CN110406971B - Lithium capacitor inserting machine and lithium capacitor inserting method - Google Patents
Lithium capacitor inserting machine and lithium capacitor inserting method Download PDFInfo
- Publication number
- CN110406971B CN110406971B CN201910779184.9A CN201910779184A CN110406971B CN 110406971 B CN110406971 B CN 110406971B CN 201910779184 A CN201910779184 A CN 201910779184A CN 110406971 B CN110406971 B CN 110406971B
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- assembly
- manipulator
- bottom plate
- motor
- positioning
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- 239000003990 capacitor Substances 0.000 title claims abstract description 71
- 229910052744 lithium Inorganic materials 0.000 title claims abstract description 71
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 title claims abstract description 70
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000006243 chemical reaction Methods 0.000 claims abstract description 29
- 238000003475 lamination Methods 0.000 claims description 82
- 230000033001 locomotion Effects 0.000 claims description 39
- 239000000463 material Substances 0.000 claims description 32
- 238000001179 sorption measurement Methods 0.000 claims description 21
- 238000012546 transfer Methods 0.000 claims description 13
- 238000004804 winding Methods 0.000 claims description 13
- 238000012840 feeding operation Methods 0.000 claims description 6
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 238000012966 insertion method Methods 0.000 claims 1
- 230000008878 coupling Effects 0.000 description 11
- 238000010168 coupling process Methods 0.000 description 11
- 238000005859 coupling reaction Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 150000002641 lithium Chemical class 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Fixed Capacitors And Capacitor Manufacturing Machines (AREA)
Abstract
The invention provides a lithium capacitor inserting machine, which comprises: a bottom plate; the jacking device is connected with the bottom plate; the conversion device is connected with the bottom plate and comprises a first manipulator which is connected with the bottom plate in a relative rotation manner, and the first manipulator is positioned above the jacking device; the positioning device is connected with the bottom plate and is positioned below the first manipulator; the moving device comprises a second manipulator which is connected with the bottom plate in a relative moving way, and the second manipulator is positioned above the positioning device. The lithium capacitor inserting machine provided by the invention is provided with the positioning device, and the lithium capacitor covering piece is positioned in the inserting process, so that the position accuracy and consistency of the lithium capacitor covering piece are improved, and the quality of a finished product of the lithium capacitor is improved. The invention also provides a lithium capacitor inserting method.
Description
Technical Field
The invention belongs to the field of automatic production equipment of lithium capacitors, and particularly relates to a lithium capacitor inserting machine and a lithium capacitor inserting method.
Background
The lithium capacitor is manufactured by using a winding method, and the cut lamination sheet is required to be fed into winding equipment to complete the winding and forming of the lithium capacitor monomer. In the automated production process of lithium capacitors, a lithium capacitor insertion machine is generally used to complete the above operation process. The position accuracy and consistency of the inserting sheets directly influence the quality of the finished product of the lithium capacitor.
Existing sheet material transfer mechanisms generally use a conveyor belt or a manipulator to transfer sheet materials, and the position of the sheet materials is inevitably affected in the process of transferring the sheet materials. If the existing sheet material transfer mechanism is used for carrying out the inserting operation of the lithium capacitor covering piece, the position accuracy of the inserting piece of the lithium capacitor covering piece can be reduced, the consistency of the position of the covering piece is reduced, and therefore the quality of a finished product of the lithium capacitor is affected.
Disclosure of Invention
Aiming at the technical problem that when the existing sheet material transfer mechanism is used for inserting the lithium capacitor lamination sheets, the position accuracy and consistency of the lamination sheets are reduced, the invention provides a lithium capacitor insertion machine, which is provided with a positioning device, and the lithium capacitor lamination sheets are positioned in the process of inserting the sheets, so that the position accuracy and consistency of the lithium capacitor lamination sheets are improved, and the quality of finished products of the lithium capacitor is improved. In order to achieve the above purpose, the present invention adopts the following technical scheme:
a lithium capacitor tab machine comprising:
a bottom plate;
the jacking device is connected with the bottom plate;
the conversion device is connected with the bottom plate and comprises a first manipulator which is connected with the bottom plate in a relative rotation manner, and the first manipulator is positioned above the jacking device;
the positioning device is connected with the bottom plate and is positioned below the first manipulator;
the moving device is connected with the bottom plate and comprises a second manipulator, and the second manipulator is located above the positioning device.
