Nail inserting device

Abstract

The utility model discloses a nail inserting device which comprises a left rack and a right rack which are oppositely arranged, a Y-axis linear module, a mechanism supporting plate, a mechanism mounting plate, an X-axis linear module, a Z-axis linear module, a nail inserting mechanism and a photographing positioning mechanism. One end of the mechanism supporting plate is arranged at the top end of the Y-axis linear module, the other end of the mechanism supporting plate is slidably connected with the top end of the other rack, the mechanism mounting plate is arranged at the top end of the mechanism supporting plate, the X-axis linear module is arranged on one side of the mechanism mounting plate, and the Z-axis linear module is arranged on the side, away from the mechanism mounting plate, of the X-axis linear module. A mechanism fixing plate is arranged on the side, away from the X-axis linear module, of the Z-axis linear module, and the pin inserting mechanism and the photographing positioning mechanism are both arranged on the side, away from the Z-axis linear module, of the mechanism fixing plate. The device is wide in application range, operation of remodeling adjustment is not needed, remodeling time is shortened, and production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of battery production technology, specifically to a pin insertion device. Background Technology

[0002] In the lithium battery manufacturing process, after the battery cell undergoes high-temperature formation, a pinning device is generally used to insert pins into the electrolyte injection hole at the center of the cell's top to seal it. Currently, pinning devices are mainly divided into linear module pinning devices and robotic pinning devices. A linear module pinning device typically includes two mounting frames arranged horizontally opposite each other, front and rear linear modules, a mounting plate, upper and lower linear modules, a fixing plate, and two pinning mechanisms. The front and rear linear modules are located at the top of one mounting frame. One end of the mounting plate is located at the top of the front and rear linear modules, and the other end of the mounting plate is slidably connected to the top of the other mounting frame. The upper and lower linear modules are located on one side of the mounting plate, and the fixing plate is located on the side of the upper and lower linear modules away from the mounting plate. The two pinning mechanisms are arranged horizontally and alternately, both located on the side of the fixing plate away from the upper and lower linear modules. The front and rear linear modules drive the mounting plate to move back and forth, thereby driving the upper and lower linear modules, the fixing plate, and the two pinning mechanisms to move back and forth. The upper and lower linear modules drive the fixing plate and the two pinning mechanisms to move up and down. Two adhesive pins can be inserted into the injection holes of two battery cells using upper and lower linear modules and two pin insertion mechanisms. This structure has two pin insertion mechanisms, and because it only has front-to-back and upper-to-lower linear modules, the two pin insertion mechanisms cannot move left or right. Therefore, this structure is only suitable for scenarios where two rows of battery cells are loaded in a tray. Furthermore, the spacing between the two pin insertion mechanisms is fixed. When changing battery cell types on the production line, the spacing between the two pin insertion mechanisms needs to be manually adjusted. However, the limited space within the device makes this operation very inconvenient, increasing changeover time. Additionally, to ensure that the positions of the two pin insertion mechanisms correspond to the positions of the two rows of battery cells in the tray, a secondary mechanical positioning of the battery cells is usually required before pin insertion, further increasing production time and reducing production efficiency. Utility Model Content

[0003] To overcome the shortcomings of the existing technology, this utility model provides a pin insertion device with a wide range of applications, which can meet the needs of multiple scenarios and does not require changeover and adjustment operations, thereby reducing changeover time, production time and improving production efficiency.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] A pin insertion device includes two frames arranged opposite each other, a Y-axis linear module, a mechanism support plate, a mechanism mounting plate, an X-axis linear module, a Z-axis linear module, a pin insertion mechanism, and a photographic positioning mechanism. The Y-axis linear module is located at the top of one of the frames. One end of the mechanism support plate is located at the top of the Y-axis linear module, and the other end of the mechanism support plate is slidably connected to the top of the other frame. The Y-axis linear module drives the mechanism support plate to move back and forth relative to the two frames. The mechanism mounting plate is located at the top of the mechanism support plate. The X-axis linear module is located on one side of the mechanism mounting plate. The Z-axis linear module is located on the side of the X-axis linear module away from the mechanism mounting plate and drives the Z-axis linear module to move left and right. A mechanism fixing plate is located on the side of the Z-axis linear module away from the X-axis linear module and drives the mechanism fixing plate to move up and down. The pin insertion mechanism and the photographic positioning mechanism are both located on the side of the mechanism fixing plate away from the Z-axis linear module, and the photographic positioning mechanism is located on one side of the pin insertion mechanism.

[0006] As a preferred technical solution, the pin insertion mechanism includes a pin-separating assembly, a rotating assembly, and a pin-clamping assembly connected sequentially from top to bottom. The pin-separating assembly and the rotating assembly are both located on the side of the mechanism fixing plate away from the Z-axis linear module, and the photo positioning mechanism corresponds to the pin-separating assembly.

[0007] As a preferred technical solution, the staple assembly includes a staple block, a staple tube, a horizontally arranged upper staple cylinder, a horizontally arranged lower staple cylinder, and an air blowing pipe. The staple block, upper staple cylinder, and lower staple cylinder are all located on the side of the mechanism fixing plate away from the Z-axis linear module. The staple block has an axial staple channel. The top and bottom ends of the staple block respectively have a first staple mounting hole and a second staple mounting hole communicating with the staple channel. One end of the staple tube is disposed in the first staple mounting hole, and the staple tube communicates with the staple channel. The upper staple cylinder and lower staple cylinder are located on the... The two nail-splitting blocks are arranged vertically and vertically on one side. The side of the nail-splitting block near the upper and lower nail-splitting cylinders is provided with a first nail-splitting through hole and a second nail-splitting through hole that communicate with the nail-splitting channel. The end of the output shaft of the upper nail-splitting cylinder extends into the first nail-splitting through hole, and the end of the output shaft of the lower nail-splitting cylinder extends into the second nail-splitting through hole. One end of the air-blowing pipe is provided on the side of the nail-splitting block away from the upper and lower nail-splitting cylinders. The nail-splitting block is provided with an air-blowing channel. One end of the air-blowing channel communicates with the air-blowing pipe, and the other end of the air-blowing channel communicates with the bottom end of the nail-splitting channel.

[0008] As a preferred technical solution, the rotating assembly includes a hollow rotating shaft and a driving structure for driving the rotating shaft to rotate. A bearing seat is sleeved on the outer periphery of the rotating shaft. Both the bearing seat and the driving structure are located on the side of the mechanism fixing plate away from the Z-axis linear module. The upper end of the rotating shaft is clearance-fitted with the second pin mounting hole. The interior of the rotating shaft is connected to the pin channel. The axis of the pin channel and the axis of the rotating shaft are collinear.

[0009] As a preferred technical solution, the drive structure includes a rotary motor and a synchronous belt module. The rotary motor is disposed on the side of the mechanism fixing plate away from the Z-axis linear module and located on one side of the rotating shaft. The synchronous belt module includes a driving pulley, a driven pulley, and a synchronous belt sleeved on the outer periphery of the driving pulley and the driven pulley. The driving pulley is sleeved on the outer periphery of the end of the output shaft of the rotary motor. The driven pulley is sleeved on the outer periphery of the rotating shaft and located above the bearing seat. A spacer and a clamping ring are sleeved on the outer periphery of the rotating shaft, and one end of the spacer passes through the bearing seat. The bearing housing has a through hole at the top of the bearing housing and extends into the bearing housing. The outer wall of the rotating shaft has an annular step. One end of the spacer abuts against the annular step, and the other end of the spacer abuts against the bottom end of the driven wheel. The bottom end of the clamping ring abuts against the top end of the driven wheel. The clamping ring has an opening, and two clamping ring mounting holes are respectively provided on the inner walls of the two sides of the opening. The two clamping ring mounting holes extend to the outer wall of the clamping ring, and clamping ring fasteners are installed in the two clamping ring mounting holes. The clamping ring fasteners abut against the outer wall of the rotating shaft.

