Positioning a load handling device
By combining the positioning fixtures and vision inspection mechanism of the positioning and transfer equipment, the problem of inaccurate positioning during traditional robotic arm loading is solved, enabling accurate positioning and efficient loading of precision products such as battery cells, improving the positioning accuracy and consistency of the equipment, and optimizing the equipment layout.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HUIZHOU DESAY BATTERY
- Filing Date
- 2025-06-26
- Publication Date
- 2026-07-03
AI Technical Summary
Traditional robotic arms for feeding products lack intermediate positioning and inspection processes in the automated production of precision products such as battery cells. This results in inaccurate final product placement and makes it difficult to ensure precise alignment with production line fixtures. Existing solutions for improving the accuracy of robotic arms cannot eliminate positional deviations.
The positioning and transfer equipment includes a transfer mechanism, a positioning mechanism, and a vision inspection mechanism. Through the cooperation of the positioning fixture and the vision inspection mechanism, the product is accurately positioned. The drive component moves between the loading/unloading station and the inspection station, separating the spatial layout of inspection and loading/unloading. Combined with vision inspection, the accuracy of the product's posture is ensured.
It achieves accurate positioning when products are loaded onto the processing line, eliminates the positioning loss problem of traditional robotic arms, ensures the accuracy and consistency of the transfer mechanism in grasping products, optimizes equipment layout, avoids mechanical interference, and improves positioning efficiency and accuracy.
Smart Images
Figure CN224449234U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of automation equipment, and more specifically, to a positioning and transfer device. Background Technology
[0002] In the automated production of precision products such as battery cells, traditional robotic arms typically handle products by directly gripping them and transferring them to the production line fixtures. However, due to the lack of intermediate positioning and detection between the robotic arm's actuator and the fixtures, the products are susceptible to mechanical vibration and gripping posture deviations during transfer, leading to inaccurate final placement. When high positioning accuracy is required for the production line fixtures, the direct loading method cannot guarantee precise alignment between the product and the fixture, resulting in assembly errors in subsequent processes. While existing technologies attempt to improve the positioning accuracy of the robotic arm, limitations exist due to the accumulation of repetitive positioning errors and fluctuations in the product's incoming condition; solutions relying solely on the robotic arm's precision cannot eliminate posture deviations. Utility Model Content
[0003] The purpose of this invention is to provide a positioning and transfer device that can accurately position products and ensure the accuracy of loading.
[0004] A positioning and transfer device includes a transfer mechanism, a positioning mechanism, and a visual inspection mechanism;
[0005] The positioning mechanism includes a positioning fixture and a drive assembly;
[0006] The transfer mechanism is used to move the product into or out of the positioning fixture;
[0007] The drive component is connected to the positioning fixture and is used to drive the positioning fixture to move between the loading / unloading station and the inspection station.
[0008] The visual inspection mechanism is located adjacent to the inspection station and is used to detect the position and posture of the product located on the positioning fixture.
[0009] In the above technical solution, the transfer mechanism loads the product onto a positioning fixture located at the loading / unloading station. The positioning fixture positions the product, and then a drive component moves the positioning fixture to the inspection station. A vision inspection mechanism detects the product's pose, further ensuring the accuracy of product positioning. The drive component then drives the positioning fixture back to the loading / unloading station, and the transfer mechanism removes the product and loads it onto a fixture on the processing line. Through the cooperation of the positioning mechanism and the vision inspection mechanism, the product can be accurately positioned before being loaded onto the processing line, eliminating the positioning errors inherent in traditional robotic arms. This ensures the accuracy and consistency of the transfer mechanism's gripping of the product, making the product's position on the processing line more accurate. By driving the positioning fixture between the loading / unloading station and the inspection station, the inspection and loading / unloading processes can be spatially separated, avoiding mechanical interference and resulting in a more rational layout.
[0010] Furthermore, the positioning fixture includes a support base, a first positioning block and a first pushing assembly disposed opposite each other on the support base in a first direction, and a second positioning block and a second pushing assembly disposed opposite each other on the support base in a second direction.
