Assembling and shaping device for multiple rows of battery modules

Abstract

The invention relates to an assembling and shaping device for multiple rows of battery modules, which comprises a main body machine table frame, a plurality of battery modules and a plurality of battery modules, the tray transverse moving and pulling conveying mechanism is installed on the main machine table frame and used for transferring the trays from the conveying line to a machining station; the width clamping reference positioning mechanism is mounted on the side, away from the tray inlet, of the machining station; the Y-direction combined servo pressing lifting mechanism is mounted on the side, close to the tray inlet, of the machining station; the tray unlocking mechanism is mounted on the main body machine table frame and is used for unlocking the length limit of the tray to the battery module; the X-direction servo pressing mechanism and the X-direction tray reacting force wedge-shaped positioning mechanism are installed on the two sides of the X direction of the machining station respectively, and the X direction is perpendicular to the Y direction; and the pole pressing and lifting mechanism is mounted on the main machine table frame, is arranged above the processing station, and is used for pressing and centering the battery module. And the components work cooperatively, so that the production efficiency is improved, and the high reliability of the battery module is ensured.

Description

Technical Field

[0001] The present disclosure relates to the technical field of assembly and shaping of battery modules, and in particular to an assembly and shaping device for multiple rows of battery modules. Background Art

[0002] During the production of new energy batteries, battery module dimensions are often controlled. Due to the unique characteristics of the product process, each row of battery modules must maintain a certain level of dimensional accuracy to ensure they can be placed directly into the battery box. Therefore, before multiple rows of battery modules are placed into the box, they must be assembled, shaped, and pressurized to ensure the required dimensions, such as length, width, and flatness. Existing equipment primarily focuses on shaping and lacks assembly capabilities. Summary of the Invention

[0003] In order to overcome the problem that existing battery module equipment lacks an assembly function, the present invention provides an assembly and shaping device for multiple rows of battery modules.

[0004] To achieve the above objectives, the present disclosure provides a device for assembling and shaping multiple rows of battery modules, comprising:

[0005] The main machine frame is equipped with processing positions;

[0006] The pallet lateral pulling conveying mechanism is installed on the main machine frame and is used to transfer the pallet from the conveyor line to the processing position;

[0007] A width clamping reference positioning mechanism is installed on the side of the processing position away from the pallet inlet;

[0008] A Y-axis assembly servo pressing and lifting mechanism is installed on the side of the processing position close to the tray inlet;

[0009] A tray unlocking mechanism, mounted on the main machine frame, for unlocking the length limit of the tray on the battery module;

[0010] An X-direction servo clamping mechanism and an X-direction pallet reaction force wedge positioning mechanism are respectively installed on both sides of the X-direction of the processing position, and the X-direction is perpendicular to the Y-direction; and

[0011] The pole pressing and lifting mechanism is installed on the main machine frame and is arranged above the processing position, and is used to press down and center the battery module.

[0012] Optionally, the combined shaping device further comprises a shaping and pressurizing machine support main body mechanism, and the shaping and pressurizing machine support main body mechanism comprises:

[0013] A Z-direction support seat is mounted on the main machine frame, and the processing position is formed on the Z-direction support seat;

[0014] A first positioning pin and a first proximity switch are mounted on one side of the Z-direction support seat in the X direction, and are used to restrict and sense the pallet, respectively;

[0015] A cylinder support seat is mounted on the main machine frame and is located on a side of the processing position away from the tray inlet;

[0016] A push cylinder, mounted on the cylinder support seat;

[0017] A pressure head connecting plate connected to the output end of the pushing cylinder;

[0018] A rubber support seat is mounted on a side of the pressure head connecting plate away from the pushing cylinder;

[0019] a rubber plug, mounted on the rubber support seat through a locking cap, the rubber plug being used to supply air to the guide rail clamp of the pallet;

[0020] A first support seat is installed on a side of the processing position away from the tray inlet;

[0021] a laser mounting bracket, mounted on the first support seat and extending along the X direction; and

[0022] a plurality of first laser ranging sensors, installed at intervals on the first support base, for sensing the tray;

[0023] Optionally, the width clamping reference positioning mechanism includes:

[0024] A first welding support is installed on the main machine frame;

[0025] A first push-pull cylinder is installed on the first welding support;

[0026] A first cylinder floating joint, mounted on the output end of the first push-pull cylinder;

[0027] a first latch cylinder, mounted on the first welding support via a cylinder mounting seat, for unlocking or limiting the movement of the first cylinder floating joint;

[0028] A first linear guide rail is mounted on the first welding support; and

[0029] The sliding mounting plate is slidably arranged on the first linear guide rail and is connected to the first cylinder floating joint through a cylinder movable hinge.

