Handling apparatus and working method therefor

Abstract

Disclosed in the present application are a handling apparatus and a working method therefor. The handling apparatus is configured to handle nickel sheets, and comprises a translation mechanism, a pick-up mechanism, a sensing device and a removal device, wherein the pick-up mechanism is mounted on the translation mechanism, and the pick-up mechanism can perform translational motion at least in a first direction under the action of a driving force of the translation mechanism; the pick-up mechanism comprises adsorption devices, which are configured to adsorb the nickel sheets, and when the nickel sheets are adsorbed onto the adsorption devices, the first direction corresponds to the direction of the thickness of the nickel sheets; the sensing device is connected to the pick-up mechanism, and the sensing device is configured to measure the total thickness of all the nickel sheets adsorbed by the adsorption devices and provide a feedback signal; and when the feedback signal indicates that at least two nickel sheets are adsorbed by the adsorption devices, with the first nickel sheet being directly connected to the adsorption devices and the remaining nickel sheets being stacked on the side of the first nickel sheet away from the adsorption devices, the removal device is configured to remove the remaining nickel sheets.

Description

A handling device and a working method thereof

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on February 29, 2024, with application number 202410234935.X and application name “A handling device and its working method”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of battery manufacturing technology, and more specifically, to a handling device and a working method thereof. Background Art

[0004] With my country's increasing emphasis on energy conservation and environmental protection, the use of environmentally friendly electrical equipment is becoming increasingly widespread. These devices are powered by lithium batteries, which offer advantages such as high energy density, long cycle life, and high energy conversion efficiency. The lithium battery production process requires handling nickel sheets.

[0005] Due to the small size of nickel sheets, stacking of multiple sheets can easily occur during handling. Existing nickel sheet handling mechanisms are unable to determine whether stacking is present. Furthermore, to address and prevent stacking after welding, existing techniques often require manual inspection of all products to determine if any stacking is present. These stacked products are then directly discarded, resulting in low detection efficiency and high costs.

[0006] Therefore, it is necessary to propose a new technical solution to solve the above technical problems. Summary of the Invention

[0007] The purpose of this application is to provide a new technical solution for handling equipment and its working method.

[0008] In a first aspect, the present application discloses a transport device for transporting nickel sheets, comprising:

[0009] a translation mechanism, wherein the translation mechanism can at least provide a driving force for translational movement along a first direction;

[0010] a picking mechanism, the picking mechanism being mounted on the translation mechanism and capable of translational movement in at least a first direction under the driving force of the translation mechanism; the picking mechanism comprising a suction device, the suction device being configured to suction the nickel sheet, wherein when the nickel sheet is suctioned to the suction device, the first direction corresponds to a thickness direction of the nickel sheet;

[0011] a sensing device connected to the picking mechanism, the sensing device being configured to measure the total thickness of all nickel sheets adsorbed by the adsorption device and provide a feedback signal;

[0012] A removal device, when the feedback signal is judged that the adsorption device adsorbs at least two nickel sheets, the first nickel sheet is directly connected to the adsorption device, and the remaining nickel sheets are stacked on the side of the first nickel sheet away from the adsorption device, the removal device is configured to remove the remaining nickel sheets.

[0013] Optionally, the translation mechanism includes a first translation device, a second translation device, and a third translation device; the taking mechanism is mounted on the first translation device, the first translation device is mounted on the second translation device, and the second translation device is mounted on the third translation device;

[0014] The picking mechanism moves translationally along the first direction under the driving force of the first translation device, the first translation device moves translationally along the second direction under the driving force of the second translation device, and the second translation device moves translationally along the third direction under the driving force of the third translation device.

[0015] Optionally, the picking mechanism also includes a support frame, and the adsorption device is installed on the support frame; the adsorption device includes a fixed block and an adsorption head, the fixed block is connected to the support frame, the first end of the adsorption head is connected to the fixed block, and the second end of the adsorption head is used to adsorb the nickel sheet.

[0016] Optionally, the cross-section of the adsorption head is rectangular, and the material of the adsorption head is stainless steel.

