Feeding apparatus for PCM panels

Abstract

The application relates to the PCM plate feeding technology field and discloses a feeding equipment for PCM plates, which comprises a rack, a positioning mechanism, a first photographing mechanism and a material taking robot. The positioning mechanism is arranged on the rack and is used for placing a material tray loaded with the PCM plates. The first photographing mechanism and the material taking robot are both arranged on the rack. In a first direction, the first photographing mechanism is oppositely arranged with the positioning mechanism and is spaced apart from the positioning mechanism. The first photographing mechanism is used for photographing the PCM plates on the material tray to obtain a first positioning datum. The first photographing mechanism is also used for sending the first positioning datum to the material taking robot. The material taking robot is configured to take the PCM plates from the material tray based on the first positioning datum and adjust the taken PCM plates into a predetermined position. Therefore, the cooperation of the first photographing mechanism and the material taking robot realizes the pre-positioning of the PCM plates, a transfer pre-positioning mechanism is not needed, and the cracking of the PCM plates caused by mechanical positioning is avoided, so that the product failure rate is reduced.

Description

Technical Field

[0001] This application relates to the field of PCM board loading technology, and more particularly to a loading device for PCM boards. Background Technology

[0002] Before battery cells and PCM (Protection Circuit Modul) boards can be assembled, they need to be installed and positioned. In related technologies, a transfer robot and a transfer pre-positioning mechanism are set up to transfer the PCM board to be installed to the transfer pre-positioning mechanism for mechanical positioning before the PCM board is installed to the battery cell. However, the transfer pre-positioning mechanism is prone to causing the PCM board to crack during mechanical positioning, which greatly increases the product defect rate. Utility Model Content

[0003] This application provides a feeding device for PCM boards, which enables the picking robot to accurately grasp the PCM boards. Furthermore, the PCM boards are pre-positioned through the cooperation of a first imaging mechanism and the picking robot. Compared with mechanical positioning, there is no need to set up an intermediate pre-positioning mechanism, thereby avoiding cracking of the PCM boards caused by mechanical positioning and helping to reduce the product defect rate.

[0004] To achieve the above objectives, the main technical solutions adopted in this application include:

[0005] In a first aspect, embodiments of this application provide a feeding device for PCM boards, the feeding device having a first direction, and the feeding device comprising:

[0006] frame;

[0007] The positioning mechanism is mounted on the frame and is used to place the tray loaded with PCM boards.

[0008] The first imaging mechanism and the picking robot are both mounted on the frame along the first direction. The first imaging mechanism is positioned opposite to and spaced apart from the positioning mechanism. The first imaging mechanism is used to take pictures of the PCM board on the material tray to obtain a first positioning reference. The first imaging mechanism is also used to send the first positioning reference to the picking robot. The picking robot is configured to pick up the PCM board from the material tray based on the first positioning reference and adjust the picked-up PCM board to a pre-positioned posture.

[0009] The loading device for PCM boards proposed in the first aspect of this application acquires a first positioning reference for the PCM board through a first imaging mechanism and sends it to a picking robot. The picking robot then retrieves the PCM board from the tray according to the first positioning reference, achieving precise gripping of the PCM board by the picking robot. At the same time, the cooperation between the first imaging mechanism and the picking robot also achieves pre-positioning of the PCM board, which can adjust the retrieved PCM board to the pre-positioned posture, thereby providing a basis for the subsequent assembly between the PCM board and the battery cell. Compared with mechanical positioning, there is no need to set up a transfer pre-positioning mechanism, thereby avoiding cracking of the PCM board caused by mechanical positioning and helping to reduce the product defect rate.

[0010] Optionally, the material handling robot includes a first mounting base, a robotic arm, and a suction device. The first mounting base is fixedly mounted on the frame, the robotic arm is movably mounted on the first mounting base, and the suction device is mounted on the robotic arm. The robotic arm is configured to drive the suction device to move to a position relative to the PCM board along a first direction based on a first positioning reference. The suction device is used to pick up the PCM board from the tray, and the robotic arm is also used to adjust the picked-up PCM board to a pre-positioned posture.

[0011] Optionally, the material handling robot also includes a first clamping member and a second clamping member that are arranged opposite to each other and spaced apart. Both the first clamping member and the second clamping member are disposed on the robot arm, and at least one of the first clamping member and the second clamping member is movable relative to the other, so that the first clamping member and the second clamping member can clamp and position the PCM board that has been picked up.

[0012] Optionally, it also includes:

[0013] A cell mounting mechanism is mounted on the frame and is used to fix and mount the cell.

[0014] The second imaging mechanism is mounted on the frame. The picking robot is also adapted to move the removed PCM board to a preset position. The PCM board moved to the preset position is within the imaging field of the second imaging mechanism. The second imaging mechanism is used to send the second positioning reference obtained by taking a picture of the removed PCM board to the picking robot.

[0015] The third imaging mechanism is set on the frame. The battery cell installed on the battery cell mounting mechanism is located within the imaging field of the third imaging mechanism. The third imaging mechanism is used to send the third positioning reference obtained by photographing the battery cell to the picking robot.

[0016] The material handling robot is also configured to adjust the PCM board from a pre-positioned posture to a target positioning posture based on correction signals determined by a second and a third positioning reference, so as to assemble it in conjunction with the battery cell.

[0017] Optionally, it also includes: a conveying mechanism, which is movably mounted on the frame and can be moved to the loading station, and is adapted to pick up a tray loaded with PCM boards from the loading station and transfer the tray loaded with PCM boards to the positioning mechanism.

[0018] Optionally, it further includes: a first lifting mechanism, which is movably disposed on the frame and along a first direction, and is adapted to transfer the tray loaded with PCM boards from the feeding station to the loading station.

