Screw assembling device for automatic cell stack production line

Abstract

The invention discloses a screw assembling device for an automatic battery stack production line, which comprises a shell and is characterized in that an X-axis locking air cylinder distributed along the Y-axis direction is arranged in the shell, an X-axis locking pin is arranged at the working end of the X-axis locking air cylinder, an X-axis supporting plate is arranged in the shell, an X-axis locking pin is arranged at the working end of the X-axis locking air cylinder, and an X-axis locking pin is arranged at the working end of the X-axis supporting plate. An X-axis moving frame is connected to the X-axis supporting plate in a sliding mode through an X-axis sliding rail and sliding block mechanism, the X-axis moving frame is composed of an X-axis plate and a Y-axis plate which are connected with each other and perpendicularly distributed, a first positioning hole is formed in the X-axis plate, the X-axis locking pin is matched with the first positioning hole, and the Y-axis locking pin is matched with the Y-axis plate. The Y-axis plate is slidably connected with the Y-axis moving frame through a Y-axis sliding rail and sliding block mechanism, a Y-axis locking air cylinder distributed in the X-axis direction is arranged on the Y-axis moving frame, a Y-axis locking pin is arranged at the working end of the Y-axis locking air cylinder, and second positioning holes matched with the Y-axis locking pin are formed in the Y-axis moving frame and the Y-axis plate.

Description

Technical Field

[0001] The invention relates to the field of automated production of battery stacks, and in particular to a screw assembly device for an automatic production line of a battery stack. Background Art

[0002] At present, in the electric vehicle welding workshop, battery stacking and storage operations are manually operated, which is time-consuming and labor-intensive. In order to save labor costs, improve efficiency, and avoid safety accidents, some OEMs will adopt automatic lines. In this way, traditional manual operations cannot meet the rhythm and precision requirements of automatic assembly, so there is a need to realize automatic assembly; The simplest and most direct way is to connect the automated equipment for assembly (such as a tightening gun) directly to the manipulator, and let the manipulator drive the equipment to move in space to achieve automated assembly operations on the workpiece. However, automated equipment will generate reaction forces when working. For example, when a tightening gun is driven by the manipulator to move to the workpiece and perform tightening operations, the reaction force generated will be directly transmitted to the manipulator, which means that the manipulator will be subjected to vibration from time to time during long-term work. This vibration will affect the movement accuracy of the manipulator at the least, and its service life at the worst.

[0003] Therefore, a method or device capable of solving the above problems is now needed. Summary of the invention

[0004] The present invention aims to solve the above-mentioned deficiencies in the prior art and proposes a screw assembly device for a battery stack automatic production line which has a simple structure, ingenious design, and reasonable layout and can effectively absorb the vibration caused by the reaction force during the assembly process, thereby protecting the robot arm.

[0005] The technical solution of the present invention is: a screw assembly device for a battery stack automatic production line, comprising a shell 1, characterized in that: an X-axis locking cylinder 2 distributed along the Y-axis direction is arranged in the shell 1, and an X-axis locking pin 3 is arranged at the working end of the X-axis locking cylinder 2, an X-axis support plate 4 is arranged in the shell 1, and an X-axis movable frame is slidably connected to the X-axis support plate 4 through an X-axis slide rail slider mechanism 5, and the X-axis movable frame consists of an X-axis plate 6 and a Y-axis plate that are interconnected and vertically distributed, and a first positioning hole 7 is opened on the X-axis plate 6, and the X-axis locking pin 3 matches the first positioning hole 7. The Y-axis plate is slidably connected to the Y-axis moving frame 9 through the Y-axis slide rail and slider mechanism 8. The Y-axis moving frame 9 is provided with a Y-axis locking cylinder 10 distributed along the X-axis direction. The working end of the Y-axis locking cylinder 10 is provided with a Y-axis locking pin. The Y-axis moving frame 9 and the Y-axis plate are both provided with a second positioning hole 11 matching the Y-axis locking pin. A Z-axis cylinder 12 is provided at the bottom of the Y-axis moving frame 9, and the working end of the Z-axis cylinder 12 is connected to the bottom end of the tightening gun support frame 13, and the tightening gun support frame 13 is slidably connected to the Y-axis moving frame 9 through a Z-axis slide rail slider mechanism 14. The Y-axis moving frame 9 is also provided with a Z-axis buffer cylinder 15, the working end of which is connected to a clamping slide 16, and the clamping slide 16 is also slidably connected to the Y-axis moving frame 9 through a set of Z-axis slide rail slider mechanisms 14, and a clamping cylinder 17 is provided on the clamping slide 16, and a clamping claw 18 is provided on the working end of the clamping cylinder 17.