[0017] Optionally, the handling device further comprises a measuring platform, the measuring platform being arranged opposite to the second end of the adsorption head, and the measuring platform being used to abut against the second end of the adsorption head;

[0018] The sensing device is a contact displacement sensor, comprising a housing and a contact rod. The housing is mounted on the support frame, one end of the contact rod is connected to the housing, and the other end of the contact rod is directly or indirectly in contact with the adsorption device.

[0019] Optionally, the taking mechanism further includes a linear guide rail and a transfer block, the linear guide rail includes a track and a slider, the track is mounted on the support frame, and the track extends along the first direction;

[0020] The adapter block is connected to the slider, the adsorption device is provided on the adapter block, and the adsorption device is installed on the support frame through the adapter block and the linear guide rail.

[0021] Optionally, the taking mechanism further comprises a connecting block, a limiting rod and an elastic member, wherein the connecting block is connected to the supporting frame, and the connecting block and the adapter block are opposite to each other and spaced apart along the first direction;

[0022] One end of the limiting rod is connected to the connecting block, and the other end of the limiting rod is connected to the adapter block. The elastic member is sleeved on the outside of the limiting rod, and the elastic member is located between the connecting block and the adapter block.

[0023] Optionally, the connecting block is provided with a through hole, the limiting rod comprises a rod body and a limiting platform, the rod body is passed through the through hole; the end of the rod body connected to the connecting block is provided with the limiting platform;

[0024] The elastic member is sleeved on the outside of the rod body; along the first direction, the projection of the limiting platform covers the projection of the through hole.

[0025] Optionally, the taking mechanism further includes a buffer sleeve, which is sleeved on the outside of the rod body, and the buffer sleeve is provided between the limit platform and the connecting block, between the elastic member and the connecting block, and between the elastic member and the adapter block.

[0026] Optionally, the number of the adsorption devices is two, and the two adsorption devices independently adsorb the nickel sheet; the sensing device, the linear guide rail, the adapter block, the connecting block, the limit rod and the elastic member are all arranged corresponding to the adsorption device.

[0027] Optionally, the removal device includes an air blowing pipe and an air supply member, one end of the air blowing pipe is connected to the air supply member, and the other end of the air blowing pipe is used to blow gas to remove the remaining nickel sheets.

[0028] Optionally, the transporting equipment further includes a recovery box, which is arranged below the removing device and is used to receive the remaining nickel sheets removed by the removing device.

[0029] In a second aspect, the present application discloses a working method of the handling device according to the first aspect, the working method comprising:

[0030] The taking mechanism moves translationally at least in a first direction under the driving force of the translation mechanism so that the adsorption device adsorbs the nickel sheet;

[0031] The sensing device performs a measurement operation on the nickel sheet to measure the total thickness of all nickel sheets adsorbed by the adsorption device and provide a feedback signal;

[0032] When the feedback signal indicates that the adsorption device adsorbs at least two nickel sheets, wherein the first nickel sheet is directly connected to the adsorption device, and the remaining nickel sheets are stacked on a side of the first nickel sheet away from the adsorption device, the removal device removes the remaining nickel sheets;

[0033] The sensing device repeats the measuring action, and when the feedback signal is judged that the adsorption device adsorbs at least two nickel sheets, the removing device repeats the removing action until the feedback signal is judged that the adsorption device adsorbs one nickel sheet.

[0034] In combination with the above technical solution, the transporting equipment provided in the embodiment of the present application can measure and judge the nickel sheets transported by the adsorption device. When there are multiple nickel sheets stacked together and transported by the adsorption device, the transporting equipment provided in the embodiment of the present application can remove the excess nickel sheets to ensure that the adsorption device adsorbs and transports a single nickel sheet, thereby improving the material yield and material stability of the transported nickel sheets. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 is a schematic diagram of the overall structure of a handling device provided in one embodiment of the present application;

[0036] FIG2 is a schematic diagram of a partial structure of a handling device provided in one embodiment of the present application;

[0037] FIG3 is a second schematic diagram of a partial structure of a handling device provided by one embodiment of the present application;

[0038] FIG4 is a first structural diagram of a picking mechanism and a sensing device in a handling device provided by an embodiment of the present application;

[0039] FIG5 is a second structural diagram of a picking mechanism and a sensing device in a handling device provided in one embodiment of the present application;

[0040] FIG6 is a schematic structural diagram of an adsorption device in a handling device provided in one embodiment of the present application.