[0019] Optionally, the first lifting mechanism includes: a first lifting platform and a first driving member. The first lifting platform is suitable for placing a tray loaded with PCM boards. The first driving member is fixedly installed on the frame. The first lifting platform is fixedly connected to the driving end of the first driving member. The first driving member is used to drive the first lifting platform to move along a first direction to the loading station or the feeding station.

[0020] Optionally, the positioning mechanism includes an installation platform and a moving component. The installation platform is fixedly installed on the frame and is used to place a tray loaded with PCM boards. The moving component is movably disposed on the installation platform and is adapted to drive the empty tray after it has been picked up to the return station.

[0021] Optionally, it also includes: a second lifting mechanism, which is movably disposed on the frame and along the first direction, and is adapted to transfer the empty material tray after material removal from the return station to the recycling station.

[0022] Optionally, the second lifting mechanism includes: a second lifting platform and a second driving component. The second lifting platform is suitable for placing the empty material tray after the material has been picked up. The second driving component is fixedly installed on the frame. The second lifting platform is fixedly connected to the driving end of the second driving component. The second driving component is used to drive the second lifting platform to move along the first direction to the return station or recycling station.

[0023] Optionally, it also includes a barcode scanning mechanism, which is mounted on the frame. When the picking robot moves the removed PCM board to a preset position, the PCM board at the preset position is within the scanning field of the barcode scanning mechanism. The barcode scanning mechanism is used to send the barcode information obtained by scanning the label of the removed PCM board to the picking robot. The picking robot is also configured to selectively assemble the PCM board with the battery cell or transfer the PCM board to the waste discharge station based on the barcode information. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 A first-view perspective perspective view of a feeding device provided in one embodiment of this application;

[0026] Figure 2 A second-view perspective view of a feeding device provided in one embodiment of this application;

[0027] Figure 3 A schematic diagram of a tray loaded with PCM boards provided for one embodiment of this application;

[0028] Figure 4 yes Figure 3 A magnified view of a section at point E in the middle;

[0029] Figure 5 This is a schematic diagram of a material handling robot provided in one embodiment of this application;

[0030] Figure 6 An assembly drawing of a robotic arm, a suction component, a first clamping component, and a second clamping component provided in one embodiment of this application;

[0031] Figure 7 This is a schematic diagram of a robotic arm grasping a PCM board according to one embodiment of this application;

[0032] Figure 8 An assembly diagram of a battery cell and a PCM board provided in one embodiment of this application;

[0033] Figure 9 A schematic diagram of a first lifting mechanism and a material tray provided in one embodiment of this application;

[0034] Figure 10 This is a schematic diagram of a positioning mechanism provided in one embodiment of this application.

[0035] [Explanation of Labels in the Attached Image]

[0036] 100. Feeding equipment;

[0037] 1. Rack;

[0038] 2. Positioning mechanism; 21. Installation platform; 22. Moving parts;

[0039] 3. The primary photography agency;

[0040] 4. Material handling robot; 41. First mounting base; 42. Robotic arm; 43. Suction component; 44. First gripper; 45. Second gripper; 46. Robotic arm;

[0041] 5. Cell mounting mechanism;

[0042] 6. Second photography agency;

[0043] 7. Third-party photography agency;

[0044] 8. Conveying mechanism;

[0045] 9. First lifting mechanism; 91. First lifting platform; 92. First driving component; 93. Positioning plate;

[0046] 10. Second lifting mechanism;

[0047] 11. QR code scanning organizations;

[0048] 200, PCM board;

[0049] 300. Material tray;

[0050] 400. Empty tray;

[0051] 500, battery cell;

[0052] X, the first direction. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0055] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0056] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0057] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0058] In this application, "multiple" refers to two or more (including two), and similarly, "multiple groups" refers to two or more (including two), and "multiple pieces" refers to two or more (including two).

[0059] It should be noted that the battery cells and PCM boards need to be installed and positioned before they are assembled. In related technologies, a transfer robot and a transfer pre-positioning mechanism are set up to transfer the PCM board to be installed to the transfer pre-positioning mechanism for mechanical positioning before the PCM board is installed to the battery cell. However, the transfer pre-positioning mechanism is prone to causing the PCM board to crack during mechanical positioning, which greatly increases the product defect rate.

[0060] Based on this, this application proposes a feeding device 100 for PCM board 200. The first imaging mechanism 3 acquires the first positioning reference of PCM board 200 and sends it to the picking robot 4. The picking robot 4 picks up PCM board 200 from material tray 300 according to the first positioning reference, realizing the precise gripping of PCM board 200 by picking robot 4. At the same time, the cooperation between the first imaging mechanism 3 and picking robot 4 also realizes the pre-positioning of PCM board 200, which can adjust the picked-up PCM board 200 to the pre-positioned posture, thereby providing a basis for the subsequent assembly between PCM board 200 and battery cell 500. Compared with mechanical positioning, there is no need to set up a transfer pre-positioning mechanism 2, thereby avoiding cracking of PCM board 200 caused by mechanical positioning, which helps to reduce product defect rate.

[0061] The following description, with reference to the accompanying drawings, describes a feeding device 100 for a PCM board 200 according to an embodiment of this application.