[0030] Optionally, the width clamping reference positioning mechanism further includes:

[0031] A buffer mounting seat and a first buffer are mounted on the first welding support and the sliding mounting plate respectively;

[0032] a proximity switch mounting bracket and a second proximity switch mounted on the proximity switch mounting bracket, wherein the proximity switch mounting bracket is mounted on the first welding support, and the second proximity switch is used to sense the sliding mounting plate;

[0033] A plurality of first mounting brackets are installed on the sliding mounting plate at intervals;

[0034] A pusher bakelite is connected to a plurality of first mounting brackets via the first mounting plate and is used to push the battery module on the tray;

[0035] A latch positioning sleeve is mounted on the sliding mounting plate;

[0036] a first floating joint, mounted on the output end of the first latch cylinder;

[0037] a latch member connected to the first floating joint and configured to extend into the latch positioning sleeve;

[0038] a first guide sleeve, mounted inside the cylinder mounting seat, for guiding the linear motion of the latch member; and

[0039] The hole card is mounted on the cylinder mounting seat and abuts against the end of the first guide sleeve away from the first floating joint.

[0040] Optionally, the X-direction servo pressing mechanism includes:

[0041] A second welding base is installed on the main machine frame;

[0042] a first servo press, mounted on the second welding base via a press mounting base, with an output end of the first servo press connected to the second floating joint; and

[0043] The pressing connection support is connected to the second floating joint through a floating joint block, and is used to abut the battery module on the tray.

[0044] Optionally, the X-direction servo pressing mechanism further includes:

[0045] a second linear guide rail extending along the X direction, wherein the pressing connection support is slidably connected to the second linear guide rail via the first connecting member;

[0046] A compression head, mounted on the compression connection support;

[0047] a contact panel, mounted on an end of the pressing head away from the second floating joint, and configured to abut against the battery module;

[0048] a diffuse reflection sensor, mounted on the compression connection support via the detection mounting bracket, for sensing the position of the pallet; and

[0049] The second laser ranging sensor is mounted on the second welding base through a ranging sensor bracket and is used to sense the distance to the pallet.

[0050] Optionally, the X-axis pallet reaction force wedge positioning mechanism includes:

[0051] A third welding support is mounted on the main machine frame;

[0052] A wedge-shaped positioning mounting seat, mounted on the third welding support;

[0053] A guide shaft positioning sleeve is mounted on the wedge-shaped positioning mounting seat, and the axis of the guide shaft positioning sleeve is the X direction;

[0054] a first guide shaft, slidably connected to the inner wall of the guide shaft positioning sleeve, and configured to abut against the battery module;

[0055] a second latch cylinder, mounted on the third welding support, wherein the output end of the second latch cylinder is used to extend into the wedge-shaped positioning mounting seat and push the first guide shaft out of the wedge-shaped positioning mounting seat; and

[0056] The second push-pull cylinder is fixed on the wedge-shaped positioning mounting seat through a cylinder mounting plate, and the output end of the second push-pull cylinder is connected to the first guide shaft.

[0057] Optionally, the X-direction pallet reaction force wedge positioning mechanism further includes:

[0058] a third proximity switch, mounted on the cylinder mounting plate, for sensing the position of the first guide shaft;

[0059] a floating connecting rod mounted on an output end of the second latch cylinder;

[0060] The extended latch shaft is provided with a mounting cavity, wherein a spring is provided in the mounting cavity, and the spring is connected to the floating connecting rod and the mounting cavity, and is used to pull the extended latch shaft to reset, and the end of the extended latch shaft away from the spring is provided with a first wedge surface, and the first guide shaft is provided with a second wedge surface adapted to the first wedge surface;

[0061] A support block, wherein the second latch cylinder is connected to the support block via a mounting plate, and an end of the support block away from the mounting plate is connected to the wedge-shaped positioning mounting seat;

[0062] a guide sleeve, mounted between the wedge-shaped positioning mounting seat and the support block, and provided with a slide groove; and

[0063] A guide pin is mounted on the extended latch shaft and is slidably connected to the side wall of the sliding groove.