[0041] Description of reference numerals:

[0042] 1. Translation mechanism; 11. First translation device; 12. Second translation device; 13. Third translation device; 2. Picking mechanism; 21. Adsorption device; 211. Fixed block; 212. Adsorption head; 200. Adsorption hole; 213. Vacuum generator; 22. Support frame; 221. Mounting bracket; 222. Vertical plate; 223. Fixed plate; 23. Linear guide rail; 231. Track; 232. Slider; 24. Adapter block; 25. Connecting block; 26. Limit rod; 261. Rod body; 260. Limit platform; 27. Elastic member; 28. Buffer sleeve; 3. Sensing device; 31. Casing; 32. Contact rod; 4. Removal device; 41. Blowing pipe; 5. Measuring platform; 6. Recovery box; 7. Frame. DETAILED DESCRIPTION

[0043] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0044] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0045] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0046] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0047] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0048] 1 to 6 , according to one embodiment of the present application, a handling device is provided. The handling device is used to handle nickel sheets and includes a translation mechanism 1, a picking mechanism 2, a sensing device 3, and a removal device 4. The translation mechanism 1 can at least provide a driving force for translational motion along a first direction.

[0049] The picking mechanism 2 is mounted on the translation mechanism 1. The picking mechanism 2 can translate at least along a first direction under the driving force of the translation mechanism 1. The picking mechanism 2 includes a suction device 21. The suction device 21 is configured to suction the nickel sheet. When the nickel sheet is suctioned to the suction device 21, the first direction corresponds to the thickness direction of the nickel sheet.

[0050] The sensing device 3 is connected to the picking mechanism 2 and is configured to measure the total thickness of all nickel sheets adsorbed by the adsorption device 21 and provide a feedback signal;

[0051] When the feedback signal is judged that there are at least two nickel sheets adsorbed by the adsorption device 21, and the first nickel sheet is directly connected to the adsorption device 21, and the remaining nickel sheets are stacked on the side of the first nickel sheet away from the adsorption device 21, the removal device 4 is configured to remove the remaining nickel sheets.

[0052] In the handling equipment provided in the embodiment of the present application, the picking mechanism 2 is used to carry nickel sheets. Under the driving force of the translation mechanism 1, the picking mechanism 2 can move at least along the first direction to the designated work station, and then adsorb the nickel sheets through its adsorption device 21. The nickel sheets are stacked at the designated work station, that is, multiple nickel sheets are stacked along the thickness direction of the nickel sheets. When the adsorption device 21 adsorbs the nickel sheets, it is required that the adsorption device 21 adsorbs only a single nickel sheet at a time for qualified operation; however, since nickel sheets are generally small in size and very thin in thickness, adjacent stacked nickel sheets are prone to mutual adhesion. In this way, when the adsorption device 21 adsorbs the nickel sheets, it often occurs that when the adsorption device 21 adsorbs the first nickel sheet, the first nickel sheet will be lifted up together with the rest of the nickel sheets stacked with it. This is an unqualified operation, and the rest of the nickel sheets that are lifted up need to be removed.

[0053] In the handling device provided in the embodiment of the present application, the sensing device 3 measures the total thickness of all nickel sheets adsorbed by the adsorption device 21 and provides a feedback signal, thereby determining whether the adsorption device 21 adsorbs a single nickel sheet or multiple nickel sheets. If the feedback signal indicates that the adsorption device 21 adsorbs at least two nickel sheets, as described above, that is, the adsorption device 21 not only adsorbs the first nickel sheet that is intended to be adsorbed, but also adheres to and picks up the remaining nickel sheets, in this case, the handling device provided in the embodiment of the present application can remove the remaining nickel sheets using the removal device 4.