[0010] As a preferred technical solution, the clamping assembly includes a clamping member, a clamping cylinder, a first connecting rod, two second connecting rods arranged left and right opposite each other, and two third connecting rods arranged left and right opposite each other. The top end of the clamping member is connected to the rotating shaft. The clamping member has an axial clamping channel. The top and bottom ends of the clamping member are respectively provided with a clamping mounting hole and a clamping through hole communicating with the clamping channel. The lower end of the rotating shaft is clearance-fitted with the clamping mounting hole. The interior of the rotating shaft communicates with the clamping channel. The axis of the clamping channel and the axis of the rotating shaft are collinear. The axis of the clamping through hole is collinear with the axis of the clamping channel. When the clamping assembly is located directly above the battery cell, the clamping through hole corresponds to the electrolyte injection hole of the battery cell. The clamping cylinder is located on the side of the clamping member away from the mechanism fixing plate. The first connecting rod is horizontally arranged and located below the clamping cylinder. The top end of the first connecting rod is connected to the end of the output shaft of the clamping cylinder. The two second connecting rods are in a figure-eight shape. One end of each of the two second connecting rods is rotatably connected to both ends of the first connecting rod. The other end of each of the two second connecting rods is provided with two first connecting parts. Two clamping grooves are provided on both sides of the clamping member, and both clamping grooves communicate with the clamping through hole. Two third connecting rods are located in the two clamping grooves respectively. The two third connecting rods are in an inverted V-shape. Two rotating shafts are provided in the two clamping grooves respectively. The two ends of the rotating shafts are rotatably set in the mounting holes on the inner walls of the corresponding clamping grooves. The two third connecting rods are respectively sleeved on the outer circumference of the two rotating shafts. One end of each of the two third connecting rods extends out of the two clamping grooves and is provided with two second connecting parts respectively. The two second connecting parts are rotatably connected to the two first connecting parts respectively. The other end of each of the two third connecting rods is provided with two third connecting parts arranged left and right opposite each other. The angle between the third connecting parts and the corresponding third connecting rods is an obtuse angle and is located in the clamping through hole. The end of the third connecting part is provided with a clamping groove, which corresponds to the clamping channel.

[0011] As a preferred technical solution, the clamping assembly further includes a photoelectric sensor, which includes a photoelectric emitter and a photoelectric receiver arranged in a front-to-back configuration. The photoelectric emitter is located on the side of the clamping member away from the mechanism fixing plate. The side of the clamping member away from the mechanism fixing plate has a first light-transmitting hole communicating with the clamping through hole, and the first light-transmitting hole corresponds to the photoelectric emitter. The photoelectric receiver is located on the side of the clamping member close to the mechanism fixing plate. The side of the clamping member close to the mechanism fixing plate has a second light-transmitting hole communicating with the clamping through hole, and the second light-transmitting hole corresponds to the first light-transmitting hole and the photoelectric receiver. The side of the third connecting portion close to the mechanism fixing plate and the side away from the mechanism fixing plate have a first clearance groove and a second clearance groove, respectively. The first clearance groove and the second clearance groove both extend to the end of the third connecting portion. The first clearance groove and the second clearance groove both communicate with the clamping groove, and the first clearance groove corresponds to the first light-transmitting hole and the second clearance groove corresponds to the second light-transmitting hole.

[0012] As a preferred technical solution, the photographing positioning mechanism includes a photographing fixing plate, an adjustment component, a camera, and a ring light source. The photographing fixing plate is disposed on the side of the fixing plate away from the Z-axis linear module. The adjustment component includes an adjustment screw, an adjustment seat, and a camera mounting seat. The adjustment seat is disposed at the top of the photographing fixing plate and threadedly engages with the adjustment screw. The camera mounting seat is located below the adjustment seat, and the bottom end of the adjustment screw is disposed at the top of the camera mounting seat. The side of the photographing fixing plate away from the fixing plate has a fixing plate slot extending along the height direction of the photographing fixing plate. The camera mounting seat has a slot that engages with the fixing plate slot. The corresponding circular holes and mounting fasteners are installed in the circular holes and the strip holes of the fixing plate. The camera is set on the side of the camera mounting base away from the camera fixing plate with the camera lens facing down. A light source fixing plate is provided on the side of the camera fixing plate away from the mechanism fixing plate. The light source fixing plate is located below the lens of the camera and has a fixing plate through hole that passes through its top and bottom ends. The fixing plate through hole corresponds to the lens of the camera. The ring light source is set at the bottom end of the light source fixing plate. The inner hole of the ring light source corresponds to the lens of the camera and the fixing plate through hole. When the camera positioning mechanism is located directly above the battery cell, the lens of the camera corresponds to the electrolyte injection hole of the battery cell.

[0013] As a preferred technical solution, it also includes a detection mechanism, which is disposed on the side of the mechanism fixing plate away from the Z-axis linear module and on the other side of the pin insertion mechanism, and the detection mechanism corresponds to the pin clamping assembly of the pin insertion mechanism.

[0014] As a preferred technical solution, the detection mechanism includes a detection fixing plate, a bearing fixing plate, a movable rod, an elastic element, a nail detector hammer, a light-shielding plate, an upper photoelectric sensor, and a lower photoelectric sensor. The detection fixing plate is located on the side of the mechanism fixing plate away from the Z-axis linear module. The bearing fixing plate is located on the side of the detection fixing plate away from the nail insertion mechanism. The bearing fixing plate has a fixing plate mounting hole penetrating its top and bottom ends. The movable rod passes through the fixing plate mounting hole, and its top and bottom ends are located above and below the bearing fixing plate, respectively. A linear bearing is installed in the fixing plate mounting hole, and the linear bearing is sleeved on the outer periphery of the movable rod. The nail detector hammer is located at the bottom end of the movable rod, and the bottom end of the nail detector hammer is connected to the nail clamping assembly. The bottom end of the clamping component is flush with the bottom. The elastic element is sleeved on the outer periphery of the movable rod. One end of the elastic element is connected to the top end of the nail detection hammer, and the other end of the elastic element is connected to the bottom end of the linear bearing. The upper photoelectric sensor and the lower photoelectric sensor are arranged vertically opposite each other and located in front of the bearing fixing plate. Both the upper and lower photoelectric sensors can be detachably mounted on the L-shaped mounting plate, which is connected to the bearing fixing plate. The light-shielding plate is arranged horizontally and located above the bearing fixing plate. One end of the light-shielding plate is connected to the movable rod, and the other end of the light-shielding plate extends forward and is located in the groove of the lower photoelectric sensor. When the detection mechanism is located directly above the battery cell, the nail detection hammer corresponds to the liquid injection hole of the battery cell.

[0015] The beneficial effects of this utility model are as follows: This utility model, through the setting of two frames, a Y-axis linear module, a mechanism support plate, a mechanism mounting plate, an X-axis linear module, a Z-axis linear module, a pin insertion mechanism, and a photo positioning mechanism, with one pin insertion mechanism, can achieve forward, backward, left, right, and up-down movement through the Y-axis linear module, X-axis linear module, and Z-axis linear module. Therefore, it is applicable to scenarios where multiple rows of battery cells are loaded in a tray, with one, two, or three rows, and has a wide range of applications, meeting the needs of multiple scenarios. Moreover, when the battery cell type is changed on the production line, no type change adjustment operation is required, reducing changeover time. At the same time, the photo positioning mechanism can take pictures and position the battery cell before pin insertion, eliminating the need for mechanical secondary positioning of the battery cell through other positioning devices, reducing production time and improving production efficiency. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the structure of a pin insertion device provided in an embodiment of the present invention;

[0018] Figure 2 yes Figure 1A schematic diagram of the structure of the fixing plate, the pin insertion mechanism, the photographic positioning mechanism, and the detection mechanism of the pin insertion device shown;

[0019] Figure 3 yes Figure 2 A front view schematic diagram of the fixing plate, pin insertion mechanism, photo positioning mechanism, and detection mechanism shown in the diagram;

[0020] Figure 4 yes Figure 2 A cross-sectional schematic diagram of the fixing plate, the pin insertion mechanism, the photographing and positioning mechanism, and the detection mechanism shown.

[0021] Figure 5 yes Figure 2 A schematic diagram of the pin assembly of the pin insertion mechanism shown;

[0022] Figure 6 yes Figure 5 A cross-sectional view of the pin assembly shown;

[0023] Figure 7 yes Figure 2 An exploded view of the rotating component of the pin insertion mechanism shown.

[0024] Figure 8 yes Figure 7 A cross-sectional schematic diagram of the rotating shaft, driven wheel, bearing housing, flange, spacer, and clamping ring of the rotating assembly shown.

[0025] Figure 9 yes Figure 2 A schematic diagram of the clamping assembly of the pin insertion mechanism shown;

[0026] Figure 10 yes Figure 9 A cross-sectional view of the clamp assembly shown from a first angle;

[0027] Figure 11 yes Figure 9 A cross-sectional view of the clamp assembly shown from a second angle;

[0028] Figure 12 yes Figure 9 A front view schematic diagram of the clamping cylinder, the first connecting rod, the two second connecting rods and the third connecting rod of the clamping assembly shown;

[0029] Figure 13 yes Figure 9 A schematic diagram of the clamping cylinder, first connecting rod, two second connecting rods and third connecting rod of the clamping assembly shown;

[0030] Figure 14 yes Figure 2 The diagram shows the structure of the photo positioning mechanism.