[0011] In the above technical solution, the first positioning block and the second positioning block can form a rigid positioning reference in the first direction and the second direction. The product is pushed by the first pushing component and the second pushing component respectively, so that the two sides of the product abut against the first positioning block and the second positioning block respectively, thereby achieving accurate positioning of the product.
[0012] Furthermore, both the first and second pushing components include a pushing drive and a pushing block, wherein the pushing drive is used to drive the pushing block to move linearly.
[0013] In the above technical solution, the push drive can drive the push block to move linearly. By pushing the side of the product with the push block, the product is made to abut against the first positioning block and the second positioning block, thereby achieving product positioning. The structure is simple and easy to implement.
[0014] Furthermore, there are two positioning mechanisms, which are arranged adjacent to each other, and the positioning fixtures of the two positioning mechanisms have a height difference.
[0015] In the above technical solution, the positioning fixtures of the two positioning mechanisms have a height difference, so that the two positioning fixtures overlap on the horizontal projection plane and are staggered in the vertical space, thereby realizing the alternating operation of the two workstations, effectively optimizing the equipment layout, reducing the space occupied, and improving the positioning efficiency.
[0016] Furthermore, the visual inspection mechanism includes a support, a lifting drive assembly, and a camera assembly. The lifting drive assembly is disposed on the support and connected to the camera assembly, and is used to drive the camera assembly to move along the height direction.
[0017] In the above technical solution, the lifting drive component can drive the camera component to move along the height direction, thereby adjusting the height of the camera component to meet the testing requirements of different specifications of battery cells.
[0018] Furthermore, a barcode scanning component for scanning products is provided near the inspection station.
[0019] In the above technical solution, a barcode scanning component is integrated into the inspection station, which can scan the product while it is being positioned and inspected, thereby improving production efficiency.
[0020] Furthermore, a buffer strip for temporarily storing products is provided near the loading and unloading station.
[0021] In the above technical solution, the buffer tape forms a buffer storage area at the loading and unloading stations, which can temporarily store products that fail the inspection, making it convenient for the products to be re-inspected or recycled.
[0022] Furthermore, the transfer mechanism includes a loading robot and a unloading robot. The loading robot is used to move the product into the positioning fixture, and the unloading robot is used to remove the product from the positioning fixture.
[0023] In the above technical solution, the loading robot and the unloading robot can separate the loading and unloading processes. When the loading robot places the product into the positioning fixture, the unloading robot can simultaneously remove the qualified product. The positioning accuracy and stability are improved by specializing the functions of the robots.
[0024] Compared with existing technologies, the beneficial effects of this utility model are as follows: The transfer mechanism loads the product onto the positioning fixture located at the loading / unloading station. The positioning fixture positions the product, and then the drive component moves the positioning fixture to the inspection station. The vision inspection mechanism detects the product's pose, further ensuring the accuracy of product positioning. Then, the drive component drives the positioning fixture back to the loading / unloading station, and the transfer mechanism removes the product and loads it onto the fixture on the processing line. Through the cooperation of the positioning mechanism and the vision inspection mechanism, the product can be accurately positioned before being loaded onto the processing line, eliminating the positioning loss problem of traditional robotic arms during loading. This ensures the accuracy and consistency of the transfer mechanism when gripping the product, making the product's position on the processing line more accurate. By driving the positioning fixture between the loading / unloading station and the inspection station, the inspection and loading / unloading processes can be separated in spatial layout, avoiding mechanical interference and resulting in a more rational layout. Attached Figure Description
[0025] Figure 1 This is a schematic diagram of the positioning and transfer device according to an embodiment of the present utility model.
[0026] Figure 2This is a schematic diagram of the positioning mechanism according to an embodiment of the present utility model.
[0027] Figure 3 This is a schematic diagram of the positioning fixture according to an embodiment of the present invention.
[0028] Figure 4 This is a schematic diagram of the structure of the visual inspection component according to an embodiment of the present invention.