[0062] like Figures 1-10 As shown, the loading device 100 for PCM board 200 according to the first aspect embodiment of this application includes: a frame 1, a positioning mechanism 2, a first photographing mechanism 3, and a picking robot 4. The positioning mechanism 2 is disposed on the frame 1 and is used to place a tray 300 loaded with PCM board 200. The first photographing mechanism 3 and the picking robot 4 are both disposed on the frame 1. Along the first direction X, the first photographing mechanism 3 is disposed opposite to and spaced apart from the positioning mechanism 2. The first photographing mechanism 3 is used to take a picture of the PCM board 200 on the tray 300 to obtain a first positioning reference. The first photographing mechanism 3 is also used to send the first positioning reference to the picking robot 4. The picking robot 4 is configured to take out the PCM board 200 from the tray 300 based on the first positioning reference and adjust the taken-out PCM board 200 to a pre-positioned posture.

[0063] Specifically, a positioning mechanism 2 is fixedly installed on the frame 1. There can be one or more positioning mechanisms 2. The positioning mechanism 2 is used to place the tray 300 containing the PCM board 200. It can be understood that... Figure 3 As shown, the tray 300 has multiple mounting slots, each for mounting one PCM board 200. For example, the loading device 100 is configured according to... Figure 2 Taking the placement direction shown as an example, two positioning mechanisms 2 are symmetrically fixedly installed on both sides of the frame 1. Each positioning mechanism 2 is equipped with a material tray 300, and the positioning mechanisms 2 on both sides are respectively equipped with a first photo-taking mechanism 3 and a material picking robot 4. The first photo-taking mechanism 3 and the material picking robot 4 are both fixedly installed on the frame 1.

[0064] Further reference Figure 2As shown, this application only uses the left-side positioning mechanism 2 as an example for explanation. The left-side first imaging mechanism 3 is positioned above the left-side positioning mechanism 2 and spaced apart from it. To ensure that all the material trays 300 on the left-side positioning mechanism 2 are within the imaging field of view of the left-side first imaging mechanism 3, the number of left-side first imaging mechanisms 3 can be multiple. For example, there can be four left-side first imaging mechanisms 3, and the material trays 300 on the left-side positioning mechanism 2 can be divided into four imaging areas. Each of the four left-side first imaging mechanisms 3 takes a picture of its corresponding imaging area, thereby obtaining the first positioning reference of each PCM board 200 on the material tray 300 through the four left-side first imaging mechanisms 3. The four left-side first imaging mechanisms 3 can directly send the first positioning reference of the PCM board 200 to the left-side... The picking robot 4, located on the left, converts the first positioning reference of each PCM board 200 into its corresponding position coordinates. Based on these coordinates, it sorts the PCM boards 200 and retrieves the corresponding PCM board 200 according to its picking sequence number. For example, it moves to the position coordinates corresponding to PCM board 200 number 1 and retrieves it. After installing PCM board 200 number 1 onto the corresponding battery cell 500, it moves to the position coordinates corresponding to PCM board 2 number 2 and retrieves it, and so on, until all PCM boards 200 in the material tray 300 are retrieved, thus achieving precise sequential picking of the PCM boards 200. The first imaging mechanism 3 on the right and the picking robot 4 on the right operate in the same manner as on the left, and will not be described further here.

[0065] It should be noted that, in order to ensure the consistency of the first positioning reference for each PCM board 200, such as Figure 4 As shown, each PCM board 200 uses the two reference lines A and B on the PCM board 200 as positioning reference lines.

[0066] Furthermore, after the picking robot 4 removes the PCM board 200 from the material tray 300, the picking robot 4 adjusts the removed PCM board 200 to a pre-positioned posture to facilitate the subsequent assembly of the PCM board 200 and the battery cell 500. The pre-positioned posture can be preset in the picking robot 4 according to the actual situation, and no specific restrictions are made here.

[0067] To enable those skilled in the art to better understand this solution, a specific example is provided below. Figure 8As shown, the battery cell 500 uses reference lines C and D as positioning reference lines. To ensure that reference line A on the PCM board 200 is parallel to reference line C of the battery cell 500, and that reference line B on the PCM board 200 is parallel to reference line D of the battery cell 500, the retrieved PCM board 200 needs to be rotated by the picking robot 4 at a certain angle. For example, the reference line A on the PCM board 200 in the material tray 300, as captured by the first photographing mechanism 3, forms a 90° angle with reference line C, which represents the theoretical placement direction of the battery cell 500. The theoretical placement direction of the battery cell 500 is a preset direction. After the picking robot 4 removes the PCM board 200 from the material tray 300, the PCM board 200 is horizontal, and the battery cell 500 is placed horizontally. To ensure that reference line A on the PCM board 200 is parallel to reference line D of the battery cell 500 during installation... To ensure the parallelism of the C-baseline (i.e., to guarantee the parallelism of the B-baseline on the PCM board 200 and the D-baseline on the battery cell 500 during installation), the PCM board 200, which has already been removed, needs to be rotated horizontally by the picking robot 4 by approximately 90°. This provides a basis for the subsequent assembly of the PCM board 200 and the battery cell 500. It should be noted that the PCM board 200 after being rotated horizontally by 90° is adjusted to a pre-positioned posture. Of course, the pre-positioned posture can be adjusted according to specific circumstances, which will not be illustrated here. During the entire posture adjustment process, the pre-positioning action of the PCM board 200 can be completed by the picking robot 4. Compared with mechanical positioning, there is no need to set up a transfer pre-positioning mechanism 2, thereby avoiding cracking of the PCM board 200 caused by mechanical positioning and helping to reduce the product defect rate.

[0068] Therefore, the first positioning reference of the PCM board 200 is obtained by the first imaging mechanism 3 and sent to the picking robot 4. The picking robot 4 then picks up the PCM board 200 from the material tray 300 according to the first positioning reference, realizing the precise gripping of the PCM board 200 by the picking robot 4. At the same time, the cooperation between the first imaging mechanism 3 and the picking robot 4 also realizes the pre-positioning of the PCM board 200, which can adjust the picked-up PCM board 200 to the pre-positioned posture, thus providing a basis for the subsequent assembly between the PCM board 200 and the battery cell 500. Compared with mechanical positioning, there is no need to set up a transfer pre-positioning mechanism 2, thereby avoiding cracking of the PCM board 200 caused by mechanical positioning, which helps to reduce the product defect rate.

