技术领域Technical field
本发明涉及电池模组组装技术领域，特别涉及一种片卷料混合贴胶机及其贴胶方法。The invention relates to the technical field of battery module assembly, and in particular to a sheet and roll material mixing and gluing machine and a gluing method thereof.
背景技术Background technique
新能源锂电池的产线中，通常会涉及到对电芯的贴胶工序。在CTP技术动力电池产线中，现有贴胶工艺主要采用片料胶来粘贴电芯，但是新的贴胶工艺要求使用卷料条形胶。同一条产线通常因生产不同类型产品而需要不同的胶料，可能会要求贴片料胶，也可能会要求贴卷料胶。而不同胶料之间的尺寸及贴胶工艺差异又不能仅靠片料贴胶机或卷料贴胶机来实现片卷料的混合贴胶，因此，设计出一款能同时满足片卷料混合贴胶的贴胶设备是十分必要的。另外，现有贴胶机对胶料的定位不够精确，导致贴胶机械手在抓取以及贴胶的过程中存在偏差，从而影响电芯的贴胶效果。The production line of new energy lithium batteries usually involves the process of gluing the battery cells. In the CTP technology power battery production line, the existing adhesive process mainly uses sheet adhesive to adhere the battery cells, but the new adhesive process requires the use of roll strip adhesive. The same production line usually requires different adhesives for producing different types of products. It may require patch adhesives or roll adhesives. However, due to the differences in sizes and bonding processes between different rubber materials, it is not possible to rely only on sheet material gluers or roll material gluers to achieve mixed bonding of sheet and roll materials. Therefore, a device that can simultaneously meet the needs of sheet and roll materials is designed. Gluing equipment for mixed glue is very necessary. In addition, the positioning of the glue material by the existing gluing machine is not accurate enough, resulting in deviations in the grasping and gluing process of the gluing manipulator, thus affecting the gluing effect of the battery core.
发明内容Contents of the invention
本发明要解决的技术问题是：克服现有技术中之不足，提供一种结构设计简单，对胶料进行精确定位，同时满足片卷料混合贴胶的片卷料混合贴胶机及其贴胶方法。The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a sheet and roll material mixing gluing machine with a simple structural design, accurate positioning of the rubber material, and the ability to meet the requirements of mixed gluing of sheet and roll materials and its application. glue method.
本发明解决其技术问题所采用的技术方案是：一种片卷料混合贴胶机，包括设在下架台上的料库、撕底离型纸工位、分胶机构、取料机械手和贴胶机械手，所述取料机械手的行程覆盖料库、撕底离型纸工位和分胶机构，所述贴胶机械手的行程覆盖分胶机构和待贴胶电芯；还包括第一视觉设备，设在撕底离型纸工位和分胶机构之间，用于胶料的位置寻址和底离型纸的撕除检测，第二视觉设备，设在分胶机构的上方，用于胶料的位置寻址、卷料上离型纸的撕除检测和卷料中胶条缺失检测，以及第三视觉设备，设在待贴胶电芯的上方，用于待贴胶电芯的位置寻址；所述贴胶机械手包括贴胶框架，安装在机械手臂的执行末端，若干卷料贴胶抓手，安装在贴胶框架的底端中部，且沿贴胶框架的横向间隔排列，用于胶条的抓取及贴胶，以及若干片料贴胶抓手，安装在贴胶框架的底端两侧，用于片胶的抓取及贴胶。The technical solution adopted by the present invention to solve the technical problem is: a sheet and roll material mixing glue application machine, which includes a material warehouse located on the lower shelf, a bottom release paper tearing station, a glue separation mechanism, a material taking manipulator and a glue application device. Robot, the stroke of the picking robot covers the material warehouse, the bottom release paper tearing station and the glue dispensing mechanism, the stroke of the glue applying robot covers the glue distributing mechanism and the cells to be glued; it also includes a first vision device, It is located between the bottom release paper tearing station and the glue separation mechanism, and is used for positioning the glue and detecting the removal of the bottom release paper. The second vision device is located above the glue separation mechanism and is used for glueing. Position addressing of the material, removal detection of the release paper on the roll and detection of missing adhesive strips in the roll, as well as a third vision device, located above the battery core to be glued, used for the position of the battery core to be glued Addressing; the gluing manipulator includes a gluing frame, which is installed at the execution end of the robot arm, and a number of roll gluing grippers, which are installed in the middle of the bottom end of the gluing frame and are arranged at horizontal intervals along the gluing frame. It is used for grabbing and gluing strips, as well as a number of sheet gluing grippers, installed on both sides of the bottom of the gluing frame, for grabbing and gluing sheets.
进一步地，所述卷料贴胶抓手包括安装在贴胶框架上的卷料升降气缸、安装在卷料升降气缸输出端的卷料贴胶支架以及活动安装在卷料贴胶支架底端的卷料贴胶吸盘，所述卷料升降气缸的输出端竖直向下。Further, the roll material gluing gripper includes a roll material lifting cylinder installed on the roll material lifting cylinder, a roll material gluing bracket installed at the output end of the roll material lifting cylinder, and a roll material gluing bracket movably installed at the bottom of the roll material gluing bracket. Glue suction cup, the output end of the roll material lifting cylinder is vertically downward.
进一步地，所述片料贴胶抓手包括安装在贴胶框架上的片料升降气缸、安装在片料升降气缸输出端的片料贴胶支架以及活动安装在片料贴胶支架底端的片料贴胶吸盘，所述片料升降气缸的输出端竖直向下。Further, the sheet gluing gripper includes a sheet lifting cylinder installed on the gluing frame, a sheet gluing bracket installed at the output end of the sheet lifting cylinder, and a sheet gluing bracket movably installed at the bottom of the sheet gluing bracket. Glue sucker, the output end of the sheet lifting cylinder is vertically downward.
进一步地，所述分胶机构包括安装在下架台上的底座、安装在底座上端的分胶平台、活动安装在底座下端的移动座、驱动移动座沿底座的长度方向横向移动的驱动组件、安装在分胶平台右端的抬升组件以及安装在移动座上端的下压组件、顶升组件和压板组件，所述分胶平台上开设有若干通孔，所述通孔沿分胶平台的宽度方向排列，且沿分胶平台的长度方向通长开设，所述下压组件设在分胶平台的上方，所述顶升组件设在分胶平台的下方，所述压板组件设在下压组件的左侧。Further, the glue separation mechanism includes a base installed on the lower frame, a glue separation platform installed on the upper end of the base, a movable base movably installed on the lower end of the base, a driving assembly that drives the movable base to move laterally along the length direction of the base, and a driving assembly installed on the lower end of the base. There is a lifting component at the right end of the glue separation platform and a pressing component, a lifting component and a pressure plate assembly installed on the upper end of the movable base. The glue separation platform is provided with a number of through holes, and the through holes are arranged along the width direction of the glue separation platform. And it is opened along the length direction of the glue separation platform. The lower pressure component is located above the glue separation platform, the lifting component is located below the glue separation platform, and the pressure plate assembly is located on the left side of the lower pressure component.
进一步地，所述料库包括滑动安装在下架台上的抽屉板、设在抽屉板上方的提升板、推动提升板上下移动的推料组件以及滑动安装在抽屉板上的整形组件，所述抽屉板的右端外延伸出下架台并安装有支脚，所述支脚的底端安装有脚轮。Further, the material library includes a drawer plate slidably installed on the lower shelf, a lifting plate provided above the drawer plate, a pushing assembly that pushes the lifting plate to move up and down, and a shaping assembly slidably installed on the drawer plate. The drawer plate The right end of the base extends out of the lower frame and is equipped with legs, and the bottom ends of the legs are equipped with casters.
进一步地，所述推料组件包括设在下架台下方的推杆架、安装在推杆架上的若干推杆以及驱动推杆架上下移动的驱动组，所述下架台和抽屉板上均开设有供推杆穿过的杆孔。Further, the pusher assembly includes a push rod frame located under the lower shelf, several push rods installed on the push rod frame, and a driving group that drives the push rod frame to move up and down. Both the lower shelf and the drawer board are provided with Hole for the push rod to pass through.
进一步地，所述整形组件包括安装在抽屉板一侧中部的若干侧基准挡杆、滑动安装在抽屉板中部的侧滑板、安装在侧滑板上的若干侧挡杆、分别滑动安装在抽屉板两端的端滑板以及安装在端滑板上的若干端挡杆，所述提升板上开设有若干腰孔，所述侧挡杆和端挡杆分别穿过腰孔，且沿着腰孔的长度方向移动，所述基准挡杆与侧挡杆相对应。Further, the shaping assembly includes a number of side reference blocking rods installed in the middle of one side of the drawer board, a side sliding plate slidingly installed in the middle of the drawer board, a number of side blocking rods installed on the side sliding plate, and slidingly installed on both sides of the drawer board respectively. The end slide plate at the end and a number of end stop rods installed on the end slide plate. The lifting plate is provided with a number of waist holes. The side stop rods and end stop rods pass through the waist holes respectively and move along the length direction of the waist holes. , the reference stop lever corresponds to the side stop lever.
进一步地，所述撕底离型纸工位上设有离型纸料仓和撕底离型纸机构，所述撕底离型纸机构包括安装在离型纸料仓一侧的若干旋转气缸、安装在旋转气缸输出端的第一夹爪气缸以及安装在第一夹爪气缸输出端的两个第一夹爪。Further, the bottom-tearing release paper station is provided with a release paper bin and a bottom-tearing release paper mechanism. The bottom-tearing release paper mechanism includes a number of rotating cylinders installed on one side of the release paper bin. , a first clamping jaw cylinder installed at the output end of the rotating cylinder and two first clamping jaws installed at the output end of the first clamping jaw cylinder.
进一步地，所述取料机械手包括取料框架、缓冲组件、取料吸盘和撕上离型纸组件，所述取料框架安装在机械手臂的执行末端，所述取料吸盘通过缓冲组件与取料框架的底端连接，所述撕上离型纸组件安装在取料框架的左端。Further, the material-picking manipulator includes a material-picking frame, a buffer component, a material-picking suction cup, and a tear-off release paper component. The material-picking frame is installed at the execution end of the robot arm, and the material-picking suction cup communicates with the material-picking suction cup through the buffer component. The bottom end of the material frame is connected, and the tear-off release paper assembly is installed on the left end of the material taking frame.
进一步地，所述撕上离型纸组件包括安装在取料框架左端的升降气缸、安装在升降气缸输出端的第二夹爪气缸以及安装在第二夹爪气缸输出端的两个第二夹爪。Further, the tear-off liner assembly includes a lifting cylinder installed at the left end of the picking frame, a second clamping jaw cylinder installed at the output end of the lifting cylinder, and two second clamping jaws installed at the output end of the second clamping jaw cylinder.
一种上述片卷料混合贴胶机的贴胶方法，步骤如下，A gluing method for the above-mentioned sheet and roll material mixing gluing machine, the steps are as follows:
S1.取胶：所述取料机械手抓取料库中胶料，移动至撕底离型纸工位进行底离型纸的撕除，然后移动至第一视觉设备处进行胶料的位置寻址以及底离型纸的撕除检测，最后放置在分胶机构上；S1. Removing glue: The retrieval manipulator grabs the glue material in the material warehouse, moves to the bottom release paper tearing station to remove the bottom release paper, and then moves to the first vision device to find the location of the glue material. The address and bottom release paper are removed and detected, and finally placed on the glue dispensing mechanism;
S2.贴胶前预处理：胶料为卷料时，所述取料机械手对分胶机构上的卷料进行上离型纸的撕除，所述第二视觉设备进行卷料的位置寻址、上离型纸的撕除检测和胶条缺失检测，所述分胶机构对卷料进行分胶；胶料为片料时，所述第二视觉设备进行片料的位置寻址；S2. Pretreatment before gluing: When the glue material is roll material, the picking manipulator removes the release paper from the roll material on the glue dispensing mechanism, and the second vision device performs location addressing of the roll material. , the tear-off detection of the upper release paper and the missing detection of the adhesive strip, the glue separation mechanism separates the roll material; when the glue material is a sheet material, the second visual device performs location addressing of the sheet material;
S3.贴胶：所述贴胶机械手抓取分胶机构上的胶料，移动至待贴胶电芯处，第三视觉设备进行待贴胶电芯的位置寻址，最后贴胶机械手进行贴胶动作。S3. Gluing: The gluing manipulator grabs the glue on the glue dispensing mechanism and moves it to the battery core to be glued. The third vision device performs location addressing of the battery core to be glued. Finally, the gluing manipulator performs the glue sticking. glue action.
进一步地，步骤S2中卷料分胶的具体步骤如下，Further, the specific steps for glue separation of roll materials in step S2 are as follows:
S21.第五条胶条的定位：所述驱动组件驱动移动座左移，直至压板组件与卷料上的第五条条胶对应，然后压板组件下压将第五条胶条压紧在分胶平台上；S21. Positioning of the fifth strip of rubber: The driving assembly drives the movable base to move left until the pressure plate assembly corresponds to the fifth strip of glue on the roll material, and then the pressure plate assembly presses down to tighten the fifth strip of rubber on the roll. on the glue platform;
S22.前四条胶条与第五条胶条的上下分离：所述下压组件下压将前四条胶条压紧在分胶平台上，然后顶升组件上顶使得前四条胶条脱离分胶平台；S22. The upper and lower separation of the first four rubber strips and the fifth rubber strip: the pressing down component presses down the first four rubber strips on the glue separation platform, and then the lifting component lifts up to make the first four rubber strips separate from the glue separation platform. platform;
S23.前四条胶条之间的左右分离：所述驱动组件驱动移动座右移，在移动座右移过程中，下压组件和顶升组件同步扩张使得前四条胶条之间相互分离。S23. Left and right separation between the first four rubber strips: the driving component drives the movable base to move to the right. During the right movement of the movable base, the pressing component and the lifting component expand synchronously to separate the first four rubber strips from each other.
一种片料贴胶机，包括设在下架台A上的料库A、撕底离型纸工位A、二次定位台、取料机械手A和贴胶机械手A，所述取料机械手A的行程覆盖料库A、撕底离型纸工位A和二次定位台，所述贴胶机械手A的行程覆盖二次定位台和待贴胶电芯；还包括如上述的第一视觉设备，设在撕底离型纸工位A和二次定位台之间，用于片料的位置寻址和底离型纸的撕除检测，以及上述的第三视觉设备，设在待贴胶电芯的上方，用于待贴胶电芯的位置寻址。A sheet material gluing machine, including a material warehouse A located on the lower shelf A, a bottom-tearing release paper station A, a secondary positioning table, a material-retrieving robot A and a gluing robot A. The material-picking robot A The stroke covers the material warehouse A, the bottom release paper tearing station A and the secondary positioning table. The stroke of the gluing manipulator A covers the secondary positioning table and the cells to be glued; it also includes the first vision equipment as mentioned above, It is located between the bottom release paper tearing station A and the secondary positioning table. It is used for the position addressing of the sheet and the removal detection of the bottom release paper, as well as the above-mentioned third vision equipment, which is located on the terminal to be glued. Above the core, it is used to address the location of the battery core to be glued.
进一步地，所述二次定位台包括安装在下架台A上的底座架、安装在底座架顶端的定位平台、安装在定位平台上的若干定位座以及设在定位平台上的端推组件和侧推组件。Further, the secondary positioning platform includes a base frame installed on the lower frame A, a positioning platform installed on the top of the base frame, several positioning seats installed on the positioning platform, and end push assemblies and side pushers installed on the positioning platform. components.
进一步地，所述端推组件包括安装在定位平台中部的端基准块Ⅰ、分别设在定位平台两端的端推板Ⅰ以及驱动端推板Ⅰ向端基准块Ⅰ横向移动的端推气缸Ⅰ；所述侧推组件包括安装在定位平台一侧的侧基准块Ⅰ、设在定位平台另一侧的侧推板Ⅰ以及驱动侧推板Ⅰ向侧基准块Ⅰ纵向移动的侧推气缸Ⅰ。Further, the end push assembly includes an end reference block I installed in the middle of the positioning platform, end push plates I respectively provided at both ends of the positioning platform, and an end push cylinder I that drives the end push plate I to move laterally toward the end reference block I; The side push assembly includes a side reference block I installed on one side of the positioning platform, a side push plate I located on the other side of the positioning platform, and a side push cylinder I that drives the side push plate I to move longitudinally toward the side reference block I.
进一步地，所述端推组件包括间隔设在定位座上的若干端基准块Ⅱ、设在定位平台下方的端推板Ⅱ、间隔设在端推板Ⅱ上的若干端推块Ⅱ以及驱动端推板Ⅱ向端基准块Ⅱ横向移动的端推气缸Ⅱ，所述端推块Ⅱ的顶端依次穿过定位平台和定位座上开设的通孔Ⅱ，且沿通孔Ⅱ横向移动；所述侧推组件包括间隔安装在定位座一侧的若干侧基准块Ⅱ、设在定位座另一侧的侧推板Ⅱ、间隔设在侧推板Ⅱ上的若干侧推块Ⅱ以及驱动侧推板Ⅱ向侧基准块Ⅱ纵向移动的侧推气缸Ⅱ。Further, the end push assembly includes a plurality of end reference blocks II spaced on the positioning base, an end push plate II provided below the positioning platform, a number of end push blocks II spaced on the end push plate II, and a driving end. The push plate II moves laterally to the end push cylinder II toward the end reference block II. The top end of the end push block II passes through the through hole II opened on the positioning platform and the positioning seat in turn, and moves laterally along the through hole II; The push assembly includes a number of side reference blocks II installed at intervals on one side of the positioning base, a side push plate II provided on the other side of the positioning base, a number of side push blocks II spaced on the side push plate II, and a driving side push plate II. The side push cylinder II moves longitudinally toward the side reference block II.
进一步地，所述贴胶机械手A 包括安装在机械手臂执行末端的贴胶框架Ⅰ、安装在贴胶框架Ⅰ底端的升降气缸Ⅰ以及安装在升降气缸Ⅰ输出端的贴胶抓手Ⅰ。Further, the gluing manipulator A includes a gluing frame I installed at the execution end of the robot arm, a lifting cylinder I installed at the bottom of the gluing frame I, and a gluing gripper I installed at the output end of the lifting cylinder I.
进一步地，所述贴胶机械手A包括安装在机械手臂执行末端的贴胶框架Ⅱ、倾斜安装在贴胶框架Ⅱ底端的旋转气缸Ⅱ以及安装在旋转气缸Ⅱ输出端的两个贴胶抓手Ⅱ，所述贴胶抓手Ⅱ之间相互垂直，且其中一个贴胶抓手Ⅱ水平设置。Further, the gluing manipulator A includes a gluing frame II installed at the execution end of the robot arm, a rotating cylinder II installed obliquely at the bottom end of the gluing frame II, and two gluing grippers II installed at the output end of the rotating cylinder II. The rubberized grippers II are perpendicular to each other, and one of the rubberized grippers II is arranged horizontally.