[0064] Optionally, the pallet transverse pulling conveying mechanism includes:

[0065] There are two sets of front roller strip assemblies and rear roller strip assemblies, which are respectively arranged on both sides of the X direction of the processing position and are used for sliding connection with the bottom of the tray;

[0066] Two guide supports are arranged on both sides of the processing position in the X direction;

[0067] A lifting cylinder is installed on the frame;

[0068] a mechanical rodless cylinder, mounted on the output end of the lifting cylinder and moving along the Y direction; and

[0069] The towing hook has a head structure of a T-shaped protrusion, and the tail of the towing hook is installed at the output end of the mechanical rodless cylinder, and the T-shaped protrusion is used to extend into the T-shaped groove of the pallet.

[0070] Optionally, the pallet transverse pulling conveying mechanism further includes:

[0071] A second guide shaft and a horizontal pull linear bearing, one of which is mounted on the fixed plate of the jacking cylinder, and the other is connected to the output end of the jacking cylinder through a third cylinder floating joint, and the second guide shaft is passed through the horizontal pull linear bearing;

[0072] a plurality of spacers mounted on the top of the guide support via a third connecting member;

[0073] a guide bar, mounted on a side of the guide support away from the processing position, for contacting a side of the pallet; and

[0074] A detection sensor is installed at the tail of the fixing plate of the lifting cylinder and is used to sense the position of the pallet.

[0075] The technical solutions provided by the embodiments of the present disclosure may have the following beneficial effects:

[0076] When the pallet on the conveyor line moves to the vicinity of the processing position, the pallet lateral pulling conveying mechanism can accurately transfer the pallet containing the battery module from the conveyor line to the processing position to achieve efficient transportation. The function of the pallet unlocking mechanism is to loosen the length limit of the pallet on the battery module, allowing the battery module to move freely, facilitating subsequent centering, shaping, and assembly operations. The pole clamping and lifting mechanism centers the battery module. The X-direction servo clamping mechanism and the X-direction pallet reaction force wedge positioning mechanism approach each other to adjust the length (X-direction) size of the battery module. At the same time, the pole clamping and lifting mechanism presses down the pole of the battery module to prevent the pole from tilting up when the battery module is adjusted in the length direction. The width clamping reference positioning mechanism and the Y-direction assembly servo clamping and lifting mechanism approach each other, allowing multiple columns of battery modules to be close to each other and assembled into one. These components work together to achieve automatic and precise assembly of battery modules, which not only improves production efficiency but also ensures the high reliability of the battery modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 Schematic diagram of a device for assembling and shaping multiple columns of battery modules according to an exemplary embodiment of the present disclosure.

[0078] Figure 2 This is a schematic diagram of the internal structure of a device for assembling and shaping multiple battery modules according to an exemplary embodiment of the present disclosure. Figure 1 .

[0079] Figure 3 This is a schematic diagram of the internal structure of a device for assembling and shaping multiple battery modules according to an exemplary embodiment of the present disclosure. Figure 2 .

[0080] Figure 4 It is a schematic diagram showing one perspective of a shaping and pressurizing machine supporting main body mechanism in an assembly and shaping device for multiple rows of battery modules according to an exemplary embodiment of the present disclosure.

[0081] Figure 5 It is a schematic diagram showing another perspective of a shaping and pressurizing machine support main body mechanism in a combined shaping device for multiple rows of battery modules according to an exemplary embodiment of the present disclosure.

[0082] Figure 6 yes Figure 5 A is an enlarged schematic diagram.

[0083] Figure 7 It is a front view of a shaping and pressurizing machine supporting main body mechanism in a combined shaping device for multiple rows of battery modules according to an exemplary embodiment of the present disclosure.

[0084] Figure 8 yes Figure 7 A magnified schematic diagram of B.

[0085] Figure 9 It is a schematic diagram of a width clamping reference positioning mechanism in an assembly and shaping device for multiple columns of battery modules according to an exemplary embodiment of the present disclosure.

[0086] Figure 10 It is a front view of a width clamping reference positioning mechanism in an assembly and shaping device for multi-row battery modules according to an exemplary embodiment of the present disclosure.