[0069] In some embodiments of this application, the first imaging mechanism 3 can send the first positioning reference of each PCM board 200 to the host computer, which converts the first positioning reference of each PCM board 200 into its corresponding position coordinates. Then, it sorts the PCM boards 200 according to their respective position coordinates. Finally, it sends the sorting order and the position coordinates of the PCM boards 200 with each sorting sequence number to the picking robot 4. The picking robot 4 then picks up the PCM board 200 with the corresponding position coordinates according to the picking sequence number, so as to achieve accurate grasping of the PCM board 200.

[0070] In some embodiments of this application, such as Figures 5-7 As shown, the material handling robot 4 includes a first mounting base 41, a robotic arm 42, and a suction component 43. The first mounting base 41 is fixedly mounted on the frame 1, the robotic arm 42 is movably mounted on the first mounting base 41, and the suction component 43 is mounted on the robotic arm 42. The robotic arm 42 is configured to drive the suction component 43 to move to a position relative to the PCM board 200 along the first direction X based on a first positioning reference. The suction component 43 is used to pick up the PCM board 200 from the material tray 300, and the robotic arm 42 is also used to adjust the picked-up PCM board 200 to a pre-positioned posture.

[0071] Specifically, the material handling robot 4 is fixedly mounted on the frame 1 via the first mounting base 41, ensuring the stability of the operation of the material handling robot 4. Furthermore, as... Figure 5 As shown, the robotic arm 42 is mounted on the first mounting base 41 via the robotic arm 46. It can be understood that the robotic arm 46 can be constructed as, but is not limited to, a 5-axis robotic arm 46. This configuration ensures the flexibility of the robotic arm 42. A suction component 43 is fixedly mounted on the robotic arm 42. For example, the suction component 43 can be constructed as a vacuum suction structure, that is, the vacuum suction structure suctions the PCM plate 200 by drawing a vacuum. The suction method is simple and reliable.

[0072] As a specific example, as described above, the picking robot 4 can determine the position coordinates of the PCM board 200 based on the first positioning reference. The picking robot 4 then controls the robotic arm 46 to move the robotic hand 42 according to these coordinates, so that the robotic hand 42 can move the suction component 43 above the PCM board 200 to be picked up. The suction component 43 then picks up the PCM board 200 from the tray 300. Furthermore, after the suction component 43 removes the PCM board 200 from the tray 300, the robotic hand 42 adjusts the removed PCM board 200 to a pre-positioned posture. Specifically, the robotic arm 46 moves the robotic hand 42 to adjust the pre-positioned posture of the PCM board 200. The specific adjustment process is described above and will not be repeated here. In this way, not only is precise picking and adjustment of the PCM board 200 achieved, but the picking method is also relatively simple and reliable, which helps to reduce costs.

[0073] It should be noted that controlling the movement of the robotic arm 42 through the robotic arm 46 is a conventional technical method, and will not be explained further here.

[0074] In some embodiments of this application, such as Figures 5-7 As shown, the material handling robot 4 also includes a first clamping member 44 and a second clamping member 45 that are arranged opposite to each other and spaced apart. The first clamping member 44 and the second clamping member 45 are both disposed on the robot arm 42, and at least one of the first clamping member 44 and the second clamping member 45 is movable relative to the other so that the first clamping member 44 and the second clamping member 45 can clamp and position the PCM board 200 that has been picked up.

[0075] Specifically, such as Figure 6 As shown, the first gripper 44 and the second gripper 45 are both mounted on the robot arm 42, and the first gripper 44 and the second gripper 45 are arranged opposite each other and spaced apart. For example, the first gripper 44 is located at one end of the width direction of the robot arm 42, and the second gripper 45 is located at the other end of the width direction of the robot arm 42. At least one of the first gripper 44 and the second gripper 45 is movable relative to the other. It can be understood that the first gripper 44 can move relative to the second gripper 45, or the second gripper 45 can move relative to the first gripper 44, or both the first gripper 44 and the second gripper 45 can move relative to the other. The specific setting depends on the actual situation, and no specific restrictions are made here.

[0076] As a specific example, the first clamping member 44 and the second clamping member 45 can be driven by cylinders. The first clamping member 44 and the second clamping member 45 are fixedly connected to the telescopic rods of their respective cylinders. The cylinder corresponding to the first clamping member 44 drives the first clamping member 44 to move by extending and retracting the telescopic rod, and the cylinder corresponding to the second clamping member 45 drives the second clamping member 45 to move by extending and retracting the telescopic rod. It is understood that the first clamping member 44 and the second clamping member 45 can also be driven by a drive motor, which will not be elaborated upon here.

[0077] Furthermore, such as Figure 7As shown, the first clamping member 44 and the second clamping member 45 can be disposed on both sides of the suction member 43. Assuming that both the first clamping member 44 and the second clamping member 45 can move relative to each other, when the suction member 43 picks up the PCM board 200, as the first clamping member 44 and the second clamping member 45 move relative to each other, the first clamping member 44 and the second clamping member 45 eventually abut against the side wall of the PCM board 200 being picked up, thereby clamping and positioning the PCM board 200 being picked up between the first clamping member 44 and the second clamping member 45. In this configuration, compared to simply using the suction member 43 for suction and fixation, the PCM board 200 is further fixed by the first clamping member 44 and the second clamping member 45, preventing the PCM board 200 from falling off during the transfer process. In addition, the first clamping member 44 and the second clamping member 45 can also position the PCM board 200 during the clamping process to prevent shaking during the movement and avoid affecting the subsequent assembly accuracy with the battery cell 500.