本发明的有益效果是：The beneficial effects of the present invention are:
（1）本发明通过将卷料贴胶抓手和片料贴胶抓手集成在贴胶框架上，既可实现对片料的抓取及贴胶，又可实现对卷料的抓取及贴胶，兼容性高，且通过第一视觉设备和第二视觉设备对胶料的两次位置寻址以及第三视觉设备对电芯的位置寻址，保证胶料精确的放置在分胶平台上，从而精确的粘贴在电芯上；(1) The present invention integrates the roll material gluing gripper and the sheet material gluing gripper on the gluing frame, which can not only realize the grabbing and gluing of the sheet material, but also realize the grabbing and gluing of the roll material. Glue application has high compatibility, and through the first vision device and the second vision device to address the position of the glue twice and the third vision device to address the position of the battery core, it is ensured that the glue is accurately placed on the glue dispensing platform. on, so as to be accurately pasted on the battery core;
（2）本发明通过下压组件、顶升组件和压板组件的设置，实现卷料上连续多个胶条的分胶，且避免了单个胶条尺寸误差对分胶精度的影响；(2) The present invention realizes the glue separation of multiple continuous strips on the roll material through the arrangement of the pressing assembly, the lifting assembly and the pressure plate assembly, and avoids the impact of the size error of a single strip on the glue separation accuracy;
（3）本发明通过抬升组件的设置，对于粘连性较强的特粘胶条，避免了其被下压组件粘连带回的情形，提高了分胶的可靠性，且进一步保证了分胶精度。(3) Through the arrangement of the lifting component, the present invention avoids the sticky adhesive strips with strong adhesion from being brought back by the pressing component, improves the reliability of glue separation, and further ensures the accuracy of glue separation. .
附图说明Description of the drawings
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and examples.
图1为本发明实施例1的结构示意图；Figure 1 is a schematic structural diagram of Embodiment 1 of the present invention;
图2为本发明实施例1中上框架的结构示意图；Figure 2 is a schematic structural diagram of the upper frame in Embodiment 1 of the present invention;
图3为本发明实施例1中贴胶机械手的结构示意图；Figure 3 is a schematic structural diagram of the glue application manipulator in Embodiment 1 of the present invention;
图4为本发明实施例1中贴胶机械手的右视图；Figure 4 is a right side view of the gluing manipulator in Embodiment 1 of the present invention;
图5为图4中A部的放大图；Figure 5 is an enlarged view of part A in Figure 4;
图6为图4中B部的放大图；Figure 6 is an enlarged view of part B in Figure 4;
图7为本发明实施例1中卷料贴胶抓手的结构示意图；Figure 7 is a schematic structural diagram of the roll material rubberized gripper in Embodiment 1 of the present invention;
图8为本发明实施例1中卷料贴胶吸盘的爆炸图；Figure 8 is an exploded view of the roll-material adhesive suction cup in Embodiment 1 of the present invention;
图9为本发明实施例1中片料贴胶抓手的结构示意图；Figure 9 is a schematic structural diagram of a sheet-glued gripper in Embodiment 1 of the present invention;
图10为本发明实施例1中分胶机构的结构示意图；Figure 10 is a schematic structural diagram of the glue dispensing mechanism in Embodiment 1 of the present invention;
图11为本发明实施例1中分胶机构的侧视图；Figure 11 is a side view of the glue dispensing mechanism in Embodiment 1 of the present invention;
图12为本发明实施例1中分胶平台的结构示意图；Figure 12 is a schematic structural diagram of the glue separation platform in Embodiment 1 of the present invention;
图13为图12中C部的放大图；Figure 13 is an enlarged view of part C in Figure 12;
图14为本发明实施例1中移动座的结构示意图；Figure 14 is a schematic structural diagram of the movable base in Embodiment 1 of the present invention;
图15为本发明实施例1中下压组件的结构示意图；Figure 15 is a schematic structural diagram of the pressing assembly in Embodiment 1 of the present invention;
图16为图15中D部的放大图；Figure 16 is an enlarged view of part D in Figure 15;
图17为本发明实施例1中第一变距组的结构示意图；Figure 17 is a schematic structural diagram of the first pitch variable group in Embodiment 1 of the present invention;
图18为本发明实施例1中顶升组件的结构示意图；Figure 18 is a schematic structural diagram of the jacking assembly in Embodiment 1 of the present invention;
图19为本发明实施例1中第二变距组的结构示意图；Figure 19 is a schematic structural diagram of the second pitch variable group in Embodiment 1 of the present invention;
图20为本发明实施例1中第二驱动件的结构示意图；Figure 20 is a schematic structural diagram of the second driving member in Embodiment 1 of the present invention;
图21为本发明实施例1中压板组件的结构示意图；Figure 21 is a schematic structural diagram of the pressure plate assembly in Embodiment 1 of the present invention;
图22为本发明实施例1中抬升组件的结构示意图；Figure 22 is a schematic structural diagram of the lifting assembly in Embodiment 1 of the present invention;
图23为本发明实施例1中放胶块的结构示意图；Figure 23 is a schematic structural diagram of a rubber block in Embodiment 1 of the present invention;
图24为本发明实施例1中料库的结构示意图；Figure 24 is a schematic structural diagram of the material warehouse in Embodiment 1 of the present invention;
图25为本发明实施例1中整形组件的结构示意图；Figure 25 is a schematic structural diagram of the shaping component in Embodiment 1 of the present invention;
图26为本发明实施例1中撕底离型纸工位的结构示意图；Figure 26 is a schematic structural diagram of the bottom release paper tearing station in Embodiment 1 of the present invention;
图27为图26中E的放大图；Figure 27 is an enlarged view of E in Figure 26;
图28为本发明实施例1中取料机械手的结构示意图；Figure 28 is a schematic structural diagram of the material picking robot in Embodiment 1 of the present invention;
图29为图28中F部的放大图；Figure 29 is an enlarged view of part F in Figure 28;
图30为图28中G部的放大图；Figure 30 is an enlarged view of part G in Figure 28;
图31为本发明实施例3的结构示意图；Figure 31 is a schematic structural diagram of Embodiment 3 of the present invention;
图32为本发明实施例3中下架台A的结构示意图；Figure 32 is a schematic structural diagram of the lowering platform A in Embodiment 3 of the present invention;
图33为本发明实施例3中二次定位台的结构示意图；Figure 33 is a schematic structural diagram of the secondary positioning platform in Embodiment 3 of the present invention;
图34为本发明实施例3中端推组件的结构示意图；Figure 34 is a schematic structural diagram of the end push assembly in Embodiment 3 of the present invention;
图35为本发明实施例3中取料机械手A的结构示意图；Figure 35 is a schematic structural diagram of the material picking robot A in Embodiment 3 of the present invention;
图36为图35中H部的放大图；Figure 36 is an enlarged view of part H in Figure 35;
图37为本发明实施例3中贴胶机械手A的结构示意图；Figure 37 is a schematic structural diagram of the gluing manipulator A in Embodiment 3 of the present invention;
图38为本发明实施例3中贴胶抓手Ⅰ的结构示意图；Figure 38 is a schematic structural diagram of the rubberized gripper I in Embodiment 3 of the present invention;
图39为本发明实施例4中料库A的结构示意图；Figure 39 is a schematic structural diagram of warehouse A in Embodiment 4 of the present invention;
图40为本发明实施例4中整形组件Ⅱ的结构示意图；Figure 40 is a schematic structural diagram of the shaping component II in Embodiment 4 of the present invention;
图41为本发明实施例4中离型纸料仓Ⅱ的结构示意图；Figure 41 is a schematic structural diagram of the release paper material bin II in Embodiment 4 of the present invention;
图42为图41中I部的放大图；Figure 42 is an enlarged view of part I in Figure 41;
图43为本发明实施例4中二次定位台的结构示意图；Figure 43 is a schematic structural diagram of the secondary positioning platform in Embodiment 4 of the present invention;
图44为本发明实施例4中通孔Ⅱ的示意图；Figure 44 is a schematic diagram of through hole II in Embodiment 4 of the present invention;
图45为本发明实施例4中取料机械手A的结构示意图；Figure 45 is a schematic structural diagram of the material picking robot A in Embodiment 4 of the present invention;
图46为本发明实施例4中贴胶机械手A的结构示意图。Figure 46 is a schematic structural diagram of the adhesive manipulator A in Embodiment 4 of the present invention.
图中：100、下架台；101、料库；101a、抽屉板；101b、提升板；101c、推料组件；101c1、推杆架；101c2、推杆；101c3、驱动组；101c4、杆孔；101d、整形组件；101d1、侧基准挡杆；101d2、侧滑板；101d3、侧挡杆；101d4、端滑板；101d5、端挡杆；101d6、腰孔；101e、支脚；101f、脚轮；102、撕底离型纸工位；102a、离型纸料仓；102b、撕底离型纸机构；102b1、旋转气缸；102b2、第一夹爪气缸；102b3、第一夹爪；103、分胶机构；103a、底座；103b、分胶平台；103c、移动座；103d、驱动组件；103e、抬升组件；103e1、抬升气缸；103e2、抬升支架；103e3、提升杆；103e4、放胶块；103e5、杆槽；103f、下压组件；103f1、下压气缸；103f2、下压支架；103f3、下压板；103f4、第一变距组；103f41、第一变距板；103f42、第一调节板；103f43、第一驱动件；103f431、第一丝杆；103f432、第一丝杆螺母；103f433、第一连杆；103f434、第一电机；103f44、第一螺栓；103f45、第一滑轮；103f46、第一调节槽；103g、顶升组件；103g1、顶升气缸；103g2、顶升支架；103g3、顶升板；103g4、第二变距组；103g41、第二变距板；103g42、第二调节板；103g43、第二驱动件；103g431、第二丝杆；103g432、第二丝杆螺母；103g433、第二连杆；103g434、第二电机；103g44、第二螺栓；103g45、第二滑轮；103g46、第二调节槽；103h、压板组件；103h1、定位气缸；103h2、定位支架；103h21、上纵梁；103h22、下纵梁；103h23、竖轴；103h3、定位板；103i、通孔；103j、吸附孔；103k、凸轮分割器；103l、滑座；104、取料机械手；104a、取料框架；104b、缓冲组件；104b1、轴套；104b2、滑轴；104b3、缓冲件；104b4、限位件；104c、取料吸盘；104c1、第二安装板；104c2、第二真空逻辑阀；104c3、第二吸嘴；104d、撕上离型纸组件；104d1、升降气缸；104d2、第二夹爪气缸；104d3、第二夹爪；105、贴胶机械手；105a、贴胶框架；105b、卷料贴胶抓手；105b1、卷料升降气缸；105b2、卷料贴胶支架；105b3、卷料贴胶吸盘；105b31、盖板；105b32、吸附板；105b33、流通槽；105b34、吸孔；105b35、接头；105b4、第一缓冲组件；105b41、第一轴套；105b42、第一滑轴；105b43、第一缓冲件；105b44、第一限位件；105b5、第一光电传感器；105b6、第一感应片；105c、片料贴胶抓手；105c1、片料升降气缸；105c2、片料贴胶支架；105c3、片料贴胶吸盘；105c31、第一安装板；105c32、第一真空逻辑阀；105c33、第一吸嘴；105c4、第二缓冲组件；105c41、第二轴套；105c42、第二滑轴；105c43、第二缓冲件；105c44、第二限位件；105c5、第二光电传感器；105c6、第二感应片；105c7、第一通孔；105d、滑块；105e、滑轨；105f、第三光电传感器；105g、第三感应片；106、第一视觉设备；107、第二视觉设备；108、第三视觉设备；109、上框架；200、下架台A；201、料库A；201a、抽屉板Ⅱ；201b、提升板Ⅱ；201d、整形组件Ⅱ；201d1、侧基准挡杆Ⅱ；201d2、侧滑板Ⅱ；201d3、侧挡杆Ⅱ；201d4、端基准挡杆Ⅱ；201d5、端滑板Ⅱ；201d6、连板Ⅱ；201d7、端挡杆Ⅱ；201d8、腰孔Ⅱ；202、撕底离型纸工位A；202a、离型纸料仓Ⅱ；202b、撕底离型纸机构Ⅱ；202b1、第一旋转气缸Ⅱ；202b2、转轴Ⅱ；202b3、夹爪气缸Ⅱ；202b4、夹爪Ⅱ；203、二次定位台；203a、底座架；203b、定位平台；203c、定位座；203d、端推组件；203d1、端基准块Ⅰ；203d2、端推板Ⅰ；203d3、端推气缸Ⅰ；203d4、端基准块Ⅱ；203d5、端推板Ⅱ；203d6、端推块Ⅱ；203d7、端推气缸Ⅱ；203d8、通孔Ⅱ；203e、侧推组件；203e1、侧基准块Ⅰ；203e2、侧推板Ⅰ；203e3、侧推气缸Ⅰ；203e4、侧基准块Ⅱ；203e5、侧推板Ⅱ；203e6、侧推块Ⅱ；203e7、侧推气缸Ⅱ；204、取料机械手A；204a、取料框架Ⅰ；204b、第一缓冲组件Ⅰ；204b1、第一轴套Ⅰ；204b2、第一滑轴Ⅰ；204b3、第一缓冲件Ⅰ；204b4、第一限位件Ⅰ；204c、取料吸盘Ⅰ；204c1、第一安装板Ⅰ；204c2、第一真空逻辑阀Ⅰ；204c3、第一吸嘴Ⅰ；204d、取料框架Ⅱ；204e、第一缓冲组件Ⅱ；204f、取料吸盘Ⅱ；205、贴胶机械手A；205a、贴胶框架Ⅰ；205b、升降气缸Ⅰ；205c、贴胶抓手Ⅰ；205c1、贴胶支架Ⅰ；205c2、第二缓冲组件Ⅰ；205c21、第二轴套Ⅰ；205c22、第二滑轴Ⅰ；205c23、第二缓冲件Ⅰ；205c24、第二限位件Ⅰ；205c3、贴胶吸盘Ⅰ；205c31、第二安装板Ⅰ；205c32、第二真空逻辑阀Ⅰ；205c33、第二吸嘴Ⅰ；205d、缓冲板；205e、第三缓冲组件Ⅰ；205e1、第三轴套Ⅰ；205e2、第三滑轴Ⅰ；205e3、第三缓冲件Ⅰ；205e4、第三限位件Ⅰ；205f、通孔Ⅰ；205g、贴胶框架Ⅱ；205h、旋转气缸Ⅱ；205i、贴胶抓手Ⅱ；205i1、贴胶支架Ⅱ；205i2、第二缓冲组件Ⅱ；205i21、第二滑轴Ⅱ；205i22、第二缓冲件Ⅱ；205i3、贴胶吸盘Ⅱ；205i31、吸盘Ⅱ；205i32、第二吸嘴Ⅱ；205i4、导向组件Ⅱ；205i41、导向套Ⅱ；205i42、导向轴Ⅱ；205i43、限位件Ⅱ。In the picture: 100, lowering platform; 101, material warehouse; 101a, drawer plate; 101b, lifting plate; 101c, pushing component; 101c1, push rod frame; 101c2, push rod; 101c3, drive group; 101c4, rod hole; 101d, plastic component; 101d1, side reference stop; 101d2, side sliding plate; 101d3, side stop; 101d4, end slide; 101d5, end stop; 101d6, waist hole; 101e, foot; 101f, caster; 102, tear Bottom release paper station; 102a, release paper bin; 102b, bottom release paper tearing mechanism; 102b1, rotating cylinder; 102b2, first clamping jaw cylinder; 102b3, first clamping jaw; 103, glue separation mechanism; 103a, base; 103b, glue separation platform; 103c, movable seat; 103d, drive assembly; 103e, lifting assembly; 103e1, lifting cylinder; 103e2, lifting bracket; 103e3, lifting rod; 103e4, glue placing block; 103e5, rod groove ; 103f, lower pressure assembly; 103f1, lower pressure cylinder; 103f2, lower pressure bracket; 103f3, lower pressure plate; 103f4, first pitch change group; 103f41, first pitch change plate; 103f42, first adjustment plate; 103f43, first adjustment plate; 103f431, first screw rod; 103f432, first screw nut; 103f433, first connecting rod; 103f434, first motor; 103f44, first bolt; 103f45, first pulley; 103f46, first adjustment slot ; 103g, jacking assembly; 103g1, jacking cylinder; 103g2, jacking bracket; 103g3, jacking plate; 103g4, second pitch change group; 103g41, second pitch change plate; 103g42, second adjustment plate; 103g43, The second driving part; 103g431, the second screw rod; 103g432, the second screw nut; 103g433, the second connecting rod; 103g434, the second motor; 103g44, the second bolt; 103g45, the second pulley; 103g46, the second adjustment Slot; 103h, pressure plate assembly; 103h1, positioning cylinder; 103h2, positioning bracket; 103h21, upper longitudinal beam; 103h22, lower longitudinal beam; 103h23, vertical axis; 103h3, positioning plate; 103i, through hole; 103j, adsorption hole; 103k , cam divider; 103l, sliding seat; 104, material picking manipulator; 104a, material picking frame; 104b, buffer component; 104b1, bushing; 104b2, sliding shaft; 104b3, buffer piece; 104b4, limit piece; 104c, Picking suction cup; 104c1, second mounting plate; 104c2, second vacuum logic valve; 104c3, second suction nozzle; 104d, tear off release paper assembly; 104d1, lifting cylinder; 104d2, second clamping jaw cylinder; 104d3, Second clamping jaw; 105, gluing manipulator; 105a, gluing frame; 105b, roll gluing gripper; 105b1, roll lifting cylinder; 105b2, roll gluing bracket; 105b3, roll gluing suction cup; 105b31 , cover plate; 105b32, adsorption plate; 105b33, flow channel; 105b34, suction hole; 105b35, joint; 105b4, first buffer component; 105b41, first sleeve; 105b42, first sliding shaft; 105b43, first buffer member ; 105b44, the first limiter; 105b5, the first photoelectric sensor; 105b6, the first sensing piece; 105c, sheet rubber gripper; 105c1, sheet lifting cylinder; 105c2, sheet rubber support; 105c3, sheet Material-adhesive suction cup; 105c31, first mounting plate; 105c32, first vacuum logic valve; 105c33, first suction nozzle; 105c4, second buffer component; 105c41, second bushing; 105c42, second sliding shaft; 105c43, Second buffer member; 105c44, second limiting member; 105c5, second photoelectric sensor; 105c6, second sensing piece; 105c7, first through hole; 105d, slider; 105e, slide rail; 105f, third photoelectric sensor ; 105g, third sensor piece; 106, first vision equipment; 107, second vision equipment; 108, third vision equipment; 109, upper frame; 200, lower shelf A; 201, material warehouse A; 201a, drawer board Ⅱ; 201b, lifting plate Ⅱ; 201d, shaping component Ⅱ; 201d1, side reference stopper Ⅱ; 201d2, side sliding plate Ⅱ; 201d3, side stopper Ⅱ; 201d4, end reference stopper Ⅱ; 201d5, end sliding plate Ⅱ; 201d6 , Connecting plate II; 201d7, End stop lever II; 201d8, Waist hole II; 202, Tear off the bottom release paper station A; 202a, Release paper warehouse II; 202b, Tear off the bottom release paper mechanism II; 202b1, First rotating cylinder II; 202b2, rotating shaft II; 202b3, clamping jaw cylinder II; 202b4, clamping jaw II; 203, secondary positioning table; 203a, base frame; 203b, positioning platform; 203c, positioning seat; 203d, end pusher Components; 203d1, end reference block I; 203d2, end push plate I; 203d3, end push cylinder I; 203d4, end reference block II; 203d5, end push plate II; 203d6, end push block II; 203d7, end push cylinder II ; 203d8, through hole II; 203e, side push assembly; 203e1, side reference block I; 203e2, side push plate I; 203e3, side push cylinder I; 203e4, side reference block II; 203e5, side push plate II; 203e6, Side push block II; 203e7, side push cylinder II; 204, retrieval manipulator A; 204a, retrieval frame I; 204b, first buffer component I; 204b1, first sleeve I; 204b2, first sliding shaft I; 204b3, first buffer part I; 204b4, first limiter I; 204c, material taking suction cup I; 204c1, first mounting plate I; 204c2, first vacuum logic valve I; 204c3, first suction nozzle I; 204d , Retrieval frame II; 204e, first buffer component II; 204f, retrieval suction cup II; 205, adhesive manipulator A; 205a, adhesive frame I; 205b, lifting cylinder I; 205c, adhesive gripper I; 205c1 , Glue bracket I; 205c2, second buffer component I; 205c21, second bushing I; 205c22, second sliding shaft I; 205c23, second buffer component I; 205c24, second limiting component I; 205c3, sticker Glue suction cup I; 205c31, second mounting plate I; 205c32, second vacuum logic valve I; 205c33, second suction nozzle I; 205d, buffer plate; 205e, third buffer component I; 205e1, third bushing I; 205e2, third sliding shaft I; 205e3, third buffer member I; 205e4, third limit member I; 205f, through hole I; 205g, rubberized frame II; 205h, rotating cylinder II; 205i, rubberized gripper Ⅱ; 205i1, adhesive bracket Ⅱ; 205i2, second buffer component Ⅱ; 205i21, second sliding shaft Ⅱ; 205i22, second buffer component Ⅱ; 205i3, adhesive suction cup Ⅱ; 205i31, suction cup Ⅱ; 205i32, second suction Mouth II; 205i4, guide component II; 205i41, guide sleeve II; 205i42, guide shaft II; 205i43, limiter II.
