has an overall gantry structure, so it can be compatible with workpieces with a relatively large size range. At the same time, the two glue application mechanisms 20 can respectively apply glue to different positions of the workpiece to be glued, thereby effectively improving the glue application speed. The two X-direction moving parts 311 may be arranged on the same X-direction driving mechanism 31 or may be respectively arranged on two X-direction driving mechanisms 31.

[0046] In addition, the two glue application mechanisms 20 of the glue application equipment may be filled with the same type of glue or different types of glue, so as to be compatible with the occasions where the workpiece to be glued needs to be applied with two different types of glue, and the adaptability is wider. For example, among the two glue application mechanisms 20 corresponding to the two X-direction moving parts 311, one glue application mechanism 20 may be used to spray thermal conductive glue on the workpiece to be glued, and the other glue application mechanism 20 may be used to spray structural glue on the workpiece to be glued.

[0047] Here, as an implementation manner, referring to Figure 2, when two X-direction moving parts 311 are arranged on the same X-direction driving mechanism 31, the X-direction driving mechanism 31 can be a double-rotor linear motor, and the two X-direction moving parts 311 respectively correspond to the two rotors of the double-rotor linear motor; the Y-direction driving mechanism 32 can be a single-rotor linear motor, the Y-direction moving part 321 corresponds to the rotor of the single-rotor linear motor, and the glue application mechanism 20 is fixedly connected to the rotor of the single-rotor linear motor. In the case where the two X-direction moving parts 311 are respectively arranged on the two X-direction driving mechanisms 31, the two X-direction driving mechanisms 31 can respectively be single-rotor linear motors, and the two X-direction moving parts 311 respectively correspond to the rotors of the two X-direction driving mechanisms 31.

[0048] Referring to Figure 2 , the number of double-rotor linear motors can be two, and the two double-rotor linear motors are arranged at intervals along the Y direction. Among them, the rotors on the same side of the two double-rotor linear motors can be respectively connected to both ends of the single-rotor linear motor, so that the two double-rotor linear motors arranged at intervals along the X direction and the two single-rotor linear motors arranged at intervals along the Y direction jointly enclose a frame structure. Specifically, the frame 10 can be constructed as a rectangular structure, the two double-rotor linear motors can be respectively arranged on two opposite edges of the frame 10 and extend along the X direction, and the two rotors of the double-rotor linear motor are initially located at both ends of the motor, so that the two single-rotor linear motors connected above the rotors are respectively located on the other two opposite edges of the frame 10 and extend along the Y direction. The machine table is located at the center of the frame structure, and the workpieces to be glued are fixed on the machine table. When the size ranges of the workpieces to be glued are different, the displacement of the rotors moving along the X direction and the Y direction can be controlled to meet the glue application requirements. Therefore, the glue application equipment provided by the present disclosure can be compatible with a wide range of sizes of workpieces to be glued.

[0049] In addition, in order to provide sufficient installation space for the glue application mechanism 20 and at the same time ensure the installation strength of the Y-direction driving mechanism 32, referring to Figure 2 , a support mechanism can be arranged between the X-direction moving part 311 and the Y-direction driving mechanism 32. The support mechanism can include a column 33 and a cross beam 34. One end of the column 33 is connected to the X-direction moving part 311, and the other end is connected to the cross beam 34. The cross beam 34 is located below the Y-direction driving mechanism 32 and is fixedly connected to the Y-direction driving mechanism 32. Thus, the Y-direction driving mechanism 32 is fixed above the X-direction driving mechanism 31 through the column 33 and the cross beam 34 in sequence. The X-direction driving mechanism 31 and the frame 10, the column 33 and the X-direction moving part 311, the cross beam 34 and the column 33, and the Y-direction driving mechanism 32 and the cross beam 34 can all be fixedly connected through fasteners such as screws.

[0050] According to the specific embodiments provided by the present disclosure, referring to Figure 4 and Figure 5, the glue - applying mechanism 20 may include a glue head 21 and a driving assembly for driving the glue head 21 to move in the Z - direction. By driving the glue head 21 to move up and down through the driving assembly, not only can the distance between the glue head 21 and the workpiece to be glue - applied be adjusted, but also the heights of the glue heads 21 of the two glue - applying mechanisms 20 corresponding to the two X - direction moving parts 311 can be ensured to be the same. Among them, the driving assembly may include a slide rail 22 extending in the Z - direction, a slider 27 slidably arranged on the slide rail 22, and a driving member 23 for driving the slider 27 to slide along the slide rail 22. The slide rail 22 is fixedly connected to the Y - direction moving part 321, and the slider 27 is fixedly connected to the glue head 21.