[0078] In some embodiments of this application, the contact surfaces of the first clamping member 44, the second clamping member 45 and the PCM plate 200 are parallel to the B reference line on the PCM plate 200. This arrangement can ensure the consistency between the rotation angle of the robot arm 42 and the rotation angle of the removed PCM, thereby improving the accuracy of the prepositioning posture.

[0079] In some embodiments of this application, such as Figure 1 and Figure 2 As shown, the feeding device 100 also includes: a cell mounting mechanism 5, a second photographing mechanism 6, and a third photographing mechanism 7. The cell mounting mechanism 5 is disposed on the frame 1 and is used to fix and install the cell 500. The second photographing mechanism 6 is disposed on the frame 1. The picking robot 4 is also adapted to move the removed PCM board 200 to a preset position, wherein the PCM board 200 moved to the preset position is within the photographing view of the second photographing mechanism 6. The second photographing mechanism 6 is used to send the second positioning reference obtained by photographing the removed PCM board 200 to the picking robot 4. The third photographing mechanism 7 is disposed on the frame 1, wherein the cell 500 installed on the cell mounting mechanism 5 is within the photographing view of the third photographing mechanism 7. The third photographing mechanism 7 is used to send the third positioning reference obtained by photographing the cell 500 to the picking robot 4. The picking robot 4 is also configured to adjust the PCM board 200 from the predetermined positioning posture to the target positioning posture based on the correction signal determined by the second positioning reference and the third positioning reference for assembly with the cell 500.

[0080] Specifically, there are multiple cell mounting mechanisms 5, and all of them can move cyclically along the first slide rail on the frame 1. The first slide rail can be set on the side of the first photographing mechanism away from the positioning mechanism, and each cell mounting mechanism 5 is used to fix one cell 500. During the movement of the cell mounting mechanism 5, when one of the cell 500s installed on the cell mounting mechanism 5 is within the photographing angle of the third photographing mechanism 7, the cell mounting mechanism 5 stops moving so that the cell 500 on the cell mounting mechanism 5 is stabilized in the assembly position. The third positioning reference is obtained by taking a picture of the cell 500 on the cell mounting mechanism 5 through the third photographing mechanism 7. It should be noted that the third photographing mechanism 7 continues to use the C and D reference lines of the cell 500 as the third positioning reference lines for photographing and positioning.

[0081] Furthermore, after the picking robot 4 adjusts the retrieved PCM board 200 to the pre-positioned posture, the picking robot 4 is also suitable for moving the retrieved PCM board 200 to the preset position. It can be understood that when the PCM board 200 moves to the preset position, the PCM board 200 remains in the pre-positioned posture, and the PCM board 200 moved to the preset position is within the shooting view of the second shooting mechanism 6, so that the second shooting mechanism 6 can take pictures of the PCM board 200 that is maintained in the pre-positioned posture and obtain the second positioning reference. It should be noted that the second shooting mechanism 6 continues to take pictures and position the two reference lines A and B of the PCM board 200 that is maintained in the pre-positioned posture as the second positioning reference lines.

[0082] Furthermore, the picking robot 4 is also configured to adjust the PCM board 200 from a pre-positioned posture to a target positioning posture based on correction signals determined by the second and third positioning references, so as to facilitate the subsequent assembly of the PCM board 200 and the battery cell 500. To enable those skilled in the art to better understand this solution, as a specific example, since the actual placement direction of the battery cell 500 on the battery cell mounting mechanism 5 as captured by the third photographing mechanism 7 may have an error compared to the theoretical placement direction of the battery cell 500, when the picking robot 4 picks up the PCM board 200... After the PCM board 200 is adjusted to the pre-positioning posture, the A reference line of the PCM board 200 in the pre-positioning posture may not be parallel to the C reference line of the battery cell 500 installed on the battery cell mounting mechanism 5. Therefore, the PCM board 200 needs to be adjusted from the pre-positioning posture to the target positioning posture by the picking robot 4 so that the A reference line on the PCM board 200 is parallel to the C reference line of the battery cell 500 installed on the battery cell mounting mechanism 5, and the B reference line on the PCM board 200 is parallel to the D reference line of the battery cell 500 installed on the battery cell mounting mechanism 5.

[0083] For example, the reference line A on the PCM board 200 in the material tray 300, as captured by the first imaging mechanism 3, has a 90° angle with the reference line C, which represents the theoretical placement direction of the battery cell 500. Therefore, the picking robot 4 rotates the retrieved PCM board 200 horizontally by approximately 90°. However, the angle between the reference line A on the PCM board 200 in the material tray 300 captured by the first imaging mechanism 3 and the reference line C, representing the actual placement direction of the battery cell 500, captured by the third imaging mechanism 7, is actually 91°. When the horizontal rotation approaches 90°... When the PCM board 200 moves to the preset position, the second imaging mechanism 6 takes a picture of the PCM board 200, which has been rotated nearly 90° horizontally, and finds that the angle between the A-baseline of the PCM board 200 and the C-baseline of the actual placement direction of the battery cell 500 is 1°. Therefore, the picking robot 4 needs to rotate the PCM board 200, which has been rotated nearly 90° horizontally, another 1° for correction, so that the A-baseline on the PCM board 200 is parallel to the C-baseline of the battery cell 500. This setting, by adjusting the PCM board 200 to the target positioning posture, helps to further improve the positioning and assembly accuracy between the PCM board 200 and the battery cell 500.