[0031] Figure 15 yes Figure 2 The diagram shows the structure of the detection mechanism. Detailed Implementation

[0032] The following will clearly and completely describe the concept, specific structure, and technical effects of this utility model in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are all within the scope of protection of this utility model. Furthermore, all connections / linkages involved in the patent do not simply refer to direct contact between components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. The various technical features in this utility model can be combined interactively without contradicting each other.

[0033] Please refer to Figure 1 An embodiment of this utility model provides a pin insertion device, including two frames 10 arranged opposite each other, a Y-axis linear module 20, a mechanism support plate 21, a mechanism mounting plate 30, an X-axis linear module 40, a Z-axis linear module 50, a pin insertion mechanism 70, a photo positioning mechanism 80, and a detection mechanism 90.

[0034] The Y-axis linear module 20 is disposed at the top of one of the frames 10, for example, the frame 10 located on the right. One end of the mechanism support plate 21 is disposed at the top of the Y-axis linear module 20, and the other end of the mechanism support plate 21 is slidably connected to the top of the other frame 10, for example, the frame 10 located on the left. In this embodiment, the top of the other frame 10 is provided with a slide rail 11 extending in the front-back direction, and a slider 12 is slidably engaged with the slide rail 11. The slider 12 is disposed at the bottom of the other end of the mechanism support plate 21.

[0035] The mechanism mounting plate 30 is located at the top of the mechanism support plate 21. The X-axis linear module 40 is located on one side of the mechanism mounting plate 30, and the Z-axis linear module 50 is located on the side of the X-axis linear module 40 away from the mechanism mounting plate 30 via the Z-axis mounting plate 51. A mechanism fixing plate 60 is provided on the side of the Z-axis linear module 50 away from the X-axis linear module 40. The pin insertion mechanism 70, the photo positioning mechanism 80, and the detection mechanism 90 are all located on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50. The photo positioning mechanism 80 is located on one side of the pin insertion mechanism 70, for example, to the right of the pin insertion mechanism 70, and the detection mechanism 90 is located on the other side of the pin insertion mechanism 70, for example, to the left of the pin insertion mechanism 70.

[0036] The Y-axis linear module 20 drives the mechanism support plate 21 to move back and forth relative to the two frames 10. The back and forth movement of the mechanism support plate 21 can drive the mechanism mounting plate 30 to move back and forth, thereby driving the X-axis linear module 40, Z-axis linear module 50, mechanism fixing plate 60, pin insertion mechanism 70, photo positioning mechanism 80, and detection mechanism 90 to move back and forth. The X-axis linear module 40 drives the Z-axis linear module 50 to move left and right. The left and right movement of the Z-axis linear module 50 can drive the mechanism fixing plate 60 to move left and right, thereby driving the pin insertion mechanism 70, photo positioning mechanism 80, and detection mechanism 90 to move left and right. The Z-axis linear module 50 drives the mechanism fixing plate 60 to move up and down. The up and down movement of the mechanism fixing plate 60 can drive the pin insertion mechanism 70, photo positioning mechanism 80, and detection mechanism 90 to move up and down. The insertion mechanism 70 and the Z-axis linear module 50 are used to insert the head of the glue nail 200 into the liquid injection hole of the battery cell. The photo positioning mechanism 80 is used to take a photo of the battery cell for positioning. The detection mechanism 90 is used to detect the height dimension of the glue nail 200 in the liquid injection hole of the battery cell.

[0037] Combination Figures 2 to 4 As shown, the pin insertion mechanism 70 includes a pin-distributing assembly 71, a rotating assembly 73, and a pin-clamping assembly 75 connected sequentially from top to bottom. Both the pin-distributing assembly 71 and the rotating assembly 73 are located on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50. The photographic positioning mechanism 80 corresponds to the pin-distributing assembly 71, and the detection mechanism 90 corresponds to the pin-clamping assembly 75.

[0038] Specifically, in combination Figure 5 and Figure 6 As shown, the staple assembly 71 includes a U-shaped staple block 711, a staple tube 712, a horizontally arranged upper staple cylinder 713, a horizontally arranged lower staple cylinder 714, and an air blowing pipe 715. The staple block 711 is located on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50. The staple block 711 has an axial (i.e., axial direction of the staple insertion mechanism 70) staple channel 7111 inside. The inner diameter of the staple channel 7111 is slightly larger than the maximum outer diameter of the glue staple 200, so that the glue staple 200 can move downward under its own weight. The top and bottom ends of the staple block 711 are respectively provided with a first staple mounting hole and a second staple mounting hole 7112 communicating with the staple channel 7111. One end of the stub 712 is located in the first stub mounting hole, and the other end of the stub 712 is used to connect to the stub feeding device. The stub 712 is connected to the stub channel 7111. The stub 200 can be continuously fed into the stub channel 7111 through the stub 712 by the stub feeding device.

[0039] Both the upper pin-splitting cylinder 713 and the lower pin-splitting cylinder 714 are mounted on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50 via an L-shaped pin-splitting cylinder seat 7131. The upper pin-splitting cylinder 713 and the lower pin-splitting cylinder 714 are located on one side of the pin-splitting block 711, for example, on the right side of the pin-splitting block 711, and are arranged vertically spaced. The side of the pin-splitting block 711 near the upper pin-splitting cylinder 713 and the lower pin-splitting cylinder 714 is provided with a first pin-splitting through hole 7113 and a second pin-splitting through hole 7114 communicating with the pin-splitting channel 7111. The end of the output shaft of the upper pin-splitting cylinder 713 extends into the first pin-splitting through hole 7113, and the end of the output shaft of the lower pin-splitting cylinder 714 extends into the second pin-splitting through hole 7114. The upper nailing cylinder 713 and the lower nailing cylinder 714 can be used to divide the continuously fed nails 200 into individual nails 200 and send them out. In practical applications, the output shaft of the lower nail cylinder 714 extends so that its end extends into the nail channel 7111 and abuts against the inner wall of the nail channel 7111. After the nail 200 is continuously fed into the nail channel 7111 through the nail tube 712 by the nail feeding device, when the head of the first nail 200 in the nail channel 7111 abuts against the output shaft of the lower nail cylinder 714, the output shaft of the upper nail cylinder 713 extends so that the end of the output shaft of the upper nail cylinder 713 abuts against the inner wall of the nail channel 7111. Then the output shaft of the lower nail cylinder 714 retracts to the initial position, so that the first nail 200 can move downward along the nail channel 711 under its own weight, and the first nail 200 is delivered. After the first nail 200 is inserted, the output shaft of the lower nail cylinder 714 extends so that its end extends into the nail channel 7111 and abuts against the inner wall of the nail channel 7111. At the same time, the output shaft of the upper nail cylinder 713 retracts to its initial position. In this way, the nail 200 in the nail channel 7111 can continue to move downward. When the head of the second nail 200 in the nail channel 7111 abuts against the output shaft of the lower nail cylinder 714, the output shaft of the upper nail cylinder 713 extends so that the end of the output shaft of the upper nail cylinder 713 pushes the third nail 200 against the inner wall of the nail channel 7111. Then the output shaft of the lower nail cylinder 714 retracts to its initial position. In this way, the second nail 200 can move downward along the nail channel 711 under its own weight. Thus, the second nail 200 is delivered. After the second adhesive nail 200 is inserted, the above steps can be repeated. In this way, the adhesive nails 200 continuously fed into the nail channel 7111 can be divided into individual adhesive nails 200 and sent out.

[0040] One end of the air blowing pipe 715 is located on the side of the nail-separating block 711 away from the upper nail-separating cylinder 713 and the lower nail-separating cylinder 714. The other end of the air blowing pipe 715 is inclined to the upper left and is used to connect to the air blowing device. The nail-separating block 711 is provided with an air blowing channel 7115. One end of the air blowing channel 7115 is connected to the air blowing pipe 715, and the other end of the air blowing channel 7115 is connected to the bottom end of the nail-separating channel 7111. Air can be blown into the nail-separating channel 7111 through the air blowing device via the air blowing pipe 715 and the air blowing channel 7115, thereby allowing the rubber nails 200 in the nail-separating channel 7111 to fall quickly into the rotating shaft 731 of the rotating assembly 73.