[0054] To sum up, the transporting equipment provided in the embodiment of the present application can measure and judge the nickel sheets transported by the adsorption device 21. When there are multiple nickel sheets stacked together and transported by the adsorption device 21, the transporting equipment provided in the embodiment of the present application can also remove the excess nickel sheets to ensure that the adsorption device 21 adsorbs and transports a single nickel sheet, thereby improving the material yield and material stability of the transported nickel sheets.

[0055] 1 and 2 , in one embodiment, the translation mechanism 1 includes a first translation device 11, a second translation device 12, and a third translation device 13; the picking mechanism 2 is mounted on the first translation device 11, the first translation device 11 is mounted on the second translation device 12, and the second translation device 12 is mounted on the third translation device 13;

[0056] The picking mechanism 2 moves translationally along the first direction under the driving force of the first translation device 11, the first translation device 11 moves translationally along the second direction under the driving force of the second translation device 12, and the second translation device 12 moves translationally along the third direction under the driving force of the third translation device 13.

[0057] In this specific example, the translation mechanism 1 includes a first translation device 11, which can provide a driving force for translational movement in a first direction; a second translation device 12, which can provide a driving force for translational movement in a second direction; and a third translation device 13, which can provide a driving force for translational movement in a third direction. Thus, under the driving force of the translation mechanism 1, the picking mechanism 2 can translate in the first, second, and third directions, ensuring that the picking mechanism 2 can move to the designated station to pick up the nickel sheet.

[0058] Optionally, the first translation device 11, the second translation device 12, and the third translation device 13 are all servo screw modules, which have high translation accuracy. Referring to Figure 1, the first direction is the Z direction shown in Figure 1, the second direction is the Y direction shown in Figure 1, and the third direction is the X direction shown in Figure 1.

[0059] As shown in Figure 4, in one embodiment, the picking mechanism 2 also includes a support frame 22, and the adsorption device 21 is installed on the support frame 22; the adsorption device 21 includes a fixed block 211 and an adsorption head 212, the fixed block 211 is connected to the support frame 22, the first end of the adsorption head 212 is connected to the fixed block 211, and the second end of the adsorption head 212 is used to adsorb nickel sheets.

[0060] In this specific example, the support frame 22 provides support and mounting for the adsorption device 21. The support frame 22 is connected to the first translation device 11, and the adsorption device 21 is mounted on the first translation device 11 via the support frame 22. The fixed block 211 in the adsorption device 21 is connected to the support frame 22, and the adsorption head 212 in the adsorption device 21 is used to adsorb the nickel sheet.

[0061] Furthermore, the fixed block 211 has a first cavity, and the adsorption head 212 has a second cavity, the first and second cavities being interconnected. The adsorption device 21 also includes a vacuum generator 213, which is disposed on the fixed block 211 and is in communication with the first cavity of the fixed block 211. The vacuum generator 213 creates a negative pressure in the first and second cavities, thereby enabling the adsorption head 212 to adsorb the nickel sheet. Furthermore, an adsorption hole 200 is defined at the second end of the adsorption head 212.

[0062] 6 , in one embodiment, the cross-section of the adsorption head 212 is rectangular, and the material of the adsorption head 212 is stainless steel.

[0063] In this specific example, the cross-section of the adsorption head 212 is rectangular, and the adsorption head 212 is generally cuboid to better fit the shape of the nickel sheet. The adsorption head 212 is made of stainless steel, which is non-magnetic, has high hardness, and good wear resistance.

[0064] 2 to 4 , in one embodiment, the handling device further includes a measuring platform 5 , the measuring platform 5 being disposed opposite to the second end of the adsorption head 212 , and the measuring platform 5 being configured to abut against the second end of the adsorption head 212 ;

[0065] The sensing device 3 is a contact displacement sensor, which includes a housing 31 and a contact rod 32. The housing 31 is installed on the support frame 22. One end of the contact rod 32 is connected to the housing 31, and the other end of the contact rod 32 is directly or indirectly in contact with the adsorption device 21.