[0084] Understandably, after the PCM board 200 is adjusted from the pre-positioned posture to the target positioning posture, the picking robot 4 moves the PCM board 200, which is maintained in the target positioning posture, to the preset position for assembly with the battery cell 500. The PCM board 200 can be fixed to the battery cell 500 by laser welding or ultrasonic welding. After the battery cell 500 and the PCM board 200 are installed together, the battery cell mounting mechanism 5 drives the battery cell 500 to continue moving and move out of the camera view of the third camera mechanism 7. When the next battery cell mounting mechanism 5 drives the battery cell 500 into the camera view of the third camera mechanism 7, the next battery cell mounting mechanism 5 stops moving, and the next round of battery cell 500 and PCM board 200 assembly begins. This will not be elaborated further here.

[0085] In some embodiments of this application, such as Figure 1 and Figure 2 As shown, it also includes: a conveying mechanism 8, which is movably disposed on the frame 1 and can be moved to the loading station. The conveying mechanism 8 is adapted to grab a tray 300 loaded with PCM board 200 from the loading station and transfer the tray 300 loaded with PCM board 200 to the positioning mechanism 2.

[0086] Specifically, the conveying mechanism 8 is set on the second slide rail of the frame 1. The conveying mechanism 8 is equipped with a drive motor. The drive motor can drive the conveying mechanism 8 to move along the second slide rail between the loading station and the positioning mechanism 2. The loading station has a tray 300 loaded with PCM board 200.

[0087] Furthermore, as a concrete example, continue to refer to Figure 2 As shown, positioning mechanisms 2 are provided on both the left and right sides of the frame 1. The conveying mechanism 8 can move along the second slide rail to the loading station, above the positioning mechanism 2 on the left or the positioning mechanism 2 on the right. This application only uses the positioning mechanism 2 on the left as an example for explanation. The conveying mechanism 8 has a gripping device. When the picking robot 4 on the left needs to pick up materials, the conveying mechanism 8 grips the tray 300 loaded with PCM board 200 from the loading station through the gripping device, and drives the conveying mechanism 8 through the drive motor to move the tray 300 loaded with PCM board 200 to the top of the positioning mechanism 2 on the left. When the tray 300 loaded with PCM board 200 is aligned with the positioning mechanism on the left, the gripping device releases the tray 300 so that the tray 300 is placed on the positioning mechanism 2. In this way, the conveying mechanism 8 realizes the automatic conveying of the tray 300 to the positioning mechanism 2, which improves the automation level of the loading equipment 100.

[0088] In some embodiments of this application, the positioning mechanism 2 has a positioning device and a clamping device. When the tray 300 is placed on the positioning mechanism 2, the positioning device can pre-position the tray 300, and the clamping device can fix the tray 300 on the positioning mechanism 2 to prevent the tray 300 from moving.

[0089] In some embodiments of this application, a first lifting mechanism 9 is further included. The first lifting mechanism 9 is movably disposed on the frame 1 and can be selectively moved to a loading station or a feeding station along the first direction X. The first lifting mechanism 9 is adapted to transfer the tray 300 loaded with PCM board 200 from the feeding station to the loading station.

[0090] Specifically, the first lifting mechanism 9 can move between the loading station and the feeding station along the first direction X. When the first lifting mechanism 9 moves to the feeding station, a tray 300 loaded with PCM board 200 can be placed on the first lifting mechanism 9 at the feeding station by manual or mechanical means. Then, the first lifting mechanism 9 transfers the tray 300 loaded with PCM board 200 to the loading station. When the conveying mechanism 8 moves to the loading station, it grabs the tray 300 loaded with PCM board 200 from the first lifting mechanism 9 at the loading station through the gripping device. Finally, the tray 300 loaded with PCM board 200 is placed on the positioning mechanism 2. In this way, the first lifting mechanism 9 realizes the automatic conveying of the tray 300 to the loading station, which further improves the automation level of the loading equipment 100.

[0091] In some embodiments of this application, such as Figure 9As shown, the first lifting mechanism 9 includes a first lifting platform 91 and a first driving member 92. The first lifting platform 91 is suitable for placing a tray 300 loaded with PCM board 200. The first driving member 92 is fixedly installed on the frame 1. The first lifting platform 91 is fixedly connected to the driving end of the first driving member 92. The first driving member 92 is used to drive the first lifting platform 91 to move along the first direction X to the loading station or feeding station.

[0092] Specifically, the first driving component 92 can be configured as a drive motor or a drive cylinder. The driving end of the first driving component 92 is fixedly connected to the first lifting platform 91. The first driving component 92 is used to drive the first lifting platform 91 to move up and down along the first direction X. The first lifting platform 91 is used to place the tray 300 loaded with PCM board 200. For example, when the first driving component 92 drives the first lifting platform 91 to the feeding station, the tray 300 loaded with PCM board 200 can be placed on the first lifting platform 91 manually or mechanically. Then, the first driving component 92 drives the first lifting platform 91 to move to the loading station. It should be noted that the first lifting platform 91 is provided with positioning plates 93 on both sides. The first lifting platform 91 can move along the first direction X between the two positioning plates 93. The two positioning plates 93 can limit and guide the first lifting platform 91, thereby preventing the tray 300 on the first lifting platform 91 from shifting or falling during the movement.

[0093] In some embodiments of this application, such as Figure 10 As shown, the positioning mechanism 2 includes an installation platform 21 and a moving part 22. The installation platform 21 is fixedly installed on the frame 1 and is used to place the material tray 300 loaded with PCM board 200. The moving part 22 is movably arranged on the installation platform 21 and is adapted to drive the empty material tray 400 after being picked up to move to the return station.