Further, the positioning device includes:
the platform assembly is positioned below the first manipulator, the second manipulator is positioned above the platform assembly, and the platform assembly is connected with the bottom plate;
a first positioning assembly, the first positioning assembly comprising:
the first reference piece is connected with one side surface of the platform assembly;
the first adjusting piece is arranged opposite to the first reference piece;
the first motor is connected with the platform assembly, the first motor is connected with the first adjusting piece, and the first motor drives the first adjusting piece to horizontally move.
Further, the positioning device further comprises a second positioning assembly, the second positioning assembly comprising:
the second reference piece is connected with the other side surface of the platform assembly and is perpendicular to the first reference piece;
a second adjusting part which is arranged opposite to the second reference part
The second motor is connected with the platform assembly, the second motor is connected with the second adjusting piece, and the second motor drives the second adjusting piece to horizontally move.
Further, the jacking device includes: a jacking assembly, the jacking assembly comprising:
the jacking supporting piece is connected with the bottom plate;
the third motor is connected with the jacking supporting piece;
the push rod assembly is connected with the third motor, and the push rod assembly is connected with the jacking support piece in a relatively vertical movement manner.
Further, the conversion device further includes:
a conversion assembly, the conversion assembly comprising:
the fourth motor is connected with the bottom plate;
the rotating shaft is connected with the fourth motor, the rotating shaft is connected with the bottom plate in a relative rotating mode, and the rotating shaft is connected with the first manipulator.
Further, the conversion apparatus further includes a dithering component, the dithering component including:
the support component is connected with the bottom plate in a relative movement manner, and is connected with the rotating shaft in a relative rotation manner;
and the fifth motor is connected with the supporting component.
Further, the conversion device further comprises an anti-adsorption component, and the anti-adsorption component is connected with the first manipulator.
Further, the mobile device includes:
the rotating assembly is provided with a rotating shaft, the rotating shaft rotates around the rotating shaft, and the rotating shaft is connected with the second manipulator;
the first motion assembly is provided with a first sliding block, the first sliding block moves vertically, and the rotation assembly is connected with the first sliding block;
the second motion assembly is provided with a second sliding block, the second sliding block moves horizontally, and the first motion assembly is connected with the second sliding block;
the third motion assembly is provided with a third sliding block, the third sliding block horizontally moves, the moving direction of the third sliding block is perpendicular to the moving direction of the second sliding block, the second operation assembly is connected with the third sliding block, and the third motion assembly is connected with the bottom plate.
The invention also provides a lithium capacitor inserting method, which uses any one of the lithium capacitor inserting machines and comprises the following steps:
(1) Loading the cut lamination sheets into a material box;
(2) Placing the material box on a jacking device, wherein the jacking device controls the height of the material box, and carrying out feeding operation;
(3) The first manipulator of the conversion device grabs the lamination sheet, and the first manipulator transfers the lamination sheet to the positioning device;
(4) The positioning device performs positioning operation on the lamination sheet;
(5) The second manipulator of the moving device grabs the lamination sheet, and the second manipulator sends the lamination sheet into the winding equipment.
Further, after the first manipulator in the step (3) grabs the lamination sheet, an anti-adsorption operation and a shaking operation are performed.
Compared with the prior art, the invention has the beneficial effects that:
1. the lithium capacitor inserting machine is provided with the positioning device, the first manipulator transfers the lamination sheet from the jacking device to the positioning device, the positioning device positions the lamination sheet, then the lamination sheet is grabbed by the second manipulator, and the second manipulator sends the lamination sheet into the winding equipment. Compared with the existing sheet material transfer mechanism, the lithium capacitor inserting machine provided by the invention can be used for positioning the lithium capacitor covering sheet, so that the position accuracy and consistency of the lithium capacitor covering sheet are improved, and the quality of a finished product of a lithium capacitor is improved.