[0066] In this specific example, a contact displacement sensor is selected as the sensing device 3, which can provide more accurate measurement results. During measurement, first, before the adsorption device 21 takes the nickel sheet, the first translation device 11 of the translation mechanism 1 is controlled to descend along the first direction (Z direction) so that the adsorption device 21 contacts the measuring platform 5 and has a certain compression amount (for example, a compression amount of 0.5 wires). At this time, the reading of the sensing device 3 is controlled to be cleared, that is, the sensing device 3 is reset to zero, which is used as the zero point of the measurement; then after the adsorption device 21 takes the nickel sheet, the first translation device 11 of the translation mechanism 1 is controlled to descend along the first direction (Z direction) to the same height. At this time, the data fed back by the sensing device 3 is the total thickness of all the nickel sheets taken by the adsorption device 21. According to the total thickness value, it can be determined whether there are multiple nickel sheets stacked. Since the first translation device 11 is a servo screw module, it has a high repeatability and positioning accuracy, which can ensure that the adsorption device 21 is lowered to the same height each time under the driving force of the first translation device 11.

[0067] Since the contact rod 32 of the sensing device 3 is in direct or indirect contact with the adsorption device 21 , when the measuring platform 5 is in contact with the adsorption head 212 , the contact rod 32 is indirectly contacted by the measuring platform 5 , thereby achieving the purpose of measurement through the sensing device 3 .

[0068] 4 , in one embodiment, the picking mechanism 2 further includes a linear guide rail 23 and a transfer block 24 . The linear guide rail 23 includes a track 231 and a slider 232 . The track 231 is mounted on the support frame 22 . The track 231 extends along a first direction.

[0069] The adapter block 24 is connected to the slider 232 , the adsorption device 21 is disposed on the adapter block 24 , and the adsorption device 21 is mounted on the support frame 22 via the adapter block 24 and the linear guide rail 23 .

[0070] In this specific example, the linear guide 23 can provide precise guiding action; the adsorption device 21 is connected to the slider 232 of the linear guide 23 through the adapter block 24, so that the adsorption head 212 of the adsorption device 21 can be in a flexible state; because the adsorption device 21 moves downward along the first direction (Z direction) and abuts against the measuring platform 5, the adsorption device 21 will be subjected to the reaction force of the measuring platform 5 and move upward. The upward movement of the adsorption device 21 is precisely guided by the linear guide 23, which can ensure the accuracy of the measurement of the sensing device 3.

[0071] 4 and 5 , in one embodiment, the taking mechanism 2 further includes a connecting block 25 , a limiting rod 26 , and an elastic member 27 . The connecting block 25 is connected to the support frame 22 . The connecting block 25 and the adapter block 24 are opposite to each other and spaced apart along a first direction.

[0072] One end of the limiting rod 26 is connected to the connecting block 25 , and the other end of the limiting rod 26 is connected to the adapter block 24 . The elastic member 27 is sleeved on the outside of the limiting rod 26 , and the elastic member 27 is located between the connecting block 25 and the adapter block 24 .

[0073] In this specific example, the elastic member 27 can provide an elastic reset driving force for the adsorption device 21. When the adsorption device 21 moves upward in the first direction (Z direction) under the driving force of the first translation device 11 to separate the adsorption head 212 from the measurement platform 5, the adsorption device 21 can be reset under the elastic reset driving force of the elastic member 27. In addition, the limiting rod 26 can limit the adsorption device 21, ensuring that the adsorption device 21 can be reset to the initial position under the action of the elastic member 27.

[0074] As shown in FIG5 , in one embodiment, the connecting block 25 is provided with a through hole, and the limiting rod 26 includes a rod body 261 and a limiting platform 260 . The rod body 261 is passed through the through hole; the limiting platform 260 is provided at the end where the rod body 261 is connected to the connecting block 25 .

[0075] The elastic member 27 is sleeved on the outside of the rod body 261 ; along the first direction, the projection of the limiting platform 260 covers the projection of the through hole.

[0076] In this specific example, the rod body 261 of the limiting rod 26 is inserted into the through hole of the connecting block 25. The end of the rod body 261 away from the connecting block 25 can be plugged or snap-connected to the adapter block 24. The size of the limiting platform 260 of the limiting rod 26 is larger than the size of the through hole to ensure that the end of the rod body 261 connected to the connecting block 25 does not pass through the through hole of the connecting block 25 and become detached from the connecting block 25.