[0041] Combination Figure 7 and Figure 8 As shown, the rotating assembly 73 includes a hollow rotating shaft 731 and a drive structure for driving the rotating shaft 731 to rotate. A bearing housing 733 is fitted around the outer periphery of the rotating shaft 731. Both the bearing housing 733 and the drive structure are located on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50. The bearing housing 733 provides rotational support for the rotating shaft 731. The upper end of the rotating shaft 731 has a clearance fit with the second pin mounting hole 7112, which reduces friction between the upper end of the rotating shaft 731 and the inner wall of the second pin mounting hole 7112. The interior of the rotating shaft 731 communicates with the pin channel 7111. The axis of the pin channel 7111 is collinear with the axis of the rotating shaft 731. The inner diameter of the rotating shaft 731 is the same as the inner diameter of the pin channel 7111.

[0042] The drive structure includes a rotary motor 7321 and a synchronous belt module. The rotary motor 7321 is mounted on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50 via a motor mount 73211, and is located on one side of the rotating shaft 731, for example, to the left of the rotating shaft 731. The synchronous belt module includes a drive pulley 7322, a driven pulley 7323, and a synchronous belt 7324 sleeved on the outer periphery of the drive pulley 7322 and the driven pulley 7323. The synchronous belt 7324 is arranged horizontally. The drive pulley 7322 is sleeved on the outer periphery of the end of the output shaft of the rotary motor 7321, and the driven pulley 7323 is sleeved on the outer periphery of the rotating shaft 731 and located above the bearing seat 733. The rotary motor 7321 drives the drive pulley 7322 to rotate, thereby driving the rotating shaft 731 to rotate under the action of the synchronous belt 7324 and the driven pulley 7323.

[0043] In this embodiment, a spacer 734 and a clamping ring 735 are fitted around the outer periphery of the rotating shaft 731. One end of the spacer 734 passes through the bearing seat through hole at the top of the bearing seat 733 and extends into the bearing seat 733. An annular step 731a is formed on the outer wall of the rotating shaft 731. One end of the spacer 734 abuts against the annular step 731a, and the other end of the spacer 734 abuts against the bottom end of the driven wheel 7323. The bottom end of the clamping ring 735 abuts against the top end of the driven wheel 7323. The clamping ring 735 has an opening 7351. Two clamping ring mounting holes are respectively provided on the inner walls of both sides of the opening 7351. The two clamping ring mounting holes extend to the outer wall of the clamping ring 735. Clamping ring fasteners, such as screws, are installed in the two clamping ring mounting holes. The clamping ring fasteners abut against the outer wall of the rotating shaft 731. The rotation of the rotating shaft 731 can drive the spacer 734 and the clamping ring 735 to rotate synchronously. The spacer 734 and the clamping ring 735 can axially limit the driven wheel 7323.

[0044] The bearing housing 733 includes a housing 7331, a flange 7335, an upper rotary bearing 7332, a lower rotary bearing 7333, and a spacer 7334. The housing 7331 is arranged around the outer periphery of the rotating shaft 731. The upper rotary bearing 7332, the lower rotary bearing 7333, and the spacer 7334 are all disposed within the housing 7331. The upper rotary bearing 7332 is located above the lower rotary bearing 7333. The spacer 7334 is sandwiched between the upper rotary bearing 7332 and the lower rotary bearing 7333. The upper rotary bearing 7332 and the lower rotary bearing 7333 are both sleeved around the outer periphery of the rotating shaft 731 to provide rotational support for the rotating shaft 731. The flange 7335 is disposed around the outer periphery of the rotating shaft 731. The top of the outer casing 7331 and the top of the flange 7335 are provided with the aforementioned bearing seat through hole. One end of the spacer 734 passes through the bearing seat through hole and extends into the flange 7335. A round nut 7336 is provided inside the flange 7335. The bottom end of the round nut 7336 abuts against the top end of the upper rotating bearing 7332. The round nut 7336 is sleeved on the outer circumference of the rotating shaft 731, and the rotating shaft 731 can rotate relative to the round nut 7336. An annular boss 73311 is formed on the inner wall of the outer casing 7331. The bottom end of the lower rotating bearing 7333 abuts against the top end of the boss 73311. The round nut 7336 and the boss 73311 can axially limit the upper rotating bearing 7332 and the lower rotating bearing 7333.

[0045] Combination Figures 9 to 13As shown, the clamping assembly 75 includes a clamping member 751, a clamping cylinder 752, a first connecting rod 753, two second connecting rods 754 arranged opposite each other to the left and right, and two third connecting rods 755 arranged opposite each other to the left and right. The top end of the clamping member 751 is connected to the rotating shaft 731. In this embodiment, the outer wall of the rotating shaft 731 is provided with two protrusions 7311 arranged symmetrically front and back, and the top end of the clamping member 751 is provided with two mounting blocks 751a arranged symmetrically front and back to the right. The mounting blocks 751a protrude from the top end of the clamping member 751 and are respectively located on the side of the two protrusions 7311 away from the rotating shaft 731. The clamping member 751 has an axial (i.e., circumferential) clamping channel 7511. The top and bottom ends of the clamping member 751 are respectively provided with clamping mounting holes 7512 and clamping through holes 7513 that communicate with the clamping channel 7511. The lower end of the rotating shaft 731 is clearance-fitted with the clamping mounting hole 7512, which can reduce the friction between the lower end of the rotating shaft 731 and the inner wall of the clamping mounting hole 7512. The interior of the rotating shaft 731 is connected to the clamping channel 7511. In actual application, the rubber nail 200 that falls into the rotating shaft 731 can fall into the clamping channel 7511 under its own gravity, and then fall into the clamping through hole 7513. The axis of the clamping channel 7511 is collinear with the axis of the rotating shaft 731, and the inner diameter of the clamping channel 7511 is the same as the inner diameter of the rotating shaft 731. The axis of the clamping through hole 7513 is collinear with the axis of the clamping channel 7511. When the clamping assembly 75 is directly above the battery cell, the clamping through hole 7513 corresponds to the electrolyte injection hole of the battery cell. The clamping cylinder 752 is located on the side of the clamping assembly 751 away from the mechanism fixing plate 60. The first connecting rod 753 is horizontally arranged and located below the clamping cylinder 752, and the top end of the first connecting rod 753 is connected to the end of the output shaft of the clamping cylinder 752. Two second connecting rods 754 are located between the first connecting rod 753 and the clamping member 751. The two second connecting rods 754 are V-shaped. One end of each of the two second connecting rods 754 is rotatably connected to both ends of the first connecting rod 753 via two first rotating shafts. Specifically, each end of the first connecting rod 753 is provided with two first rotating shaft mounting holes 7531, and each end of the two second connecting rods 754 is provided with two second rotating shaft mounting holes. The first rotating shafts are rotatably disposed in the first rotating shaft mounting holes 7531 of the corresponding first connecting rod 753 and the second rotating shaft mounting holes of the corresponding second connecting rod 754. In other embodiments, they can also be hinged, for example, by a hinge shaft. The other ends of the two second connecting rods 754 are respectively provided with two first connecting portions 754a vertically. The two first connecting portions 754a are arranged opposite each other from left to right, and the first connecting portions 754a and the corresponding second connecting rods 754 form an L-shaped structure.The clamping member 751 has two clamping grooves 7514 on each side. The length direction of the clamping grooves 7514 is the same as the height direction of the clamping member 751. Both clamping grooves 7514 are connected to the clamping through holes 7513. The two third connecting rods 755 are in the shape of an inverted V and are located in the two clamping grooves 7514 respectively. Two rotating shafts are provided in the two clamping grooves 7514 respectively. The two ends of the rotating shafts are rotatably set in the mounting holes on the inner walls of the corresponding clamping grooves 7514. The two third connecting rods 755 are provided with two connecting rod through holes 7552 respectively. The two third connecting rods 7552 are respectively sleeved on the outer periphery of the two rotating shafts through their respective connecting rod through holes 7552. Two third connecting rods 755 each have one end extending from two clamping slots 7514 and two second connecting portions 755a respectively. The two second connecting portions 755a are arranged opposite each other and are rotatably connected to two first connecting portions 754a via two second rotating shafts. Specifically, the end of the first connecting portion 754a is provided with a third rotating shaft mounting hole 7541, which extends to the corresponding second connecting rod 754. The second connecting portion 755a is provided with a fourth rotating shaft mounting hole 7551. The second rotating shaft is rotatably disposed in the corresponding third rotating shaft mounting hole 7541 and the corresponding fourth rotating shaft mounting hole 7551. In other embodiments, they can also be hinged, for example, via a hinge shaft. The first connecting portion 754a is located between the corresponding second connecting rod 754 and the corresponding second connecting portion 755a. The other ends of the two third connecting rods 755 are respectively provided with two third connecting portions 755b arranged in a left-right opposite manner. The included angle between the third connecting portion 755b and the corresponding third connecting rod 755 is an obtuse angle and is located in the clamping pin through hole 7513. The end of the third connecting portion 755b is provided with a clamping groove 7553, which corresponds to the clamping pin channel 7511. The bottom of the clamping groove 7553 of the two third connecting portions 755b can be used to clamp or release the plastic nail 200. The shape of the bottom of the clamping groove 7553 is adapted to the shape of the plastic nail 200, so that the plastic nail 200 will not be damaged when clamping the plastic nail 200 through the bottom of the clamping groove 7553 of the two third connecting portions 755b. When clamping the plastic nail 200 through the bottom of the clamping groove 7553 of the two third connecting portions 755b, such as... Figure 11 , Figure 12 and Figure 13As shown, both third connecting parts 755b are horizontal, and the head of the adhesive nail 200 protrudes from the bottom end of the clamping member 751. The third connecting rod 755 and the corresponding second connecting parts 755a and third connecting parts 755b form an approximately Z-shaped structure. The clamping cylinder 752 is used to drive the first connecting rod 753 to move up and down, thereby driving one end of the two second connecting rods 754 to move up and down. In turn, through the two first connecting parts 754a and the two second connecting parts 755a, the two third connecting rods 755 can be driven to rotate in opposite directions around the axes of the two rotating shafts, and the two rotating shafts can rotate relative to the clamping member 751. Through the opposite or opposite rotation of the two third connecting rods 755, the ends of the two third connecting parts 755b can be driven to move away from or towards each other, so as to release or clamp the adhesive nail 200. The rotation of the rotating shaft 731 can drive the clamping component 751 to rotate, thereby driving the clamping cylinder 752, the first connecting rod 753, the two second connecting rods 754, the two first connecting parts 754a, the two third connecting rods 755, the two second connecting parts 755a, the two third connecting parts 755b and the two second rotating shafts to rotate.