2. The lithium capacitor inserting machine provided by the invention is provided with the jacking device, the material box provided with the lamination sheets is placed on the jacking device, and the feeding of the lamination sheets is realized through the lifting movement of the jacking device; simultaneously, the first manipulator grabs the lamination sheet, and the first manipulator drives the lamination sheet to rotate in a horizontal plane to transfer the lamination sheet to the positioning device; the second manipulator sucks the lamination sheet from the positioning device and sends the lamination sheet to the winding equipment for the next operation. According to the lithium capacitor inserting machine, the lifting motion of the lifting device, the rotation of the first manipulator and the positioning of the positioning device are matched with the second manipulator, so that the spatial layout of the action of the lithium capacitor inserting machine is realized. Compared with the existing mode of transferring sheets by using a transmission belt or a mechanical arm and the like, the lithium capacitor inserting machine provided by the invention reduces occupied plane space, simplifies a mechanical mechanism and realizes miniaturization of the lithium capacitor inserting machine.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a lithium capacitor inserting machine according to the present embodiment;
FIG. 2 is a schematic diagram of a second overall structure of the lithium capacitor tab machine of FIG. 1;
FIG. 3 is a schematic view of the whole structure of the jacking device in FIG. 1;
FIG. 4 is a schematic view of the overall structure of the jacking assembly of FIG. 3;
FIG. 5 is a schematic diagram of the whole structure of the switching device in FIG. 1;
FIG. 6 is a schematic diagram of the whole structure of the positioning device in FIG. 1;
FIG. 7 is a second schematic overall structure of the positioning device of FIG. 6;
FIG. 8 is a schematic diagram of the whole structure of the mobile device in FIG. 1;
FIG. 9 is a second overall schematic diagram of the mobile device of FIG. 8;
FIG. 10 is an enlarged schematic view of portion A of FIG. 9;
fig. 11 is a schematic diagram of the overall structure of the mobile device of fig. 8.
Reference numerals are specifically described:
1. a jacking device; 11. a bottom plate; 12. a third positioning assembly; 13. a fourth positioning assembly; 14. a jacking assembly; 141. jacking the supporting piece; 142. a third motor; 143. a speed reducer; 144. a push rod assembly; 1441. a first push rod; 1442. a second push rod; 1443. a guide rod; 1444. a first connector; 1445. a travel indication unit; 1446. a push rod sleeve; 145. a stroke sensor;
2. a conversion device; 21. a conversion assembly; 211. a fourth motor; 212. a first coupling; 213. a rotation shaft; 214. a support assembly; 22. a dithering assembly; 221. a fifth motor; 23. a first manipulator; 231. a robot body; 232. a suction cup; 24. an anti-adsorption assembly;
3. a positioning device; 31. positioning the support assembly; 311. a vacuum connection channel; 32. a platform assembly; 33. a first positioning assembly; 331. a first reference member; 332. a first motor; 333. a first adjustment member; 34. a second positioning assembly; 341. a second reference member; 342. a second motor; 343. a second adjustment member;
4. a mobile device; 41. a rotating assembly; 411. a sixth motor; 412. a first belt; 413. a rotating shaft; 414. a second manipulator; 415. a second connector; 42. a first motion assembly; 421. a seventh motor; 422. a second coupling; 423. a first slider; 424. a third connecting member; 43. a second motion assembly; 431. an eighth motor; 432. a second belt; 433. a second lead screw; 434. a second slider; 435. a second linear guide rail; 436. a fourth connecting member; 44. a third motion assembly; 441. a ninth motor; 442. a third coupling; 443. a third lead screw; 444. a third slider; 445. and a third linear guide rail.
Detailed Description
The following detailed description of the technical solutions in the specific embodiments of the present invention will be given with reference to the accompanying drawings. It is apparent that the described embodiments are only some specific implementations, but not all implementations, of the general technical solution of the present invention. All other embodiments, which are obtained by those skilled in the art based on the general inventive concept, fall within the scope of the present invention.
In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Aiming at the technical problem that when the existing sheet material transfer mechanism is used for inserting the lithium capacitor lamination sheets, the position accuracy and consistency of the lamination sheets are reduced, the invention provides a lithium capacitor insertion machine, which is provided with a positioning device, and the lithium capacitor lamination sheets are positioned in the process of inserting the sheets, so that the position accuracy and consistency of the lithium capacitor lamination sheets are improved, and the quality of finished products of the lithium capacitor is improved. The invention also provides a lithium capacitor inserting method. The technical scheme of the invention is specifically described below with reference to specific embodiments.
Referring to fig. 1 and 2, this embodiment provides a lithium capacitor inserting machine, including:
a bottom plate 11;
the jacking device 1 is connected with the bottom plate 11;
the conversion device 2 is connected with the bottom plate 11, the conversion device 2 comprises a first manipulator 23, the first manipulator 23 is connected with the bottom plate 11 in a relative rotation manner, and the first manipulator 23 is positioned above the jacking device 1;
the positioning device 3 is connected with the bottom plate 11, and the positioning device 3 is positioned below the first manipulator 23;
and the moving device 4, wherein the moving device 4 comprises a second manipulator 414, the second manipulator 414 is connected with the bottom plate 11 in a relative movement way, and the second manipulator 414 is positioned above the positioning device 3.
