Rotary sheet taking device and sheet stacking equipment

Abstract

The utility model relates to a rotary sheet taking device and lamination equipment. The rotary sheet taking device comprises a rotating mechanism, a lifting mechanism, an adsorption mechanism and a damping element, when the pole piece is taken, the rotating mechanism drives the adsorption mechanism to move to the position above the pole piece, and then the lifting mechanism drives the adsorption mechanism to descend to suck the pole piece. And then, the adsorption mechanism is driven by the lifting mechanism to ascend and is driven by the rotating mechanism to rotate to the position above the positioning platform, and the adsorption mechanism is driven by the lifting mechanism to descend again and release the pole piece. Due to the fact that the damping element is arranged between the driving end of the adsorption mechanism and the driving end of the lifting mechanism, and the damping element can exert damping force to achieve the effect of reducing vibration, even if the rotating mechanism and the lifting mechanism move at a high speed in the wafer taking process, vibration generated by the adsorption mechanism is remarkably weakened compared with a traditional wafer taking mechanical arm. Therefore, the rotary sheet taking device and the sheet stacking equipment are high in stability, so that the rotary sheet taking device and the sheet stacking equipment are suitable for high-speed sheet stacking.

Description

Technical Field

[0001] This utility model relates to the field of battery production equipment technology, and in particular to a rotating wafer picking device and a wafer stacking device. Background Technology

[0002] In the lithium-ion battery cell stacking process, a robotic arm typically transports the electrode sheets from a conveyor belt to a positioning platform. Then, a stacking robotic arm moves the corrected electrode sheets from the positioning platform to the stacking table for stacking. After picking up the electrode sheet from the conveyor belt, the robotic arm usually rotates it 90° to place it on the positioning platform. With increasing demands for production efficiency and faster stacking speeds, higher requirements are placed on the picking speed of the robotic arm. However, conventional robotic arms easily generate significant vibrations during high-speed picking, affecting the stability of the equipment operation. Utility Model Content

[0003] Therefore, it is necessary to provide a rotating wafer picking device and wafer stacking equipment with higher stability to address the above problems.

[0004] A rotating tablet-retrieving device includes a rotating mechanism, a lifting mechanism, an adsorption mechanism, and a damping element. The lifting mechanism is installed at the rotating end of the rotating mechanism and can rotate around a rotation axis under the drive of the rotating mechanism. The adsorption mechanism is installed at the driving end of the lifting mechanism and can move up and down in a direction parallel to the rotation axis under the drive of the lifting mechanism. One end of the damping element is connected to the adsorption mechanism, and the other end is connected to the driving end of the lifting mechanism.

[0005] In one embodiment, the rotating mechanism includes a torque motor, a light-shielding plate, and a photoelectric sensor. The lifting mechanism is mounted on the rotor of the torque motor, the light-shielding plate is connected to the rotor of the torque motor, and a plurality of photoelectric sensors are spaced apart along the moving trajectory of the light-shielding plate.

[0006] In one embodiment, the center of gravity of the overall structure consisting of the lifting mechanism, the adsorption mechanism, and the damping element is located on the extension line of the rotation axis.

[0007] In one embodiment, the lifting mechanism includes a voice coil motor, and the adsorption mechanism is drivenly connected to the voice coil motor.

[0008] In one embodiment, the lifting mechanism further includes a base, a mounting base, and a transmission plate. The base is fixed to the rotating end of the rotating mechanism. The mounting base is slidably mounted on the base in a direction parallel to the rotation axis. The adsorption mechanism is connected to the mounting base. The voice coil motor is mounted on the base and is connected to the mounting base via the transmission plate.

[0009] In one embodiment, the mounting base is slidably mounted on the base via two parallel guide rails, and the transmission plate passes between the two guide rails.

[0010] In one embodiment, the adsorption mechanism includes a suction plate connecting plate, a suction plate mounting plate, and a vacuum suction plate mounted on the suction plate mounting plate. One end of the suction plate connecting plate is connected to the drive end of the lifting mechanism, and the suction plate mounting plate is connected to the end of the suction plate connecting plate away from the lifting mechanism.

[0011] In one embodiment, the adsorption mechanism further includes perforated ribs located on both sides of the suction plate connecting plate, the perforated ribs being connected to the suction plate connecting plate and the drive end of the lifting mechanism.