[0029] Explanation of icon numbers:
[0030] 1. Transfer mechanism, 11. Loading robot, 12. Unloading robot, 2. Positioning mechanism, 21. Positioning fixture, 211. Bearing seat, 212. First positioning block, 213. First pushing assembly, 214. Second positioning block, 215. Second pushing assembly, 216. Pushing drive component, 217. Drive assembly, 22. Vision inspection mechanism, 3. Support, 31. Lifting drive assembly, 32. Camera assembly, 33. Barcode scanning assembly, 4. Buffer tape. Detailed Implementation
[0031] 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, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0032] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0033] Please refer to Figures 1 to 4 In a preferred embodiment, the positioning and transfer device of this utility model mainly includes a transfer mechanism 1, a positioning mechanism 2, and a vision inspection mechanism 3. The positioning mechanism 2 includes a positioning fixture 21 and a drive assembly 22. The transfer mechanism 1 is used to move products into or out of the positioning fixture 21. The drive assembly 22 is connected to the positioning fixture 21 and is used to drive the positioning fixture 21 to move between the loading / unloading station and the inspection station. The vision inspection mechanism 3 is located adjacent to the inspection station and is used to detect the position and orientation of the product located on the positioning fixture 21.
[0034] In this embodiment, the transfer mechanism 1 includes a loading robot 11 and a unloading robot 12. The loading robot 11 is used to move the product into the positioning fixture 21, and the unloading robot 12 is used to remove the product from the positioning fixture 21. It is understood that the loading robot 11 and the unloading robot 12 can be existing multi-axis robots, and their actuators can be suction cups that use negative pressure to pick up the battery cell products. The loading robot 11 and the unloading robot 12 can separate the loading and unloading processes. When the loading robot 11 places a product into the positioning fixture 21, the unloading robot 12 can simultaneously remove the qualified product, thus improving the positioning accuracy and stability through the specialization of the robot's function.
[0035] The drive component 22 can be an existing linear drive device, such as a linear module driven by a servo motor. The loading / unloading station and the inspection station are located at the two ends of the movement path of the positioning fixture 21, respectively. When the positioning fixture 21 is at the loading / unloading station, the transfer mechanism 1 can load and unload the positioning fixture 21. When the positioning fixture 21 is at the inspection station, the vision inspection mechanism 3 can perform pose detection on the product located on the positioning fixture 21.
[0036] To facilitate understanding of the above technical solution, its working process is described below: The transfer mechanism 1 loads the product onto the positioning fixture 21 located at the loading / unloading station. The positioning fixture 21 positions the product. Then, the drive component 22 drives the positioning fixture 21 to move to the inspection station. The vision inspection mechanism 3 detects the product's pose to further ensure the accuracy of the product positioning. Then, the drive component 22 drives the positioning fixture 21 back to the loading / unloading station. The transfer mechanism 1 takes out the product and loads it onto the fixture on the processing line.
[0037] As can be seen from the above technical solution, by cooperating with the positioning mechanism 2 and the vision inspection mechanism 3, the product can be accurately positioned before it is loaded onto the processing line. This eliminates the positioning loss problem of traditional robotic arms during loading, ensuring the accuracy and consistency of the transfer mechanism 1 when gripping the product, and making the product's position on the processing line more accurate. By driving the positioning fixture 21 to move between the loading / unloading station and the inspection station through the drive component 22, the inspection and loading / unloading processes can be separated in spatial layout, avoiding mechanical interference and making the layout more reasonable.
[0038] Please refer to Figure 3The positioning fixture 21 includes a support base 211, a first positioning block 212 and a first pushing assembly 213 disposed opposite to each other on the support base 211 along a first direction, and a second positioning block 214 and a second pushing assembly 215 disposed opposite to each other on the support base 211 along a second direction. The first and second directions are two mutually perpendicular directions on a horizontal surface. The first positioning block 212 and the second positioning block 214 can form a rigid positioning reference in the first and second directions. By pushing the product with the first pushing assembly 213 and the second pushing assembly 215 respectively, the two sides of the product abut against the first positioning block 212 and the second positioning block 214, thereby achieving accurate positioning of the product.
[0039] Specifically, both the first pushing assembly 213 and the second pushing assembly 215 include a pushing drive 216 and a push block 217. The pushing drive 216 is used to drive the push block 217 to move linearly. For example, the pushing drive 216 can be an existing linear drive device, such as a cylinder. In this embodiment, the support base 211 is provided with a slide rail, the push block 217 is slidably connected to the slide rail, and the output end of the pushing drive 216 is connected to the push block 217, which can drive the push block 217 to move linearly. By pushing the side of the product with the push block 217, the product abuts against the first positioning block 212 and the second positioning block 214, thereby achieving product positioning. The structure is simple and easy to implement.