In the lithium capacitor inserting machine provided in this embodiment, when the inserting operation of the lithium capacitor covered piece is performed, the first manipulator 23 of the conversion device 2 transfers the covered piece from the jacking device 1 to the positioning device 3, after the positioning device 3 positions the covered piece, the covered piece is grasped by the second manipulator 414 of the moving device 4, and the covered piece is sent into the winding device by the second manipulator 414. Compared with the existing sheet material transfer mechanism, the lithium capacitor inserting machine provided by the invention is provided with the positioning device 3, the lithium capacitor covering sheet is repositioned in the inserting process of the lithium capacitor covering sheet, and then the lithium capacitor covering sheet is sent into the winding equipment for the next operation, so that the position precision in the transferring process of the lithium capacitor covering sheet is improved, and the consistency of the covering sheet position in the inserting operation is improved, thereby improving the quality of a finished product of the lithium capacitor.
Specifically, referring to fig. 6 and 7, the positioning device 3 of the lithium capacitor inserting machine provided in this embodiment is connected to the bottom plate 11, and the positioning device 3 includes a positioning support assembly 31, a platform assembly 32, a first positioning assembly 33, and a second positioning assembly 34. The positioning support assembly 31 is connected with the bottom plate 11, and a vacuum connection channel 311 is arranged in the positioning support assembly 31. The platform assembly 32 is connected to the upper portion of the positioning support assembly 31, and the platform assembly 32 is located below the first robot 23. The platform assembly 32 has vacuum adsorption holes, the vacuum adsorption holes are communicated with a vacuum connection channel 311 of the positioning support assembly 31, and the vacuum connection channel 311 is connected with a vacuum pump. When the lithium capacitor lamination sheet is transferred onto the platform assembly 32 through the first manipulator 23, the vacuum pump works, and the lamination sheet is adsorbed through the vacuum connecting channel 311 and the vacuum adsorption hole, so that the lamination sheet is initially positioned in the vertical direction. The first positioning component 33 performs a horizontal first-direction fine positioning operation on the lamination sheet. The first positioning assembly 33 includes a first reference member 331, a first motor 332 and a first adjusting member 333, the first reference member 331 is connected to a side surface of the platform assembly 32, the first adjusting member 333 is opposite to the first reference member 331, the first motor 332 is a linear motor, the first motor 332 is connected to the platform assembly 32, the first motor 332 has a push rod moving horizontally and linearly, the first adjusting member 333 is connected to the push rod of the first motor 332, and the first motor 332 drives the first adjusting member 333 to move horizontally and linearly relative to the platform assembly 32. When the lamination sheet is placed on the platform assembly 32, the lamination sheet is located between the first reference member 331 and the first adjustment member 333. The first motor 332 drives the first adjusting part 333 to move towards the first reference part 331, and the first adjusting part 333 pushes the lamination sheet to approach the first reference part 331 until the lamination sheet is attached to the first reference part 331, so as to realize the accurate positioning operation in the horizontal first direction.
In order to further improve the position accuracy of the lamination sheet, the positioning device 3 provided in this embodiment further includes a second positioning component 34, where the second positioning component 34 performs a horizontal second direction fine positioning operation on the lamination sheet. The second positioning assembly 34 includes a second reference member 341, a second motor 342, and a second adjusting member 343, where the second reference member 341 is connected to another side of the platform assembly 32, the second reference member 341 is perpendicular to the first reference member 331, the second adjusting member 343 is opposite to the second reference member 341, the second motor 342 is a linear motor, the second motor 342 is connected to the platform assembly 32, the second motor 342 has a push rod with a horizontal linear motion, the second adjusting member 343 is connected to the push rod of the second motor 342, and the second motor 342 drives the second adjusting member 343 to perform a horizontal linear motion relative to the platform assembly 32. When the lamination sheet is placed on the platform assembly 32, the lamination sheet is located between the second reference member 341 and the second adjustment member 343. The second motor 342 drives the second adjusting member 343 to move towards the second reference member 341, and the second adjusting member 343 pushes the lamination sheet to approach the second reference member 341 until the lamination sheet is attached to the second reference member 341, so as to realize the accurate positioning operation in the horizontal second direction.