[0087] Figure 11 yes Figure 10 Cross-sectional view in CC direction.

[0088] Figure 12 It is a schematic diagram of an X-axis servo clamping mechanism in an assembly and shaping device for multiple columns of battery modules according to an exemplary embodiment of the present disclosure.

[0089] Figure 13 It is a side view of an X-axis servo clamping mechanism in an assembly and shaping device for multiple rows of battery modules according to an exemplary embodiment of the present disclosure.

[0090] Figure 14 It is a schematic diagram of an X-axis tray reaction force wedge positioning mechanism in an assembly and shaping device for multiple columns of battery modules according to an exemplary embodiment of the present disclosure.

[0091] Figure 15 1 is a front view of an X-axis tray reaction force wedge positioning mechanism in an assembly and shaping device for multiple columns of battery modules according to an exemplary embodiment of the present disclosure.

[0092] Figure 16 yes Figure 15 Cross-sectional view in the DD direction.

[0093] Figure 17 It is a schematic diagram of a tray transverse pulling conveying mechanism in an assembly and shaping device for multiple rows of battery modules according to an exemplary embodiment of the present disclosure.

[0094] Figure 18 It is a schematic diagram showing a perspective of a pole pressing and lifting mechanism in an assembly and shaping device for multiple rows of battery modules according to an exemplary embodiment of the present disclosure.

[0095] Figure 19 It is a schematic diagram showing another perspective of a pole pressing and lifting mechanism in an assembly and shaping device for multi-row battery modules according to an exemplary embodiment of the present disclosure.

[0096] Figure 20It is a schematic diagram of a pole pressing fixture mechanism in a device for assembling and shaping multiple battery modules according to an exemplary embodiment of the present disclosure.

[0097] Figure 21 It is a schematic diagram of a Y-axis assembly servo pressing and lifting mechanism in an assembly and shaping device for multiple rows of battery modules according to an exemplary embodiment of the present disclosure.

[0098] Description of Reference Numerals

[0099] 1. Shaping and pressing machine support body; 11. Main machine frame; 12. Equipment feet; 13. Electrical installation plate; 14. Support column; 15. First column reinforcement rib; 16. Second column reinforcement rib; 17. Mechanism support frame; 18. Z-axis support seat; 19. First positioning pin; 110. First proximity switch; 111. Cylinder support seat; 112. Push cylinder; 113. Press head connecting plate; 114. First support seat; 115. Laser mounting bracket; 116. First laser ranging sensor; 117. Rubber plug; 118. Locking cap; 119. Rubber support seat;

[0100] 2. Width clamping reference positioning mechanism; 21. First welding support; 22. Buffer mounting seat; 23. Proximity switch mounting bracket; 24. Second proximity switch; 25. First buffer; 26. First cylinder floating joint; 27. First push-pull cylinder; 28. First mounting plate; 29. Push-pull bakelite; 210. First mounting bracket; 211. Sliding mounting plate; 212. Cylinder movable hinge; 213. First latch cylinder; 214. First linear guide; 215. Latch positioning sleeve; 216. Hole card; 217. First guide sleeve; 218. Latch member; 219. Cylinder mounting seat; 220. First floating joint;

[0101] 3. Tray unlocking mechanism;

[0102] 4. X-axis servo clamping mechanism; 41. Second welding base; 42. First reinforcing rib; 43. Second linear guide; 44. Press mounting base; 45. First connector; 46. Clamping connection support; 47. Clamping head; 48. Touch panel; 49. Diffuse reflection sensor; 410. Detection mounting bracket; 411. Floating joint block; 412. Second floating joint; 413. Drag chain assembly; 415. First servo press; 417. Distance sensor bracket; 418. Second laser distance sensor;

[0103] 5. X-axis pallet reaction force wedge positioning mechanism; 51. Third welding support; 52. Wedge positioning mounting seat; 53. Cover; 55. Third proximity switch; 56. Cylinder mounting plate; 57. Second push-pull cylinder; 58. Guide shaft positioning sleeve; 59. First guide shaft; 510. Wear-resistant cap; 511. Guide pin; 512. Guide sleeve; 513. Support block; 514. Second mounting plate; 515. Second latch cylinder; 516. Second connecting member; 517. Second cylinder floating joint; 518. Second guide sleeve; 519. Extended latch shaft; 520. Spring; 521. Floating connecting rod;