具体实施方式Detailed ways
现在结合附图和优选实施例对本发明作进一步的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。The present invention will now be further described with reference to the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the structures related to the present invention.
实施例1。Example 1.
如图1-图3所示，一种片卷料混合贴胶机，包括设在下架台100上的料库101、撕底离型纸工位102、分胶机构103、取料机械手104和贴胶机械手105，取料机械手104的行程覆盖料库101、撕底离型纸工位102和分胶机构103，贴胶机械手105的行程覆盖分胶机构103和待贴胶电芯；还包括第一视觉设备106，设在撕底离型纸工位102和分胶机构103之间，用于胶料的位置寻址和底离型纸的撕除检测，第二视觉设备107，设在分胶机构103的上方，用于胶料的位置寻址、卷料上离型纸的撕除检测和卷料中胶条缺失检测，以及第三视觉设备108，设在待贴胶电芯的上方，用于待贴胶电芯的位置寻址；贴胶机械手105包括贴胶框架105a，安装在机械手臂的执行末端，若干卷料贴胶抓手105b，安装在贴胶框架105a的底端中部，且沿贴胶框架105a的横向间隔排列，用于胶条的抓取及贴胶，以及若干片料贴胶抓手105c，安装在贴胶框架105a的底端两侧，用于片胶的抓取及贴胶。通过将卷料贴胶抓手105b和片料贴胶抓手105c集成在贴胶框架105a上，既可实现对片料的抓取及贴胶，又可实现对卷料的抓取及贴胶，兼容性高，且通过第一视觉设备106和第二视觉设备107对胶料的两次位置寻址以及第三视觉设备108对电芯的位置寻址，保证胶料精确的放置在分胶平台103b上，从而精确的粘贴在电芯上。另外，本贴胶机械手105使得片卷料贴胶集成在一个工位上，与片料贴胶和卷料贴胶分成两个工位相比，产线的整体结构更加紧凑，且节省了厂房的空间布局。As shown in Figures 1 to 3, a sheet and roll material mixed gluing machine includes a material warehouse 101 located on a lower platform 100, a bottom release paper tearing station 102, a glue dispensing mechanism 103, a material taking manipulator 104 and a pasting machine. The gluing manipulator 105, the stroke of the picking manipulator 104 covers the material warehouse 101, the bottom release paper tearing station 102 and the glue dispensing mechanism 103, the gluing manipulator 105 covers the glue distributing mechanism 103 and the cell to be glued; it also includes a third A visual device 106 is located between the bottom release paper tearing station 102 and the glue separation mechanism 103, which is used for location addressing of the glue and tearing detection of the bottom release paper. A second visual device 107 is located between the separation paper and the glue separation mechanism 103. Above the glue mechanism 103, it is used for positioning the glue, detecting the removal of the release paper on the roll, and detecting the missing glue strip in the roll, and the third vision device 108 is located above the battery core to be glued. , used to address the position of the battery core to be glued; the glueing robot 105 includes a glueing frame 105a, which is installed at the execution end of the robot arm, and a number of roll glue grippers 105b, which are installed at the bottom middle of the glueing frame 105a , and arranged at horizontal intervals along the gluing frame 105a, used for grabbing and gluing strips, and a number of sheet gluing grippers 105c, installed on both sides of the bottom end of the gluing frame 105a, used for sheet gluing. Grab and glue. By integrating the roll material gluing gripper 105b and the sheet material gluing gripper 105c on the gluing frame 105a, both the sheet material and the roll material can be grasped and glued. , high compatibility, and through the first visual device 106 and the second visual device 107 to address the position of the glue material twice and the third visual device 108 to address the position of the battery core, it is ensured that the glue material is accurately placed in the glue separation On the platform 103b, it can be accurately pasted on the battery core. In addition, the gluing manipulator 105 integrates sheet and roll gluing into one workstation. Compared with two workstations for sheet and roll gluing, the overall structure of the production line is more compact and saves space in the factory. Space layout.
具体的，下架台100上安装有上框架109，料库101、撕底离型纸工位102、分胶机构103、取料机械手104和贴胶机械手105均设在上框架109内，第二视觉设备107和第三视觉设备108分别安装在上框架109的顶部；第一视觉设备106安装在下架台100上；卷料贴胶抓手105b为四个，且沿贴胶框架105a的横向均匀间隔排列；片料贴胶抓手105c为两个，对称设置在贴胶框架105a的底端两侧，且卷料贴胶抓手105b位于两个片料贴胶抓手105c之间。Specifically, the upper frame 109 is installed on the lower platform 100. The material warehouse 101, the bottom release paper tearing station 102, the glue dispensing mechanism 103, the material picking manipulator 104 and the gluing manipulator 105 are all located in the upper frame 109. The second The visual device 107 and the third visual device 108 are respectively installed on the top of the upper frame 109; the first visual device 106 is installed on the lower platform 100; there are four roll material gluing grippers 105b, and they are evenly spaced along the transverse direction of the gluing frame 105a. arranged; there are two sheet gluing grippers 105c, which are symmetrically arranged on both sides of the bottom end of the gluing frame 105a, and the roll material gluing gripper 105b is located between the two sheet gluing grippers 105c.
如图4和图7所示，卷料贴胶抓手105b包括安装在贴胶框架105a上的卷料升降气缸105b1、安装在卷料升降气缸105b1输出端的卷料贴胶支架105b2以及活动安装在卷料贴胶支架105b2底端的卷料贴胶吸盘105b3，卷料升降气缸105b1的输出端竖直向下。各个卷料贴胶抓手105b中卷料升降气缸105b1的独立升降，使得各个卷料贴胶吸盘105b3能够独立移动，从而完成各个胶条的贴胶动作。As shown in Figures 4 and 7, the roll material gluing gripper 105b includes a roll material lifting cylinder 105b1 installed on the gluing frame 105a, a roll material gluing bracket 105b2 installed at the output end of the roll material lifting cylinder 105b1, and a roll material gluing bracket 105b2 movable installed on the The roll material gluing suction cup 105b3 at the bottom of the roll material gluing support 105b2, the output end of the roll material lifting cylinder 105b1 is vertically downward. The independent lifting and lowering of the roll material lifting cylinder 105b1 in each roll material gluing gripper 105b enables each roll material gluing suction cup 105b3 to move independently, thereby completing the gluing action of each glue strip.
如图7-图8所示，卷料贴胶吸盘105b3包括活动安装在卷料贴胶支架105b2底端的盖板105b31和安装在盖板105b31底面的吸附板105b32，盖板105b31的底端开设有流通槽105b33，吸附板105b32上沿其长度方向开设有若干吸孔105b34，且吸孔105b34与流通槽105b33相连通，盖板105b31上安装有与流通槽105b33相连通的接头105b35。通过将吸孔105b34沿吸附板105b32的长度方向开设，使得卷料贴胶抓手105b能够兼容一定长度内的胶条。具体的，盖板105b31和吸附板105b32均为细长条状；吸附板105b32的底面涂有防粘涂层；接头105b35与真空设备（图中未示出）相连通，通过真空泵可以使得流通槽105b33与吸孔105b34内形成负压。As shown in Figures 7 and 8, the roll material gluing suction cup 105b3 includes a cover plate 105b31 movably installed on the bottom end of the roll material gluing bracket 105b2 and an adsorption plate 105b32 installed on the bottom surface of the cover plate 105b31. The bottom end of the cover plate 105b31 is provided with a The flow channel 105b33 and the adsorption plate 105b32 are provided with a number of suction holes 105b34 along its length direction, and the suction holes 105b34 are connected with the flow channel 105b33. The cover plate 105b31 is equipped with a joint 105b35 that is connected with the flow channel 105b33. By opening the suction holes 105b34 along the length direction of the suction plate 105b32, the roll material adhesive gripper 105b can be compatible with adhesive strips within a certain length. Specifically, the cover plate 105b31 and the adsorption plate 105b32 are both in the shape of elongated strips; the bottom surface of the adsorption plate 105b32 is coated with an anti-stick coating; the joint 105b35 is connected to the vacuum equipment (not shown in the figure), and the flow tank can be made to flow through a vacuum pump. Negative pressure is formed in 105b33 and suction hole 105b34.
如图7所示，卷料贴胶支架105b2的两端分别通过第一缓冲组件105b4与盖板105b31连接，第一缓冲组件105b4包括固定穿设于卷料贴胶支架105b2端部的第一轴套105b41、滑动穿设于第一轴套105b41的第一滑轴105b42、套设于第一滑轴105b42底端的第一缓冲件105b43以及安装在第一滑轴105b42顶端的第一限位件105b44，第一滑轴105b42的底端与盖板105b31连接，第一缓冲件105b43的顶端与第一轴套105b41的底面抵触，底端与盖板105b31的顶面抵触。第一缓冲组件105b4的设置，避免卷料贴胶吸盘105b3在抓取胶条并将胶条贴至电芯的过程中出现过压的情形，从而防止胶条出现变形以及电芯出现压坏的情况。具体的，第一缓冲件105b43为弹簧；第一限位件105b44为螺母。As shown in Figure 7, both ends of the roll material gluing bracket 105b2 are connected to the cover plate 105b31 through a first buffer component 105b4. The first buffer component 105b4 includes a first shaft fixedly penetrated at the end of the roll material gluing bracket 105b2. The sleeve 105b41, the first sliding shaft 105b42 that slides through the first sleeve 105b41, the first buffer member 105b43 that is sleeved at the bottom of the first sliding shaft 105b42, and the first limiting member 105b44 installed at the top of the first sliding shaft 105b42. , the bottom end of the first sliding shaft 105b42 is connected with the cover plate 105b31, the top end of the first buffer member 105b43 conflicts with the bottom surface of the first sleeve 105b41, and the bottom end conflicts with the top surface of the cover plate 105b31. The setting of the first buffer component 105b4 prevents the roll material adhesive suction cup 105b3 from overvoltage during the process of grabbing the adhesive strip and attaching the adhesive strip to the battery core, thereby preventing the adhesive strip from deforming and the battery core from being crushed. Condition. Specifically, the first buffer member 105b43 is a spring; the first limiting member 105b44 is a nut.
当卷料贴胶抓手105b对分胶平台103b上的四个胶条抓取时，贴胶机械手105将卷料贴胶抓手105b移动至四个胶条的正上方，然后下移，吸附板105b32与胶条接触后推动吸附板105b32些许上移，吸附板105b32的上移带动盖板105b31上移，并压缩第一缓冲件105b43，从而实现吸附板105b32对胶条的下压缓冲，最后真空设备使得流通槽105b33与吸孔105b34形成负压，完成对胶条的吸持，贴胶机械手105带动卷料贴胶抓手105b上移。When the roll material gluing gripper 105b grabs the four adhesive strips on the bisected glue platform 103b, the gluing manipulator 105 moves the roll material gluing gripper 105b to just above the four adhesive strips, and then moves down to adsorb After the plate 105b32 contacts the strip, it pushes the adsorption plate 105b32 to move upward slightly. The upward movement of the adsorption plate 105b32 drives the cover plate 105b31 to move upward, and compresses the first buffer member 105b43, thereby realizing the downward pressure buffering of the adhesive strip by the adsorption plate 105b32. Finally, The vacuum equipment causes the flow tank 105b33 and the suction hole 105b34 to form a negative pressure to complete the suction and holding of the adhesive strip. The adhesive manipulator 105 drives the roll adhesive gripper 105b to move upward.
如图5和图7所示，卷料贴胶支架105b2的一端安装有第一光电传感器105b5，盖板105b31的端部设有与第一光电传感器105b5相对应的第一感应片105b6。通过第一光电传感器105b5和第一感应片105b6的配合设置，对吸附板105b32与胶条接触后的上移行程进行限位，避免上移行程过大导致第一缓冲组件105b4的缓冲效果不佳。当第一光电传感器105b5感应到第一感应片105b6时，整个抓手停止下移。As shown in Figures 5 and 7, a first photoelectric sensor 105b5 is installed at one end of the roll material gluing bracket 105b2, and a first sensing piece 105b6 corresponding to the first photoelectric sensor 105b5 is provided at the end of the cover plate 105b31. Through the cooperative arrangement of the first photoelectric sensor 105b5 and the first sensing piece 105b6, the upward movement stroke of the adsorption plate 105b32 after contact with the rubber strip is limited, so as to avoid the poor buffering effect of the first buffer component 105b4 caused by excessive upward movement stroke. . When the first photoelectric sensor 105b5 senses the first sensing piece 105b6, the entire gripper stops moving downward.
如图4-图9所示，片料贴胶抓手105c包括安装在贴胶框架105a上的片料升降气缸105c1、安装在片料升降气缸105c1输出端的片料贴胶支架105c2以及活动安装在片料贴胶支架105c2底端的片料贴胶吸盘105c3，片料贴胶升降气缸105c1的输出端竖直向下。各个片料贴胶抓手105c中的片料贴胶升降气缸105c1独立升降，使得各个片料贴胶吸盘105c3能够独立移动，从而完成片胶的贴胶动作。As shown in Figures 4 to 9, the sheet gluing gripper 105c includes a sheet lifting cylinder 105c1 installed on the gluing frame 105a, a sheet gluing bracket 105c2 installed on the output end of the sheet lifting cylinder 105c1, and a movable mounting bracket 105c2 on the output end of the sheet lifting cylinder 105c1. There is a sheet gluing suction cup 105c3 at the bottom of the sheet gluing support 105c2, and the output end of the sheet gluing lifting cylinder 105c1 is vertically downward. The sheet gluing lifting cylinder 105c1 in each sheet gluing gripper 105c can be lifted and lowered independently, so that each sheet gluing suction cup 105c3 can move independently, thereby completing the sheet gluing action.
如图9所示，片料贴胶吸盘105c3包括活动安装在片料贴胶支架105c2底端的第一安装板105c31、安装在第一安装板105c31上的若干第一真空逻辑阀105c32以及安装在第一真空逻辑阀105c32底端的第一吸嘴105c33。具体的，第一真空逻辑阀105c32沿第一安装板105c31的长度方向均匀设置，且沿第一安装板105c31的宽度方向设置两排，第一真空逻辑阀105c32与真空泵相连通，通过真空泵可以使得第一吸嘴105c33内形成负压。第一真空逻辑阀105c32在第一安装板105c31上的如此布置，使得片料贴胶抓手105c可以兼容一定尺寸范围内的片料。As shown in Figure 9, the sheet adhesive suction cup 105c3 includes a first installation plate 105c31 movably installed at the bottom of the sheet adhesive support 105c2, a plurality of first vacuum logic valves 105c32 installed on the first installation plate 105c31, and a first vacuum logic valve 105c32 installed on the first mounting plate 105c31. A first suction nozzle 105c33 at the bottom of a vacuum logic valve 105c32. Specifically, the first vacuum logic valves 105c32 are evenly arranged along the length direction of the first mounting plate 105c31, and are arranged in two rows along the width direction of the first mounting plate 105c31. The first vacuum logic valves 105c32 are connected to the vacuum pump, and the vacuum pump can make Negative pressure is formed in the first suction nozzle 105c33. The first vacuum logic valve 105c32 is arranged on the first mounting plate 105c31 in such a way that the sheet glue gripper 105c can be compatible with sheets within a certain size range.