Referring to fig. 3 and 4, the lithium capacitor inserting machine provided in this embodiment further includes a jacking device 1. The lamination sheet is placed in the material box, the material box is placed on the jacking device 1, and the jacking device 1 pushes the material box to move vertically, so that feeding operation is realized. Specifically, the jacking device 1 includes a jacking assembly 14 and a position detection assembly 15. The jack assembly 14 includes a jack support 141, a third motor 142, a decelerator 143, a push rod assembly 144, and a stroke sensor 145, and the push rod assembly 144 includes a first push rod 1441, a second push rod 1442, a guide rod 1443, a first connection 1444, a stroke indicator 1445, and a push rod sleeve 1446. The third motor 142 is connected with the speed reducer 143, the speed reducer 143 is a reversing speed reducer, the first push rod 1441 is matched with the speed reducer 143, and the third motor 142 drives the speed reducer 143 to further drive the first push rod 1441 to move in the vertical direction, so that the moving direction and the moving speed of the first push rod 1441 can be controlled by controlling the rotating speed and the steering direction of the third motor 142. The first push rod 1441 is connected to the second push rod 1442 through a first connecting member 1444, and the second push rod 1442 is movably connected to the jacking support 141. The first push rod 1441 drives the second push rod 1442 to move relative to the lifting support 141. The upper end of the second push rod 1442 is sleeved with a push rod sleeve 1446 for placing a material box. The push rod sleeve 1446 is preferably made of rubber material, so that friction force between the push rod sleeve 1446 and the cartridge can be increased, and the position of the cartridge is prevented from being changed, so that the position of the covering piece is affected. The push rod assembly 144 also includes a guide rod 1443, the guide rod 1443 serving as a guide support for the movement of the push rod assembly 144. One end of the guide rod 1443 is connected to the first connecting member 1444, and the other end of the guide rod 1443 is connected to the jacking support 141 to move vertically. The first connecting member 1444 is provided with a travel indicating portion 1445, and the travel sensor 145 detects the position of the travel indicating portion 1445 during the movement of the push rod assembly 144, and further detects the position of the push rod assembly 144, that is, measures the position of the covering sheet in the material box above the push rod assembly 144, so that automatic control of feeding of the covering sheet is facilitated.
The position detecting assembly 15 is connected to the base plate 11, and the position detecting assembly 15 is used for detecting the position of the covering sheet in the material box. The position detection assembly 15 is located above the jacking assembly 14. The third positioning component 12 and the fourth positioning component 13 are arranged around the jacking component 14, and the third positioning component 12 and the fourth positioning component 13 are connected to the bottom plate 11. The third positioning assembly 12 and the fourth positioning assembly 13 are used for positioning of the cartridge. Preferably, the third positioning assembly 12 is a positioning block. As a further preference, the fourth positioning assembly 13 is a plurality of positioning pins of different diameters as a foolproof design for the placement of the cartridge positions. The position detection assembly 15 includes a bracket set 151, a position sensor 152, and an indicating assembly 153. The bracket set 151 is connected to the bottom plate 11, the bracket set 151 is disposed around the jacking component 14, and the material box with the covering sheet is placed in the bracket set 151 and is located on the jacking component 14. The top end of the bracket set 151 is connected with a position sensor 152, the position sensor 151 comprises a transmitting end 1521 and a receiving end 1522, and the receiving end 1522 is used for receiving a detection signal sent by the transmitting end 1521 and detecting the position of the covering piece in the material box. When the lamination sheet moves between the transmitting end 1521 and the receiving end 1522, the receiving end 1522 is blocked from receiving the signal transmitted from the transmitting end 1521, and at this time, the first manipulator 23 is controlled to take away the lamination sheet; after the covering sheet is taken away, the receiving end 1522 receives the signal emitted by the emitting end 1521 again, at this time, the third motor 142 is controlled to push the push rod assembly 144 to move upwards until the next covering sheet in the magazine is located between the emitting end 1521 and the receiving end 1522, and the above process is repeated, so as to realize automatic feeding operation.