[0094] Specifically, continue with the feeding equipment at 100... Figure 2Taking the placement direction shown as an example, two positioning mechanisms 2 are symmetrically fixed on both sides of the frame 1. Each positioning mechanism 2 corresponds to a return station. This application only uses the left positioning mechanism 2 as an example. There is a return station between the left positioning mechanism 2 and the loading station. Before the conveying mechanism 8 places the tray 300 loaded with PCM board 200 on the mounting platform 21, the moving part 22 moves to the side of the mounting platform 21 away from the return station. It can be understood that when the conveying mechanism 8 places the tray 300 loaded with PCM board 200 on the mounting platform 21, the tray 300 loaded with PCM board 200 is located between the moving part 22 and the return station. After the left picking robot 4 has taken all the PCM board 200 from the tray 300, the moving part 22 moves towards the return station so that the moving part 22 pushes the empty tray 400 towards the return station during the movement. Figure 10 As shown, when the moving part 22 moves out of the installation platform 21 and closes to the return station, the empty material tray 400 moves to the return station. It should be noted that the return station has a bearing component, which is used to carry the empty material tray 400 that has moved to the return station. With this setting, the empty material tray 400 can be discharged from the positioning mechanism 2 in a timely manner, thereby improving the working efficiency of the feeding equipment 100.

[0095] In some embodiments of this application, a second lifting mechanism 10 is further included. The second lifting mechanism 10 is movably disposed on the frame 1 and along the first direction X. The second lifting mechanism 10 can be selectively moved to the return station or the recycling station. The second lifting mechanism 10 is adapted to transfer the empty material tray 400 after material removal from the return station to the recycling station.

[0096] Specifically, the second lifting mechanism 10 can move along the first direction X between the return station and the recycling station. When the first lifting mechanism 9 moves to the return station, the second lifting mechanism 10 can use a mechanical gripper to grab the empty material tray 400 from the carrier, or, as... Figure 1 and Figure 2 As shown, the second lifting mechanism 10 is located directly below the return station. When the drive carrier moves so that it no longer carries the empty material tray 400, the empty material tray 400 can fall directly onto the second lifting mechanism 10. Then, the second lifting mechanism 10 transfers the empty material tray 400 to the recycling station. The empty material tray 400 at the recycling station can be recycled manually or mechanically. In this way, the second lifting mechanism 10 realizes the automatic delivery of the empty material tray 400 to the recycling station, further improving the automation level of the feeding equipment 100.

[0097] In some embodiments of this application, the second lifting mechanism 10 includes: a second lifting platform and a second driving member. The second lifting platform is adapted to place the empty material tray 400 after the material has been picked up. The second driving member is fixedly installed on the frame 1. The second lifting platform is fixedly connected to the driving end of the second driving member. The second driving member is used to drive the second lifting platform to move along the first direction X to the return station or recycling station.

[0098] Specifically, the second driving component can be configured as a drive motor or a drive cylinder. The driving end of the second driving component is fixedly connected to the second lifting platform. The second driving component is used to drive the second lifting platform to move up and down along the first direction X. The second lifting platform is used to place the empty material tray 400. For example, when the second driving component drives the second lifting platform to the return station, the second lifting platform is located directly below the return station. When the drive carrier moves so that the carrier no longer carries the empty material tray 400, the empty material tray 400 can fall directly onto the second lifting platform. Then, the second driving component drives the second lifting platform to the recycling station. The empty material tray 400 at the recycling station can be recycled manually or mechanically. It should be noted that the second lifting platform is provided with positioning plates 93 on both sides. The second lifting platform can move along the first direction X between the two positioning plates 93. The two positioning plates 93 can limit and guide the second lifting platform, thereby preventing the empty material tray 400 on the second lifting platform from shifting or falling during the movement.

[0099] In some embodiments of this application, such as Figure 1 As shown, it also includes a barcode scanning mechanism 11, which is set on the frame 1. When the picking robot 4 moves the PCM board 200 that has been picked up to a preset position, the PCM board 200 that has been moved to the preset position is within the scanning field of the barcode scanning mechanism 11. The barcode scanning mechanism 11 is used to send the barcode information obtained by scanning the label of the picked PCM board 200 to the picking robot 4. The picking robot 4 is also configured to selectively assemble the PCM board 200 with the battery cell 500 or transfer the PCM board 200 to the waste discharge station based on the barcode information.

[0100] Specifically, each PCM board 200 is labeled, which can be a QR code label or a barcode label. The label of the PCM board 200 contains the model information of the current PCM board 200 and the model information of the matching battery cell 500. When the picking robot 4 moves the PCM board 200 to the preset position, the label of the PCM board 200 is within the scanning field of the scanning mechanism 11. The scanning mechanism 11 scans the label on the PCM board 200 to obtain the scanning information of the current PCM board 200. The scanning information of the PCM board 200 includes the model information of the PCM board 200. If the model information of the PCM board 200 matches the model information of the battery cell 500 to be assembled, the picking robot 4 will assemble the PCM board 200 and the battery cell 500. If the model information of the PCM board 200 does not match the model information of the battery cell 500 to be assembled, the picking robot 4 will transfer the PCM board 200 to the waste discharge station. Thus, by setting up the barcode scanning mechanism 11, the consistency between the PCM board 200 and the battery cell 500 model can be ensured, avoiding the situation where the PCM board 200 and the battery cell 500 cannot be installed together.