[0046] The clamping assembly 75 also includes a photoelectric sensor for detecting whether there is a glue nail 200 between the other ends of the two third links 755. The photoelectric sensor is a pair-beam type, including a photoelectric transmitter 7561 and a photoelectric receiver 7562 arranged opposite each other. The photoelectric transmitter 7561 is located on the side of the clamping member 751 away from the mechanism fixing plate 60. The side of the clamping member 751 away from the mechanism fixing plate 60 has a first light-transmitting hole 7515 communicating with the clamping through hole 7513, corresponding to the photoelectric transmitter 7561. The photoelectric receiver 7562 is located on the side of the clamping member 751 near the mechanism fixing plate 60. The side of the clamping member 751 near the mechanism fixing plate 60 has a second light-transmitting hole 7512 communicating with the clamping through hole 7513. The light-transmitting hole 7516 and the second light-transmitting hole 7516 correspond to the first light-transmitting hole 7515 and the photoelectric receiver 7562. The third connecting part 755b is provided with a first clearance groove 7554 and a second clearance groove 7555 on the side near the mechanism fixing plate 60 and the side away from the mechanism fixing plate 60, respectively. The first clearance groove 7554 and the second clearance groove 7555 both extend to the end of the third connecting part 755b. The first clearance groove 7554 and the second clearance groove 7555 both communicate with the clamping groove 7553. The first clearance groove 7554 corresponds to the first light-transmitting hole 7515 and the second clearance groove 7555 corresponds to the second light-transmitting hole 7516. The photoelectric transmitter 7561 emits infrared light to the photoelectric receiver 7562, which in turn receives the infrared light emitted by the transmitter 7561. The first clearance groove 7554 and the second clearance groove 7555 are used to avoid the infrared light emitted by the transmitter 7561. During actual testing, if the infrared light emitted by the transmitter 7561 can be received by the photoelectric receiver 7562 through the first light-transmitting hole 7515, the clamping through hole 7513, and the second light-transmitting hole 7516, it indicates that there is no adhesive nail 200 between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b. If the infrared light emitted by the transmitter 7561 cannot be received by the photoelectric receiver 7562 through the first light-transmitting hole 7515, the clamping through hole 7513, and the second light-transmitting hole 7516, it indicates that the infrared light is blocked by the adhesive nail 200, which indicates that the infrared light is blocked by the adhesive nail 200. There are adhesive nails 200 between the bottom of the clamping grooves 7553 of the two third connecting parts 755b, thus realizing the detection. When it is detected that there are adhesive nails 200 between the bottom of the clamping grooves 7553 of the two third connecting parts 755b, the clamping cylinder 752 drives the two third connecting rods 755 to rotate in opposite directions around the axes of the two rotating shafts, thereby driving the ends of the two third connecting parts 755b to move closer to each other. Thus, the adhesive nails 200 located between the bottom of the clamping grooves 7553 of the two third connecting parts 755b can be clamped through the bottom of the clamping grooves 7553 of the two third connecting parts 755b.

[0047] Combination Figure 14As shown, the camera positioning mechanism 80 includes a camera fixing plate 81, an adjustment assembly, a camera 83, and a ring light source 84. The camera fixing plate 81 is located on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50. The adjustment assembly includes an adjustment screw 821, a T-shaped adjustment seat 822, and a T-shaped camera mounting seat 823. The adjustment seat 822 is located at the top of the camera fixing plate 81 and is threadedly engaged with the adjustment screw 821. In this embodiment, the adjustment seat 822 has a threaded hole, and the adjustment screw 821 passes through the threaded hole and is threadedly engaged with it. The camera mounting seat 823 is located below the adjustment seat 822, and the bottom end of the adjustment screw 821 is located at the top of the camera mounting seat 823. In this embodiment, the top of the camera mounting seat 823 has a hole, and the bottom end of the adjustment screw 821 is located within the hole at the top of the camera mounting seat 823. The side of the camera mounting plate 81 furthest from the mechanism mounting plate 60 has a mounting plate strip hole 811 extending along the height direction of the camera mounting plate 81. The camera mounting base 823 has a circular hole 8231 corresponding to the mounting plate strip hole 811. Fasteners such as screws are installed in the circular hole 8231 and the mounting plate strip hole 811. In this embodiment, there are two mounting plate strip holes 811, which are arranged left and right at intervals. There are two circular holes 8231 corresponding to each mounting plate strip hole 811, which are arranged vertically at intervals. It can be understood that the number of mounting plate strip holes 811 and circular holes 8231 can be set according to the actual situation. The camera 83 is set on the side of the camera mounting base 823 furthest from the camera mounting plate 81, and the lens 831 of the camera 83 faces downward. A light source fixing plate 812 is provided on the side of the camera fixing plate 81 away from the mechanism fixing plate 60. The light source fixing plate 812 is located below the lens 831 of the camera 83 and has a fixing plate through hole 8121 passing through its top and bottom ends, which corresponds to the lens 831 of the camera 83. A ring light source 84 is located at the bottom end of the light source fixing plate 812, and the inner hole 841 of the ring light source 84 corresponds to the lens 831 of the camera 83 and the fixing plate through hole 8121. The inner diameter of the fixing plate through hole 8121 and the inner diameter of the ring light source 84 can be set according to the actual situation. The axis of the lens 831 of the camera 83 and the axis of the rotation axis 731 of the insertion mechanism 70 are located in the same vertical plane. When the camera positioning mechanism 80 is located directly above the battery cell, the lens 831 of the camera 83 corresponds to the liquid injection hole of the battery cell. Camera 83 is used to take pictures of the battery cell. After the pictures are uploaded to the image processing system, the images are processed and analyzed by the image processing system to obtain the location of the battery cell. Ring light source 84 provides light source for the camera. Ring light source 84 is, for example, a ring LED light.

[0048] The structure described above allows for height adjustment of the camera 83, thereby adjusting the focal length between the lens 831 and the top of the battery cell for optimal image quality. In actual adjustment, for example, to increase the height of the camera 83, first loosen the mounting fasteners installed in the fixed plate strip hole 811 and the corresponding round hole 8231. Then, rotate the head of the adjusting screw 821, which will move the camera mounting base 823 and the camera 83 upwards. Once at the desired height, tighten the mounting fasteners installed in the fixed plate strip hole 811 and the corresponding round hole 8231. This completes the adjustment. To adjust the height of camera 83, first loosen the mounting fasteners installed in the mounting plate strip hole 811 and the corresponding round hole 8231. Then, rotate the head of the adjusting screw 821. The adjusting screw 821 will drive the camera mounting base 823 and camera 83 to move downwards. After moving to the appropriate height, tighten the mounting fasteners installed in the mounting plate strip hole 811 and the corresponding round hole 8231. The adjustment is then complete.