Referring to fig. 5, the converting device 2 according to the present embodiment is used for transferring the lamination sheet located above the jacking device 1 to the positioning device 3. The conversion device 2 includes a conversion assembly 21, a shake assembly 22, a first robot 23, and an anti-adsorption assembly 24. The conversion assembly 21 controls the first manipulator 23 to perform conversion movement of the lamination sheet. Specifically, the conversion unit 21 includes a fourth motor 211, a first coupling 212, and a rotation shaft 213, the fourth motor 211 is connected to the base plate 11, the rotation shaft 213 is connected to the fourth motor 211 through the first coupling 212, and the rotation shaft 213 is connected to the first robot 23. The fourth motor 211 drives the rotation shaft 213 to rotate, thereby driving the first robot 23 to rotate. The shake assembly 22 is used for performing shake operation on the lamination sheets grabbed by the first manipulator 23, so as to prevent the lamination sheets from being mutually adsorbed, and thus avoid grabbing multiple lamination sheets at a time. The dithering assembly 22 includes a support assembly 214 and a fifth motor 221. The support assembly 214 is movably connected with the base plate 11, the support assembly 214 is rotatably connected with the rotating shaft 213, and the support assembly 214 can drive the rotating shaft 213 to move. The fifth motor 221 is connected with the supporting component 214, the fifth motor 221 is a linear motor, the fifth motor 221 drives the supporting component 214 to move, so that the rotating shaft 213 and the first manipulator 23 are driven to move simultaneously, the movement displacement and the movement rate of the fifth motor 221 are controlled, the first manipulator 23 is driven to move up and down in the vertical direction, and the shaking operation of the first manipulator 23 can be realized.
In order to further prevent the adsorption between the lamination sheets, the conversion device 2 provided in this embodiment further includes an anti-adsorption component 24, where the anti-adsorption component 24 is connected to the first manipulator 23. Specifically, the anti-adsorption component 24 includes a moving member that is slidably connected to the body of the first manipulator 23. When the lamination sheet is adsorbed, the moving part moves upwards relative to the first manipulator 23; after the adsorption is completed, the moving member moves downwards relative to the first manipulator 23, and the moving member applies a downward force to the lamination sheets, so that the lamination sheets are slightly deformed, vacuum between the lamination sheets is broken, and the adsorption between the lamination sheets is prevented. Preferably, the moving member may be a weight bolt.
Referring to fig. 8 to 11, the lithium capacitor inserting machine provided in this embodiment further includes a moving device 4, where the moving device 4 is used to send the lamination sheet positioned by the positioning device 3 into the winding device. The moving device 4 is a moving platform with four degrees of freedom, and is used for controlling the second manipulator 414 to perform the inserting operation. Specifically, the moving device 4 includes a rotating assembly 41, a first moving assembly 42, a second moving assembly 43, and a third moving assembly 44. The rotating assembly 41 includes a sixth motor 411, a first belt 412, a rotating shaft 413, a second robot 414, and a second connector 415. The sixth motor 411 is connected with the rotating shaft 413 through the first driving belt 412, the rotating shaft 413 is connected with the second manipulator 414, and the sixth motor 411 rotates to drive the first driving belt 412 to move, so that the rotating shaft 413 and the second manipulator 414 are driven to realize rotary movement. The rotating assembly 41 is connected to the first moving assembly 42 by a second connection 415.
The first motion assembly 42 is connected to the lower portion of the rotation assembly 41, and the first motion assembly 42 drives the rotation assembly 41 and the second manipulator 414 to move in the vertical direction. The first moving assembly 42 includes a seventh motor 421, a second coupling 422, a first lead screw (not shown in the drawings), a first slider 423, a first linear guide rail, and a third link 424. The seventh motor 421 is connected to the first screw through the second coupling 422, the first slider 423 is coupled to the first screw, and the rotating assembly 41 is connected to the first slider 423 through the second connection 415. The first linear guide is vertically disposed and is connected to the second connector 415. The seventh motor 421 drives the first screw to rotate, and the first slider 423 moves on the first screw, so as to drive the rotating assembly 41 to further drive the second manipulator 414 to move in the vertical direction along the first linear guide rail. The first motion assembly 42 is coupled to the second motion assembly 43 by a third coupling 424.
The second moving assembly 43 is connected to the lower portion of the first moving assembly 42, and the second moving assembly 43 drives the first moving assembly 42, the rotating assembly 41 and the second manipulator 414 to perform linear movement on a horizontal plane. The second moving assembly 43 includes an eighth motor 431, a second driving belt 432, a second screw 433, a second slider 434, a second linear guide 435, and a fourth link 436. The eighth motor 431 is connected with a second lead screw 433 through a second driving belt 432, the second lead screw 433 is matched with a second sliding block 434, the first moving assembly 42 is connected to the second sliding block 434 through a third connecting piece 424, a second linear guide 435 is arranged in parallel with the second lead screw 433, and the third connecting piece 424 is connected with the second linear guide 435. The eighth motor 431 drives the second lead screw 433 to rotate through the second driving belt 432, and the second slider 434 moves on the second lead screw 433, so as to drive the first moving assembly 42 to linearly move in a horizontal plane along the second linear guide 435. The second moving assembly 43 is connected to the third moving assembly 44 through a fourth connection 436.