如图9所示，片料贴胶支架105c2的两端分别通过第二缓冲组件105c4与第一安装板105c31连接，第二缓冲组件105c4包括固定穿设于片料贴胶支架105c2端部的第二轴套105c41、滑动穿设于第二轴套105c41的第二滑轴105c42、套设于第二滑轴105c42底端的第二缓冲件105c43以及安装在第二滑轴105c42顶端的第二限位件105c44，第二滑轴105c42的底端与第一安装板105c31连接，第二缓冲件105c43的顶端与第二轴套105c41的底面抵触，底端与第一安装板105c31的顶面抵触。通过第二缓冲组件105c4的设置，避免片料贴胶吸盘105c3在抓取片胶并将片胶贴至电芯的过程中出现过压的情形，从而防止片胶出现变形以及电芯出现压坏的情况。具体的，第二缓冲件105c43为弹簧；第二限位件105c44为螺母。As shown in Figure 9, the two ends of the sheet adhesive bracket 105c2 are respectively connected to the first mounting plate 105c31 through the second buffer component 105c4. The second buffer component 105c4 includes a third buffer assembly fixedly penetrated through the end of the sheet adhesive bracket 105c2. The second bushing 105c41, the second sliding shaft 105c42 that slides through the second bushing 105c41, the second buffer member 105c43 that is set at the bottom of the second sliding shaft 105c42, and the second limiter installed at the top of the second sliding shaft 105c42 Part 105c44, the bottom end of the second sliding shaft 105c42 is connected to the first mounting plate 105c31, the top end of the second buffer member 105c43 conflicts with the bottom surface of the second sleeve 105c41, and the bottom end conflicts with the top surface of the first mounting plate 105c31. Through the setting of the second buffer component 105c4, the sheet glue suction cup 105c3 is prevented from over-pressure during the process of grabbing the sheet glue and applying the sheet glue to the battery core, thereby preventing the sheet glue from deforming and the battery core from being crushed. Case. Specifically, the second buffer member 105c43 is a spring; the second limiting member 105c44 is a nut.
如图5和图9所示，片料贴胶支架105c2的一端安装有第二光电传感器105c5，第一安装板105c31的端部设有与第二光电传感器105c5相对应的第二感应片105c6，片料贴胶支架105c2上开设有第一通孔105c7供第二感应片105c6穿过。通过第二光电传感器105c5和第二感应片105c6的配合设置，对第一吸嘴105c33与片胶接触后第一安装板105c31的上移行程进行限位，避免第一安装板105c31上移行程过大导致第二缓冲组件105c4的缓冲效果不佳。具体的，第二光电传感器105c5为槽型光电。As shown in Figures 5 and 9, a second photoelectric sensor 105c5 is installed at one end of the sheet glue support 105c2, and a second sensing piece 105c6 corresponding to the second photoelectric sensor 105c5 is provided at the end of the first mounting plate 105c31. The sheet glue support 105c2 is provided with a first through hole 105c7 for the second sensing piece 105c6 to pass through. Through the cooperative arrangement of the second photoelectric sensor 105c5 and the second sensing piece 105c6, the upward movement of the first mounting plate 105c31 after the first suction nozzle 105c33 comes into contact with the sheet glue is limited, so as to prevent the first mounting plate 105c31 from excessive upward movement. The large size results in poor buffering effect of the second buffer component 105c4. Specifically, the second photoelectric sensor 105c5 is a slot-type photoelectric sensor.
如图4和图6所示，贴胶框架105a的两侧分别安装有若干滑块105d，卷料贴胶支架105b2和片料贴胶支架105c2的两端均安装有滑轨105e，滑块105d和滑轨105e滑动连接。通过滑块105d和滑轨105e的滑动配合，保证了卷料贴胶支架105b2和片料贴胶支架105c2上下移动的稳定性。As shown in Figures 4 and 6, a number of sliders 105d are installed on both sides of the glue application frame 105a. Slide rails 105e and sliders 105d are installed on both ends of the roll material application bracket 105b2 and the sheet material application bracket 105c2. It is slidingly connected to the slide rail 105e. Through the sliding cooperation between the slider 105d and the slide rail 105e, the stability of the roll material gluing bracket 105b2 and the sheet material gluing bracket 105c2 moving up and down is ensured.
胶料为卷料时，四个卷料升降气缸105b1同步伸出，使得吸附板105b32位于片料贴胶吸盘105c3的下方，然后贴胶机械手105将卷料贴胶抓手105b移动至四个胶条的正上方，完成对胶条的吸持后，贴胶机械手105带动卷料贴胶抓手105b上移，卷料升降气缸105b1回缩复位，然后贴胶机械手105带动卷料贴胶抓手105b来到电芯处，四个卷料升降气缸105b1分别先后伸出，将各自吸持的胶条贴至电芯上。胶料为片料时，两个片料升降气缸105c1同步伸出，使得片料贴胶吸盘105c3位于吸附板105b32的下方，然后贴胶机械手105将片料贴胶抓手105c移动至片胶的正上方，完成对片胶的吸持后，贴胶机械手105带动片料贴胶抓手105c上移，片料贴胶升降气缸105c1回缩复位，然后贴胶机械手105带动片料升降气缸105c1来到电芯处，两个片料升降气缸105c1分别伸出，将吸持的片胶贴至电芯上。如图2和图4所示，为了保证卷料升降气缸105b1和片料升降气缸105c1的伸缩行程，贴胶框架105a的一侧安装有若干第三光电传感器105f, 卷料贴胶支架105b2和片料贴胶支架105c2上均安装有与第三光电传感器105f相对应的第三感应片105g。具体的，每个第三感应片105g在竖直方向对应两个第三光电传感器105f，第三光电传感器105f为槽型光电。When the glue material is roll material, the four roll material lifting cylinders 105b1 are extended simultaneously, so that the adsorption plate 105b32 is located below the sheet glue application suction cup 105c3, and then the glue application manipulator 105 moves the roll material application gripper 105b to the four glue materials. Right above the strip, after completing the suction of the strip, the gluing manipulator 105 drives the roll material gluing gripper 105b to move upward, the roll material lifting cylinder 105b1 retracts and resets, and then the gluing manipulator 105 drives the roll material gluing gripper 105b 105b comes to the battery core, and the four roll material lifting cylinders 105b1 respectively extend out one after another, and stick the adhesive strips they hold onto the battery core. When the glue material is a sheet material, the two sheet material lifting cylinders 105c1 are extended simultaneously, so that the sheet material gluing suction cup 105c3 is located below the adsorption plate 105b32, and then the gluing manipulator 105 moves the sheet material gluing gripper 105c to the top of the sheet glue. Directly above, after completing the suction and holding of the sheet glue, the gluing manipulator 105 drives the sheet gluing gripper 105c to move upward, the sheet gluing lifting cylinder 105c1 retracts and resets, and then the gluing manipulator 105 drives the sheet lifting cylinder 105c1. When reaching the battery core, the two sheet lifting cylinders 105c1 respectively extend to stick the sucked sheet glue to the battery core. As shown in Figures 2 and 4, in order to ensure the telescopic stroke of the roll material lifting cylinder 105b1 and the sheet material lifting cylinder 105c1, a number of third photoelectric sensors 105f are installed on one side of the gluing frame 105a, the roll material gluing bracket 105b2 and the sheet material gluing bracket 105b2. The third sensing piece 105g corresponding to the third photoelectric sensor 105f is installed on the material pasting bracket 105c2. Specifically, each third sensing piece 105g corresponds to two third photoelectric sensors 105f in the vertical direction, and the third photoelectric sensors 105f are slot-type photoelectric sensors.
如图10-图13所示，分胶机构103包括安装在下架台100上的底座103a、安装在底座103a上端的分胶平台103b、活动安装在底座103a下端的移动座103c、驱动移动座103c沿底座103a的长度方向横向移动的驱动组件103d、安装在分胶平台103b右端的抬升组件103e以及安装在移动座103c上端的下压组件103f、顶升组件103g和压板组件103h，分胶平台103b上开设有若干通孔103i，通孔103i沿分胶平台103b的宽度方向排列，且沿分胶平台103b的长度方向通长开设，下压组件103f设在分胶平台103b的上方，顶升组件103g设在分胶平台103b的下方，压板组件103h设在下压组件103f的左侧。通过下压组件103f、顶升组件103g和压板组件103h的设置，实现卷料上连续多个胶条的分胶，且避免了单个胶条尺寸误差对分胶精度的影响。具体的，分胶平台103b上沿其长度方向开设有若干吸附孔103j，吸附孔103j通过分胶平台103b内部的气道与真空设备连通，吸附孔103j的设置防止放置在分胶平台103b上的卷料胶随意窜动，分胶平台103b的上表面涂覆有防粘涂层；驱动组件103d可以是直线模组，此为现有技术，在此就不对其具体结构进行详细描述；通孔103i沿分胶平台103b的宽度方向均匀排列；压板组件103h设在下压组件103f的左侧。As shown in Figures 10 to 13, the glue dispensing mechanism 103 includes a base 103a installed on the lower platform 100, a glue dispensing platform 103b installed on the upper end of the base 103a, a movable base 103c movably installed on the lower end of the base 103a, and a driving movable base 103c along the The driving component 103d that moves laterally in the length direction of the base 103a, the lifting component 103e installed on the right end of the glue distributing platform 103b, and the lower pressing component 103f, the lifting component 103g and the pressure plate component 103h installed on the upper end of the moving base 103c are on the glue distributing platform 103b. A number of through holes 103i are provided. The through holes 103i are arranged along the width direction of the glue separation platform 103b and are opened along the length direction of the glue separation platform 103b. The pressing component 103f is located above the glue separation platform 103b, and the lifting component 103g Located below the glue distributing platform 103b, the pressure plate assembly 103h is located on the left side of the lower pressure assembly 103f. Through the arrangement of the pressing component 103f, the lifting component 103g and the pressing plate component 103h, the glue separation of multiple consecutive glue strips on the roll material is realized, and the influence of the size error of a single glue strip on the glue separation accuracy is avoided. Specifically, the glue separation platform 103b is provided with a number of adsorption holes 103j along its length direction. The adsorption holes 103j are connected to the vacuum equipment through the air channels inside the glue separation platform 103b. The adsorption holes 103j are arranged to prevent the glue placed on the glue separation platform 103b from The roll glue moves freely, and the upper surface of the glue separation platform 103b is coated with an anti-stick coating; the driving component 103d can be a linear module, which is an existing technology, and its specific structure will not be described in detail here; through holes 103i are evenly arranged along the width direction of the glue distributing platform 103b; the pressing plate assembly 103h is located on the left side of the lower pressing assembly 103f.
如图14-图17所示，下压组件103f包括分别安装在移动座103c上端两侧的下压气缸103f1、安装在下压气缸103f1输出端的下压支架103f2、设在下压支架103f2下方的若干下压板103f3以及驱动若干下压板103f3沿下压支架103f2的宽度方向等间距同步扩缩的第一变距组103f4，下压支架103f2设在分胶平台103b的上方，且其两侧分别与下压气缸103f1的输出端连接。具体的，下压气缸103f1的输出端竖直向上；下压板103f3为四个，且为细长条状，下压板103f3的下表面涂覆有防粘涂层。为了保证下压支架103f2上下移动的平稳性，下压支架103f2的两侧分别安装有导向轴，移动座103c的上端两侧分别安装有导向套，导向轴滑动穿设于导向套，此为现有技术，在此就不对其具体结构进行详细描述。另外，为了避免下压板103f3对卷料胶过压，移动座103c上设有光电感应对下压板103f3的移动行程进行限位，此为现有技术，在此就不再过多描述。As shown in Figures 14 to 17, the downward pressure assembly 103f includes a downward pressure cylinder 103f1 installed on both sides of the upper end of the movable base 103c, a downward pressure bracket 103f2 installed at the output end of the downward pressure cylinder 103f1, and several downward pressure brackets 103f2 provided below the downward pressure bracket 103f2. The pressure plate 103f3 and the first variable pitch group 103f4 that drive a plurality of lower pressure plates 103f3 to synchronously expand and contract at equal intervals along the width direction of the lower pressure bracket 103f2, the lower pressure bracket 103f2 is located above the glue distributing platform 103b, and its two sides are respectively connected with the lower pressure bracket 103f3. The output terminal of cylinder 103f1 is connected. Specifically, the output end of the downward pressure cylinder 103f1 is vertically upward; there are four lower pressure plates 103f3, and they are elongated strips, and the lower surface of the lower pressure plates 103f3 is coated with an anti-stick coating. In order to ensure the stability of the upward and downward movement of the lower pressure bracket 103f2, guide shafts are installed on both sides of the lower pressure bracket 103f2, and guide sleeves are installed on both sides of the upper end of the movable base 103c. The guide shafts slide through the guide sleeves. This is the current There is technology available, so its specific structure will not be described in detail here. In addition, in order to prevent the lower pressure plate 103f3 from overpressuring the roll material glue, the moving base 103c is provided with a photoelectric sensor to limit the moving stroke of the lower pressure plate 103f3. This is an existing technology and will not be described in detail here.
如图15和图17所示，第一变距组103f4包括分别安装在下压板103f3上端的若干第一变距板103f41、滑动安装在下压支架103f2下端的第一调节板103f42和驱动第一调节板103f42沿下压支架103f2的长度方向纵向移动的第一驱动件103f43，第一变距板103f41与下压支架103f2的下端滑动连接，第一调节板103f42位于下压板103f3和第一变距板103f41之间，第一变距板103f41上安装有第一螺栓103f44，第一螺栓103f44远离第一变距板103f41的端部安装有第一滑轮103f45，第一滑轮103f45嵌设于第一调节板103f42上开设的第一调节槽103f46内。具体的，第一变距板103f41为四个，且其两端分别与下压板103f3连接，第一变距板103f41通过滑轨滑块与下压支架103f2滑动连接；第一调节板103f42为两个，且均开设有四个第一调节槽103f46，第一调节板103f42的两端分别通过滑轨滑块与下压支架103f2滑动连接；第一驱动件103f43安装在下压支架103f2的上端。工作时，第一驱动件103f43驱动第一调节板103f42沿下压支架103f2的长度方向纵向移动，第一调节板103f42的纵向移动迫使第一滑轮103f45沿第一调节槽103f46移动，第一滑轮103f45在第一调节槽103f46内的移动通过第一螺栓103f44带动第一变距板103f41沿下压支架103f2的宽度方向横向移动，从而实现四个下压板103f3沿下压支架103f2的宽度方向等间距的同步扩张。通过第一变距组103f4的设置，保证了下压板103f3等间距同步扩缩的一致性，且不会出现卡滞，可靠性高。As shown in Figures 15 and 17, the first pitch change group 103f4 includes a number of first pitch change plates 103f41 respectively installed on the upper end of the lower pressure plate 103f3, a first adjustment plate 103f42 slidably installed on the lower end of the lower pressure bracket 103f2, and a driving first adjustment plate. 103f42 is the first driving member 103f43 that moves longitudinally along the length direction of the lower pressure bracket 103f2. The first pitch change plate 103f41 is slidingly connected to the lower end of the lower pressure bracket 103f2. The first adjustment plate 103f42 is located between the lower pressure plate 103f3 and the first pitch change plate 103f41. Between them, a first bolt 103f44 is installed on the first pitch changing plate 103f41, a first pulley 103f45 is installed on the end of the first bolt 103f44 away from the first pitch changing plate 103f41, and the first pulley 103f45 is embedded in the first adjusting plate 103f42. In the first adjustment groove 103f46 opened on. Specifically, there are four first pitch-changing plates 103f41, and their two ends are respectively connected to the lower pressure plate 103f3. The first pitch-changing plate 103f41 is slidingly connected to the lower pressure bracket 103f2 through the slide rail slide block; the first adjustment plate 103f42 has two. Each of them is provided with four first adjustment slots 103f46. Both ends of the first adjustment plate 103f42 are slidingly connected to the lower pressure bracket 103f2 through slide rail blocks; the first driving member 103f43 is installed on the upper end of the lower pressure bracket 103f2. During operation, the first driving member 103f43 drives the first adjusting plate 103f42 to move longitudinally along the length direction of the pressing bracket 103f2. The longitudinal movement of the first adjusting plate 103f42 forces the first pulley 103f45 to move along the first adjusting groove 103f46. The first pulley 103f45 The movement in the first adjustment groove 103f46 drives the first distance-changing plate 103f41 to move laterally along the width direction of the lower pressure bracket 103f2 through the first bolt 103f44, thereby achieving equal spacing of the four lower pressure plates 103f3 along the width direction of the downward pressure bracket 103f2. simultaneous expansion. Through the setting of the first pitch changing group 103f4, the consistency of the synchronous expansion and contraction of the lower platen 103f3 at equal intervals is ensured, without jamming, and the reliability is high.
如图15和图16所示，第一驱动件103f43包括转动安装在下压支架103f2上端的第一丝杆103f431、螺纹套设在第一丝杆103f431中部的第一丝杆螺母103f432、安装在第一丝杆螺母103f432上的第一连杆103f433以及驱动第一丝杆103f431转动的第一电机103f434，第一连杆103f433背向第一丝杆螺母103f432的端部与第一调节板103f42连接。具体的，第一丝杆103f431的两端分别通过轴承座安装在下压支架103f2的上端中部；第一电机103f434的输出端安装有主动轮，第一丝杆103f431的一端安装有从动轮，主动轮和从动轮通过皮带传动连接。工作时，第一电机103f434驱动第一丝杆103f431转动，使得第一丝杆螺母103f432沿着第一丝杆103f431的轴向移动，从而通过第一连杆103f433带动第一调节板103f42沿下压支架103f2的长度方向纵向移动。As shown in Figures 15 and 16, the first driving member 103f43 includes a first screw rod 103f431 that is rotatably installed on the upper end of the pressing bracket 103f2, a first screw nut 103f432 threadedly sleeved in the middle of the first screw rod 103f431, and a first screw nut 103f432 installed on the upper end of the pressing bracket 103f2. The first connecting rod 103f433 on the screw nut 103f432 and the first motor 103f434 that drives the first screw nut 103f431 to rotate. The end of the first connecting rod 103f433 facing away from the first screw nut 103f432 is connected to the first adjusting plate 103f42. Specifically, both ends of the first screw rod 103f431 are respectively installed in the upper middle part of the lower pressure bracket 103f2 through bearing seats; the output end of the first motor 103f434 is equipped with a driving wheel, and one end of the first screw rod 103f431 is installed with a driven wheel, and the driving wheel It is connected to the driven wheel through belt transmission. During operation, the first motor 103f434 drives the first screw rod 103f431 to rotate, causing the first screw nut 103f432 to move along the axial direction of the first screw rod 103f431, thereby driving the first adjusting plate 103f42 to press down through the first connecting rod 103f433. The length direction of the bracket 103f2 moves longitudinally.