[0051] Specifically, referring to Figure 1 , Figure 4 and Figure 5 , the glue - applying mechanism 20 is arranged on the side of the Y - direction driving mechanism 32 close to the workpiece to be glue - applied. The glue - applying mechanism 20 may further include a connecting plate 24, a vertical plate 25, and a glue - machine mounting plate 26. The connecting plate 24 may be a horizontal plate and is fixedly connected to the Y - direction moving part 321. The vertical plate 25 is located above the connecting plate 24 and is fixedly connected to the connecting plate 24. The slide rail 22 is fixedly installed on the side of the vertical plate 25. The slider 27 is in sliding fit with the slide rail 22. The glue - machine mounting plate 26 is fixedly connected to the slider 27, and the glue head 21 is fixedly installed on the glue - machine mounting plate 26. The driving member 23 may be configured as a rotary handle. By rotating the rotary handle, circular motion can be converted into linear motion, thereby pushing the slider 27 to move up and down along the slide rail 22, so that the glue - machine mounting plate 26 and the glue head 21 move up and down synchronously. The driving member 23 may transmit power to the slider 27 through structures such as a gear - rack or a lead - screw nut. The present disclosure does not limit this.

[0052] According to the specific embodiments provided by the present disclosure, referring to Figure 3 , the lifting and positioning mechanism 40 may include a servo - motor 41, a reduction motor 42, a commutator 43, a screw - lift 44, and a support plate 45. The support plate 45 is used to support and position the workpiece to be glue - applied. The power of the servo - motor 41 is sequentially transmitted to the support plate 45 through the reduction motor 42, the commutator 43, and the screw - lift 44, so as to realize the synchronous lifting of the support plate 45. The workpiece to be glue - applied is placed on a tooling plate, and the tooling plate is fixed on the support plate 45. The servo - motor 41 adjusts the distance between the workpiece to be glue - applied and the glue head 21 of the glue - applying mechanism 20 by driving the support plate 45 to rise or fall. The structural models of the servo - motor 41, the reduction motor 42, the commutator 43, the screw - lift 44, and the support plate 45, the connection forms between them, and the positioning form of the support plate 45 for the workpiece to be glue - applied can all adopt common designs in the art.

[0053] In addition, referring to Figure 3 , the lifting and positioning mechanism 40 may further include a stop cylinder 46 to stop the tooling plate flowing into the machine through the line body.

[0054] According to the specific embodiments provided by the present disclosure, with reference to Figure 4 , the camera mechanism 50 is fixedly connected to the glue applying mechanism 20. When the driving mechanism 30 drives the glue applying mechanism 20 to move, the camera mechanism 50 can move synchronously with the glue applying mechanism 20. The camera mechanism 50 may include a camera 51, a camera mounting plate 52, a guiding support assembly 53, and a camera adjustment block 54. The camera mounting plate 52 can be fixedly mounted on the above-mentioned glue machine mounting plate 26 through the guiding support assembly 53, and the camera 51 is adjustably mounted on the camera mounting plate 52 through the camera adjustment block 54.

[0055] Guided by the camera 51, that is, taking a photo of the work-piece to be glued before the glue applying operation, the glue applying trajectory can be corrected to ensure that the glue applying trajectory is in the middle of the work-piece to be glued. The guiding principle is as follows: First, calibrate the coordinate relationship between the camera 51 and the driving mechanism 30 (such as the above-mentioned linear motor). After calibration, the driving mechanism 30 drives the camera 51 to move to the photo-taking position, and the glue head 21 is exactly in the middle of the work-piece to be glued. Trigger the camera 51 to take a photo and save the template. When the next work-piece to be glued flows in, trigger the photo-taking at the same photo-taking position and compare it with the template to calculate the offset values in the X direction and Y direction. Adding the corresponding offset values to the glue applying starting point can ensure that the glue applying trajectory is in the middle of the work-piece to be glued.

[0056] In addition, by setting the camera adjustment block 54, the position of the camera 51 can be adjusted according to actual needs, with strong adaptability. Specifically, with reference to Figure 4 , the camera adjustment block 54 can be fixedly connected to the camera mounting plate 52, and the camera 51 is fixed on the camera adjustment block 54 through fasteners. A plurality of fastening holes can be formed on the camera adjustment block 54. By adjusting the installation of the camera 51 in different fastening holes, the change of the position of the camera 51 can be realized.