[0006] A C-shaped frame 19 distributed along the X-axis direction is fixedly arranged in the housing 1 , and an X-direction limiting frame 20 is arranged at the bottom of the X-axis plate, and the end of the X-direction limiting frame 20 is located in the C-shaped frame 19 .

[0007] The Y-axis moving frame 9 is provided with a Y-direction limiting frame 21 distributed along the Y-axis direction, and the top of the X-axis plate 6 is provided with a Y-direction limiting block 22 located in the Y-direction limiting frame 21 .

[0008] A gripper slide plate trigger block 23 is disposed on the gripper slide plate 16 , and a gripper slide plate trigger switch 24 matching the gripper slide plate trigger block 23 is disposed on the Y-axis moving frame 9 .

[0009] The clamping jaw slide plate 16 is provided with an upper sensor 25 and a lower sensor 26 . When the clamping jaw 18 simultaneously grasps the tightening gun head 27 and the workpiece 28 , the upper sensor 25 can detect the tightening gun head 27 , and the lower sensor 26 can detect the workpiece 28 .

[0010] A distance sensor 29 is also disposed at the end of the tightening gun support frame 13 , and the distance measuring direction of the distance sensor 29 is parallel to the axial direction of the tightening gun head 27 and the workpiece 28 .

[0011] Compared with the prior art, the present invention has the following advantages: This type of structural form of the screw assembly device for the battery stack automatic production line has a simple structure, ingenious design and reasonable layout. In the traditional screw assembly process, the tightening gun and the mechanical arm are rigidly connected, so the reaction force generated during the operation of the tightening gun will be directly transmitted to the mechanical arm. Under the long-term vibration of the mechanical arm, the position accuracy of its operation will be affected. In order to solve this problem, the present application designs a special structure, the shell part of which is directly rigidly connected to the mechanical arm, and the support frame that fixes the tightening gun can be displaced relative to the shell in the X-axis direction and the Y-axis direction. At the same time, the support frame can also be adjusted in the Z-axis direction, so that the tightening gun that is in direct contact with the assembled workpiece can be adaptively displaced in multiple directions with the shell, so that when the tightening gun is working, the vibration generated by it can be absorbed by this device to prevent the vibration from being transmitted to the mechanical arm, so as to protect the mechanical arm and extend the service life of the mechanical arm.

[0012] Moreover, the manufacturing process of this device is simple and the manufacturing cost is low, so it can be said that it has multiple advantages and is particularly suitable for promotion and application in this field, and its market prospect is very broad. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention (without the tightening gun bracket).

[0014] Figure 2 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention (direction one).

[0015] Figure 3 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention (direction two).

[0016] Figure 4 2 is a top view of an embodiment of the present invention.

[0017] Figure 5 It is a partial schematic diagram of the clamping claw cylinder part in an embodiment of the present invention.

[0018] Figure 6 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention (direction three).

[0019] Figure 7 It is a cross-sectional view of the clamping claw in the embodiment of the present invention grasping a workpiece. DETAILED DESCRIPTION

[0020] The specific implementation of the present invention will be described below with reference to the accompanying drawings. Figures 1 to 7As shown: A screw assembly device for a battery stack automatic production line, including a shell 1 as a basis, an X-axis locking cylinder 2 distributed along the Y-axis direction is arranged in the shell 1, and an X-axis locking pin 3 is arranged at the working end of the X-axis locking cylinder 2. An X-axis support plate 4 is arranged in the shell 1, and an X-axis movable frame is slidably connected to the X-axis support plate 4 through an X-axis slide rail slider mechanism 5. The X-axis movable frame consists of an X-axis plate 6 and a Y-axis plate that are interconnected and vertically distributed. A first positioning hole 7 is opened on the X-axis plate 6, and the X-axis locking pin 3 matches the first positioning hole 7. The Y-axis plate is slidably connected to the Y-axis moving frame 9 through the Y-axis slide rail and slider mechanism 8. The Y-axis moving frame 9 is provided with a Y-axis locking cylinder 10 distributed along the X-axis direction. The working end of the Y-axis locking cylinder 10 is provided with a Y-axis locking pin. The Y-axis moving frame 9 and the Y-axis plate are both provided with a second positioning hole 11 matching the Y-axis locking pin. A Z-axis cylinder 12 is provided at the bottom of the Y-axis moving frame 9, and the working end of the Z-axis cylinder 12 is connected to the bottom end of the tightening gun support frame 13, and the tightening gun support frame 13 is slidably connected to the Y-axis moving frame 9 through a Z-axis slide rail slider mechanism 14. The Y-axis moving frame 9 is also provided with a Z-axis buffer cylinder 15, the working end of which is connected to a clamping slide 16, and the clamping slide 16 is also slidably connected to the Y-axis moving frame 9 through a set of Z-axis slide rail slider mechanisms 14, and a clamping cylinder 17 is provided on the clamping slide 16, and a clamping claw 18 is provided on the working end of the clamping cylinder 17.