A third movement assembly 44 is connected below the second movement assembly 43, the third movement assembly 44 being connected to the base plate 11. The third moving assembly 44 drives the second moving assembly 43, the first moving assembly 42, the rotating assembly 41 and the second manipulator 414 to perform linear movement on a horizontal plane. The third motion assembly 44 includes a ninth motor 441, a third coupling 442, a third lead screw 443, a third slider 444, and a third linear guide 445. The ninth motor 441 is connected with a third lead screw 443 through a third coupling 442, the third slider 444 is matched with the third lead screw 443, the second moving assembly 43 is connected to the third slider 444 through a fourth connecting piece 436, the third linear guide 445 is horizontally arranged, the third linear guide 445 is connected to the fourth connecting piece 436, and the moving direction of the third slider 444 is perpendicular to the moving direction of the second slider 434. The ninth motor 441 drives the third screw 443 to rotate through the third coupling 442, and the third slider 444 moves on the third screw 443, so as to drive the second moving assembly 43 to linearly move in a horizontal plane along the third linear guide 445.
The embodiment also provides a lithium capacitor inserting method, which comprises the following steps of:
(1) Loading the cut lamination sheets into a material box;
(2) Placing the material box on a jacking device 1, wherein the jacking device 1 controls the height of the material box, and feeding operation is performed;
(3) The first manipulator 23 of the conversion device 2 grabs the lamination sheet, and the first manipulator 23 transfers the lamination sheet to the positioning device 3;
(4) The positioning device 3 performs positioning operation on the lamination sheet;
(5) The second manipulator 414 of the moving device 4 grips the lamination sheet, and the second manipulator 414 feeds the lamination sheet into the winding apparatus.
According to the lithium capacitor inserting method provided by the embodiment, before the lamination sheet is sent to the winding equipment, the lamination sheet is positioned, so that the position accuracy and consistency of the lamination sheet of the lithium capacitor are improved, and the quality of a finished product of the lithium capacitor is improved.
In order to further prevent the adsorption between the lamination sheets, in step (3) of the lithium capacitor inserting method provided in this embodiment, after the first manipulator 23 grabs the lamination sheets, an adsorption preventing operation and a shaking operation are performed, and then the lamination sheets are transferred to the positioning device 3.
Specifically, when the lithium capacitor inserting machine provided in this embodiment is used to perform lithium capacitor inserting operation, firstly, the cut lamination sheet is loaded into a material box, the material box is placed above the jacking component 14, and the material box is positioned by the third positioning component 12 and the fourth positioning component 13; the third motor 142 is controlled to perform feeding operation, and the jacking component 14 pushes the material box to move upwards, so that when the covering sheet blocks the position detection component 15, the covering sheet reaches the conversion position.
Then, the fourth motor 211 of the conversion assembly 21 is electrified to drive the first manipulator 23 to grasp the lamination sheets through the rotating shaft 213; when the first manipulator 23 grabs the lamination sheet, the anti-adsorption component 24 acts on the lamination sheet to perform anti-adsorption operation, the fifth motor 221 of the shaking component 22 is electrified to perform shaking operation, and the first manipulator 23 is controlled to move through the supporting component 214; the first robot 23 places the lamination sheet on the stage assembly 32 of the positioning device 3.
The platform component 32 of the positioning device 3 adsorbs the lamination sheet and performs preliminary positioning in the vertical direction; the first motor 332 of the first positioning assembly 33 acts to control the position of the first adjusting part 333, so that the covering sheet moves towards the first reference part 331 until the covering sheet contacts with the first reference part 331, and the horizontal first-direction precise positioning operation is realized; the second motor 342 of the second positioning assembly 34 acts to control the position of the second adjusting member 343, so that the covering sheet moves toward the second reference member 341 until the covering sheet contacts the second reference member 341, thereby realizing the horizontal second direction fine positioning operation.