[0077] As shown in Figure 5, in one embodiment, the taking mechanism 2 also includes a buffer sleeve 28, which is sleeved on the outside of the rod body 261, and the buffer sleeve 28 is provided between the limit platform 260 and the connecting block 25, between the elastic member 27 and the connecting block 25, and between the elastic member 27 and the adapter block 24.

[0078] In this specific example, a total of three U-shaped buffer sleeves 28 are provided to provide buffering protection for the limiting rod 26 , the connecting block 25 and the adapter block 24 .

[0079] As shown in Figure 4, in one embodiment, the number of the adsorption devices 21 is two, and the two adsorption devices 21 independently adsorb the nickel sheet; the sensing device 3, the linear guide rail 23, the adapter block 24, the connecting block 25, the limit rod 26 and the elastic member 27 are all arranged corresponding to the adsorption device 21.

[0080] In this specific example, two adsorption devices 21 are provided in the picking mechanism 2 , and the two adsorption devices 21 adsorb the nickel sheets independently, thereby speeding up the transportation of the nickel sheets and improving production efficiency.

[0081] 3 , in one embodiment, the removal device 4 includes an air blowing pipe 41 and an air supply member. One end of the air blowing pipe 41 is connected to the air supply member, and the other end of the air blowing pipe 41 is used to blow gas to remove the remaining nickel sheets.

[0082] In this specific example, the excess nickel sheets are removed by blowing. Since the nickel sheets are small in size and thin in thickness, if a contact removal method is used, it is not only difficult to operate, but also easy to damage the nickel sheets; therefore, a non-contact method of blowing is used to remove the remaining nickel sheets, which can avoid damage to the nickel sheets. In addition, since the first nickel sheet directly connected to the adsorption device 21 is attached to the adsorption head 212 of the adsorption device 21 by vacuum adsorption, as long as the adsorption device 21 does not perform a vacuum breaking operation, the first nickel sheet is very firmly connected to the adsorption device 21, and when the blowing pipe 41 blows air at the nickel sheet, the first nickel sheet will not be separated from the adsorption device 21; and the remaining nickel sheets stacked with the first nickel sheet have a smaller adhesion force to the first nickel sheet, so the remaining nickel sheets can be easily removed by the blowing action of the blowing pipe 41.

[0083] 3 , in one embodiment, the transport device further includes a recovery box 6 , which is disposed below the removal device 4 , and is configured to receive the remaining nickel sheets removed by the removal device 4 .

[0084] In this specific example, the remaining nickel sheets removed by the removal device 4 are recovered into the recovery box 6 to prevent the remaining nickel sheets from flowing into the next process, thereby ensuring the stability and accuracy of each process.

[0085] In addition, the transport equipment further includes a frame 7 , and the third translation device 13 of the translation mechanism 1 is mounted and fixed on the frame 7 .

[0086] The support frame 22 of the picking mechanism 2 includes a mounting bracket 221, which is installed and fixed on the first translation device 11 of the translation mechanism 1; it also includes a vertical plate 222, and the linear guide rail 23 and the connecting block 25 are fixed to the vertical plate 222; it also includes a fixing plate 223, which is connected to the vertical plate 222, and the housing 31 of the sensing device 3 is installed on the fixing plate 223.

[0087] According to another embodiment of the present application, a working method of the handling device as described above is provided, the working method comprising:

[0088] The picking mechanism 2 moves translationally at least along a first direction under the driving force of the translation mechanism 1 so that the adsorption device 21 adsorbs the nickel sheet;

[0089] The sensing device 3 performs a measurement operation on the nickel sheets to measure the total thickness of all nickel sheets adsorbed by the adsorption device 21 and provide a feedback signal;

[0090] When the feedback signal indicates that the adsorption device 21 adsorbs at least two nickel sheets, wherein the first nickel sheet is directly connected to the adsorption device 21 and the remaining nickel sheets are stacked on a side of the first nickel sheet away from the adsorption device 21, the removal device 4 removes the remaining nickel sheets;

[0091] The sensing device 3 repeats the measurement action, and when the feedback signal is judged that the adsorption device 21 adsorbs at least two nickel sheets, the removing device 4 repeats the removal action; until the feedback signal is judged that the adsorption device 21 adsorbs one nickel sheet.