[0049] Combination Figure 15As shown, the detection mechanism 90 includes an L-shaped detection fixing plate 91, a bearing fixing plate 92, a movable rod 93, an elastic element 94, a nail hammer 95, a light-shielding plate 96, an upper photoelectric sensor 97, and a lower photoelectric sensor 98. The detection fixing plate 91 is located on the side of the mechanism fixing plate 60 away from the Z-axis linear module 50, and the bearing fixing plate 92 is located on the side of the detection fixing plate 91 away from the nail insertion mechanism 70. The bearing fixing plate 92 has fixing plate mounting holes that pass through its top and bottom ends. The movable rod 93 passes through the fixing plate mounting holes, and its top and bottom ends are located above and below the bearing fixing plate 92, respectively. A linear bearing 921 is installed in the fixing plate mounting holes. The linear bearing 921 is sleeved on the outer periphery of the movable rod 93, and the linear bearing 921 provides moving support for the movable rod 93, ensuring the smooth up-and-down movement of the movable rod 93. The nail detection hammer 95 is located at the bottom end of the movable rod 9, and the bottom end of the nail detection hammer 95 is flush with the bottom end of the nail clamping member 751 of the nail clamping assembly 75. The elastic member 94 is a compression spring, which is sleeved on the outer periphery of the movable rod 93. One end of the elastic member 94 is connected to the top end of the nail detection hammer 95, and the other end of the elastic member 94 is connected to the bottom end of the linear bearing 921. The upper photoelectric sensor 97 and the lower photoelectric sensor 98 are both slot-type photoelectric sensors. The upper photoelectric sensor 97 and the lower photoelectric sensor 98 are arranged vertically opposite each other and located in front of the bearing fixing plate 92 and the detection fixing plate 91. The upper photoelectric sensor 97 and the lower photoelectric sensor 98 can be detachably mounted on the L-shaped mounting plate 99, which is connected to the bearing fixing plate 92. The light-shielding plate 96 is horizontally arranged and located above the bearing fixing plate 92. One end of the light-shielding plate 96 is connected to the movable rod 93, and the other end of the light-shielding plate 96 extends forward and is located in the groove 98a of the lower photoelectric sensor 98. In the accompanying drawings of this embodiment, the other end of the light-shielding plate 96 is shown to be located in the groove 97a of the upper photoelectric sensor 97. The axis of the nail-detecting hammer 95 and the axis of the movable rod 93 are collinear, and the axis of the movable rod 93 and the axis of the rotation shaft 731 of the nail insertion mechanism 70 are located in the same vertical plane. When the detection mechanism 90 is located directly above the battery cell, the nail-detecting hammer corresponds to the liquid injection hole of the battery cell 95.

[0050] In this embodiment, the L-shaped mounting plate 99 includes a vertical part 991 and a horizontal part 992. The vertical part 991 is located in front of the bearing fixing plate 92 and the detection fixing plate 91. One end of the vertical part 991 extends upward, and the other end of the vertical part 991 is connected to one end of the horizontal part 992. The other end of the horizontal part 992 is connected to the bottom end of the bearing fixing plate 92. A vertical strip hole 9911 extending along its height direction is provided on the side of the vertical part 991 near the bearing fixing plate 92. The upper photoelectric sensor 97 is disposed on one side of the upper sensing seat 971, and the upper sensing seat 971 is located on the upper photoelectric sensor. Between the upper sensor base 971 and the vertical plate 991, the upper sensor base 971 is provided with a first circular hole 9711 corresponding to the vertical strip hole 9911. A first fastener, such as a screw, is installed in the first circular hole 9711 and the vertical strip hole 9911. The lower photoelectric sensor 98 is disposed on one side of the lower sensor base 981. The lower sensor base 981 is located between the lower photoelectric sensor 98 and the vertical plate 991. The lower sensor base 981 is provided with a second circular hole 9811 corresponding to the vertical strip hole 9911. A second fastener, such as a screw, is installed in the second circular hole 9811 and the vertical strip hole 9911. There are two vertical strip holes 9911, spaced apart horizontally. The number of first round holes 9711 and second round holes 9811 corresponds to the number of vertical strip holes 9911, also two each. Understandably, the number of vertical strip holes 9911, first round holes 9711, and second round holes 9811 can be set according to actual needs. By assembling and disassembling the first and second fasteners, the upper photoelectric sensor 97 and the lower photoelectric sensor 98 can be disassembled and assembled, facilitating the replacement of the upper photoelectric sensor 97 and the lower photoelectric sensor 98. Furthermore, this structure also allows for the adjustment of the height of the upper photoelectric sensor 97 and the lower photoelectric sensor 98. In actual adjustment, when the height of the upper photoelectric sensor 97 needs to be increased, first loosen the first fastener, then move the upper photoelectric sensor 97 and the upper sensor base 971 upwards. After moving to the appropriate height, tighten the first fastener. The adjustment is then complete. When the height of the upper photoelectric sensor 97 needs to be decreased, first loosen the second fastener, then move the upper photoelectric sensor 97 and the upper sensor base 971 downwards. After moving to the appropriate height, tighten the first fastener. The adjustment of the height of the lower photoelectric sensor 98 is the same as the adjustment of the height of the upper photoelectric sensor 97, and will not be repeated here.

[0051] In actual operation, after the tray containing the battery cells is positioned between the two frames 10, the insertion mechanism 70, the photographic positioning mechanism 80, and the detection mechanism 90 are all located above the tray. Taking the first row of battery cells in the tray as an example, the insertion mechanism 70, the photographic positioning mechanism 80, and the detection mechanism 90 are first moved by the Y-axis linear module 20 and the X-axis linear module 40, so that the photographic positioning mechanism 80 is positioned directly above the first battery cell. Then, the camera 83 takes a picture of the first battery cell, thereby obtaining the position of the first battery cell. Then, the nails 200 are continuously fed into the nail channel 7111 via the nail-feeding device through the nail-separating tube 712. The first nail 200 is then ejected by the upper nail-separating cylinder 713 and the lower nail-separating cylinder 714. Under its own weight, the first nail 200 falls along the nail-separating channel 7111 into the interior of the rotating shaft 731, then into the nail-clamping channel 7511, and finally into the nail-clamping through hole 7513, located between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b. During the process of the first nail 200 falling into the interior of the rotating shaft 731 along the nail-separating channel 7111, air is blown into the nail-separating channel 7111 by the air-blowing device through the air-blowing pipe 715 and the air-blowing channel 7115, which allows the first nail 200 to fall into the interior of the rotating shaft 731 quickly. In the initial state, the ends of the two third connecting parts 755b are far apart. When the first adhesive nail 200 falls into the nail clamping through hole 7513 and is located between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b, the photoelectric receiver 7562 does not receive the infrared light emitted by the photoelectric transmitter 7561, indicating that there is an adhesive nail 200 between the bottoms of the clamping grooves 7553 of the two third connecting parts 755b. At this time, the nail clamping cylinder 752 drives the two third connecting rods 755 to rotate in opposite directions, so that the ends of the two third connecting parts 755b are brought closer together. In this way, the first adhesive nail 200 can be clamped by the bottoms of the clamping grooves 7553 of the two third connecting parts 755b. Figure 10 , Figure 11 As shown, at this time, the head of the first adhesive nail 200 protrudes from the bottom end of the clamping nail 751.