[0057] In summary, taking the work-piece to be glued as the battery cell module as an example, when the glue applying equipment provided by the specific embodiment of the present disclosure is used for glue applying, the glue applying process is as follows:

[0058] The battery cell module is placed on the tooling board. The tooling board is conveyed through the line and flows into the machine platform of the rack 10. After arriving, the blocking cylinder 46 stops it. The servo motor 41 works to promote the support plate 45 to lift and fix the battery cell module to the working position. The X-direction driving mechanism 31 moves along the X direction to the photographing position. At the same time, the Y-direction driving mechanism 32 moves along the Y direction to the photographing position. After the driving mechanism 30 moves into place, the camera 51 is triggered to take a photo. After the photographing is completed, the X-direction driving mechanism 31 and the Y-direction driving mechanism 32 move to the starting position of glue application. The glue application mechanism 20 is driven to move along the preset glue application trajectory to start high-speed continuous glue application. After the glue application is completed, the driving mechanism 30 drives the glue application mechanism 20 to return to the initial position. At the same time, the lifting and positioning mechanism 40 descends and releases the battery cell module, and the battery cell module flows out along the line.

[0059] On the basis of the above technical solution, the present disclosure also provides a glue application system, including the glue application equipment in the above technical solution. The glue application system has all the beneficial effects of the above glue application equipment, which will not be elaborated here.

[0060] According to the specific implementation manners provided by the present disclosure, the glue application system may further include a control module. The control module is connected to the glue application mechanism 20, the driving mechanism 30, the lifting and positioning mechanism 40, and the imaging mechanism 50, so as to be able to receive corresponding signals and send control signals to them. Specifically, the control module can receive the image information captured by the imaging mechanism 50, and send a control signal to the driving mechanism 30 according to the image information, so that the driving mechanism 30 drives the glue application mechanism 20 to move to the accurate glue application position, ensuring that the glue application trajectory is in the middle of the tooling to be glued. Among them, the type of the control module, the process of image processing, and the control logic between the control module and the imaging mechanism 50 and the driving mechanism 30 can all be selected according to the existing image processing and positioning software and the automatic control system. The present disclosure does not limit this.

[0061] In addition, in the related art, a quantitative glue application mode is adopted, and the glue application trajectory is composed of multiple straight line segments. For example Figure 6 the AB, BC, and CD straight line segments in. Among them, the long line segment is the glue application segment, and the short line segment is the non-glue application segment. That is, the glue machine discharges glue in the AB segment, the glue machine does not discharge glue in the BC segment, the glue machine discharges glue in the CD segment, and so on. When the glue application head moves from the A end of the line segment to the B end, the glue discharge amount of the glue machine is a set value, and is the same as the glue application amount of each long line segment. When applying glue, when the glue application head moves from point A to point B, the speed at point A starts to accelerate from zero, starts to decelerate before moving to point B, and after reaching point B, the speed drops to zero; when moving from point B to point C, the speed at point B starts to accelerate from zero, starts to decelerate before moving to point C, and after reaching point C, the speed drops to zero, and so on until the glue application is completed. In this quantitative glue application mode, during the glue application process, on the one hand, the glue discharge of the glue application head is intermittent, and the glue application trajectory is discontinuous; on the other hand, the moving speed of the glue application head is not constant, and the speed frequently drops to zero.

[0062] In the glue application system provided by the present disclosure, by setting the internal program of the control module, when the glue applicator head continuously discharges glue, the speed can be ensured to be constant during the movement of the glue applicator head, thereby generating a continuous glue application trajectory. Adopting this continuous glue application method, referring to Figure 7 , the glue application trajectory is composed of straight line segments and arc segments, namely the straight line segment AB, the arc segment BC, and the straight line segment CD. When the glue application trajectory transitions from a straight line segment to an arc segment, the control module can ensure a certain speed value for the straight line and the arc through an interpolation method, thereby realizing the speed constant commutation. Corresponding to the glue application equipment, it can be understood that when applying glue to the straight line segment AB, the control module controls the Y-direction driving mechanism 32 to drive the glue head 21 to move along the Y direction at a constant speed; when applying glue to the arc segment BC, the control module simultaneously controls the X-direction driving mechanism 31 and the Y-direction driving mechanism 32 to drive the glue head 21 to move along the X direction and the Y direction respectively, and ensures a constant movement speed of the glue head 21 through an interpolation method to generate an arc trajectory; when applying glue to the straight line segment CD, the control module controls the Y-direction driving mechanism 32 to drive the glue head 21 to move along the Y direction at a constant speed. And the glue head 21 continuously discharges glue during the entire movement process. By ensuring a certain glue discharge flow rate and movement speed, the glue amount of each battery cell is ensured to be certain. From Figure 8 's comparison diagram, it can be seen that under the condition of ensuring the same glue application length, the continuous glue application trajectory of the present disclosure ( Figure 8 shown by the solid line) is shorter than the traditional glue application trajectory ( Figure 8 shown by the dashed line), thereby greatly improving the glue application speed. The interpolation method can adopt common methods in the art according to actual needs. It can calculate according to certain algorithms based on the input basic data (such as the starting point, ending point, and center coordinates of the arc, etc.), and send feed commands to the corresponding coordinates according to the calculation results. Corresponding to each feed command, the glue applicator head moves a certain distance in the corresponding coordinate direction, and finally generates the required contour shape.