[0012] In one embodiment, the adsorption mechanism further includes a guide, a compression spring, and a limiting block. The suction plate connecting plate is slidably mounted on the suction plate mounting plate via the guide. The compression spring is disposed between the suction plate mounting plate and the suction plate connecting plate. The limiting block is mounted on the guide and presses the suction plate connecting plate against the compression spring.

[0013] In one embodiment, a stop screw is provided on the limiting block, and the stop screw passes through the limiting block and abuts against the suction plate mounting plate.

[0014] In one embodiment, the damping element extends along the suction plate connecting plate, and one end of the damping element is connected to the drive end of the lifting mechanism, while the other end is connected to the end of the suction plate connecting plate away from the lifting mechanism.

[0015] In one embodiment, the damping element is configured as a spring, a cylinder, or a hydraulic cylinder.

[0016] A stacking device includes a stacking table, a positioning platform, a stacking robot, a diaphragm swinging device, an electrode conveying line, and a rotating electrode picking device as described in any of the preferred embodiments above.

[0017] The aforementioned rotary wafer picking device and stacking equipment first move the adsorption mechanism above the electrode by a rotating mechanism, and then the lifting mechanism lowers the adsorption mechanism to pick up the electrode. Next, the adsorption mechanism is lifted by the lifting mechanism and rotated to above the positioning platform by the rotating mechanism. The adsorption mechanism then lowers again by the lifting mechanism to release the electrode. Because a damping element is installed between the drive ends of the adsorption mechanism and the lifting mechanism, and this damping element applies damping force to reduce vibration, even if the rotating and lifting mechanisms move at high speeds during wafer picking, the vibration generated by the adsorption mechanism will be significantly reduced compared to traditional wafer picking robots. Therefore, the aforementioned rotary wafer picking device and stacking equipment have high stability and are suitable for high-speed wafer stacking. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a simplified module diagram of the stacking device in one embodiment of the present invention;

[0020] Figure 2 This is a front view of the rotating slice-taking device in one embodiment of the present invention;

[0021] Figure 3 for Figure 2 A cross-sectional view of the rotating slice-taking device shown;

[0022] Figure 4 for Figure 2 Top view of the rotating slice-taking device shown;

[0023] Figure 5 for Figure 2 An enlarged schematic diagram of the part containing the adsorption mechanism in the rotating tablet taking device shown. Detailed Implementation

[0024] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0025] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0027] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0028] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0029] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0030] Please see Figure 1 This utility model provides a stacking device 10 and a rotating electrode picking device 100. The stacking device 10 includes a rotating electrode picking device 100, a stacking table 200, a positioning platform 300, a stacking robot 400, a diaphragm swing device 500, and an electrode conveying line 600.

[0031] The electrode conveyor line 600 is used to transport electrodes, specifically, the electrodes used to produce battery cells include anode electrodes and cathode electrodes. Therefore, there are generally two electrode conveyor lines 600, located on both sides of the stacking table 200, for transporting anode electrodes and cathode electrodes respectively. The rotating electrode pick-up device 100 is used to transfer the electrodes on the electrode conveyor line 600 to the positioning platform 300, where the positioning platform 300 corrects and adjusts the electrodes. The corrected electrodes are then sequentially transported by the stacking robot 400 onto the stacking table 200 for stacking to produce battery cells. Each time an electrode is placed on the stacking table 200, the diaphragm swing device 500 causes the diaphragm to swing once, thereby covering the electrode with the diaphragm to achieve isolation between adjacent electrodes.

[0032] The diaphragm oscillation device 500 typically includes a linear motor and an oscillating roller. The diaphragm passes around the oscillating roller, and the linear motor drives the oscillating roller to reciprocate, thereby causing the diaphragm to oscillate. Correspondingly, there are usually two rotating wafer picking devices 100 and positioning platforms 300. The two positioning platforms 300 are located on opposite sides of the stacking table 200, and the two rotating wafer picking devices 100 are used to transfer the anode and cathode electrodes from their respective electrode conveying lines 600 to the two positioning platforms 300.

[0033] Please refer to the following: Figure 2 and Figure 3 In one embodiment of the present invention, the rotating tablet taking device 100 includes a rotating mechanism 110, a lifting mechanism 120, an adsorption mechanism 130, and a damping element 140.