[0021] A C-shaped frame 19 distributed along the X-axis direction is fixedly arranged in the housing 1 , and an X-direction limiting frame 20 is arranged at the bottom of the X-axis plate, and the end of the X-direction limiting frame 20 is located in the C-shaped frame 19 .

[0022] The Y-axis moving frame 9 is provided with a Y-direction limiting frame 21 distributed along the Y-axis direction, and the top of the X-axis plate 6 is provided with a Y-direction limiting block 22 located in the Y-direction limiting frame 21 .

[0023] A gripper slide plate trigger block 23 is disposed on the gripper slide plate 16 , and a gripper slide plate trigger switch 24 matching the gripper slide plate trigger block 23 is disposed on the Y-axis moving frame 9 .

[0024] The clamping jaw slide plate 16 is provided with an upper sensor 25 and a lower sensor 26 . When the clamping jaw 18 simultaneously grasps the tightening gun head 27 and the workpiece 28 , the upper sensor 25 can detect the tightening gun head 27 , and the lower sensor 26 can detect the workpiece 28 .

[0025] A distance sensor 29 is also disposed at the end of the tightening gun support frame 13 , and the distance measuring direction of the distance sensor 29 is parallel to the axial direction of the tightening gun head 27 and the workpiece 28 .

[0026] The working process of the screw assembly device for the battery stack automatic production line according to the embodiment of the present invention is as follows: the tightening gun 32 is installed on the tightening gun support frame 13, the shell 1 is connected to the robot arm, and the Z-axis cylinder 12 can drive the tightening gun support frame 13 to move relative to the Y-axis moving frame 9 in the Z-axis direction; the Y-axis moving frame 9 can move relative to the Y-axis plate in the Y-axis direction, and the Y-axis plate (i.e., the X-axis moving frame) can move relative to the X-axis support plate 4 (i.e., the shell 1) in the X-axis direction, that is, the tightening gun 32 can be adjusted relative to the robot arm in three-dimensional space; In the non-machining state, the X-axis locking pin 3 is inserted into the first positioning hole 7, the Y-axis locking pin is simultaneously inserted into the Y-axis moving frame 9 and the second positioning hole 11 opened on the Y-axis plate, and the Z-axis cylinder 12 does not work. At this time, the tightening gun support frame 13 is in a locked state in the three directions of the X-axis, Y-axis and Z-axis, and is relatively fixed to the housing 1. Therefore, the relative position relationship between the muzzle position of the tightening gun 32 and the mechanical arm is determined. At this time, the mechanical arm can drive the device to move in space, and drive the muzzle of the tightening gun 32 to move to the nut that needs to be tightened; After the tightening gun 32 moves into position, the Z-axis cylinder 12 drives the tightening gun support frame 13 to move along the Z-axis direction, and the muzzle position of the tightening gun 32 moves toward the direction of the workpiece, and the tightening gun head 27 forms a connection relationship with the nut 30; then the X-axis locking pin 3 and the Y-axis locking pin are recovered, and the tightening gun 32 restores the degree of freedom. In this way, when the tightening gun 32 is working, the tightening gun 32 will move in the X-axis and Y-axis directions relative to the housing 1 (i.e., the robotic arm) under the action of the reaction force, thereby absorbing vibration and preventing the robotic arm from being impacted; Before the tightening operation is implemented, the clamping cylinder 17 works to drive the clamping jaw 18 to grasp the tightening gun head 27 and the workpiece 28. The clamping jaw 18 grasps the connection between the two workpieces to keep them in a coaxial state. A long bolt 31 is inserted into the tightening gun head 27 and the workpiece 28. The tightening gun 32 needs to tighten the nut 30 on the top of the long bolt 31 to achieve a fixed connection between the tightening gun head 27 and the workpiece 28; and the tightening gun 32 is allowed to work only when the upper sensor 25 can detect the tightening gun head 27 and the lower sensor 26 can detect the workpiece 28.

