In the production process of lithium battery production, the finished product is automatically taken off from the production line, sent to the inspection office for visual inspection through the intelligent image processing system, and then the qualified product is sent to a specific packaging container, and the unqualified product is put. Feed into another container. This is the last step before the packaging of the largest battery manufacturer in Europe, Sonnenschein, in the battery production process, and there are several stations in the entire battery production process using Baigra's palletizing robot . Although these robots do not perform exactly the same function, they use the same tray to facilitate the circulation and versatility of different workstations. This article gives a brief introduction to the robot and vision system used in the final appearance inspection.
The composition and working process of a feeding mechanism
The original figure of a standard batch supply mechanism is given, which consists of a drag-and-drop section, a horizontal moving part of the tray and a two-dimensional XZ robot. In the example, there are eight trays in the lifting section of the tray, and in fact there are 14 small trays in one row. The linear motion unit drives up and down any precise motion. When working, raise the topmost first tray to a certain height higher than the horizontal movement axis, then stop, then move the first tray horizontally in the horizontal direction, so that the carried tray is under the first tray. The lift shaft is then lowered so that the first tray is on the carriage of the horizontal axis. The lifting shaft is then raised by 10 mm and then horizontally axially moved back to bring the tray to the front of the two-dimensional XZ robot. The XZ two-dimensional robot first carries the first row of parts one by one, and then puts it back into the original place after handling. When a row of parts has been processed, the horizontal motion axis moves forward again so that the second row of parts is in a position that the robot can grasp. If it is worthwhile to process the last row of parts, the horizontal motion axis will return the pallet to the original position of the lifting shaft. Then process the parts of the next tray and proceed until all the parts on the last pallet have been processed.
Two robot models and parameters
The feeding system has a maximum of 14 trays at a time. Each tray has a size of 320*250*35mm and is equipped with 100 batteries, each weighing 10 grams. Using five suction cup grippers at a time, the five parts are transported on average every 5 seconds, detected and placed back in the tray. Each time the tray is exchanged for 4 seconds, the positioning accuracy of each moving part is 0.1 mm.
The lifting shaft adopts two gantry structures consisting of PAS42BB, and the maximum load can reach 80 kg. The horizontal motion axis uses two PAS41BRs with a maximum load of up to 20 kg. The XZ 2D robot uses the PAS42BB for the X axis and the LM-A41BB for the Z axis. The movement speed is up to 60 m / min. The gripper is a suction cup that grabs five parts at a time.
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