[0040] In this embodiment, there are two positioning mechanisms 2, which are arranged adjacent to each other, and the positioning fixtures 21 of the two positioning mechanisms 2 have a height difference. By setting two positioning mechanisms 2 and the positioning fixtures 21 of the two positioning mechanisms 2 having a height difference, the two positioning fixtures 21 overlap on the horizontal projection plane but are staggered in vertical space. For example, when one positioning fixture 21 is located at the loading and unloading station, the other positioning fixture 21 is located at the detection station, so that the pose detection and loading and unloading can be performed simultaneously. When both positioning fixtures 21 have completed the corresponding process, they move simultaneously and exchange positions, thereby realizing dual-station alternating operation, effectively optimizing the equipment layout, reducing the space occupied, and improving positioning efficiency.
[0041] Please refer to Figure 4 The visual inspection mechanism 3 includes a support 31, a lifting drive assembly 3222, and a camera assembly 33. The lifting drive assembly 3222 is mounted on the support 31 and connected to the camera assembly 33. The lifting drive assembly 3222 is used to drive the camera assembly 33 to move along the height direction. For example, the lifting drive assembly 3222 can be an existing linear drive module. The lifting drive assembly 3222 can drive the camera assembly 33 to move along the height direction, thereby adjusting the height of the camera assembly 33 to meet the inspection requirements of battery cells of different specifications.
[0042] In this embodiment, a barcode scanning component 4 for scanning products is provided near the inspection station. The barcode scanning component 4 can be an existing barcode scanning device. By integrating the barcode scanning component 4 into the inspection station, the product can be scanned while it is being positioned and inspected, thus improving production efficiency.
[0043] In this embodiment, a buffer strip 5 for temporarily storing products is provided near the loading and unloading stations. It is understood that the buffer strip 5 can use existing strips; its specific structure will not be described in detail here. The buffer strip 5 forms a buffer storage area at the loading and unloading stations, which can temporarily store products that fail inspection, facilitating secondary inspection or recycling of the products.
[0044] In the description of this utility model, it should be understood that terms such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0045] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.
[0046] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A positioning and transfer device, characterized in that, This includes transfer mechanisms, positioning mechanisms, and visual inspection mechanisms; The positioning mechanism includes a positioning fixture and a drive assembly; The transfer mechanism is used to move the product into or out of the positioning fixture; The drive component is connected to the positioning fixture and is used to drive the positioning fixture to move between the loading / unloading station and the inspection station. The visual inspection mechanism is located adjacent to the inspection station and is used to detect the position and posture of the product located on the positioning fixture.
2. The positioning and transfer apparatus according to claim 1, wherein The positioning fixture includes a support base, a first positioning block and a first pushing assembly disposed opposite each other on the support base in a first direction, and a second positioning block and a second pushing assembly disposed opposite each other on the support base in a second direction.
3. The positioning and transfer apparatus according to claim 2, wherein Both the first and second push components include a push drive and a push block, wherein the push drive is used to drive the push block to move linearly.
4. The positioning and transfer apparatus according to claim 1, wherein There are two positioning mechanisms, which are arranged adjacent to each other, and the positioning fixtures of the two positioning mechanisms have a height difference.
5. The positioning and transfer apparatus according to claim 1, wherein The visual inspection mechanism includes a support, a lifting drive assembly, and a camera assembly. The lifting drive assembly is mounted on the support and connected to the camera assembly, and is used to drive the camera assembly to move along the height direction.
6. The positioning and transfer apparatus according to claim 1, wherein A barcode scanning component for scanning products is provided near the inspection station.
7. The positioning and transfer apparatus according to claim 1, wherein A buffer strip for temporarily storing products is provided near the loading and unloading station.
8. The positioning and conveying apparatus according to claim 1, wherein The transfer mechanism includes a loading robot and a unloading robot. The loading robot is used to move the product into the positioning fixture, and the unloading robot is used to remove the product from the positioning fixture.