Sealing nail welding positioning equipment

Abstract

The utility model belongs to the technical field of equipment for steel shell battery production, and particularly relates to sealing nail welding positioning equipment which comprises a feeding assembly, a taking assembly, an image processor and a driver, the feeding assembly comprises a material disc used for containing sealing nails and a first industrial camera facing the material disc, and the taking assembly comprises a second industrial camera facing the first industrial camera. The material taking assembly comprises a multi-axis mechanical arm, a suction nozzle arranged on the multi-axis mechanical arm and a second industrial camera facing the suction nozzle. The first industrial camera and the second industrial camera are in electric signal connection with the image processor, the image processor is in electric signal connection with the driver, and the multi-axis mechanical arm is electrically connected with a power source through the driver. The first camera shoots pictures, accurate positioning of material taking is achieved, the situation of empty suction of the suction nozzle is reduced, the second camera shoots pictures, movement compensation during assembly is achieved, it is guaranteed that the sealing nail is aligned with the liquid injection opening, workers for taking and placing the sealing nail are saved, and then the production cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the equipment technical field of steel shell battery production, especially relates to a sealing nail welding positioning equipment. BACKGROUND

[0002] The sealing nail is welded in the liquid injection port of the steel shell battery during the production of the steel shell battery. In the prior art, the sealing nail is small in size, and is manually picked up by tweezers and placed in the liquid injection port of the steel shell battery. This method has the following disadvantages: low work efficiency, dust during cleaning and welding, and certain safety hazards to the human body. UTILITY MODEL CONTENTS

[0003] The utility model aims at providing a sealing nail welding positioning equipment, and aims at solving the technical problem of low work efficiency in the prior art.

[0004] To achieve the above-mentioned purpose, the sealing nail welding positioning equipment provided by the utility model embodiment comprises a feeding assembly, a material taking assembly, an image processor and a driver, the feeding assembly comprises a tray for placing the sealing nail and a first industrial camera facing the tray, the material taking assembly comprises a multi-axis mechanical arm, a suction nozzle arranged on the multi-axis mechanical arm and a second industrial camera facing the suction nozzle; the first industrial camera and the second industrial camera are respectively electrically connected with the image processor, the image processor is electrically connected with the driver, and the multi-axis mechanical arm is electrically connected with a power supply through the driver.

[0005] Optionally, the material taking assembly further comprises a first base, a mounting groove is formed in the top of the first base, and a plurality of voice coil motors are arranged in the mounting groove; the tray comprises a surrounding frame matched with the mounting groove and a diaphragm arranged at the bottom, the surrounding frame and the diaphragm form a cavity for accommodating the sealing nail, and the vibration output end of the voice coil motor can act on the diaphragm.

[0006] Optionally, a first light source is further arranged in the mounting groove and faces the diaphragm.

[0007] Optionally, the mounting groove and the surrounding frame are both rectangular, the four voice coil motors are arranged at the four corners of the mounting groove respectively.

[0008] Optionally, a linear vibrator and a hopper are further arranged, the hopper is arranged on the first base through the linear vibrator, and a material falling gap is formed at one end of the hopper close to the tray.

[0009] Optionally, the feeding assembly further comprises a hanging support, the first industrial camera is fixed to the top end of the hanging support.

[0010] Optionally, the taking assembly further comprises a second base, the multi-axis mechanical arm comprises an X-axis linear module, the bottom of the X-axis linear module is connected with the second base, the top of the X-axis linear module is slidingly connected with an X-axis sliding block, the X-axis sliding block is provided with a Y-axis linear module, the top of the Y-axis linear module is slidingly connected with a Y-axis sliding block, the Y-axis sliding block is provided with a Z-axis linear module, the side of the Z-axis linear module is slidingly connected with a Z-axis sliding block, and the suction nozzle is fixed to the Z-axis sliding block.

[0011] Optionally, the suction nozzle is internally provided with an air channel, the top end of the air channel is connected with an external vacuum generator through an air joint, and the bottom end of the air channel penetrates through the suction nozzle and forms a suction hole.