[0063] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0064] In addition, it should be noted that in the various specific technical features described in the above specific embodiments, they can be combined in any appropriate manner without conflict. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination methods.

[0065] In addition, any combination can be made between various different embodiments of the present disclosure, as long as it does not violate the idea of the present disclosure, it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A glue coating device, characterized in that: include: frame, The gluing mechanism is movably arranged on the frame to perform gluing operation on the tooling to be glued flowing in through the line body. The driving mechanism is fixed on the frame and is used to drive the gluing mechanism to move along a preset gluing track. A lifting and positioning mechanism is fixed on the frame and is used to carry and position the tooling to be coated with glue, and A camera mechanism is arranged on the gluing mechanism so as to be able to move synchronously with the gluing mechanism, and the camera mechanism is used to photograph the position of the tooling to be glued.

2. The gluing device according to claim 1, characterized in that: The driving mechanism comprises: An X-direction driving mechanism is fixedly mounted on the frame, and the X-direction driving mechanism comprises an X-direction moving part capable of generating linear movement along the X-direction, and, The Y-direction driving mechanism is connected to the X-direction moving part. The Y-direction driving mechanism includes a Y-direction moving part capable of generating linear movement along the Y direction. The glue coating mechanism is connected to the Y-direction moving part.

3. The gluing device according to claim 2, characterized in that: The number of the X-direction moving parts is two, and the two X-direction moving parts are arranged at intervals along the X direction.

4. The gluing device according to claim 3, characterized in that: The X-axis driving mechanism is a double-moving linear motor, and the two X-axis moving parts correspond to the two moving parts of the double-moving linear motor respectively; and / or, the Y-axis driving mechanism is a single-moving linear motor, and the glue coating mechanism is fixedly connected to the moving part of the single-moving linear motor.

5. The gluing device according to claim 4, characterized in that: There are two double-motor linear motors, which are spaced apart along the Y direction, wherein the movers of the two double-motor linear motors located on the same side are respectively connected to the two ends of the single-motor linear motor to form a frame structure.

6. The gluing device according to claim 3, characterized in that: Among the two glue coating mechanisms corresponding to the two X-axis moving parts, one of the glue coating mechanisms is used to spray thermal conductive glue onto the tooling to be glued, and the other glue coating mechanism is used to spray structural glue onto the tooling to be glued.

7. The gluing device according to any one of claims 2 to 6, characterized in that: The glue coating mechanism includes a glue head and a driving component for driving the glue head to move along the Z direction, the driving component includes a slide rail extending along the Z direction, a slider slidably arranged on the slide rail, and a driving member for driving the slider to slide along the slide rail, the slide rail is fixedly connected to the Y-direction moving part, and the slider is fixedly connected to the glue head.

8. The gluing device according to claim 7, characterized in that: The glue coating mechanism also includes a connecting plate, a vertical plate and a glue machine mounting plate, the connecting plate is fixedly connected to the Y-axis moving part, the vertical plate is located above the connecting plate and is fixedly connected to the connecting plate, the slide rail is fixedly connected to the vertical plate, the glue machine mounting plate is fixedly connected to the slider, and the glue head is fixedly mounted on the glue machine mounting plate.

9. The gluing device according to any one of claims 2 to 6, characterized in that: A supporting mechanism is provided between the X-axis moving part and the Y-axis driving mechanism, and the supporting mechanism includes a column and a beam, one end of the column is connected to the X-axis moving part, and the other end is connected to the beam, and the beam is located below the Y-axis driving mechanism and fixedly connected to the Y-axis driving mechanism.

10. The gluing device according to any one of claims 1 to 6, characterized in that: The lifting and positioning mechanism comprises a servo motor, a reduction motor, a commutator, a screw lift and a support plate, and the support plate is used to support and position the tooling to be coated with glue.

11. The gluing device according to any one of claims 1 to 6, characterized in that: The glue coating mechanism includes a glue machine mounting plate, and the camera mechanism includes a camera, a camera mounting plate, a guide support assembly and a camera adjustment block. The camera mounting plate is fixedly mounted on the glue machine mounting plate via the guide support assembly, and the camera is adjustably mounted on the camera mounting plate via the camera adjustment block.

12. A gluing system, characterized in that: It comprises a control module and the gluing equipment described in any one of claims 1 to 11, wherein the control module is connected to the gluing mechanism, driving mechanism, lifting and positioning mechanism and camera mechanism of the gluing equipment, wherein during the gluing process, the control module controls the glue head of the gluing mechanism to continuously discharge glue and keep the movement speed constant to form a continuous gluing trajectory.

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