[0052] Then, the Y-axis linear module 20 and X-axis linear module 40 drive the insertion mechanism 70, the photo positioning mechanism 80 and the detection mechanism 90 to move according to the position of the first battery cell, so that the clamping assembly 75 of the insertion mechanism 70 is located directly above the first battery cell. At this time, the clamping through hole 7513 of the clamping assembly 75, the first glue nail 200 correspond to the liquid injection hole of the first battery cell, and the photo positioning mechanism 80 is located directly above the second battery cell. Then, the Z-axis linear module 50 drives the insertion mechanism 70, the photo positioning mechanism 80, and the detection mechanism 90 to move downwards. At the same time, the rotary motor 7321 drives the rotating shaft 731 to rotate, thereby driving the clamping component 751, the clamping cylinder 752, the first connecting rod 753, the two second connecting rods 754, the two first connecting parts 754a, the two third connecting rods 755, the two second connecting parts 755a, the two third connecting parts 755b, and the first adhesive nail 200 to rotate. By rotating and moving downwards, the head of the first adhesive nail 200 is inserted into the liquid injection hole of the first battery cell. In this way, the insertion of the first adhesive nail 200 is completed. Then, the clamping cylinder 752 drives the two third connecting rods 755 to rotate in opposite directions, so that the ends of the two third connecting parts 755b move away from each other. In this way, the first glue nail 200 can be released through the bottom of the clamping grooves 7553 of the two third connecting parts 755b. At the same time, the Z-axis linear module 50 drives the nail insertion mechanism 70, the photo positioning mechanism 80 and the detection mechanism 90 to move upward to the initial position. Then, the camera 83 of the photo positioning mechanism 80 takes a picture of the second battery cell, so that the position of the second battery cell can be obtained. Then, the upper nail cylinder 713 and the lower nail cylinder 714 send out the second glue nail 200. At the same time, the air blowing device blows air into the nail channel 7111, so that the second glue nail 200 falls into the interior of the rotating shaft 731 under its own weight, then into the clamping channel 7511, and then into the clamping through hole 7513, and is located between the bottom of the clamping grooves 7553 of the two third connecting parts 755b. Then clamp the second rubber nail 200 as described above.

[0053] Then, the Y-axis linear module 20 and X-axis linear module 40 drive the insertion mechanism 70, the imaging positioning mechanism 80, and the detection mechanism 90 to move according to the obtained position of the second battery cell, so that the clamping assembly 75 of the insertion mechanism 70 is directly above the second battery cell. At this time, the clamping through hole 7513 of the clamping assembly 70, the second adhesive pin 200, and the liquid injection hole of the second battery cell correspond, the imaging positioning mechanism 80 is directly above the third battery cell, and the detection mechanism 90 is directly above the first battery cell. Then, the head of the second adhesive pin 200 is inserted into the liquid injection hole of the second battery cell in the aforementioned manner. During the downward movement of the detection mechanism 90 driven by the Z-axis linear module 50, when the bottom end of the inspection hammer 95 contacts the end of the first glue nail 200 in the injection hole of the first battery cell, as the inspection hammer 95 continues to move, it pushes the movable rod 93 upward, thereby causing the light-shielding plate 96 to move upward and the elastic element 94 to compress. When the head of the second glue nail 200 is inserted into the injection hole of the second battery cell, if the other end of the light-shielding plate 96 is located in the groove 97a of the upper photoelectric sensor 97, the upper photoelectric sensor 97 can sense the light-shielding plate 96, indicating that the injection hole of the first battery cell has been filled. The height of the first adhesive nail 200 in the liquid hole is qualified, and the nail insertion action can continue. Then, the two third connecting rods 755 are driven to rotate in opposite directions by the nail clamping cylinder 752, so that the ends of the two third connecting parts 755b are far apart. In this way, the second adhesive nail 200 can be released through the bottom of the clamping groove 7553 of the two third connecting parts 755b. At the same time, the nail insertion mechanism 70, the photographing and positioning mechanism 80, and the detection mechanism 90 are driven to move upward to the initial position by the Z-axis linear module 50. Then, the camera 83 of the photographing and positioning mechanism 80 takes a picture of the third battery cell, thereby obtaining the position of the third battery cell. During the upward movement of the detection mechanism 90, when the nail detection hammer 95 separates from the end of the first adhesive nail 200, under the reset action of the elastic element 94, the nail detection hammer 95, the movable rod 93, and the light shield 96 can be driven to move downward to the initial position. At this time, the other end of the light shield 96 returns to the groove 98a of the lower photoelectric sensor 98. Then, the third adhesive nail 200 is delivered by the upper nail cylinder 713 and the lower nail cylinder 714. At the same time, air is blown into the nail channel 7111 by the air blowing device. Under its own weight, the third adhesive nail 200 falls into the interior of the rotating shaft 731 along the nail channel 7111, then into the nail clamping channel 7511, and then into the nail clamping through hole 7513, located between the bottom of the clamping grooves 7553 of the two third connecting parts 755b. Then, the third adhesive nail 200 is clamped in the aforementioned manner. Then, the head of the third adhesive nail 200 is inserted into the liquid injection hole of the third battery cell according to the aforementioned steps. At the same time, the height dimension of the second adhesive nail 200 in the liquid injection hole of the second battery cell is detected by the detection mechanism 90, and the fourth battery cell is photographed and positioned by the photographing and positioning mechanism 80.This process continues until the height of the rubber pin in the electrolyte filling hole of the last cell in the first row is checked. Then, the same steps are repeated for inserting the rubber pin into the electrolyte filling holes of all remaining cells in the remaining rows.

[0054] During the process of testing the height of the first glue nail 200 in the liquid injection hole of the first battery cell by the testing mechanism 90, if the other end of the light shield 96 is located below or above the groove 97a of the upper photoelectric sensor 97, the upper photoelectric sensor 97 will not detect the light shield 96, indicating that the height of the first glue nail 200 in the liquid injection hole of the first battery cell is unqualified. At this time, an alarm is issued to notify the operator to stop the machine.

[0055] This utility model features two frames 10, a Y-axis linear module 20, a mechanism support plate 21, a mechanism mounting plate 30, an X-axis linear module 40, a Z-axis linear module 50, a pin insertion mechanism 70, and a photo positioning mechanism 80. The pin insertion mechanism 70 is a single unit that can move forward, backward, left, right, and up and down via the Y-axis linear module 20, X-axis linear module 40, and Z-axis linear module 50. Therefore, it is suitable for scenarios where multiple rows of battery cells are loaded in a tray, with one, two, or three rows. It has a wide range of applications and can meet the needs of various scenarios. When the battery cell type is changed on the production line, no changeover adjustment operation is required, reducing changeover time. At the same time, the photo positioning mechanism 80 can take pictures and position the battery cell before pin insertion, eliminating the need for secondary mechanical positioning of the battery cell through other positioning devices, reducing production time and improving production efficiency. The height of the glue pins 200 inside the electrolyte injection hole of the battery cell can be detected by the detection mechanism 90. There is no need to use other detection devices to detect the height of the glue pins 200 inside the electrolyte injection hole of the battery cell in the future, which further reduces production time and improves production efficiency.

[0056] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A pin insertion device, characterized in that, The device includes two frames arranged opposite each other, a Y-axis linear module, a mechanism support plate, a mechanism mounting plate, an X-axis linear module, a Z-axis linear module, a pin insertion mechanism, and a photographic positioning mechanism. The Y-axis linear module is located at the top of one of the frames. One end of the mechanism support plate is located at the top of the Y-axis linear module, and the other end of the mechanism support plate is slidably connected to the top of the other frame. The Y-axis linear module drives the mechanism support plate to move back and forth relative to the two frames. The mechanism mounting plate is located at the top of the mechanism support plate. The X-axis linear module is located on one side of the mechanism mounting plate. The Z-axis linear module is located on the side of the X-axis linear module away from the mechanism mounting plate. The X-axis linear module drives the Z-axis linear module to move left and right. A mechanism fixing plate is located on the side of the Z-axis linear module away from the X-axis linear module. The Z-axis linear module drives the mechanism fixing plate to move up and down. The pin insertion mechanism and the photographic positioning mechanism are both located on the side of the mechanism fixing plate away from the Z-axis linear module. The photographic positioning mechanism is located on one side of the pin insertion mechanism.

2. The pin insertion device according to claim 1, characterized in that, The pin insertion mechanism includes a pin-splitting assembly, a rotating assembly, and a pin-clamping assembly connected sequentially from top to bottom. The pin-splitting assembly and the rotating assembly are both located on the side of the mechanism fixing plate away from the Z-axis linear module. The photo positioning mechanism corresponds to the pin-splitting assembly.

3. The insertion device according to claim 2, characterized in that, The pin assembly includes a pin block, a pin tube, a horizontally arranged upper pin cylinder, a horizontally arranged lower pin cylinder, and an air blowing pipe. The pin block, upper pin cylinder, and lower pin cylinder are all located on the side of the mechanism fixing plate away from the Z-axis linear module. The pin block has an axial pin channel. The top and bottom ends of the pin block respectively have a first pin mounting hole and a second pin mounting hole communicating with the pin channel. One end of the pin tube is disposed in the first pin mounting hole and communicates with the pin channel. The upper and lower pin cylinders are located on one side of the pin block. The two are arranged vertically and horizontally. The side of the nail block near the upper and lower nail cylinders is provided with a first nail through hole and a second nail through hole that communicate with the nail channel. The end of the output shaft of the upper nail cylinder extends into the first nail through hole, and the end of the output shaft of the lower nail cylinder extends into the second nail through hole. One end of the air blowing pipe is provided on the side of the nail block away from the upper and lower nail cylinders. The nail block is provided with an air blowing channel. One end of the air blowing channel communicates with the air blowing pipe, and the other end of the air blowing channel communicates with the bottom end of the nail channel.