[0012] Optionally, the suction nozzle is provided with a sharp corner-shaped protrusion at the end away from the Z-axis sliding block, the sharp corner end of the sharp corner-shaped protrusion is provided with a circular cylinder, the air channel penetrates through the body of the suction nozzle, the sharp corner-shaped protrusion and the circular cylinder from top to bottom, and the suction hole is formed at the bottom end of the circular cylinder.

[0013] Optionally, the taking assembly further comprises a fixing support, the top end of the fixing support is provided with an annular disc, the center of the annular disc is provided with a through hole, the top of the annular disc is annularly provided with a second light source, and the second industrial camera is arranged at the top of the fixing support and faces the through hole.

[0014] The working principle of the utility model is: a first working camera is used for shooting pictures of a plurality of sealing nails on a tray and transmitting the pictures to an image processor, the image processor determines the relative position of a single sealing nail on the tray through an image pixel coordinate system and transmits an electric signal to a driver, the driver drives a multi-axis mechanical arm to move the suction nozzle relative to the tray and suck the single sealing nail according to the electric signal, a second industrial camera is used for shooting pictures of the single sealing nail on the suction nozzle and transmitting the pictures to the image processor, the image processor determines the relative position of the center of the single sealing nail on the suction nozzle through an image pixel coordinate and transmits an electric signal to the driver, and the driver drives the multi-axis mechanical arm to move the suction nozzle relative to the liquid injection port of the steel shell battery according to the electric signal. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 The structural schematic diagram of the sealing nail welding positioning equipment provided by the embodiments of the present application is shown.

[0017] Figure 2 The structural schematic diagram of the suction nozzle provided by the embodiments of the present application is shown.

[0018] Figure 3 The longitudinal section schematic diagram of Figure 2 The longitudinal section schematic diagram of

[0019] In the drawings, various reference signs represent:

[0020] 1 - feeding assembly, 11 - tray, 12 - first industrial camera, 13 - first base, 14 - linear vibrator, 15 - hopper, 16 - suspension support;

[0021] 2 - material taking assembly, 21 - multi-axis mechanical arm, 211 - X-axis linear module, 212 - Y-axis linear module, 213 - Z-axis linear module, 22 - suction nozzle, 221 - gas circuit, 222 - gas joint, 223 - adsorption hole, 224 - sharp corner-shaped protrusion, 225 - circular cylinder, 23 - second industrial camera, 24 - second base, 25 - fixed support, 251 - annular disc. DETAILED DESCRIPTION

[0022] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the embodiments of the present application, and cannot be understood as a limitation of the present application.

[0023] In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0024] In addition, the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" are only used for descriptive purpose and cannot be understood as indicating or implying relative importance or implying the number of the technical features indicated. Therefore, the features defined with "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more than two, unless otherwise specifically defined.

[0025] In the embodiments of the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0026] In one embodiment of the present application, as shown in Figures 1 to 3 A sealing nail welding positioning device is provided, which comprises a feeding assembly 1, a taking assembly 2, an image processor and a driver. The feeding assembly 1 comprises a tray 11 for placing sealing nails and a first industrial camera 12 facing the tray 11. The taking assembly 2 comprises a multi-axis mechanical arm 21, a suction nozzle 22 arranged on the multi-axis mechanical arm 21, and a second industrial camera 23 facing the suction nozzle 22. The first industrial camera 12 and the second industrial camera 23 are respectively electrically connected with the image processor, and the image processor is electrically connected with the driver. The multi-axis mechanical arm 21 is electrically connected with the power supply through the driver. Specifically, the first working camera is used to shoot pictures of a plurality of sealing nails on the tray 11 and transmit the pictures to the image processor. The image processor determines the relative position of a single sealing nail on the tray 11 through the image pixel coordinate system and transmits an electrical signal to the driver. The driver drives the multi-axis mechanical arm 21 to move the suction nozzle 22 relative to the tray 11 and suck the single sealing nail according to the electrical signal. The second industrial camera 23 is used to shoot pictures of the single sealing nail on the suction nozzle 22 and transmit the pictures to the image processor. The image processor determines the relative position of the center of the single sealing nail on the suction nozzle 22 through the image pixel coordinate and transmits an electrical signal to the driver. The driver drives the multi-axis mechanical arm 21 to move the suction nozzle 22 relative to the liquid injection port of the steel shell battery according to the electrical signal.