如图14、图18-图20所示，顶升组件103g包括安装在移动座103c上端中心的顶升气缸103g1、安装在顶升气缸103g1输出端的顶升支架103g2、设在顶升支架103g2上方的若干顶升板103g3以及驱动若干顶升板103g3沿顶升支架103g2的宽度方向等间距同步扩缩的第二变距组103g4，顶升板103g3沿顶升支架103g2的宽度方向排列，顶升板103g3呈梳齿状，顶升板103g3上的梳齿面向分胶平台103b，且能够穿过通孔103i。具体的，顶升气缸103g1的输出端竖直向上；顶升板103g3为四个，顶升板103g3的上表面涂覆有防粘涂层。为了保证顶升支架103g2上下移动的平稳性，顶升支架103g2的两侧分别安装有导向轴，移动座103c的上端两侧分别安装有导向套，导向轴滑动穿设于导向套。As shown in Figures 14, 18 and 20, the lifting assembly 103g includes a lifting cylinder 103g1 installed at the upper center of the movable base 103c, a lifting bracket 103g2 installed at the output end of the lifting cylinder 103g1, and a lifting bracket 103g2 located above the lifting bracket 103g2. A number of jacking plates 103g3 and a second variable pitch group 103g4 that drive a number of jacking plates 103g3 to expand and contract simultaneously at equal intervals along the width direction of the jacking bracket 103g2. The jacking plates 103g3 are arranged along the width direction of the jacking bracket 103g2. The plate 103g3 is in the shape of comb teeth, and the comb teeth on the lifting plate 103g3 face the glue dispensing platform 103b and can pass through the through hole 103i. Specifically, the output end of the lifting cylinder 103g1 is vertically upward; there are four lifting plates 103g3, and the upper surface of the lifting plates 103g3 is coated with an anti-stick coating. In order to ensure the stability of the up and down movement of the lifting bracket 103g2, guide shafts are installed on both sides of the lifting bracket 103g2. Guide sleeves are installed on both sides of the upper end of the movable base 103c. The guide shafts slide through the guide sleeves.
如图18和图19所示，第二变距组103g4包括分别安装在顶升板103g3下端的若干第二变距板103g41、滑动安装在顶升支架103g2上端的第二调节板103g42和驱动第二调节板103g42沿顶升支架103g2的长度方向纵向移动的第二驱动件103g43，第二变距板103g41与顶升支架103g2的上端滑动连接，第二调节板103g42设在顶升板103g3和第二变距板103g41之间，第二变距板103g41上安装有第二螺栓103g44，第二螺栓103g44远离第二变距板103g41的端部安装有第二滑轮103g45，第二滑轮103g45嵌设于第二调节板103g42上开设的第二调节槽103g46内。具体的，第二变距板103g41为四个，且其两端分别与顶升板103g3连接，第二变距板103g41通过滑轨滑块与顶升支架103g2滑动连接；第二调节板103g42为两个，且均开设有四个第二调节槽103g46，第二调节板103g42的两端分别通过滑轨滑块与顶升支架103g2滑动连接；第二驱动件103g43安装在顶升支架103g2的中部。第二变距组103g4的工作原理与上述第一变距组103f4的相同，在此就不再详细描述。As shown in Figures 18 and 19, the second pitch changing group 103g4 includes a number of second pitch changing plates 103g41 respectively installed at the lower end of the lifting plate 103g3, a second adjusting plate 103g42 slidably installed at the upper end of the lifting bracket 103g2, and a driving third plate. The second adjusting plate 103g42 is a second driving member 103g43 that moves longitudinally along the length direction of the lifting bracket 103g2. The second distance changing plate 103g41 is slidingly connected to the upper end of the lifting bracket 103g2. The second adjusting plate 103g42 is located between the lifting plate 103g3 and the second adjusting plate 103g42. Between the two pitch-changing plates 103g41, a second bolt 103g44 is installed on the second pitch-changing plate 103g41. A second pulley 103g45 is installed at the end of the second bolt 103g44 away from the second pitch-changing plate 103g41. The second pulley 103g45 is embedded in In the second adjustment groove 103g46 opened on the second adjustment plate 103g42. Specifically, there are four second pitch-changing plates 103g41, and their two ends are connected to the lifting plate 103g3 respectively. The second pitch-changing plate 103g41 is slidingly connected to the lifting bracket 103g2 through the slide rail block; the second adjusting plate 103g42 is Two, and four second adjustment slots 103g46 are provided in each. Both ends of the second adjustment plate 103g42 are slidingly connected to the lifting bracket 103g2 through slide rail blocks; the second driving part 103g43 is installed in the middle of the lifting bracket 103g2 . The working principle of the second pitch changing group 103g4 is the same as the above-mentioned first pitch changing group 103f4, and will not be described in detail here.
如图18和图20所示，第二驱动件103g43包括转动安装在顶升支架103g2中部的第二丝杆103g431、螺纹套设在第二丝杆103g431中部的第二丝杆螺母103g432、安装在第二丝杆螺母103g432上的第二连杆103g433以及驱动第二丝杆103g431转动的第二电机103g434，第二连杆103g433背向第二丝杆螺母103g432的端部与第二调节板103g42连接。具体的，第二丝杆103g431的两端分别通过轴承座安装在顶升支架103g2的中部；第二电机103g434的输出端安装有主动轮，第二丝杆103g431的一端安装有从动轮，主动轮和从动轮通过皮带传动连接。As shown in Figures 18 and 20, the second driving member 103g43 includes a second screw rod 103g431 installed in the middle of the lifting bracket 103g2, a second screw nut 103g432 threaded in the middle of the second screw rod 103g431, and a second screw nut 103g432 installed in the middle of the lifting bracket 103g2. The second connecting rod 103g433 on the second screw nut 103g432 and the second motor 103g434 that drives the second screw 103g431 to rotate. The end of the second connecting rod 103g433 facing away from the second screw nut 103g432 is connected to the second adjusting plate 103g42. . Specifically, both ends of the second screw rod 103g431 are respectively installed in the middle of the lifting bracket 103g2 through bearing seats; the output end of the second motor 103g434 is installed with a driving wheel, and one end of the second screw rod 103g431 is installed with a driven wheel, and the driving wheel It is connected to the driven wheel through belt transmission.
通过第一变距组103f4和第二变距组103g4的设置，调整下压板103f3之间以及顶升板103g3之间的间距，还可以实现不同宽度胶条的兼容。By setting the first pitch changing group 103f4 and the second pitch changing group 103g4, adjusting the spacing between the lower pressure plates 103f3 and the lifting plates 103g3 can also achieve compatibility with rubber strips of different widths.
如图14和图21所示，压板组件103h包括安装在移动座103c上端的定位气缸103h1、安装在定位气缸103h1输出端的定位支架103h2以及安装在定位支架103h2上端的定位板103h3，定位板103h3设在分胶平台103b的上方。具体的，定位气缸103h1的输出端竖直向下；定位支架103h2包括上纵梁103h21、下纵梁103h22和竖轴103h23，上纵梁103h21设在分胶平台103b的上方，下纵梁103h22设在分胶平台103b的下方，上纵梁103h21和下纵梁103h22的两端分别通过竖轴103h23连接，竖轴103h23的中部滑动穿设于移动座103c，定位板103h3安装在上纵梁103h21上，下纵梁103h22与定位气缸103h1的输出端连接。通过压板组件103h定位卷料胶上的第五个胶条，然后将前四个胶条从卷料胶上分离出来，最后通过第一变距组103f4和第二变距组103g4将连续的前四个胶条分离，有效的降低了单个胶条尺寸误差对分胶精度的影响。工作时，定位气缸103h1驱动定位支架103h2下移，定位支架103h2的下移使得定位板103h3将第五个胶条压在分胶平台103b上。为了避免定位板103h3对卷料胶过压，移动座103c上设有光电感应对定位板103h3的移动行程进行限位。As shown in Figures 14 and 21, the pressure plate assembly 103h includes a positioning cylinder 103h1 installed on the upper end of the movable base 103c, a positioning bracket 103h2 installed on the output end of the positioning cylinder 103h1, and a positioning plate 103h3 installed on the upper end of the positioning bracket 103h2. The positioning plate 103h3 is Above the glue separation platform 103b. Specifically, the output end of the positioning cylinder 103h1 is vertically downward; the positioning bracket 103h2 includes an upper longitudinal beam 103h21, a lower longitudinal beam 103h22 and a vertical shaft 103h23. The upper longitudinal beam 103h21 is located above the glue distributing platform 103b, and the lower longitudinal beam 103h22 is located Below the glue distributing platform 103b, the two ends of the upper longitudinal beam 103h21 and the lower longitudinal beam 103h22 are respectively connected by a vertical shaft 103h23. The middle part of the vertical shaft 103h23 is slidably passed through the movable base 103c, and the positioning plate 103h3 is installed on the upper longitudinal beam 103h21. , the lower longitudinal beam 103h22 is connected to the output end of the positioning cylinder 103h1. The fifth rubber strip on the roll material glue is positioned through the pressure plate assembly 103h, and then the first four rubber strips are separated from the roll material glue. Finally, the continuous front strips are separated through the first pitch change group 103f4 and the second pitch change group 103g4. The separation of four strips effectively reduces the impact of the size error of a single strip on the accuracy of glue separation. During operation, the positioning cylinder 103h1 drives the positioning bracket 103h2 to move downward, and the downward movement of the positioning bracket 103h2 causes the positioning plate 103h3 to press the fifth glue strip on the glue dividing platform 103b. In order to prevent the positioning plate 103h3 from overpressuring the roll glue, a photoelectric sensor is provided on the moving base 103c to limit the moving stroke of the positioning plate 103h3.
如图10和图12所示，移动座103c的下端安装有凸轮分割器103k，凸轮分割器103k与驱动组件103d的输出端连接。具体的，凸轮分割器103k的下端通过滑座103l与驱动组件103d的输出端连接。通过凸轮分割器103k的设置，当分胶平台103b上的卷料胶摆放不正时，凸轮分割器103k转动移动座103c进行位置的旋转补偿，确保分胶后的胶条摆放端正。As shown in Figures 10 and 12, a cam divider 103k is installed at the lower end of the moving base 103c, and the cam divider 103k is connected to the output end of the driving assembly 103d. Specifically, the lower end of the cam divider 103k is connected to the output end of the driving assembly 103d through the sliding seat 103l. Through the setting of the cam divider 103k, when the roll glue on the glue separation platform 103b is not placed correctly, the cam divider 103k rotates the moving base 103c to perform position rotation compensation to ensure that the glue strips after glue separation are placed correctly.
如图10-图12、图22和图23所示，抬升组件103e包括安装在底座103a上端右侧的抬升气缸103e1、安装在抬升气缸103e1输出端的抬升支架103e2、安装在抬升支架103e2上端的若干提升杆103e3以及安装在分胶平台103b上的若干放胶块103e4，放胶块103e4面向抬升支架103e2的端部开设有杆槽103e5，提升杆103e3背向抬升支架103e2的端部延伸至杆槽103e5内，提升杆103e3上套设有防粘胶皮，提升杆103e3设在分胶平台103b的上方。对于粘连性较强的特粘胶条，对下压板103f3仍有一定的粘连力，常会出现吸附孔103j无法吸住分胶后的胶条，使得胶条被下压板103f3粘连带回的情况。通过抬升组件103e的设置，对于粘连性较强的特粘胶条，避免了其被下压板103f3粘连带回的情形，提高了分胶的可靠性，且进一步保证了分胶精度。具体的，放胶块103e4的上表面不涂覆防粘涂层，使得分胶后的胶条紧紧的粘贴在放胶块103e4上避免被下压板103f3粘连带回。为了保证抬升支架103e2上下移动的平稳性，抬升支架103e2的两侧分别安装有导向轴，底座103a上端的上端两侧分别安装有导向套，导向轴滑动穿设于导向套。As shown in Figures 10 to 12, 22 and 23, the lifting assembly 103e includes a lifting cylinder 103e1 installed on the right side of the upper end of the base 103a, a lifting bracket 103e2 installed on the output end of the lifting cylinder 103e1, and several lifting brackets installed on the upper end of the lifting bracket 103e2. Lifting rod 103e3 and several glue placing blocks 103e4 installed on the glue distributing platform 103b. The end of the glue placing block 103e4 facing the lifting bracket 103e2 is provided with a rod groove 103e5. The end of the lifting rod 103e3 facing away from the lifting bracket 103e2 extends to the rod groove. In 103e5, the lifting rod 103e3 is covered with anti-adhesive rubber, and the lifting rod 103e3 is located above the glue distributing platform 103b. For special adhesive strips with strong adhesion, they still have a certain adhesion force to the lower platen 103f3. It often happens that the adsorption holes 103j cannot absorb the separated adhesive strips, causing the adhesive strips to be stuck and brought back by the lower platen 103f3. Through the arrangement of the lifting assembly 103e, the highly adhesive special adhesive strip is prevented from being brought back by the lower platen 103f3, thereby improving the reliability of the glue separation and further ensuring the accuracy of the glue separation. Specifically, the upper surface of the glue placing block 103e4 is not coated with an anti-adhesive coating, so that the glued strips stick tightly to the glue placing block 103e4 to avoid being brought back by the lower platen 103f3. In order to ensure the stability of the up and down movement of the lifting bracket 103e2, guide shafts are installed on both sides of the lifting bracket 103e2. Guide sleeves are installed on both sides of the upper end of the base 103a. The guide shafts slide through the guide sleeves.
工作时，胶料为卷料时，取料机械手104将卷料放置在分胶平台103b的左侧，并由吸附孔103j吸住，第二视觉设备107检测卷料的上离型纸是否撕除、卷料的偏移以及卷料中胶条是否缺失，如果卷料存在偏移，凸轮分割器103k转动移动座103c进行位置的旋转补偿，然后驱动组件103d驱动移动座103c左移，直至下压组件103f和顶升组件103g对应卷料最右侧的四条胶条，然后压板组件103h下压压住第五条胶条，下压组件103f下压压住最右侧的四条胶条，顶升组件103g上移顶升，直至最右侧的四条胶条脱离分胶平台103b，此时最右侧的四条胶条与第五条胶条上下分离，然后压板组件103h上移复位，凸轮分割器103k转动移动座103c复位，驱动组件103d驱动移动座103c右移，在右移的过程中，第一变距组103f4驱动下压板103f3扩张，同时第二变距组103g4驱动顶升板103g3扩张，从而实现对四条胶条的左右分离，完成分胶，直至移动座103c移动至分胶平台103b的最右侧时，下压组件103f和顶升组件103g下移将分胶后的四条胶条搁置在放胶块103e4上，然后下压组件103f上移复位，第一变距组103f4带动下压板103f3回缩复位，第二变距组103g4带动顶升板103g3回缩复位，驱动组件103d驱动移动座103c左移继续进行下一步分胶，然后抬升气缸103e1驱动抬升支架103e2上升，进而同步带动提升杆103e3上移，提升杆103e3伸出杆槽103e5将胶条顶升托起，此时胶条与放胶块103e4不再接触，最后贴胶机械手105将分胶平台103b右侧的胶条取走。在对四条胶条进行分胶前，顶升组件103g上移顶升将四条胶条脱离分胶平台103b，目的在于避免胶条与分胶平台103b之间的摩擦影响四条胶条之间的左右分离。在分胶的过程中，通过下压组件103f和顶升组件103g对胶条的上下侧同时压住，避免分胶时胶条出现偏移，有效的保证了分胶精度。胶料为片料时，取料机械手104将片料放置在分胶平台103b的左侧，并由吸附孔103j吸住，然后第二视觉设备107检测片料的偏移量，反馈给贴胶机械手105，贴胶机械手105抓取时进行偏移量补偿，最后贴胶机械手105将分胶平台103b左侧的片料取走。When working, when the glue material is a roll material, the picking manipulator 104 places the roll material on the left side of the glue separation platform 103b and sucks it by the adsorption hole 103j. The second vision device 107 detects whether the upper release paper of the roll material is torn. In addition to the offset of the roll material and whether the rubber strip in the roll material is missing, if there is a deviation in the roll material, the cam divider 103k rotates the moving base 103c to compensate for the position of the rotation, and then the driving assembly 103d drives the moving base 103c to move to the left until it reaches the bottom. The pressing assembly 103f and the lifting assembly 103g correspond to the four strips on the rightmost side of the roll, and then the pressing plate assembly 103h presses down to hold down the fifth strip, and the down-pressing assembly 103f presses down to hold down the four rightmost strips. The lifting assembly 103g moves up and lifts until the four rightmost rubber strips are separated from the glue separation platform 103b. At this time, the rightmost four rubber strips and the fifth rubber strip are separated up and down. Then the pressure plate assembly 103h moves up and resets, and the cam divides The device 103k rotates the movable base 103c to reset, and the driving assembly 103d drives the movable base 103c to move to the right. During the right movement, the first variable pitch group 103f4 drives the lower pressure plate 103f3 to expand, and at the same time, the second variable pitch group 103g4 drives the lifting plate 103g3 to expand. , thereby realizing the left and right separation of the four rubber strips and completing the glue separation. When the movable seat 103c moves to the rightmost side of the glue separation platform 103b, the pressing assembly 103f and the lifting assembly 103g move downward to separate the four glue strips. Place it on the glue placing block 103e4, then the lower pressure assembly 103f moves up and resets, the first pitch change group 103f4 drives the lower pressure plate 103f3 to retract and reset, the second pitch change group 103g4 drives the jacking plate 103g3 to retract and reset, and the driving assembly 103d drives The movable base 103c moves to the left to continue the next step of glue separation, and then the lifting cylinder 103e1 drives the lifting bracket 103e2 to rise, which in turn drives the lifting rod 103e3 to move upward simultaneously. The lifting rod 103e3 extends out of the rod groove 103e5 to lift the glue strip. The strip and the glue dispensing block 103e4 are no longer in contact, and finally the glue manipulator 105 takes away the glue strip on the right side of the glue distributing platform 103b. Before separating the four rubber strips, the lifting component 103g moves up and lifts the four rubber strips away from the glue separation platform 103b. The purpose is to avoid the friction between the rubber strips and the glue separation platform 103b from affecting the left and right positions between the four rubber strips. separation. During the process of glue separation, the upper and lower sides of the rubber strip are simultaneously pressed by the pressing assembly 103f and the lifting assembly 103g to prevent the strip from deflecting during glue separation and effectively ensure the accuracy of glue separation. When the glue material is a piece of material, the picking manipulator 104 places the piece of material on the left side of the glue separation platform 103b and sucks it by the adsorption hole 103j, and then the second vision device 107 detects the offset of the piece of material and feeds it back to the glue applicator. The manipulator 105 and the gluing manipulator 105 perform offset compensation when grabbing. Finally, the gluing manipulator 105 takes away the piece of material on the left side of the glue separation platform 103b.