4. The insertion device according to claim 3, characterized in that, The rotating assembly includes a hollow rotating shaft and a drive structure for driving the rotating shaft to rotate. A bearing seat is sleeved on the outer periphery of the rotating shaft. Both the bearing seat and the drive structure are located on the side of the mechanism fixing plate away from the Z-axis linear module. The upper end of the rotating shaft is clearance-fitted with the second pin mounting hole. The interior of the rotating shaft is connected to the pin channel. The axis of the pin channel and the axis of the rotating shaft are collinear.

5. The pin insertion device according to claim 4, characterized in that, The drive structure includes a rotary motor and a synchronous belt module. The rotary motor is located on the side of the mechanism fixing plate away from the Z-axis linear module and on one side of the rotary shaft. The synchronous belt module includes a driving pulley, a driven pulley, and a synchronous belt sleeved on the outer periphery of the driving pulley and the driven pulley. The driving pulley is sleeved on the outer periphery of the end of the output shaft of the rotary motor. The driven pulley is sleeved on the outer periphery of the rotary shaft and located above the bearing housing. A spacer and a clamping ring are sleeved on the outer periphery of the rotary shaft, and one end of the spacer passes through the top of the bearing housing. The bearing housing has a through hole at one end and extends into the bearing housing. The outer wall of the rotating shaft has an annular step. One end of the spacer abuts against the annular step, and the other end of the spacer abuts against the bottom end of the driven wheel. The bottom end of the clamping ring abuts against the top end of the driven wheel. The clamping ring has an opening, and two clamping ring mounting holes are respectively provided on the inner walls of both sides of the opening. The two clamping ring mounting holes extend to the outer wall of the clamping ring, and clamping ring fasteners are installed in the two clamping ring mounting holes. The clamping ring fasteners abut against the outer wall of the rotating shaft.

6. The insertion device according to claim 4, characterized in that, The clamping assembly includes a clamping member, a clamping cylinder, a first connecting rod, two second connecting rods arranged left and right opposite each other, and two third connecting rods arranged left and right opposite each other. The top end of the clamping member is connected to the rotating shaft. The clamping member has an axial clamping channel. The top and bottom ends of the clamping member are respectively provided with clamping mounting holes and clamping through holes communicating with the clamping channel. The lower end of the rotating shaft is clearance-fitted with the clamping mounting hole. The interior of the rotating shaft communicates with the clamping channel. The axis of the clamping channel and the axis of the rotating shaft are collinear. The axis of the clamping through holes is collinear with the axis of the clamping channel. When the clamping assembly is located directly above the battery cell, the clamping through holes correspond to the electrolyte injection holes of the battery cell. The clamping cylinder is located on the side of the clamping member away from the mechanism fixing plate. The first connecting rod is horizontally arranged and located below the clamping cylinder. The top end of the first connecting rod is connected to the end of the output shaft of the clamping cylinder. The two second connecting rods are V-shaped. One end of each rod is rotatably connected to both ends of the first connecting rod. The other ends of the two second connecting rods are respectively provided with two first connecting parts. The two sides of the clamping member are respectively provided with two clamping grooves, and both clamping grooves are connected to the clamping through hole. The two third connecting rods are respectively located in the two clamping grooves. The two third connecting rods are in an inverted V shape. The two clamping grooves are respectively provided with two rotating shafts. The two ends of the rotating shafts are respectively rotatably set in the mounting holes on the inner walls of the corresponding clamping grooves. The two third connecting rods are respectively sleeved on the outer periphery of the two rotating shafts. One end of each of the two third connecting rods extends out of the two clamping grooves and is respectively provided with two second connecting parts. The two second connecting parts are rotatably connected to the two first connecting parts. The other ends of the two third connecting rods are respectively provided with two third connecting parts arranged in a left-right opposite manner. The included angle between the third connecting parts and the corresponding third connecting rods is an obtuse angle and is located in the clamping through hole. The end of the third connecting part is provided with a clamping groove, and the clamping groove corresponds to the clamping channel.

7. The pin insertion device according to claim 6, characterized in that, The clamping assembly further includes a photoelectric sensor, which includes a photoelectric emitter and a photoelectric receiver arranged opposite each other. The photoelectric emitter is located on the side of the clamping member away from the mechanism fixing plate. The side of the clamping member away from the mechanism fixing plate has a first light-transmitting hole communicating with the clamping through hole. The first light-transmitting hole corresponds to the photoelectric emitter. The photoelectric receiver is located on the side of the clamping member close to the mechanism fixing plate. The side of the clamping member close to the mechanism fixing plate has a second light-transmitting hole communicating with the clamping through hole. The second light-transmitting hole corresponds to the first light-transmitting hole and the photoelectric receiver. The side of the third connecting part close to the mechanism fixing plate and the side away from the mechanism fixing plate have a first clearance groove and a second clearance groove, respectively. The first clearance groove and the second clearance groove both extend to the end of the third connecting part. The first clearance groove and the second clearance groove both communicate with the clamping groove, and the first clearance groove corresponds to the first light-transmitting hole and the second clearance groove corresponds to the second light-transmitting hole.

8. The pin insertion device according to claim 1, characterized in that, The photographing positioning mechanism includes a photographing fixing plate, an adjustment component, a camera, and a ring light source. The photographing fixing plate is located on the side of the fixing plate away from the Z-axis linear module. The adjustment component includes an adjustment screw, an adjustment seat, and a camera mounting seat. The adjustment seat is located at the top of the photographing fixing plate and is threadedly engaged with the adjustment screw. The camera mounting seat is located below the adjustment seat, and the bottom end of the adjustment screw is located at the top of the camera mounting seat. The side of the photographing fixing plate away from the fixing plate has a fixing plate strip hole extending along the height direction of the photographing fixing plate. The camera mounting seat has a circular hole corresponding to the fixing plate strip hole. Fasteners are installed in the round hole and the strip hole of the fixing plate. The camera is located on the side of the camera mounting base away from the camera fixing plate with the camera lens facing downwards. A light source fixing plate is provided on the side of the camera fixing plate away from the mechanism fixing plate. The light source fixing plate is located below the camera lens and has a fixing plate through hole that passes through its top and bottom ends. The fixing plate through hole corresponds to the camera lens. The ring light source is located at the bottom end of the light source fixing plate. The inner hole of the ring light source corresponds to the camera lens and the fixing plate through hole. When the camera positioning mechanism is located directly above the battery cell, the camera lens corresponds to the electrolyte injection hole of the battery cell.

9. The pin insertion device according to claim 1, characterized in that, It also includes a detection mechanism, which is located on the side of the mechanism fixing plate away from the Z-axis linear module and on the other side of the pin insertion mechanism. The detection mechanism corresponds to the pin clamping assembly of the pin insertion mechanism.

10. The insertion device according to claim 9, characterized in that, The detection mechanism includes a detection fixing plate, a bearing fixing plate, a movable rod, an elastic element, a nail detector hammer, a light-shielding plate, an upper photoelectric sensor, and a lower photoelectric sensor. The detection fixing plate is located on the side of the mechanism fixing plate away from the Z-axis linear module. The bearing fixing plate is located on the side of the detection fixing plate away from the nail insertion mechanism. The bearing fixing plate has a fixing plate mounting hole that passes through its top and bottom ends. The movable rod passes through the fixing plate mounting hole, and its top and bottom ends are located above and below the bearing fixing plate, respectively. A linear bearing is installed in the fixing plate mounting hole and is sleeved on the outer periphery of the movable rod. The nail detector hammer is located at the bottom end of the movable rod, and the bottom end of the nail detector hammer is connected to the bottom of the nail clamping part of the nail clamping assembly. The elastic element is sleeved on the outer periphery of the movable rod, with one end connected to the top of the nail-detecting hammer and the other end connected to the bottom of the linear bearing. The upper and lower photoelectric sensors are arranged vertically opposite each other and located in front of the bearing fixing plate. Both the upper and lower photoelectric sensors can be detachably mounted on an L-shaped mounting plate, which is connected to the bearing fixing plate. The light-shielding plate is arranged horizontally and located above the bearing fixing plate, with one end connected to the movable rod and the other end extending forward and located in the groove of the lower photoelectric sensor. When the detection mechanism is directly above the battery cell, the nail-detecting hammer corresponds to the liquid injection hole of the battery cell.

Images