[0027] In an embodiment of the utility model, the material taking assembly 2 further includes a first base 13, a mounting groove is formed in the top of the first base 13, a plurality of voice coil motors are arranged in the mounting groove, the tray 11 includes a surrounding frame matched with the mounting groove and a diaphragm arranged at the bottom, the surrounding frame and the diaphragm form a cavity for accommodating the sealing nails, and the vibration output end of the voice coil motor can act on the diaphragm. Specifically, the voice coil motor drives the diaphragm to vibrate when working, so that the vibration frequency of the diaphragm reaches the natural frequency of the sealing nails, resonance of the sealing nails is caused, and then the plurality of sealing nails are in an active state on the tray 11. Finally, the sealing nails whose position and posture meet the adsorption conditions are obtained through the image captured by the first camera, the position information of the sealing nails is determined through the image pixel coordinate system, and the posture information of the sealing nails is determined through a mechanical vision algorithm.

[0028] In an embodiment of the utility model, a first light source is further arranged in the mounting groove and faces the diaphragm. The first light source is used for supplementing light for the shooting of the first camera, which is beneficial to improving the definition of the image.

[0029] In an embodiment of the utility model, the mounting groove and the surrounding frame are both rectangular, and the four voice coil motors are arranged at the four corners of the mounting groove. The vibration frequencies of the four motors are the same.

[0030] In an embodiment of the utility model, a linear vibrator 14 and a bin 15 are further arranged, the bin 15 is arranged on the first base 13 through the linear vibrator 14, and a discharging gap is formed in one end of the bin 15 close to the tray 11. The bin 15 is used for storing the sealing nails, when the sealing nails on the tray 11 are almost consumed, the linear vibrator 14 is used for conveying the sealing nails in the bin 15 to the tray 11 through vibration, and the technician only needs to supplement the sealing nails in the bin 15 regularly, so that the difficulty of work is greatly reduced.

[0031] In an embodiment of the utility model, the feeding assembly 1 further includes a hanging bracket 16, the hanging bracket 16 is arranged beside the tray 11, and the first industrial camera 12 is fixed to the top end of the hanging bracket 16.

[0032] In an embodiment of the utility model, the material taking assembly 2 further includes a second base 24, the multi-axis mechanical arm 21 includes an X-axis linear module 211, the bottom of the X-axis linear module 211 is connected with the second base 24, the top is slidingly connected with an X-axis sliding block, the Y-axis linear module 212 is arranged on the X-axis sliding block, the top of the Y-axis linear module 212 is slidingly connected with a Y-axis sliding block, the Z-axis linear module 213 is arranged on the Y-axis sliding block, the side of the Z-axis linear module 213 is slidingly connected with a Z-axis sliding block, and the suction nozzle 22 is fixed to the Z-axis sliding block.

[0033] In one embodiment of the utility model, the inside of suction nozzle 22 is provided with air path 221, the top end of air path 221 is connected with external vacuum generator through air joint 222, the bottom end penetrates suction nozzle 22 and forms suction hole 223.

[0034] In one embodiment of the utility model, suction nozzle 22 is provided with sharp corner shaped lug 224 at the end far from Z-axis slider, the sharp corner end of sharp corner shaped lug 224 is provided with circular cylinder 225, air path 221 penetrates the body of suction nozzle 22, sharp corner lug and circular cylinder 225 in turn from top to bottom, and suction hole 223 is formed at the bottom end of circular cylinder 225. The volume of the front end of suction nozzle 22 is reduced by using sharp corner shaped lug 224, and suction hole 223 is formed by the outwardly protruding circular cylinder 225, so that the relative position of sealing nail and suction hole 223 can be more clearly seen when the second camera is shooting.