[0034] The adsorption mechanism 130 can attract electrode sheets using methods such as negative pressure adsorption and electrostatic adsorption. Furthermore, the lifting mechanism 120 is mounted on the rotating end of the rotating mechanism 110 and can rotate around the rotation axis under the drive of the rotating mechanism 110. The adsorption mechanism 130 is mounted on the driving end of the lifting mechanism 120 and can move up and down in a direction parallel to the rotation axis under the drive of the lifting mechanism 120. The extension direction of the aforementioned rotation axis is... Figure 2 As shown in the up-down direction, in practical applications, the aforementioned rotation axis generally extends in the vertical direction.

[0035] When the rotating electrode pick-up device 100 picks up electrodes, the rotating mechanism 110 first drives the lifting mechanism 120 and the adsorption mechanism 130 to rotate until the adsorption mechanism 130 moves above the electrode on the electrode conveyor line 600. Then, the lifting mechanism 120 drives the adsorption mechanism 130 to descend to approach and pick up the electrode. Next, the adsorption mechanism 130 is lifted by the lifting mechanism 120 to move away from the electrode conveyor line 600, and rotates to above the positioning platform 300 by the rotating mechanism 110. The adsorption mechanism 130 is then lowered again by the lifting mechanism 120 to approach the positioning platform 300, and finally the electrode is released.

[0036] Furthermore, one end of the damping element 140 is connected to the adsorption mechanism 130, and the other end is connected to the drive end of the lifting mechanism 120. The damping element 140 can apply a damping force between the adsorption mechanism 130 and the lifting mechanism 120. Specifically, the damping element 140 can be configured as a spring, a cylinder, or a hydraulic cylinder. The two ends of the damping element 140 can be fixedly connected to the adsorption mechanism 130 and the lifting mechanism 120; alternatively, they can be rotatably connected via pins or hinges, so that the angle between the damping element 140 and the adsorption mechanism 130 and the lifting mechanism 120 can be adaptively adjusted during practical applications, preventing the damping element 140 from tortuous deformation.

[0037] Since a damping element 140 is provided between the drive end of the adsorption mechanism 130 and the lifting mechanism 120, and the damping element 140 can apply damping force to reduce vibration, even if the rotating mechanism 110 and the lifting mechanism 120 move at high speed during the wafer picking process, the vibration generated by the adsorption mechanism 130 will be significantly reduced compared with the traditional wafer picking robot. Therefore, the stability of the rotating wafer picking device 100 is improved, thereby improving the positioning accuracy when picking up and placing the electrode.

[0038] The rotating mechanism 110 can be driven by a motor to rotate the adsorption mechanism 130 and the lifting mechanism 120. Specifically, in this embodiment, the rotating mechanism 110 includes a torque motor 111, a light-shielding plate 112 and a photoelectric sensor 113. The lifting mechanism 120 is mounted on the rotor of the torque motor 111. The light-shielding plate 112 is connected to the rotor of the torque motor 111. Multiple photoelectric sensors 113 are spaced apart along the moving trajectory of the light-shielding plate 112.

[0039] The rotor of the torque motor 111 is coaxially arranged with the aforementioned rotation axis. When the torque motor 111 is energized, it can drive its rotor to rotate around the rotation axis. Since the lifting mechanism 120 is directly mounted on the rotor of the torque motor 111, the torque motor 111 can directly drive the lifting mechanism 120 and the adsorption mechanism 130 to rotate, thereby simplifying the transmission structure, improving the response speed, and facilitating precise positioning of the rotation angle.

[0040] The light-shielding plate 112 rotates with the rotor of the torque motor 111, and its movement trajectory is arc-shaped. During its movement with the rotor, the light-shielding plate 112 blocks the photoelectric sensor 113 along its path. Therefore, the operation of the torque motor 111 can be monitored based on the triggering of the photoelectric sensor 113, thereby determining whether the rotating mechanism 110 has driven the adsorption mechanism 130 to rotate into position along the preset trajectory. Specifically, three photoelectric sensors 113 can be placed at positions of 0°, 45°, and 90° along the movement trajectory of the light-shielding plate 112. These three positions correspond to the positions of the light-shielding plate 112 when the torque motor 111 drives the adsorption mechanism 130 to rotate above the electrode conveyor line 600, between the electrode conveyor line 600 and the positioning platform 300, and above the positioning platform 300, respectively.