如图24所示，料库101包括滑动安装在下架台100上的抽屉板101a、设在抽屉板101a上方的提升板101b、推动提升板101b上下移动的推料组件101c以及滑动安装在抽屉板101a上的整形组件101d，抽屉板101a的右端外延伸出下架台100并安装有支脚101e，支脚101e的底端安装有脚轮101f。具体的，料库101可以设置两个或三个，实际数量根据生产需求设置；抽屉板101a的右端安装有拉手。As shown in Figure 24, the magazine 101 includes a drawer plate 101a slidably installed on the lower shelf 100, a lifting plate 101b provided above the drawer plate 101a, a pushing assembly 101c that pushes the lifting plate 101b up and down, and a pusher assembly 101c slidably installed on the drawer plate 101a. In the shaping assembly 101d on the drawer plate 101a, the right end of the drawer plate 101a extends out of the lower shelf 100 and is equipped with legs 101e. The bottom ends of the legs 101e are equipped with casters 101f. Specifically, two or three warehouses 101 can be provided, and the actual number is set according to production requirements; a handle is installed on the right end of the drawer board 101a.
如图25所示，推料组件101c包括设在下架台100下方的推杆架101c1、安装在推杆架101c1上的若干推杆101c2以及驱动推杆架101c1上下移动的驱动组101c3，下架台100和抽屉板101a上均开设有供推杆101c2穿过的杆孔101c4。具体的，驱动组101c3可以是直线模组，其输出端与推杆架101c1的左端连接，推杆架101c1的右端与下架台100滑动连接。As shown in Figure 25, the pusher assembly 101c includes a push rod frame 101c1 located below the lower platform 100, several push rods 101c2 installed on the push rod frame 101c1, and a driving group 101c3 that drives the push rod frame 101c1 to move up and down. The lower platform 100 The drawer plate 101a and the drawer plate 101a are both provided with rod holes 101c4 for the push rods 101c2 to pass through. Specifically, the driving group 101c3 can be a linear module, the output end of which is connected to the left end of the push rod frame 101c1, and the right end of the push rod frame 101c1 is slidingly connected to the lower frame 100.
如图25所示，整形组件101d包括安装在抽屉板101a一侧中部的若干侧基准挡杆101d1、滑动安装在抽屉板101a中部的侧滑板101d2、安装在侧滑板101d2上的若干侧挡杆101d3、分别滑动安装在抽屉板101a两端的端滑板101d4以及安装在端滑板101d4上的若干端挡杆101d5，提升板101b上开设有若干腰孔101d6，侧挡杆101d3和端挡杆101d5分别穿过腰孔101d6，且沿着腰孔101d6的长度方向移动，侧基准挡杆101d1与侧挡杆101d3相对应。具体的，侧基准挡杆101d1和侧挡杆101d3均为三根，且侧基准挡杆101d1和侧挡杆101d3均呈凸字形排列；每块端滑板101d4上的端挡杆101d5为两根。通过整形组件101d的设置，使得料库101可以兼容各种尺寸的胶料。放卷料时，拉动拉手，抽屉板101a沿着下架台100右移，将卷料码放在提升板101b上，然后驱动侧滑板101d2向基准挡杆101d1移动，使得侧挡杆101d3和侧基准挡杆101d1对卷料中部的两侧进行整形，同时驱动两块端滑板101d4相向移动，使得端挡杆101d5对卷料的两端进行整形。放片料时，片料为两堆，此时中间的侧基准挡杆101d1和中间的侧挡杆101d3相当于端基准挡杆，每堆片料放置在中间的侧基准挡杆101d1与端挡杆101d5之间。As shown in Figure 25, the shaping assembly 101d includes several side reference blocking rods 101d1 installed in the middle of one side of the drawer plate 101a, a side sliding plate 101d2 slidably installed in the middle of the drawer plate 101a, and several side blocking rods 101d3 installed on the side sliding plate 101d2. , the end sliding plates 101d4 are slidably installed at both ends of the drawer plate 101a and a number of end blocking rods 101d5 are installed on the end sliding plate 101d4. A number of waist holes 101d6 are provided on the lifting plate 101b, and the side blocking rods 101d3 and the end blocking rods 101d5 pass through respectively. The waist hole 101d6 moves along the length direction of the waist hole 101d6, and the side reference stop bar 101d1 corresponds to the side stop bar 101d3. Specifically, there are three side reference blocking rods 101d1 and side blocking rods 101d3, and both side reference blocking rods 101d1 and side blocking rods 101d3 are arranged in a convex shape; there are two end blocking rods 101d5 on each end sliding plate 101d4. Through the arrangement of the shaping component 101d, the material library 101 can be compatible with rubber materials of various sizes. When unwinding the roll material, pull the handle, the drawer plate 101a moves to the right along the lower platform 100, place the roll material on the lifting plate 101b, and then drive the side sliding plate 101d2 to move toward the reference stop 101d1, so that the side stop 101d3 and the side reference stop The rod 101d1 shapes both sides of the middle part of the roll material, and simultaneously drives the two end slide plates 101d4 to move toward each other, so that the end stop rod 101d5 shapes both ends of the roll material. When placing the pieces, the pieces are in two piles. At this time, the middle side reference block 101d1 and the middle side block 101d3 are equivalent to the end reference blocks. Each pile of pieces is placed between the middle side reference block 101d1 and the end block. Between rods 101d5.
工作时，取料机械手104移动至料库101上方，并对料库101内的胶料进行抓取。抓取后，驱动组101c3驱动推杆架101c1上升，推杆架101c1同步带动推杆101c2穿过杆孔101c4顶升提升板101b，从而实现胶料的自动供料。During operation, the picking robot 104 moves above the material warehouse 101 and grabs the rubber material in the material warehouse 101 . After grabbing, the driving group 101c3 drives the push rod frame 101c1 to rise, and the push rod frame 101c1 synchronously drives the push rod 101c2 to pass through the rod hole 101c4 to lift the lifting plate 101b, thereby realizing automatic feeding of the rubber material.
如图26和图27所示，撕底离型纸工位102上设有离型纸料仓102a和撕底离型纸机构102b，撕底离型纸机构102b包括安装在离型纸料仓102a一侧的若干旋转气缸102b1、安装在旋转气缸102b1输出端的第一夹爪气缸102b2以及安装在第一夹爪气缸102b2输出端的两个第一夹爪102b3。具体的，第一旋转气缸102b1为两个。As shown in Figures 26 and 27, the bottom-tearing release paper station 102 is provided with a release paper bin 102a and a bottom-tearing release paper mechanism 102b. The bottom-tearing release paper mechanism 102b includes a release paper bin installed on There are several rotating cylinders 102b1 on one side of 102a, a first clamping jaw cylinder 102b2 installed at the output end of the rotating cylinder 102b1, and two first clamping jaws 102b3 installed at the output end of the first clamping jaw cylinder 102b2. Specifically, there are two first rotating cylinders 102b1.
工作时，取料机械手104将料库101中胶料抓取并移动至撕底离型纸工位102，然后两个第一夹爪102b3夹住胶料底离型纸的撕耳，取料机械手104移动，完成底离型纸的撕除，再然后旋转气缸102b1驱动第一夹爪气缸102b2转动，两个第一夹爪102b3向离型纸料仓102a的仓口方向转动，最后两个第一夹爪102b3松开撕耳，底离型纸落入离型纸料仓102a。When working, the picking manipulator 104 grabs the rubber material in the material warehouse 101 and moves it to the bottom release paper tearing station 102, and then the two first clamping claws 102b3 clamp the tearing ears of the bottom release paper of the rubber material to pick up the material. The manipulator 104 moves to complete the removal of the bottom release paper, and then the rotating cylinder 102b1 drives the first clamping jaw cylinder 102b2 to rotate. The two first clamping jaws 102b3 rotate toward the opening of the release paper material bin 102a, and the last two The first clamping claw 102b3 releases the tearing ear, and the bottom release paper falls into the release paper stock bin 102a.
如图28所示，取料机械手104包括取料框架104a、缓冲组件104b、取料吸盘104c和撕上离型纸组件104d，取料框架104a安装在机械手臂的执行末端，取料吸盘104c通过缓冲组件104b与取料框架104a的底端连接，撕上离型纸组件104d安装在取料框架104a的左端。通过缓冲组件104b的设置，避免取料吸盘104c在抓取胶料的过程中出现过压的情形。As shown in Figure 28, the picking robot 104 includes a picking frame 104a, a buffer assembly 104b, a picking suction cup 104c and a tear-off release paper assembly 104d. The picking frame 104a is installed at the execution end of the robot arm, and the picking suction cup 104c passes through The buffer component 104b is connected to the bottom end of the material pickup frame 104a, and the tear-off release paper component 104d is installed on the left end of the material pickup frame 104a. Through the arrangement of the buffer component 104b, overpressure of the picking suction cup 104c during grabbing of the rubber material is avoided.
如图29所示，缓冲组件104b包括固定穿设于取料框架104a端部的轴套104b1、滑动穿设于轴套104b1的滑轴104b2、套设于滑轴104b2底端的缓冲件104b3以及安装在滑轴104b2顶端的限位件104b4，滑轴104b2的底端与取料吸盘104c连接，缓冲件104b3的顶端与轴套104b1的底面抵触，底端与取料吸盘104c的顶面抵触。具体的，缓冲件104b3为弹簧；限位件104b4为螺母。As shown in Figure 29, the buffer assembly 104b includes a sleeve 104b1 fixedly installed on the end of the retrieval frame 104a, a sliding shaft 104b2 slidingly installed on the sleeve 104b1, a buffer member 104b3 sleeved on the bottom end of the sliding shaft 104b2, and an installation unit. The limit member 104b4 at the top of the sliding shaft 104b2 is connected with the material picking suction cup 104c. The top end of the buffer member 104b3 conflicts with the bottom surface of the sleeve 104b1, and the bottom end conflicts with the top surface of the material picking suction cup 104c. Specifically, the buffer member 104b3 is a spring; the limiting member 104b4 is a nut.
如图29所示，取料吸盘104c包括安装在滑轴104b2的底端的第二安装板104c1、安装在第二安装板104c1上的若干第二真空逻辑阀104c2以及安装在第二真空逻辑阀104c2底端的第二吸嘴104c3。取料吸盘104c与片料贴胶吸盘105c3的工作原理类似，在此就不再过多描述。As shown in Figure 29, the picking suction cup 104c includes a second installation plate 104c1 installed at the bottom end of the sliding shaft 104b2, a plurality of second vacuum logic valves 104c2 installed on the second installation plate 104c1, and a second vacuum logic valve 104c2 installed on the second installation plate 104c2. The second suction nozzle 104c3 at the bottom. The working principles of the material-picking suction cup 104c and the sheet-gluing suction cup 105c3 are similar, and will not be described in detail here.
如图30所示，撕上离型纸组件104d包括安装在取料框架104a左端的升降气缸104d1、安装在升降气缸104d1输出端的第二夹爪气缸104d2以及安装在第二夹爪气缸104d2输出端的两个第二夹爪104d3。As shown in Figure 30, the release paper assembly 104d includes a lifting cylinder 104d1 installed at the left end of the picking frame 104a, a second clamping jaw cylinder 104d2 installed at the output end of the lifting cylinder 104d1, and a second clamping jaw cylinder 104d2 installed at the output end of the second clamping jaw cylinder 104d2. Two second jaws 104d3.
工作时，取料机械手104将卷料放置在分胶平台103b左侧后，第二视觉设备107检测出上离型纸的撕耳位置，取料机械手104依据第二视觉设备107的反馈进行移动，升降气缸104d1驱动第二夹爪气缸104d2下移，使得第两个二夹爪104d3位于第二吸嘴104c3的下方，避免第二吸嘴104c3的干扰，然后第二夹爪气缸104d2驱动两个第二夹爪104d3夹住卷料上离型纸的撕耳，取料机械手104移动，完成上离型纸的撕除，然后取料机械手104移动至离型纸料仓102a的正上方，第二夹爪气缸104d2驱动第二夹爪104d3松开撕耳，上离型纸落入离型纸料仓102a。During operation, after the material picking manipulator 104 places the roll material on the left side of the glue separation platform 103b, the second visual device 107 detects the tearing position of the upper release paper, and the material picking manipulator 104 moves according to the feedback from the second vision device 107 , the lifting cylinder 104d1 drives the second clamping jaw cylinder 104d2 to move downward, so that the two second clamping jaws 104d3 are located below the second suction nozzle 104c3 to avoid interference from the second suction nozzle 104c3, and then the second clamping jaw cylinder 104d2 drives the two The second clamping claw 104d3 clamps the tearing ear of the release paper on the roll, and the picking robot 104 moves to complete the tearing off of the upper release paper, and then the picking robot 104 moves to directly above the release paper bin 102a. The two-jaw cylinder 104d2 drives the second jaw 104d3 to release the tearing ear, and the upper release paper falls into the release paper material bin 102a.
实施例2。Example 2.
本实施例是实施例1中片卷料混合贴胶机的贴胶方法，步骤如下，This embodiment is the gluing method of the sheet roll mixing gluing machine in Embodiment 1. The steps are as follows:
S1.取胶：取料机械手104抓取料库101中胶料，移动至撕底离型纸工位102进行底离型纸的撕除，然后移动至第一视觉设备106处进行胶料的位置寻址以及底离型纸的撕除检测，最后放置在分胶机构103上；S1. Removing glue: The material retrieval robot 104 grabs the glue material in the material library 101, moves to the bottom release paper tearing station 102 to remove the bottom release paper, and then moves to the first vision device 106 to remove the glue material. Position addressing and bottom release paper removal detection, and finally placed on the glue dispensing mechanism 103;
S2.贴胶前预处理：胶料为卷料时，取料机械手104对分胶机构103上的卷料进行上离型纸的撕除，第二视觉设备107进行卷料的位置寻址、上离型纸的撕除检测和胶条缺失检测，分胶机构103对卷料进行分胶；胶料为片料时，第二视觉设备107进行片料的位置寻址；S2. Pretreatment before gluing: When the glue material is a roll material, the picking robot 104 removes the release paper from the roll material on the glue separation mechanism 103, and the second vision device 107 performs location addressing of the roll material. To detect the removal of the release paper and the absence of the adhesive strip, the glue separation mechanism 103 separates the roll material; when the glue material is a sheet material, the second vision device 107 performs location addressing of the sheet material;
S3.贴胶：贴胶机械手105抓取分胶机构103上的胶料，移动至待贴胶电芯处，第三视觉设备108进行待贴胶电芯的位置寻址，最后贴胶机械手105进行贴胶动作。S3. Gluing: The gluing manipulator 105 grabs the glue on the glue dispensing mechanism 103 and moves it to the battery core to be glued. The third vision device 108 performs location addressing of the battery core to be glued. Finally, the gluing manipulator 105 Carry out glue application.
进一步的，步骤S2中卷料分胶的具体步骤如下，Further, the specific steps for separating the roll materials in step S2 are as follows:
S21.第五条胶条的定位：驱动组件103d驱动移动座103c左移，直至压板组件103h与卷料上的第五条胶条对应，然后压板组件103h下压将第五条胶条压紧在分胶平台103b上；S21. Positioning of the fifth rubber strip: The driving assembly 103d drives the moving base 103c to move left until the pressure plate assembly 103h corresponds to the fifth rubber strip on the roll, and then the pressure plate assembly 103h presses down to tighten the fifth rubber strip. On the glue separation platform 103b;
S22.前四条胶条与第五条胶条的上下分离：下压组件103f下压将前四条胶条压紧在分胶平台103b上，然后顶升组件103g上顶使得前四条胶条脱离分胶平台103b；S22. The upper and lower separation of the first four rubber strips and the fifth rubber strip: the pressing down component 103f presses the first four rubber strips tightly on the glue separation platform 103b, and then the lifting component 103g lifts up to make the first four rubber strips separate from the separation platform. glue platform 103b;
S23.前四条胶条之间的左右分离：驱动组件103d驱动移动座103c右移，在移动座103c右移过程中，下压组件103f和顶升组件103g同步扩张使得前四条胶条之间相互分离。S23. Left and right separation between the first four rubber strips: the driving assembly 103d drives the movable base 103c to move to the right. During the right movement of the movable base 103c, the pressing assembly 103f and the lifting assembly 103g expand synchronously so that the first four rubber strips are separated from each other. separation.
具体的，在步骤S1中，当第一视觉设备106检测出胶料在取料机械手104上存在位置偏差时，反馈给取料机械手104，取料机械手104在将胶料放置在分胶平台103b上时进行X轴、Y轴和角度的纠偏调整，实现位置偏差补偿，以保证胶料端正的放置在分胶平台103b上的指定位置，同时通过颜色灰度值的对比判断胶料底离型纸是否撕除干净；在步骤S2中，当胶料为卷料时，如果第二视觉设备107检测出卷料在分胶平台103b上存在位置偏移，反馈给凸轮分割器103k，凸轮分割器103k驱动移动座103c转动进行偏移补偿，同时通过颜色灰度值的对比判断分胶平台103b上是否有胶、上离型纸是否撕干净以及胶条是否有缺失；当胶料为片料时，如果第二视觉设备107检测出片料在分胶平台103b上存在位置偏移，反馈给贴胶机械手105，贴胶机械手105进行X轴、Y轴和角度的调整，以保证片料精准、端正的被贴胶机械手105抓取。其中，第二视觉设备107对分胶平台103b上胶料进行位置寻址的步骤为：对胶料进行拍照，获取图像特征点坐标值；将图像特征点坐标值与预先设定的基准位置坐标值进行比对，并计算出坐标的偏差值；将坐标的偏差值进行相应的反馈。Specifically, in step S1, when the first visual device 106 detects that there is a position deviation of the glue material on the picking manipulator 104, feedback is given to the picking manipulator 104, and the picking manipulator 104 places the glue material on the glue dividing platform 103b. When loading, the X-axis, Y-axis and angle are corrected and adjusted to realize position deviation compensation to ensure that the rubber material is correctly placed at the designated position on the glue separation platform 103b. At the same time, the bottom release of the rubber material is judged by comparing the color gray value. Whether the paper has been torn off cleanly; in step S2, when the glue material is roll material, if the second visual device 107 detects that the roll material has a positional offset on the glue separation platform 103b, feedback is given to the cam divider 103k, and the cam divider 103k drives the moving base 103c to rotate for offset compensation. At the same time, it is judged by comparing the color gray value whether there is glue on the glue separation platform 103b, whether the upper release paper is torn clean and whether the glue strips are missing; when the glue material is a piece of material , if the second vision device 107 detects that there is a positional deviation of the sheet on the glue separation platform 103b, feedback is given to the glue manipulator 105, and the glue manipulator 105 adjusts the X-axis, Y-axis and angle to ensure that the piece is accurate and The upright one is captured by the glue application robot 105. Among them, the steps for the second visual device 107 to address the location of the glue material on the glue dispensing platform 103b are: taking photos of the glue material to obtain the coordinate values of the image feature points; comparing the coordinate values of the image feature points with the preset reference position coordinates Compare the values and calculate the deviation value of the coordinates; provide corresponding feedback on the deviation value of the coordinates.