[0035] In one embodiment of the utility model, the material taking assembly 2 further includes a fixed support 25, the top end of the fixed support 25 is provided with an annular disc 251, a through hole is formed in the center of the annular disc 251, a second light source is annularly arranged on the top of the annular disc 251, and the second industrial camera 23 is arranged on the top of the fixed support 25 and faces the through hole. The second light source is used for light supplement for the shooting of the second camera, which is helpful to improve the definition of the image.

[0036] The above only is the preferred embodiment of the utility model, and does not limit the utility model, and any modification, equivalent replacement and improvement made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A seal pin welding positioning apparatus, characterized by: The feeding assembly includes a tray for placing the sealing nails, and a first industrial camera towards the tray, the taking assembly includes a multi-axis mechanical arm, a suction nozzle provided on the multi-axis mechanical arm, and a second industrial camera towards the suction nozzle; the first industrial camera and the second industrial camera are respectively electrically connected with the image processor, the image processor is electrically connected with the driver, and the multi-axis mechanical arm is electrically connected with the power supply through the driver.

2. The sealed tack weld positioning apparatus of claim 1, wherein: The taking assembly further includes a first base, a mounting groove is formed in the top of the first base, and a plurality of voice coil motors are arranged in the mounting groove; the tray includes a surrounding frame matched with the mounting groove and a diaphragm arranged at the bottom, the surrounding frame and the diaphragm form a cavity for accommodating the sealing nails, and the vibration output end of the voice coil motor can act on the diaphragm.

3. The sealed tack weld positioning apparatus of claim 2, wherein: A first light source is further included, which is arranged in the mounting groove and faces the diaphragm.

4. The sealed tack weld positioning apparatus of claim 2, wherein: The mounting groove and the surrounding frame are both rectangular, and the four voice coil motors are arranged at the four corners of the mounting groove respectively.

5. The sealed pin weld positioning apparatus of claim 2, wherein: A linear vibrator and a hopper are further included, the hopper is arranged on the first base through the linear vibrator, and a material dropping gap is formed at one end of the hopper close to the tray.

6. The sealed tack weld positioning apparatus of claim 1, wherein: The feeding assembly further includes a suspension bracket arranged beside the tray, and the first industrial camera is fixed to the top end of the suspension bracket.

7. The sealed tack weld positioning apparatus of claim 1, wherein: The taking assembly further includes a second base, the multi-axis mechanical arm includes an X-axis linear module, the bottom of the X-axis linear module is connected with the second base, and an X-axis sliding block is slidingly connected to the top of the X-axis linear module; a Y-axis linear module is arranged on the X-axis sliding block, a Y-axis sliding block is slidingly connected to the top of the Y-axis linear module, a Z-axis linear module is arranged on the Y-axis sliding block, and a Z-axis sliding block is slidingly connected to the side of the Z-axis linear module; and the suction nozzle is fixed to the Z-axis sliding block.

8. The pin seal weld positioning apparatus of claim 7, wherein: An air path is formed in the inside of the suction nozzle, the top end of the air path is connected with an external vacuum generator through an air joint, and the bottom end of the air path penetrates through the suction nozzle and forms a suction hole.

9. The pin seal weld positioning apparatus of claim 8, wherein: A sharp corner-shaped protrusion is arranged at one end of the suction nozzle away from the Z-axis sliding block, a circular cylinder is arranged at the sharp corner end of the sharp corner-shaped protrusion, the air path penetrates through the body of the suction nozzle, the sharp corner-shaped protrusion and the circular cylinder from top to bottom in sequence, and the suction hole is formed at the bottom end of the circular cylinder.

10. The sealed tack weld positioning apparatus of claim 1, wherein: The taking assembly further includes a fixing bracket, a ring-shaped disc is arranged at the top end of the fixing bracket, a through hole is formed in the center of the ring-shaped disc, a second light source is arranged around the top of the ring-shaped disc, and the second industrial camera is arranged at the top of the fixing bracket and faces the through hole.

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