[0041] Furthermore, in this embodiment, the center of gravity of the overall structure consisting of the lifting mechanism 120, the adsorption mechanism 130, and the damping element 140 is located on the extension line of the rotation axis.

[0042] The extension line of the rotation axis is the extension line of the rotor axis of the torque motor 111. The weight of the overall structure consisting of the adsorption mechanism 130 and the damping element 140 is the load of the torque motor 111 during operation. Specifically, the center of gravity of the load of the torque motor 111 can be adjusted by adjusting the relative position of the lifting mechanism 120 and the torque motor 111. When the center of gravity of the load of the torque motor 111 overlaps with the rotor axis of the torque motor 111, the torque motor 111 can run more smoothly and respond faster.

[0043] Please refer to the following: Figure 4 In this embodiment, the lifting mechanism 120 includes a voice coil motor 121, and the adsorption mechanism 130 is connected to the voice coil motor 121 in a transmission connection.

[0044] In other words, the adsorption mechanism 130 is driven by the voice coil motor 21, thereby achieving lifting and lowering. The voice coil motors 121 all feature rapid acceleration and response, thus enabling high-speed movement of the adsorption mechanism 130, making the rotating wafer-taking device 100 suitable for high-speed wafer stacking. Furthermore, the voice coil motors 121 also offer advantages such as smooth movement, simple structure, and high precision, further enhancing the stability of the adsorption mechanism 130 during high-speed wafer stacking.

[0045] Furthermore, in this embodiment, the lifting mechanism 120 also includes a base 122, a mounting base 123, and a transmission plate 124. The base 122 is fixed to the rotating end of the rotating mechanism 110, the mounting base 123 is slidably mounted on the base 122 in a direction parallel to the rotation axis, the adsorption mechanism 130 is connected to the mounting base 123, and the voice coil motor 121 is mounted on the base 122 and connected to the mounting base 123 via the transmission plate 124.

[0046] The base 122 can be connected to the rotating end of the rotating mechanism 110, specifically the rotor of the torque motor 111, by means of threaded fastening or other methods. The base 122 can provide a large installation position for the voice coil motor 121 and the mounting base 123, and facilitates the adjustment of the relative position of the voice coil motor 121 and the torque motor 111 to adjust the weight of the lifting mechanism 120.

[0047] Specifically, the stator of the voice coil motor 121 is fixed to the base 122, and its mover is connected to the mounting base 123 through the transmission plate 124, thereby driving the mounting base 123 to rise and fall in a direction parallel to the rotation axis, which in turn drives the adsorption mechanism 130 to rise and fall.

[0048] Furthermore, in this embodiment, the mounting base 123 is slidably mounted on the base 122 via two parallel guide rails 125, and the transmission plate 124 passes between the two guide rails 125.

[0049] Each guide rail 125 rises in a direction parallel to the axis of rotation and can be fixedly mounted on the base 122. Correspondingly, two sliders are provided on the mounting base 123, and the sliders cooperate with the guide rails 125 to achieve a sliding connection. Moreover, by passing the transmission plate 124 between the two guide rails 125, the sliders can be subjected to balanced forces and significantly reduced overturning torque when sliding along the guide rails 125, thereby further improving the stability of the adsorption mechanism 130 during lifting and extending the service life of the guide rails 125 and the sliders.

[0050] Please refer to the following: Figure 5In this embodiment, the adsorption mechanism 130 includes a suction plate connecting plate 131, a suction plate mounting plate 132, and a vacuum suction plate 133 mounted on the suction plate mounting plate 132. One end of the suction plate connecting plate 131 is connected to the driving end of the lifting mechanism 120, and the suction plate mounting plate 132 is connected to the end of the suction plate connecting plate 131 away from the lifting mechanism 120.

[0051] The suction plate connecting plate 131 can be connected to the drive end of the lifting mechanism 120, specifically the mounting base 123, by means of threaded fastening or other methods. The suction plate connecting plate 131 can extend the distance between the drive end of the lifting mechanism 120 and the vacuum suction plate 133, thereby expanding the swing range of the vacuum suction plate 133.