实施例3。Example 3.
如图31和图32所示，一种片料贴胶机，包括设在下架台A 200上的料库A 201、撕底离型纸工位A 202、二次定位台203、取料机械手A 204和贴胶机械手A 205，取料机械手A204的行程覆盖料库A 201、撕底离型纸工位A 202和二次定位台203，贴胶机械手A 205的行程覆盖二次定位台203和待贴胶电芯；还包括实施例1中的第一视觉设备106，设在撕底离型纸工位A 202和二次定位台203之间，用于片料的位置寻址和底离型纸的撕除检测，以及实施例1中的第三视觉设备108，设在待贴胶电芯的上方，用于待贴胶电芯的位置寻址。通过第一视觉设备106对片料的位置寻址、二次定位台203对片料的机械定位以及第三视觉设备108对电芯的位置寻址，保证片料能够精确的粘贴在电芯上。具体的，料库A 201为实施例1中的料库101，撕底离型纸工位A 202为实施例1中的撕底离型纸工位102。As shown in Figures 31 and 32, a sheet glue pasting machine includes a material warehouse A 201 located on a lower shelf A 200, a bottom release paper tearing station A 202, a secondary positioning table 203, and a material picking robot A 204 and gluing manipulator A 205. The stroke of the picking manipulator A204 covers the material warehouse A 201, the bottom release paper tearing station A 202 and the secondary positioning table 203. The stroke of the gluing manipulator A 205 covers the secondary positioning table 203 and The battery core to be glued also includes the first vision device 106 in Embodiment 1, which is located between the bottom release paper tearing station A 202 and the secondary positioning stage 203, used for position addressing and bottom separation of the sheet material. The tear-off detection of the stencil and the third visual device 108 in Embodiment 1 are provided above the battery core to be glued for position addressing of the battery core to be glued. Through the position addressing of the sheet material by the first vision device 106, the mechanical positioning of the sheet material by the secondary positioning stage 203, and the position addressing of the battery core by the third vision device 108, it is ensured that the sheet material can be accurately pasted on the battery core. . Specifically, the magazine A 201 is the magazine 101 in Embodiment 1, and the bottom release paper tearing station A 202 is the bottom release paper tearing station 102 in Embodiment 1.
如图33所示，二次定位台203包括安装在下架台A 200上的底座架203a、安装在底座架203a顶端的定位平台203b、安装在定位平台203b上的若干定位座203c以及设在定位平台203b上的端推组件203d和侧推组件203e。通过端推组件203d和侧推组件203e的设置，对放置在定位座203c上的片料进行机械定位，从而实现贴胶机械手A 205对片料的精确抓取。As shown in Figure 33, the secondary positioning platform 203 includes a base frame 203a installed on the lower frame A 200, a positioning platform 203b installed on the top of the base frame 203a, a number of positioning seats 203c installed on the positioning platform 203b, and a plurality of positioning seats 203c installed on the positioning platform. The end push assembly 203d and the side push assembly 203e on 203b. Through the arrangement of the end push component 203d and the side push component 203e, the sheet material placed on the positioning seat 203c is mechanically positioned, thereby realizing the precise grasping of the sheet material by the glue application manipulator A 205.
如图34所示，端推组件203d包括安装在定位平台203b中部的端基准块Ⅰ203d1、分别设在定位平台203b两端的端推板Ⅰ203d2以及驱动端推板Ⅰ203d2向端基准块Ⅰ203d1横向移动的端推气缸Ⅰ203d3；侧推组件203e包括安装在定位平台203b一侧的侧基准块Ⅰ203e1、设在定位平台203b另一侧的侧推板Ⅰ203e2以及驱动侧推板Ⅰ203e2向侧基准块Ⅰ203e1纵向移动的侧推气缸Ⅰ203e3。具体的，定位座203c为两个，端基准块Ⅰ203d1设在两个定位座203c之间。工作时，取料机械手A 204将两片片料放置在定位座203c上，然后端推气缸Ⅰ203d3驱动端推板Ⅰ203d2向端基准块Ⅰ203d1横向移动，且侧推气缸Ⅰ203e3驱动侧推板Ⅰ203e2向侧基准块Ⅰ203e1纵向移动，直至将片料分别与端基准块Ⅰ203d1和侧基准块Ⅰ203e1接触，从而实现对片料的机械定位。As shown in Figure 34, the end push assembly 203d includes an end reference block I203d1 installed in the middle of the positioning platform 203b, an end push plate I203d2 respectively located at both ends of the positioning platform 203b, and an end that drives the end push plate I203d2 to move laterally toward the end reference block I203d1. Push cylinder I203d3; side push assembly 203e includes a side reference block I203e1 installed on one side of the positioning platform 203b, a side push plate I203e2 located on the other side of the positioning platform 203b, and a side that drives the side push plate I203e2 to move longitudinally to the side reference block I203e1. Push cylinder I203e3. Specifically, there are two positioning seats 203c, and the end reference block I203d1 is provided between the two positioning seats 203c. When working, the picking manipulator A 204 places two pieces of material on the positioning seat 203c, and then the end push cylinder I203d3 drives the end push plate I203d2 to move laterally toward the end reference block I203d1, and the side push cylinder I203e3 drives the side push plate I203e2 to the side. The reference block I203e1 moves longitudinally until the piece of material is in contact with the end reference block I203d1 and the side reference block I203e1 respectively, thereby achieving mechanical positioning of the piece of material.
如图35所示，取料机械手A 204包括取料框架Ⅰ 204a、第一缓冲组件Ⅰ 204b和取料吸盘Ⅰ 204c，取料框架Ⅰ 204a安装在机械手臂的执行末端，取料吸盘Ⅰ 204c通过第一缓冲组件Ⅰ 204b与取料框架Ⅰ 204a的底端连接。第一缓冲组件Ⅰ 204b的设置，避免取料吸盘Ⅰ204c在抓取胶料的过程中出现过压的情形。具体的，取料吸盘Ⅰ 204c为两个，设置在取料框架Ⅰ 204a的底端。As shown in Figure 35, the picking robot A 204 includes a picking frame I 204a, a first buffer component I 204b and a picking suction cup I 204c. The picking frame I 204a is installed at the execution end of the robot arm, and the picking suction cup I 204c passes through The first buffer component I 204b is connected to the bottom end of the picking frame I 204a. The setting of the first buffer component I 204b prevents the suction cup I 204c from over-pressure during the process of grabbing the rubber material. Specifically, there are two picking suction cups I 204c, which are arranged at the bottom end of the picking frame I 204a.
如图36所示，第一缓冲组件Ⅰ 204b包括固定穿设于取料框架Ⅰ 204a端部的第一轴套Ⅰ 204b1、滑动穿设于第一轴套Ⅰ 204b1的第一滑轴Ⅰ 204b2、套设于第一滑轴Ⅰ 204b2底端的第一缓冲件Ⅰ 204b3以及安装在第一滑轴Ⅰ 204b2顶端的第一限位件Ⅰ 204b4，第一滑轴Ⅰ 204b2的底端与取料吸盘Ⅰ 204c连接，第一缓冲件Ⅰ 204b3的顶端与第一轴套Ⅰ 204b1的底面抵触，底端与取料吸盘Ⅰ 204c的顶面抵触。具体的，第一缓冲件Ⅰ 204b3为弹簧；第一限位件Ⅰ 204b4为螺母。As shown in Figure 36, the first buffer component I 204b includes a first bushing I 204b1 fixedly provided at the end of the retrieval frame I 204a, a first sliding shaft I 204b2 slidingly provided at the first bushing I 204b1, The first buffer member I 204b3 is sleeved on the bottom end of the first sliding shaft I 204b2 and the first limiting member I 204b4 is installed on the top of the first sliding shaft I 204b2. The bottom end of the first sliding shaft I 204b2 and the picking suction cup I 204c connection, the top end of the first buffer member I 204b3 conflicts with the bottom surface of the first bushing I 204b1, and the bottom end conflicts with the top surface of the picking suction cup I 204c. Specifically, the first buffer member I 204b3 is a spring; the first limiting member I 204b4 is a nut.
如图36所示，取料吸盘Ⅰ 204c包括安装在第一滑轴Ⅰ 204b2的底端的第一安装板Ⅰ204c1、安装在第一安装板Ⅰ 204c1上的若干第一真空逻辑阀Ⅰ 204c2以及安装在第一真空逻辑阀Ⅰ 204c2底端的第一吸嘴Ⅰ 204c3。取料吸盘Ⅰ 204c与实施例1中的取料吸盘104c的工作原理类似，就不再过多描述。As shown in Figure 36, the picking suction cup I 204c includes a first installation plate I 204c1 installed at the bottom end of the first sliding shaft I 204b2, a number of first vacuum logic valves I 204c2 installed on the first installation plate I 204c1 and The first suction nozzle I 204c3 at the bottom of the first vacuum logic valve I 204c2. The working principle of the material picking sucker I 204c is similar to that of the material picking sucker 104c in Embodiment 1, so no further description will be given.
如图37所示，贴胶机械手A 205包括安装在机械手臂执行末端的贴胶框架Ⅰ 205a、安装在贴胶框架Ⅰ 205a底端的升降气缸Ⅰ 205b以及安装在升降气缸Ⅰ 205b输出端的贴胶抓手Ⅰ 205c。具体的，升降气缸Ⅰ 205b为两个，输出端竖直向下，安装在贴胶框架Ⅰ 205a的底端。As shown in Figure 37, the adhesive manipulator A 205 includes a adhesive frame I 205a installed at the execution end of the robot arm, a lifting cylinder I 205b installed at the bottom of the adhesive frame I 205a, and a adhesive gripper installed at the output end of the lifting cylinder I 205b. Hand I 205c. Specifically, there are two lifting cylinders I 205b, the output end is vertically downward, and they are installed at the bottom of the rubber frame I 205a.
如图38所示，贴胶抓手Ⅰ 205c包括贴胶支架Ⅰ 205c1、第二缓冲组件Ⅰ 205c2和贴胶吸盘Ⅰ 205c3，贴胶支架Ⅰ 205c1安装在升降气缸Ⅰ 205b的输出端，贴胶吸盘Ⅰ 205c3通过第二缓冲组件Ⅰ 205c2与贴胶支架Ⅰ 205c1的底端连接。通过第二缓冲组件Ⅰ 205c2的设置，避免贴胶吸盘Ⅰ 205c3在抓取胶料及贴胶的过程中出现过压的情形。As shown in Figure 38, the glued gripper I 205c includes a glued bracket I 205c1, a second buffer component I 205c2 and a glued suction cup I 205c3. The glued bracket I 205c1 is installed at the output end of the lifting cylinder I 205b, and the glued suction cup Ⅰ 205c3 is connected to the bottom end of the adhesive bracket Ⅰ 205c1 through the second buffer component Ⅰ 205c2. Through the setting of the second buffer component I 205c2, overpressure of the glue application suction cup I 205c3 during the process of grabbing the glue material and applying glue is avoided.
如图38所示，第二缓冲组件Ⅰ 205c2包括固定穿设于贴胶支架Ⅰ 205c1上的第二轴套Ⅰ 205c21、滑动穿设于第二轴套Ⅰ 205c21的第二滑轴Ⅰ 205c22、套设于第二滑轴Ⅰ205c22底端的第二缓冲件Ⅰ 205c23以及安装在第二滑轴Ⅰ 205c22顶端的第二限位件Ⅰ205c24，第二滑轴Ⅰ 205c22的底端与贴胶吸盘Ⅰ 205c3连接，第二缓冲件Ⅰ 205c23的顶端与第二轴套Ⅰ 205c21的底面抵触，底端与贴胶吸盘Ⅰ 205c3的顶面抵触。具体的，第二缓冲件Ⅰ205c23为弹簧；第二限位件Ⅰ 205c24为螺母。As shown in Figure 38, the second buffer component I 205c2 includes a second sleeve I 205c21 fixedly installed on the rubber support I 205c1, a second sliding shaft I 205c22 slidably installed on the second sleeve I 205c21, and a sleeve The second buffering member I 205c23 is located at the bottom of the second sliding shaft I 205c22 and the second limiting member I 205c24 is installed at the top of the second sliding shaft I 205c22. The bottom end of the second sliding shaft I 205c22 is connected to the glue suction cup I 205c3. The top end of the second buffer member I 205c23 conflicts with the bottom surface of the second bushing I 205c21, and the bottom end conflicts with the top surface of the rubberized suction cup I 205c3. Specifically, the second buffer member I205c23 is a spring; the second limiting member I205c24 is a nut.
如图38所示，贴胶吸盘Ⅰ 205c3包括安装在第二滑轴Ⅰ 205c22的底端的第二安装板Ⅰ 205c31、安装在第二安装板Ⅰ 205c31上的若干第二真空逻辑阀Ⅰ 205c32以及安装在第二真空逻辑阀Ⅰ 205c32底端的第二吸嘴Ⅰ 205c33。贴胶吸盘Ⅰ 205c3与取料吸盘Ⅰ 204c的工作原理类似，在此就不再过多描述。As shown in Figure 38, the adhesive suction cup I 205c3 includes a second installation plate I 205c31 installed at the bottom end of the second sliding shaft I 205c22, a number of second vacuum logic valves I 205c32 installed on the second installation plate I 205c31, and a second installation plate I 205c32. The second suction nozzle I 205c33 at the bottom of the second vacuum logic valve I 205c32. The working principles of the adhesive suction cup I 205c3 and the picking suction cup I 204c are similar, so I won’t describe them in detail here.
如图38所示，贴胶支架Ⅰ 205c1的下方设有缓冲板205d，缓冲板205d通过第三缓冲组件Ⅰ 205e与贴胶支架Ⅰ 205c1连接。通过缓冲板205d和第三缓冲组件Ⅰ 205e的设置，对整个贴胶抓手Ⅰ 205c进行缓冲。具体的，缓冲板205d上开设有通孔Ⅰ 205f供第二真空逻辑阀Ⅰ205c32和第二吸嘴Ⅰ 205c33穿过。As shown in Figure 38, a buffer plate 205d is provided below the rubber bracket I 205c1, and the buffer plate 205d is connected to the rubber bracket I 205c1 through a third buffer component I 205e. Through the arrangement of the buffer plate 205d and the third buffer component I 205e, the entire rubberized gripper I 205c is buffered. Specifically, the buffer plate 205d is provided with a through hole I 205f for the second vacuum logic valve I 205c32 and the second suction nozzle I 205c33 to pass through.
如图38所示，第三缓冲组件Ⅰ 205e包括固定穿设于贴胶支架Ⅰ 205c1上的第三轴套Ⅰ 205e1、滑动穿设于第三轴套Ⅰ 205e1的第三滑轴Ⅰ 205e2、套设于第三滑轴Ⅰ 205e2底端的第三缓冲件Ⅰ 205e3以及安装在第三滑轴Ⅰ 205e2顶端的第三限位件Ⅰ 205e4，第三滑轴Ⅰ 205e2的底端与缓冲板205d连接，第三缓冲件Ⅰ 205e3的顶端与第三轴套Ⅰ 205e1的底面抵触，底端与缓冲板205d的顶面抵触。具体的，第三缓冲件Ⅰ 205e3为弹簧；第三限位件Ⅰ205e4为螺母。As shown in Figure 38, the third buffer component I 205e includes a third sleeve I 205e1 fixedly installed on the adhesive support I 205c1, a third sliding shaft I 205e2 slidably installed on the third sleeve I 205e1, and a sleeve The third buffer member I 205e3 is located at the bottom of the third sliding shaft I 205e2 and the third limiting member I 205e4 is installed at the top of the third sliding shaft I 205e2. The bottom end of the third sliding shaft I 205e2 is connected to the buffer plate 205d. The top end of the third buffer member I 205e3 collides with the bottom surface of the third bushing I 205e1, and the bottom end collides with the top surface of the buffer plate 205d. Specifically, the third buffer member I 205e3 is a spring; the third limiting member I 205e4 is a nut.
工作时，取料机械手A 204抓取料库A 201中的两片片胶，移动至撕底离型纸工位A202处撕除底离型纸，然后移动至第一视觉设备106处进行片胶的位置寻址和底离型纸的撕除检测，再然后移动至二次定位台203处，并将片胶放置在定位座203c上，二次定位台203对两片片胶进行机械定位，最后贴胶机械手A 205抓取二次定位台203上的两片片胶，根据第三视觉设备108的反馈进行电芯的贴胶。When working, the picking manipulator A 204 grabs two pieces of glue in the material warehouse A 201, moves to the bottom release paper tearing station A202 to tear off the bottom release paper, and then moves to the first vision equipment 106 for stripping. The position of the glue and the removal detection of the bottom release paper are then moved to the secondary positioning stage 203, and the piece of glue is placed on the positioning base 203c. The secondary positioning stage 203 mechanically positions the two pieces of glue. , and finally the gluing manipulator A 205 grabs the two pieces of glue on the secondary positioning stage 203, and glues the battery core according to the feedback from the third vision device 108.
实施例4。Example 4.
本实施例与实施例3的主要区别在于料库A 201中整形组件Ⅱ 201d、撕底离型纸工位A 202上撕底离型纸机构Ⅱ 202b、二次定位台203中端推组件203d和侧推组件203e、取料机械手A 204和贴胶机械手A 205的具体结构不同。The main difference between this embodiment and Embodiment 3 lies in the shaping component II 201d in the magazine A 201, the bottom-tearing release paper mechanism II 202b in the bottom-tearing release paper station A 202, and the middle-end push component 203d of the secondary positioning table 203. It is different from the specific structures of the side push assembly 203e, the picking manipulator A 204 and the glue applying manipulator A 205.