[0092] The working method of the handling equipment provided in the embodiment of the present application can realize closed-loop control of the nickel sheet adsorbed by the adsorption device 21 through the cooperation of the sensing device 3 and the removal device 4; that is, through the closed-loop control of measurement action-removal action-measurement action-removal action, the missed stacked nickel sheets (the remaining nickel sheets stacked with the first nickel sheet) can still be removed to ensure that only a single nickel sheet is adsorbed by the adsorption device 21.

[0093] In other embodiments, in order to improve production efficiency, each time the adsorption device 21 takes the nickel sheet, the nickel sheet can be blown by the removal device 4 without going through the measurement action of the sensing device 3; as described above, the first nickel sheet directly attached to the adsorption device 21 is very firmly connected, and the adhesion force between the remaining nickel sheets and the first nickel sheet is relatively small. Through the blowing action of the blowing tube 41, it can be basically ensured that the remaining nickel sheets are removed.

[0094] Furthermore, to maximize efficiency, in actual production, the measurement process is typically repeated only once, followed by waste disposal. Repeated failures could indicate deformation of the nickel sheet or residual nickel flakes on the measuring platform. Furthermore, since air blowing to remove nickel flakes is pre-treated before measurement, waste disposal can be performed directly after repeating the measurement process.

[0095] The above embodiments focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0096] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A handling device, characterized in that: The transporting equipment is used to transport nickel sheets, and the transporting equipment includes: A translation mechanism (1), wherein the translation mechanism (1) can at least provide a driving force for translational movement along a first direction; A picking mechanism (2), the picking mechanism (2) being mounted on the translation mechanism (1), the picking mechanism (2) being capable of translational movement at least along a first direction under the action of a driving force of the translation mechanism (1); the picking mechanism (2) comprising an adsorption device (21), the adsorption device (21) being configured to adsorb a nickel sheet, and when the nickel sheet is adsorbed on the adsorption device (21), the first direction corresponds to a thickness direction of the nickel sheet; a sensing device (3), the sensing device (3) being connected to the taking mechanism (2), the sensing device (3) being configured to measure the total thickness of all nickel sheets adsorbed by the adsorption device (21) and to provide a feedback signal; A removal device (4) is configured to remove the remaining nickel sheets when the feedback signal is judged to indicate that the adsorption device (21) adsorbs at least two nickel sheets, wherein the first nickel sheet is directly connected to the adsorption device (21) and the remaining nickel sheets are stacked on a side of the first nickel sheet away from the adsorption device (21).

2. The handling equipment according to claim 1, characterized in that The translation mechanism (1) comprises a first translation device (11), a second translation device (12) and a third translation device (13); the picking mechanism (2) is mounted on the first translation device (11), the first translation device (11) is mounted on the second translation device (12), and the second translation device (12) is mounted on the third translation device (13); The picking mechanism (2) moves in translation along a first direction under the driving force of the first translation device (11), the first translation device (11) moves in translation along a second direction under the driving force of the second translation device (12), and the second translation device (12) moves in translation along a third direction under the driving force of the third translation device (13).

3. The handling equipment according to claim 1 or 2, characterized in that: The picking mechanism (2) further comprises a support frame (22); the adsorption device (21) comprises a fixed block (211) and an adsorption head (212); the fixed block (211) is connected to the support frame (22); a first end of the adsorption head (212) is connected to the fixed block (211); and a second end of the adsorption head (212) is used for adsorbing the nickel sheet.

4. The handling equipment according to claim 3, characterized in that The cross section of the adsorption head (212) is rectangular, and the material of the adsorption head (212) is stainless steel.