[0052] Specifically, in this embodiment, the adsorption mechanism 130 further includes perforated ribs 134 located on both sides of the suction plate connecting plate 131. The perforated ribs 134 are connected to the suction plate connecting plate 131 and the drive end of the lifting mechanism 120. The perforated ribs 134 can strengthen the suction plate connecting plate 131, reducing deformation and vibration of the suction plate connecting plate 131 during high-speed movement. The perforated ribs 134 can be designed in a triangular shape for higher stability, and the perforated design can reduce weight. Of course, the suction plate connecting plate 131 can also be designed with perforations after simulation topology optimization, thereby reducing weight without sacrificing strength.

[0053] In order to achieve a better vibration reduction effect, in this embodiment, the damping element 140 extends along the suction plate connecting plate 131, and one end of the damping element 140 is connected to the driving end of the lifting mechanism 120, and the other end is connected to the end of the suction plate connecting plate 131 away from the lifting mechanism 120.

[0054] The vacuum suction plate 133 can be connected to a negative pressure device (not shown) to pick up the electrode sheet through negative pressure adsorption. Therefore, the electrode sheet can be quickly picked up and released by controlling the on / off state of the negative pressure device. The vacuum suction plate 133 can be integrated, with multiple adsorption holes on its surface and a negative pressure channel inside that communicates with the adsorption holes and can be connected to the negative pressure device. Alternatively, the vacuum suction plate 133 can be a split design, in which multiple vacuum suction cups are embedded in the plate to adsorb the electrode sheet.

[0055] Furthermore, in this embodiment, the adsorption mechanism 130 also includes a guide 135, a compression spring 136, and a limiting block 137. The suction plate connecting plate 131 is slidably mounted on the suction plate mounting plate 132 via the guide 135. The compression spring 136 is disposed between the suction plate mounting plate 132 and the suction plate connecting plate 131. The limiting block 137 is mounted on the guide 135 and presses the suction plate connecting plate 131 against the compression spring 136.

[0056] The guide member 135 may be a guide shaft fixed to the suction plate mounting plate 132 and cooperate with a linear bearing fixed to the suction plate connecting plate 131 to slidably mount the suction plate connecting plate 131 to the suction plate mounting plate 132. A limiting block 137 is generally installed at the end of the guide member 135 away from the suction plate mounting plate 132, which can limit the suction plate connecting plate 131 and prevent it from detaching from the guide member 135. Furthermore, the limiting block 137 holds the suction plate connecting plate 131 against the compression spring 136 to ensure that the compression spring 136 remains compressed. Thus, the compression spring 136 can provide elastic preload to ensure that the suction plate mounting plate 132 can elastically float relative to the suction plate connecting plate 131, thereby allowing the vacuum suction plate 133 to elastically float relative to the suction plate connecting plate 131 and the drive end of the lifting mechanism 120.

[0057] During the electrode transfer process, the vacuum suction plate 133, by elastically floating relative to the drive end of the lifting mechanism 120, can also play a vibration damping role, thereby further improving the stability of the vacuum suction plate 133 and the electrode it adsorbs. It can be seen that, in conjunction with the damping mechanism 300, the vacuum suction plate 133 can achieve dual vibration damping, thereby significantly improving the stability of the electrode during the high-speed stacking process.

[0058] More specifically, at least two guide members 135 are generally provided to better position the suction plate connecting plate 131 and suction plate mounting plate 132. The limiting block 137 can be elongated and connected to at least two guide members 135 respectively.

[0059] Furthermore, in this embodiment, a stop screw 138 is provided on the limiting block 137, and the stop screw 138 passes through the limiting block 137 and abuts against the suction plate mounting plate 132. The stop screw 138 can be screwed in or out, thereby squeezing the suction plate connecting plate 131 and adjusting the compression amount of the compression spring 136. In this way, the stroke of the suction plate mounting plate 132 and the preload of the compression spring 136 can be adjusted as needed, thereby adjusting the degree of elastic floating.