Finally, the rotation angle of the second manipulator 414 is adjusted by controlling the rotation component 41 of the moving device 4, and the seventh motor 421, the eighth motor 431 and the ninth motor 441 are controlled to act, so that the moving positions of the first slider 423, the second slider 434 and the third slider 444 are further controlled to adjust the spatial position of the second manipulator 414, and the covering piece of the positioning device 3 is grabbed; the process control second manipulator 414 is then repeated to feed the lamination sheet into the winding apparatus for operation at the next station.
Claims (4)
1. A lithium capacitor tab machine, comprising:
a bottom plate;
the jacking device is connected with the bottom plate;
the conversion device is connected with the bottom plate and comprises a first manipulator which is connected with the bottom plate in a relative rotation manner, and the first manipulator is positioned above the jacking device;
the positioning device is connected with the bottom plate and is positioned below the first manipulator;
the mobile device is connected with the bottom plate and comprises a second manipulator, and the second manipulator is positioned above the positioning device;
the positioning device comprises:
the platform assembly is positioned below the first manipulator, the second manipulator is positioned above the platform assembly, and the platform assembly is connected with the bottom plate;
a first positioning assembly, the first positioning assembly comprising:
the first reference piece is connected with one side surface of the platform assembly;
the first adjusting piece is arranged opposite to the first reference piece;
the first motor is connected with the platform assembly, is connected with the first adjusting piece and drives the first adjusting piece to move horizontally;
the positioning device further comprises a second positioning assembly comprising:
the second reference piece is connected with the other side surface of the platform assembly and is perpendicular to the first reference piece;
the second adjusting piece is arranged opposite to the second reference piece;
the second motor is connected with the platform assembly, is connected with the second adjusting piece and drives the second adjusting piece to move horizontally;
the jacking device comprises: a jacking assembly, the jacking assembly comprising:
the jacking supporting piece is connected with the bottom plate;
the third motor is connected with the jacking supporting piece;
the push rod assembly is connected with the third motor and is in relative vertical movement connection with the jacking support;
the conversion device further includes:
a conversion assembly, the conversion assembly comprising:
the fourth motor is connected with the bottom plate;
the rotating shaft is connected with the fourth motor, is connected with the bottom plate in a relative rotating way and is connected with the first manipulator;
the conversion apparatus further includes a dithering component, the dithering component including:
the support component is connected with the bottom plate in a relative movement manner, and is connected with the rotating shaft in a relative rotation manner;
the fifth motor is connected with the supporting component;
the mobile device includes:
the rotating assembly is provided with a rotating shaft, the rotating shaft rotates around the rotating shaft, and the rotating shaft is connected with the second manipulator;
the first motion assembly is provided with a first sliding block, the first sliding block moves vertically, and the rotation assembly is connected with the first sliding block;
the second motion assembly is provided with a second sliding block, the second sliding block moves horizontally, and the first motion assembly is connected with the second sliding block;
the third motion assembly is provided with a third sliding block, the third sliding block horizontally moves, the moving direction of the third sliding block is perpendicular to the moving direction of the second sliding block, the second motion assembly is connected with the third sliding block, and the third motion assembly is connected with the bottom plate.
2. The lithium capacitor tab machine of claim 1 wherein the conversion device further comprises an anti-adsorption assembly, the anti-adsorption assembly being coupled to the first manipulator.
3. A lithium capacitor insertion method using the lithium capacitor insertion machine of claim 1 or 2, comprising the steps of:
(1) Loading the cut lamination sheets into a material box;
(2) Placing the material box on a jacking device, wherein the jacking device controls the height of the material box, and carrying out feeding operation;
(3) The first manipulator of the conversion device grabs the lamination sheet, and the first manipulator transfers the lamination sheet to the positioning device;
(4) The positioning device performs positioning operation on the lamination sheet;
(5) The second manipulator of the moving device grabs the lamination sheet, and the second manipulator sends the lamination sheet into the winding equipment.
4. The method of claim 3, wherein the first manipulator in the step (3) performs an anti-adsorption operation and a shaking operation after grabbing the lamination sheet.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910779184.9A CN110406971B (en) | 2019-08-22 | 2019-08-22 | Lithium capacitor inserting machine and lithium capacitor inserting method |
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| CN201910779184.9A CN110406971B (en) | 2019-08-22 | 2019-08-22 | Lithium capacitor inserting machine and lithium capacitor inserting method |
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| CN110406971B true CN110406971B (en) | 2023-12-26 |
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| CN110406971A (en) | 2019-11-05 |
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