5. The transport equipment according to claim 3, characterized in that: The handling device further comprises a measuring platform (5), the measuring platform (5) being arranged opposite to the second end of the adsorption head (212), and the measuring platform (5) being used to abut against the second end of the adsorption head (212); The sensing device (3) is a contact displacement sensor, comprising a housing (31) and a contact rod (32), wherein the housing (31) is mounted on the support frame (22), one end of the contact rod (32) is connected to the housing (31), and the other end of the contact rod (32) is in direct or indirect contact with the adsorption device (21).

6. The handling equipment according to any one of claims 3 to 5, characterized in that: The taking mechanism (2) further comprises a linear guide rail (23) and a transfer block (24); the linear guide rail (23) comprises a track (231) and a slider (232); the track (231) is mounted on the support frame (22); and the track (231) extends along a first direction; The adapter block (24) is connected to the slider (232), the adsorption device (21) is arranged on the adapter block (24), and the adsorption device (21) is installed on the support frame (22) through the adapter block (24) and the linear guide rail (23).

7. The handling equipment according to claim 6, characterized in that The taking mechanism (2) further comprises a connecting block (25), a limiting rod (26) and an elastic member (27); the connecting block (25) is connected to the supporting frame (22); the connecting block (25) and the adapter block (24) are arranged opposite to each other and spaced apart along a first direction; One end of the limiting rod (26) is connected to the connecting block (25), and the other end of the limiting rod (26) is connected to the transfer block (24). The elastic member (27) is sleeved on the outside of the limiting rod (26), and the elastic member (27) is located between the connecting block (25) and the transfer block (24).

8. The handling equipment according to claim 7, characterized in that: The connecting block (25) is provided with a through hole, and the limiting rod (26) comprises a rod body (261) and a limiting platform (260), wherein the rod body (261) is passed through the through hole; the limiting platform (260) is provided at the end portion where the rod body (261) is connected to the connecting block (25); The elastic member (27) is sleeved on the outside of the rod body (261); along the first direction, the projection of the limiting platform (260) covers the projection of the through hole.

9. The handling equipment according to claim 8, characterized in that: The taking mechanism (2) further comprises a buffer sleeve (28), the buffer sleeve (28) being sleeved on the outside of the rod body (261), and the buffer sleeve (28) being provided between the limiting platform (260) and the connecting block (25), between the elastic member (27) and the connecting block (25), and between the elastic member (27) and the adapter block (24).

10. The transport equipment according to claim 7, characterized in that: The number of the adsorption devices (21) is two, and the two adsorption devices (21) adsorb the nickel sheet independently; the sensing device (3), the linear guide rail (23), the adapter block (24), the connecting block (25), the limiting rod (26) and the elastic member (27) are all arranged corresponding to the adsorption device (21).

11. The handling equipment according to any one of claims 1 to 10, characterized in that: The removal device (4) comprises an air blowing pipe (41) and an air supply member, one end of the air blowing pipe (41) is connected to the air supply member, and the other end of the air blowing pipe (41) is used for blowing gas to remove the remaining nickel sheets.

12. The handling equipment according to any one of claims 1 to 10, characterized in that: The handling equipment further comprises a recovery box (6), which is arranged below the removal device (4), and the recovery box (6) is used to receive the remaining nickel sheets removed by the removal device (4).

13. A method for operating the handling device according to any one of claims 1 to 12, characterized in that: The working method comprises: The picking mechanism (2) moves translationally at least in a first direction under the driving force of the translation mechanism (1) so that the adsorption device (21) adsorbs the nickel sheet; The sensing device (3) performs a measuring action on the nickel sheets to measure the total thickness of all the nickel sheets adsorbed by the adsorption device (21) and provide a feedback signal; When the feedback signal is judged to indicate that the adsorption device (21) adsorbs at least two nickel sheets, wherein the first nickel sheet is directly connected to the adsorption device (21), and the remaining nickel sheets are stacked on a side of the first nickel sheet away from the adsorption device (21), the removal device (4) removes the remaining nickel sheets; The sensing device (3) repeats the measuring action, and when the feedback signal is judged that the number of nickel sheets adsorbed by the adsorption device (21) is at least two, the removing device (4) repeats the removing action; until the feedback signal is judged that the number of nickel sheets adsorbed by the adsorption device (21) is one.

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