[0060] The aforementioned rotary wafer picking device 100 and stacking device 10, during wafer picking, first have the rotary mechanism 110 drive the adsorption mechanism 130 to move above the electrode, and then the lifting mechanism 120 drives the adsorption mechanism 130 to descend to pick up the electrode. Next, the adsorption mechanism 130 is lifted by the lifting mechanism 120 and rotated by the rotary mechanism 110 to above the positioning platform. The adsorption mechanism 130 then descends again by the lifting mechanism 120 to release the electrode. Because a damping element 140 is provided between the driving ends of the adsorption mechanism 130 and the lifting mechanism 120, and the damping element 140 can apply damping force to reduce vibration, even if the rotary mechanism 110 and the lifting mechanism 120 move at high speed during wafer picking, the vibration generated by the adsorption mechanism 130 will be significantly reduced compared to a traditional wafer picking robot. Therefore, the aforementioned rotary wafer picking device 100 and stacking device 10 have high stability and are suitable for high-speed wafer stacking.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A rotary tablet picking device, characterized in that, The rotating mechanism, the lifting mechanism, the adsorption mechanism and the damping element, the lifting mechanism is installed on the rotating end of the rotating mechanism and can rotate around the rotating axis under the driving of the rotating mechanism, the adsorption mechanism is installed on the driving end of the lifting mechanism and can lift along the direction parallel to the rotating axis under the driving of the lifting mechanism, one end of the damping element is connected with the adsorption mechanism and the other end is connected with the driving end of the lifting mechanism.

2. The rotary sheet removing device according to claim 1, wherein The rotating mechanism includes a torque motor, a light shield and photoelectric sensors, the lifting mechanism is installed on the rotor of the torque motor, the light shield is connected with the rotor of the torque motor, and multiple photoelectric sensors are arranged along the moving track of the light shield.

3. The rotary sheet removing device according to claim 2, wherein The gravity center of the overall structure of the lifting mechanism, the adsorption mechanism and the damping element is located on the extension line of the rotating axis.

4. The rotary sheet removing device according to claim 1, wherein The lifting mechanism includes a voice coil motor, and the adsorption mechanism is in driving connection with the voice coil motor.

5. The rotary sheet removing device according to claim 4, wherein The lifting mechanism further includes a base, a mounting seat and a transmission plate, the base is fixed on the rotating end of the rotating mechanism, the mounting seat is slidably installed on the base along the direction parallel to the rotating axis, the adsorption mechanism is connected with the mounting seat, and the voice coil motor is installed on the base and in driving connection with the mounting seat through the transmission plate.

6. The rotary sheet removing device according to claim 5, wherein The mounting seat is slidably installed on the base through two parallel arranged guide rails, and the transmission plate is arranged between the two guide rails.

7. The rotary sheet retriever of claim 1, wherein, The adsorption mechanism includes an adsorption plate connecting plate, an adsorption plate mounting plate and a vacuum adsorption plate installed on the adsorption plate mounting plate, one end of the adsorption plate connecting plate is connected with the driving end of the lifting mechanism, and the adsorption plate mounting plate is connected with the end of the adsorption plate connecting plate away from the lifting mechanism.

8. The rotary sheet removing device according to claim 7, wherein The adsorption mechanism further includes hollow rib plates located on both sides of the adsorption plate connecting plate, and the hollow rib plates are connected with the adsorption plate connecting plate and the driving end of the lifting mechanism.

9. The rotary sheet removing device according to claim 7, wherein The adsorption mechanism further includes a guide piece, a compression spring and a limiting block, the adsorption plate connecting plate is slidably installed on the adsorption plate mounting plate through the guide piece, the compression spring is arranged between the adsorption plate mounting plate and the adsorption plate connecting plate, and the limiting block is installed on the guide piece and holds the adsorption plate connecting plate on the compression spring.

10. The rotary sheet removing device according to claim 9, wherein A stop screw is arranged on the limiting block and abuts against the adsorption plate mounting plate through the limiting block.

11. The rotary sheet retriever of claim 7, wherein, The damping element extends along the adsorption plate connecting plate, one end of the damping element is connected with the driving end of the lifting mechanism, and the other end is connected with the end of the adsorption plate connecting plate away from the lifting mechanism.

12. The rotary sheet retriever of claim 1, wherein, The damping element is arranged as a spring, a gas cylinder or an oil cylinder.

13. A lamination device, comprising a lamination table, a positioning platform, a lamination manipulator, a diaphragm swinging device, a pole piece conveying line and the rotating lamination device according to any one of claims 1 to 12.

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