如图39和图40所示，整形组件Ⅱ 201d包括安装在抽屉板Ⅱ 201a一侧中部的若干侧基准挡杆Ⅱ 201d1、滑动安装在抽屉板Ⅱ 201a中部的侧滑板Ⅱ 201d2、安装在侧滑板Ⅱ201d2上的若干侧挡杆Ⅱ 201d3、安装在抽屉板Ⅱ 201a一侧中部的若干端基准挡杆Ⅱ201d4、分别滑动安装在抽屉板Ⅱ 201a两端的端滑板Ⅱ 201d5、连接两块端滑板Ⅱ 201d5的连板Ⅱ 201d6以及安装在连板Ⅱ 201d6上的若干端挡杆Ⅱ 201d7，提升板Ⅱ 201b上开设有若干腰孔Ⅱ 201d8，侧挡杆Ⅱ 201d3和端挡杆Ⅱ 201d7分别穿过腰孔Ⅱ 201d8，且沿着腰孔Ⅱ 201d8的长度方向移动，侧基准挡杆Ⅱ 201d1与侧挡杆Ⅱ 201d3相对应，端基准挡杆Ⅱ 201d4与端挡杆Ⅱ 201d7相对应。具体的，侧基准挡杆Ⅱ 201d1和侧挡杆Ⅱ 201d3均为四根；端基准挡杆Ⅱ 201d4和端挡杆Ⅱ 201d7均为四根。放料时，拉动拉手，抽屉板Ⅱ201a沿着下架台A 200右移，将四堆片料码放在提升板Ⅱ 201b上，各堆之间通过端基准挡杆Ⅱ 201d4隔开，然后驱动侧滑板Ⅱ 201d2向侧基准挡杆Ⅱ 201d1移动，使得侧挡杆Ⅱ201d3对片料中部的两侧进行整形，同时驱动两块端滑板Ⅱ 201d5向端基准挡杆Ⅱ 201d4移动，使得端挡杆Ⅱ 201d7对片料的两端进行整形，此时每堆片料在准挡杆Ⅱ 201d1、侧挡杆Ⅱ 201d3、端基准挡杆Ⅱ 201d4和端挡杆Ⅱ 201d7围合的区域内。As shown in Figures 39 and 40, the shaping assembly II 201d includes several side reference stop bars II 201d1 installed in the middle of one side of the drawer plate II 201a, a side sliding plate II 201d2 installed in the middle of the drawer plate II 201a, and a side sliding plate II 201d2 installed in the middle of the drawer plate II 201a. Several side stop bars II 201d3 on II 201d2, several end reference stop bars II 201d4 installed in the middle of one side of the drawer board II 201a, end slides II 201d5 respectively slidingly installed on both ends of the drawer board II 201a, and connecting two end slides II 201d5 The connecting plate II 201d6 and several end blocking rods II 201d7 installed on the connecting plate II 201d6. There are several waist holes II 201d8 on the lifting plate II 201b. The side blocking rods II 201d3 and the end blocking rods II 201d7 pass through the waist holes II respectively. 201d8, and moves along the length direction of the waist hole II 201d8, the side reference stop bar II 201d1 corresponds to the side stop bar II 201d3, and the end reference stop bar II 201d4 corresponds to the end stop bar II 201d7. Specifically, there are four side reference blocking rods II 201d1 and side blocking rods II 201d3; there are four end reference blocking rods II 201d4 and end reference blocking rods II 201d7. When discharging materials, pull the handle, and the drawer plate II 201a moves to the right along the lower shelf A 200. Place four piles of pieces on the lifting plate II 201b. Each pile is separated by the end reference stop bar II 201d4, and then the side slide is driven. II 201d2 moves to the side reference stop lever II 201d1, causing the side stop lever II 201d3 to shape both sides of the middle part of the sheet, and simultaneously drives the two end sliding plates II 201d5 to move to the end reference stop lever II 201d4, causing the end stop lever II 201d7 to Both ends of the sheet material are shaped. At this time, each stack of sheet materials is in the area enclosed by the quasi-stop bar II 201d1, the side stop bar II 201d3, the end reference stop bar II 201d4 and the end stop bar II 201d7.
如图41和图42所示，撕底离型纸机构Ⅱ 202b包括安装在离型纸料仓Ⅱ 202a一侧的第一旋转气缸Ⅱ202b1、安装在第一旋转气缸Ⅱ 202b1输出端的转轴Ⅱ 202b2、安装在转轴Ⅱ 202b2上的若干夹爪气缸Ⅱ 202b3以及安装在夹爪气缸Ⅱ 202b3输出端的两个夹爪Ⅱ 202b4。具体的，夹爪气缸Ⅱ 202b3为四个，同时完成四片片料底离型纸的撕除。As shown in Figures 41 and 42, the bottom release paper tearing mechanism II 202b includes a first rotary cylinder II 202b1 installed on one side of the release paper bin II 202a, a rotating shaft II 202b2 installed at the output end of the first rotary cylinder II 202b1, Several clamping jaw cylinders II 202b3 are installed on the rotating shaft II 202b2 and two clamping jaws II 202b4 are installed at the output end of the clamping jaw cylinder II 202b3. Specifically, there are four clamping jaw cylinders II 202b3, which can simultaneously complete the removal of four pieces of release paper at the bottom of the material.
如图43和图44所示，端推组件203d包括间隔设在定位座203c上的若干端基准块Ⅱ203d4、设在定位平台203b下方的端推板Ⅱ 203d5、间隔设在端推板Ⅱ 203d5上的若干端推块Ⅱ 203d6以及驱动端推板Ⅱ 203d5向端基准块Ⅱ 203d4横向移动的端推气缸Ⅱ 203d7，端推块Ⅱ 203d6的顶端依次穿过定位平台203b和定位座203c上开设的通孔Ⅱ 203d8，且沿通孔Ⅱ 203d8横向移动；侧推组件203e包括间隔安装在定位座203c一侧的若干侧基准块Ⅱ203e4、设在定位座203c另一侧的侧推板Ⅱ 203e5、间隔设在侧推板Ⅱ 203e5上的若干侧推块Ⅱ 203e6以及驱动侧推板Ⅱ203e5向侧基准块Ⅱ 203e4纵向移动的侧推气缸Ⅱ 203e7。具体的，定位座203c为两个，沿定位平台203b的宽度方向间隔排列，每个定位座203c上可放置四片片料，通过端基准块Ⅱ 203d4隔开；端推板Ⅱ 203d5为两块，由同一个端推气缸Ⅱ203d7驱动；侧推板Ⅱ 203e5为两块，由同一组侧推气缸Ⅱ 203e7驱动。工作时，每个定位座203c上放置四片片料，然后端推气缸Ⅱ 203d7驱动端推板Ⅱ 203d5进而同步带动端推块Ⅱ203d6向端基准块Ⅱ 203d4横向移动，且侧推气缸Ⅱ 203e7驱动侧推板Ⅱ 203e5进而同步带动侧推块Ⅱ 203e6向侧基准块Ⅱ 203e4纵向移动，直至每片片料分别与端基准块Ⅱ203d4和侧基准块Ⅱ 203e4接触，从而实现对片料的机械定位。As shown in Figures 43 and 44, the end push assembly 203d includes a number of end reference blocks II 203d4 located at intervals on the positioning seat 203c, an end push plate II 203d5 located below the positioning platform 203b, and an end push plate II 203d5 located at intervals on the positioning base 203c. A number of end push blocks II 203d6 and a driving end push plate II 203d5 move laterally toward the end reference block II 203d4 of the end push cylinder II 203d7. The tops of the end push blocks II 203d6 pass through the openings on the positioning platform 203b and the positioning base 203c in turn. hole II 203d8, and moves laterally along the through hole II 203d8; the side push assembly 203e includes a plurality of side reference blocks II 203e4 installed at intervals on one side of the positioning seat 203c, a side push plate II 203e5 located on the other side of the positioning seat 203c, and an interval device. There are several side push blocks II 203e6 on the side push plate II 203e5 and a side push cylinder II 203e7 that drives the side push plate II 203e5 to move longitudinally to the side reference block II 203e4. Specifically, there are two positioning seats 203c, which are arranged at intervals along the width direction of the positioning platform 203b. Four pieces of material can be placed on each positioning seat 203c, separated by the end reference block II 203d4; the end push plate II 203d5 is two pieces. , driven by the same end-thrust cylinder II 203d7; the side-thrust plate II 203e5 is two pieces, driven by the same set of side-thrust cylinders II 203e7. During operation, four pieces of material are placed on each positioning base 203c, and then the end push cylinder II 203d7 drives the end push plate II 203d5 and then synchronously drives the end push block II 203d6 to move laterally to the end reference block II 203d4, and the side push cylinder II 203e7 drives The side push plate II 203e5 then synchronously drives the side push block II 203e6 to move longitudinally toward the side reference block II 203e4 until each piece of material is in contact with the end reference block II 203d4 and the side reference block II 203e4 respectively, thereby achieving mechanical positioning of the pieces.
如图45所示，取料机械手A 204包括取料框架Ⅱ 204d、第一缓冲组件Ⅱ 204e和取料吸盘Ⅱ 204f，取料框架Ⅱ 204d安装在机械手臂的执行末端，取料吸盘Ⅱ 204f通过第一缓冲组件Ⅱ 204e与取料框架Ⅱ 204d的底端连接。通过第一缓冲组件Ⅱ 204e的设置，避免取料吸盘Ⅱ 204f在抓取胶料的过程中出现过压的情形。具体的，第一缓冲组件Ⅱ 204e的具体结构与第一缓冲组件Ⅰ 204b类似，在此不再详细描述；取料吸盘Ⅱ 204f为四个，且其具体结构与取料吸盘Ⅰ 204c类似，在此不再详细描述。As shown in Figure 45, the picking manipulator A 204 includes a picking frame II 204d, a first buffer component II 204e and a picking suction cup II 204f. The picking frame II 204d is installed at the execution end of the robot arm, and the picking suction cup II 204f passes through The first buffer component II 204e is connected to the bottom end of the picking frame II 204d. Through the arrangement of the first buffer component II 204e, the overpressure situation of the picking suction cup II 204f during the process of grabbing the rubber material is avoided. Specifically, the specific structure of the first buffer component II 204e is similar to that of the first buffer component I 204b, and will not be described in detail here; there are four picking suckers II 204f, and its specific structure is similar to that of the picking sucker I 204c. This will not be described in detail.
如图46所示，贴胶机械手A 205包括安装在机械手臂执行末端的贴胶框架Ⅱ205g、倾斜安装在贴胶框架Ⅱ 205g底端的旋转气缸Ⅱ 205h以及安装在旋转气缸Ⅱ 205h输出端的两个贴胶抓手Ⅱ 205i，贴胶抓手Ⅱ 205i之间相互垂直，且其中一个贴胶抓手Ⅱ205i水平设置。工作时，当水平的贴胶抓手Ⅱ 205i完成电芯贴胶后，旋转气缸Ⅱ 205h驱动两个贴胶抓手Ⅱ 205i转动，使得竖直的贴胶抓手Ⅱ 205i成为水平的。As shown in Figure 46, the glue manipulator A 205 includes a glue frame II 205g installed at the execution end of the robot arm, a rotary cylinder II 205h installed obliquely at the bottom of the glue frame II 205g, and two gluers installed at the output end of the rotary cylinder II 205h. The rubber gripper II 205i and the rubber gripper II 205i are vertical to each other, and one of the rubber grippers II 205i is set horizontally. During work, when the horizontal glue-applying gripper II 205i completes the glue-adhering of the battery core, the rotating cylinder II 205h drives the two glue-applying grippers II 205i to rotate, making the vertical glue-applying gripper II 205i become horizontal.
贴胶抓手Ⅱ 205i包括贴胶支架Ⅱ 205i1、第二缓冲组件Ⅱ 205i2和贴胶吸盘Ⅱ205i3，贴胶支架Ⅱ 205i1安装在旋转气缸Ⅱ 205h的输出端，贴胶吸盘Ⅱ 205i3通过第二缓冲组件Ⅱ 205i2与贴胶支架Ⅱ 205i1的底端连接。通过第二缓冲组件Ⅱ 205i2的设置，避免贴胶吸盘Ⅱ 205i3在抓取胶料及贴胶的过程中出现过压的情形。具体的每个贴胶抓手Ⅱ 205i上设有两个贴胶吸盘Ⅱ 205i3，实现两片片料的抓取。The glued gripper II 205i includes the glued bracket II 205i1, the second buffer component II 205i2 and the glued suction cup II 205i3. The glued bracket II 205i1 is installed at the output end of the rotating cylinder II 205h, and the glued suction cup II 205i3 passes through the second buffer component. Ⅱ 205i2 is connected to the bottom end of the adhesive bracket Ⅱ 205i1. Through the setting of the second buffer component II 205i2, overpressure of the glue application suction cup II 205i3 during the process of grabbing the glue material and applying glue is avoided. Specifically, each rubber gripper II 205i is equipped with two rubber suction cups II 205i3 to realize the grabbing of two pieces of material.
第二缓冲组件Ⅱ 205i2包括滑动穿设于贴胶支架Ⅱ 205i1中部的第二滑轴Ⅱ205i21和套设于第二滑轴Ⅱ 205i21的第二缓冲件Ⅱ 205i22，第二滑轴Ⅱ 205i21的底端与贴胶吸盘Ⅱ 205i3连接，第二缓冲件Ⅱ 205i22的顶端与贴胶支架Ⅱ 205i1的底面抵触，底端与贴胶吸盘Ⅱ 205i3的顶面抵触。具体的，第二缓冲件Ⅱ 205i22为弹簧。The second buffer component II 205i2 includes a second sliding shaft II 205i21 that slides through the middle of the adhesive support II 205i1 and a second buffer member II 205i22 that is sleeved on the second sliding shaft II 205i21. The bottom end of the second sliding shaft II 205i21 Connected to the adhesive sucker II 205i3, the top end of the second buffer member II 205i22 conflicts with the bottom surface of the adhesive support II 205i1, and the bottom end conflicts with the top surface of the adhesive sucker II 205i3. Specifically, the second buffer member II 205i22 is a spring.
贴胶吸盘Ⅱ 205i3包括安装在第二滑轴Ⅱ 205i21底端的吸盘Ⅱ 205i31和安装在吸盘Ⅱ 205i31底端的若干第二吸嘴Ⅱ 205i32。具体的，吸盘Ⅱ 205i31与真空设备相连通。The adhesive suction cup II 205i3 includes a suction cup II 205i31 installed at the bottom of the second sliding shaft II 205i21 and a plurality of second suction nozzles II 205i32 installed at the bottom of the suction cup II 205i31. Specifically, the suction cup II 205i31 is connected to the vacuum equipment.
贴胶支架Ⅱ 205i1的两端设有导向组件Ⅱ 205i4，导向组件Ⅱ 205i4包括安装在贴胶支架Ⅱ 205i1上的导向套Ⅱ 205i41、滑动穿设于导向套Ⅱ 205i41的导向轴Ⅱ205i42以及安装在导向轴Ⅱ 205i42顶端的限位件Ⅱ 205i43，导向轴Ⅱ 205i42的底端与吸盘Ⅱ 205i31连接。具体的，限位件Ⅱ 205i43为螺母。通过导向组件Ⅱ 205i4的设置，对吸盘Ⅱ 205i31的缓冲移动进行导向。The two ends of the adhesive support Ⅱ 205i1 are provided with guide components Ⅱ 205i4. The guide assembly Ⅱ 205i4 includes a guide sleeve Ⅱ 205i41 installed on the adhesive support Ⅱ 205i1, a guide shaft Ⅱ 205i42 that slides through the guide sleeve Ⅱ 205i41, and a guide shaft Ⅱ 205i42 installed on the guide. The limiter II 205i43 at the top of the shaft II 205i42, and the bottom end of the guide shaft II 205i42 is connected to the suction cup II 205i31. Specifically, the limiter II 205i43 is a nut. Through the setting of the guide assembly II 205i4, the buffer movement of the suction cup II 205i31 is guided.
工作时，取料机械手A 204抓取料库A 201中的四片片胶，移动至撕底离型纸工位A202处撕除底离型纸，然后移动至第一视觉设备106处进行片胶的位置寻址和底离型纸的撕除检测，再然后移动至二次定位台203处，并将片胶放置在定位座203c上，二次定位台203对四片片胶进行机械定位，最后贴胶机械手A 205抓取二次定位台203上的片胶，根据第三视觉设备108的反馈进行电芯的贴胶。When working, the picking manipulator A 204 grabs four pieces of glue in the material warehouse A 201, moves to the bottom release paper tearing station A202 to tear off the bottom release paper, and then moves to the first vision equipment 106 for cutting. The position of the glue and the removal detection of the bottom release paper are then moved to the secondary positioning stage 203, and the piece of glue is placed on the positioning seat 203c. The secondary positioning stage 203 mechanically positions the four pieces of glue. , and finally the gluing manipulator A 205 grabs the sheet glue on the secondary positioning stage 203, and glues the battery core according to the feedback from the third vision device 108.
上述实施例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本发明的内容并加以实施，并不能以此限制本发明的保护范围，凡根据本发明精神实质所作的等效变化或修饰，都应涵盖在本发明的保护范围内。The above embodiments are only for illustrating the technical concepts and characteristics of the present invention. Their purpose is to enable those familiar with this technology to understand the content of the present invention and implement it. They are not intended to limit the scope of protection of the present invention. Substantial equivalent changes or modifications shall be included in the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311437093.XACN117293404A (en) | 2023-06-21 | 2023-06-21 | Sheet material rubberizing machine |
| CN202310741127.8ACN116495320B (en) | 2023-06-21 | 2023-06-21 | Film roll material mixing rubberizing machine and rubberizing method thereof |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310741127.8ACN116495320B (en) | 2023-06-21 | 2023-06-21 | Film roll material mixing rubberizing machine and rubberizing method thereof |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311437093.XADivisionCN117293404A (en) | 2023-06-21 | 2023-06-21 | Sheet material rubberizing machine |
| Publication Number | Publication Date |
|---|---|
| CN116495320A CN116495320A (en) | 2023-07-28 |
| CN116495320Btrue CN116495320B (en) | 2023-12-08 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311437093.XAPendingCN117293404A (en) | 2023-06-21 | 2023-06-21 | Sheet material rubberizing machine |
| CN202310741127.8AActiveCN116495320B (en) | 2023-06-21 | 2023-06-21 | Film roll material mixing rubberizing machine and rubberizing method thereof |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311437093.XAPendingCN117293404A (en) | 2023-06-21 | 2023-06-21 | Sheet material rubberizing machine |
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| CN (2) | CN117293404A (en) |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | Effective date of registration:20241111 Address after:352100 Xingang Road, Zhangwan Town, Jiaocheng District, Ningde, Fujian 2 Patentee after:Contemporary Amperex Technology Co.,Ltd. Country or region after:China Address before:213000 No. 397, Changting Road, Wujin economic development zone, Changzhou City, Jiangsu Province Patentee before:CHANGZHOU MENTECHS INTELLIGENT EQUIPMENT Co.,Ltd. Country or region before:China |