[0101] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0102] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0103] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

[0104] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A feeding device for PCM boards, characterized in that, The feeding device (100) has a first direction (X), and the feeding device (100) includes: Rack (1); Positioning mechanism (2), the positioning mechanism (2) is disposed on the frame (1), the positioning mechanism (2) is used to place the tray (300) loaded with the PCM board (200); The first photographing mechanism (3) and the picking robot (4) are both located on the frame (1) along the first direction (X). The first photographing mechanism (3) is positioned opposite to and spaced apart from the positioning mechanism (2). The first photographing mechanism (3) is used to take a picture of the PCM board (200) on the tray (300) to obtain a first positioning reference. The first photographing mechanism (3) is also used to send the first positioning reference to the picking robot (4). The picking robot (4) is configured to take out the PCM board (200) from the tray (300) based on the first positioning reference and adjust the taken-out PCM board (200) to a pre-positioned posture.

2. The feeding device for PCM boards according to claim 1, characterized in that, The material handling robot (4) includes a first mounting base (41), a robotic arm (42), and a suction component (43). The first mounting base (41) is fixedly mounted on the frame (1). The robotic arm (42) is movably disposed on the first mounting base (41). The suction component (43) is disposed on the robotic arm (42). The robotic arm (42) is configured to drive the suction component (43) to move to a position relative to the PCM board (200) along the first direction (X) based on the first positioning reference. The suction component (43) is used to pick up the PCM board (200) from the tray (300). The robotic arm (42) is also used to adjust the picked-up PCM board (200) to a pre-positioned posture.

3. The feeding device for PCM boards according to claim 2, characterized in that, The material handling robot (4) further includes a first clamping member (44) and a second clamping member (45) that are arranged opposite to each other and spaced apart. The first clamping member (44) and the second clamping member (45) are both disposed on the manipulator (42), and at least one of the first clamping member (44) and the second clamping member (45) is movable relative to the other so that the first clamping member (44) and the second clamping member (45) clamp and position the PCM board (200) that has been picked up.

4. The feeding device for PCM boards according to any one of claims 1-3, characterized in that, Also includes: A cell mounting mechanism (5) is provided on the frame (1) and is used to fix and mount the cell (500); The second photographing mechanism (6) is disposed on the frame (1). The picking robot (4) is also adapted to move the removed PCM board (200) to a preset position, wherein the PCM board (200) moved to the preset position is located within the photographing view of the second photographing mechanism (6). The second photographing mechanism (6) is used to send the second positioning reference obtained by photographing the removed PCM board (200) to the picking robot (4). The third photographing mechanism (7) is disposed on the frame (1), wherein the battery cell (500) installed on the battery cell mounting mechanism (5) is located within the photographing angle of the third photographing mechanism (7), and the third photographing mechanism (7) is used to send the third positioning reference obtained by photographing the battery cell (500) to the material handling robot (4). The material handling robot (4) is also configured to adjust the PCM board (200) from the prepositioned position to the target position based on the correction signal determined by the second positioning reference and the third positioning reference for assembly with the battery cell (500).

5. The feeding device for PCM boards according to any one of claims 1-3, characterized in that, Also includes: A conveying mechanism (8) is movably disposed on the frame (1) and is movable to the loading station. The conveying mechanism (8) is adapted to grab a tray (300) loaded with the PCM board (200) from the loading station and transfer the tray (300) loaded with the PCM board (200) to the positioning mechanism (2).

6. The feeding device for PCM boards according to claim 5, characterized in that, Also includes: A first lifting mechanism (9) is movably disposed on the frame (1) and along the first direction (X), the first lifting mechanism (9) is adapted to transfer a tray (300) loaded with the PCM board (200) from the feeding station to the loading station.

7. The feeding device for PCM boards according to claim 6, characterized in that, The first lifting mechanism (9) includes: a first lifting platform (91) and a first driving member (92). The first lifting platform (91) is adapted to place a tray (300) loaded with the PCM board (200). The first driving member (92) is fixedly installed on the frame (1). The first lifting platform (91) is fixedly connected to the driving end of the first driving member (92). The first driving member (92) is used to drive the first lifting platform (91) to move along the first direction (X) to the loading station or the feeding station.

8. The feeding device for PCM boards according to claim 6, characterized in that, The positioning mechanism (2) includes an installation platform (21) and a moving part (22). The installation platform (21) is fixedly installed on the frame (1). The installation platform (21) is used to place a tray (300) loaded with the PCM board (200). The moving part (22) is movably disposed on the installation platform (21) and is adapted to drive the empty tray (400) after being picked up to move to the return station.

9. The feeding device for PCM boards according to claim 8, characterized in that, Also includes: The second lifting mechanism (10) is movably disposed on the frame (1) and along the first direction (X), the second lifting mechanism (10) is adapted to transfer the empty material tray (400) after being picked up from the return station to the recycling station.

10. The feeding device for PCM boards according to claim 9, characterized in that, The second lifting mechanism (10) includes: a second lifting platform and a second driving member. The second lifting platform is adapted to place an empty material tray (400) after the material is taken out. The second driving member is fixedly installed on the frame (1). The second lifting platform is fixedly connected to the driving end of the second driving member. The second driving member is used to drive the second lifting platform to move along the first direction (X) to the return station or the recycling station.

11. The feeding device for PCM boards according to claim 4, characterized in that, Also includes: A barcode scanning mechanism (11) is provided on the frame (1). When the picking robot (4) moves the removed PCM board (200) to the preset position, the PCM board (200) moved to the preset position is within the scanning field of the barcode scanning mechanism (11). The barcode scanning mechanism (11) is used to send the barcode information obtained by scanning the label of the removed PCM board (200) to the picking robot (4). The picking robot (4) is also configured to selectively assemble the PCM board (200) with the battery cell (500) or transfer the PCM board (200) to the waste discharge station based on the barcode information.

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