[0027] During the tightening operation, the Z-axis buffer cylinder 15 always maintains pressure, so that when the tightening gun 32 is subjected to the impact force in the axial direction from the tightening gun head 27 and the workpiece 28, the clamping slide 16 moves accordingly, and the air pressure in the Z-axis buffer cylinder 15 offsets the above-mentioned impact force, preventing the tightening gun 32 and the device from directly bearing the rigid impact force.

Claims

1. A screw assembly device for a battery stack automatic production line, comprising a housing (1), characterized in that: An X-axis locking cylinder (2) distributed along the Y-axis direction is arranged in the housing (1), and an X-axis locking pin (3) is arranged at the working end of the X-axis locking cylinder (2). An X-axis supporting plate (4) is arranged in the housing (1), and an X-axis moving frame is slidably connected to the X-axis supporting plate (4) via an X-axis slide rail and slider mechanism (5). The X-axis moving frame consists of an X-axis plate (6) and a Y-axis plate that are connected to each other and distributed vertically. A first positioning hole (7) is opened on the X-axis plate (6), and the X-axis locking pin (3) matches the first positioning hole (7). The Y-axis plate is slidably connected to the Y-axis moving frame (9) via a Y-axis slide rail and slider mechanism (8); a Y-axis locking cylinder (10) distributed along the X-axis direction is arranged on the Y-axis moving frame (9); a Y-axis locking pin is arranged at the working end of the Y-axis locking cylinder (10); and a second positioning hole (11) matching the Y-axis locking pin is provided on both the Y-axis moving frame (9) and the Y-axis plate. A Z-axis cylinder (12) is disposed at the bottom of the Y-axis moving frame (9), and a working end of the Z-axis cylinder (12) is connected to the bottom end of a tightening gun support frame (13). The tightening gun support frame (13) is slidably connected to the Y-axis moving frame (9) via a Z-axis slide rail and slider mechanism (14). The Y-axis moving frame (9) is also provided with a Z-axis buffer cylinder (15), the working end of the Z-axis buffer cylinder (15) is connected to a clamping slide plate (16), and the clamping slide plate (16) is also slidably connected to the Y-axis moving frame (9) through a set of Z-axis slide rail slider mechanisms (14), and a clamping cylinder (17) is provided on the clamping slide plate (16), and a clamping claw (18) is provided on the working end of the clamping cylinder (17).

2. The screw assembly device for a battery stack automatic production line according to claim 1, characterized in that: A C-shaped frame (19) distributed along the X-axis direction is fixedly arranged in the housing (1), an X-direction limiting frame (20) is arranged at the bottom of the X-axis plate, and an end of the X-direction limiting frame (20) is located in the C-shaped frame (19).

3. The screw assembly device for a battery stack automatic production line according to claim 1, characterized in that: The Y-axis moving frame (9) is provided with a Y-direction limiting frame (21) distributed along the Y-axis direction, and the top of the X-axis plate (6) is provided with a Y-direction limiting block (22) located inside the Y-direction limiting frame (21).

4. The screw assembly device for a battery stack automatic production line according to claim 1, characterized in that: The clamping slide plate (16) is provided with a clamping slide plate trigger block (23), and the Y-axis moving frame (9) is provided with a clamping slide plate trigger switch (24) matching the clamping slide plate trigger block (23).

5. The screw assembly device for a battery stack automatic production line according to claim 1, characterized in that: An upper sensor (25) and a lower sensor (26) are provided on the clamping jaw slide plate (16); when the clamping jaw (18) simultaneously grasps a tightening gun head (27) and a workpiece (28), the upper sensor (25) can detect the tightening gun head (27), and the lower sensor (26) can detect the workpiece (28).

6. The screw assembly device for a battery stack automatic production line according to claim 1, characterized in that: A distance sensor (29) is also provided at the end of the tightening gun support frame (13), and the distance measurement direction of the distance sensor (29) is parallel to the axial direction of the tightening gun head (27) and the workpiece (28).

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