[0104] 6. Pallet transverse pulling conveying mechanism; 61. Lifting cylinder; 62. Second guide shaft; 63. Transverse linear bearing; 64. Front roller bar assembly; 66. Mechanical rodless cylinder; 67. Tow hook; 68. Guide support; 69. Third connecting piece; 610. Guide bar; 611. Spacer; 612. Third cylinder floating joint; 613. Rear roller bar assembly; 615. Detection sensor;

[0105] 7. Pole clamping and lifting mechanism; 71. First support frame; 72. Clamping linear bearing; 73. Clamping guide shaft; 74. Position limit baffle; 75. Lifting electric cylinder; 76. First drag chain; 78. Detection switch; 79. Profile bracket; 710. Profile angle bracket; 711. Cylinder floating joint; 712. First pressure plate; 713. Position limit oil buffer; 714. Clamping cylinder; 715. Fourth cylinder floating joint; 716. Welding foot; 717. Pressure plate connecting seat; 718. Oil buffer support; 719. Third linear guide; 720. Lifting connecting frame; 721. Guide shaft seat; 722. Knob plunger; 723. L-shaped positioning block; 724. Stop block; 725. First pressure strip;

[0106] 8. Pole pressing fixture; 81. Transition mounting plate; 82. Second pressure strip; 83. Positioning mounting plate; 84. Side rib plate; 85. Middle connecting beam; 86. Handle;

[0107] 9. Y-axis assembled servo pressing and lifting mechanism; 91. Second supporting frame; 92. Lifting guide rail; 93. Detection sensor part 1; 94. First oil pressure buffer; 95. Lifting frame; 96. Lifting cylinder; 97. Second servo press; 98. Press protection bracket; 99. Servo press support; 910. Servo press floating joint; 911. Detection sensor part 2; 912. Mobile telescopic bracket; 913. Intermediate connecting support; 914. Insulating pressure plate; 915. Transverse guide rail; 916. Y-axis mounting plate; 918. Cylinder connecting seat.

[0108] 10. Protection above / below the workstation;

[0109] 1000. Conveyor line. DETAILED DESCRIPTION

[0110] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0111] In this disclosure, unless otherwise indicated, directional terms such as "upper, lower, front, rear, left, and right" are used for ease of description and are defined based on the drawing orientation of the corresponding drawings. "Inside" and "outside" are defined based on the inherent contours of the corresponding components. Terms such as "first" and "second" used in this disclosure are intended to distinguish one element from another and do not convey order or importance. Furthermore, when the following description refers to the drawings, unless otherwise indicated, identical numbers in different drawings represent identical or similar elements.

[0112] The disclosed embodiment provides a device for assembling and shaping multiple columns of battery modules. The assembly and shaping device of the present application first centers and shapes one column of multiple columns of battery modules, and then assembles the multiple columns of battery modules. Of course, the present application can also be a device that sequentially centers and shapes multiple columns of battery modules, and then assembles the multiple columns of battery modules. No specific restrictions are made here, and the following description will be made in detail based on first centering and shaping one column of multiple columns of battery modules, and then assembling the multiple columns of battery modules. The battery modules (not shown in the figure) and the trays (not shown in the figure) are both prior art. One column of battery modules can be placed on a tray, and multiple trays form a tray group. In this case, the assembly and shaping device adjusts the multiple columns of battery modules on the tray group. Of course, multiple columns of battery modules can also be placed on a tray. In this case, the assembly and shaping device adjusts the multiple columns of battery modules on the tray group.

[0113] See also Figures 1 to 3The assembly and shaping device includes a main machine frame 11, a pallet lateral movement and pulling conveying mechanism 6, a width clamping reference positioning mechanism 2, a Y-axis assembly servo pressing and lifting mechanism 9, a pallet unlocking mechanism 3, a pole pressing and lifting mechanism 7, an X-axis servo pressing mechanism 4 and an X-axis pallet reaction force wedge positioning mechanism 5. Among them, the main machine frame 11 is provided with a processing position. The pallet lateral movement and pulling conveying mechanism 6 is installed on the main machine frame 11, and is used to transfer the pallet from the conveyor line 1000 to the processing position. The width clamping reference positioning mechanism 2 is installed on the side of the processing position away from the pallet inlet. The Y-axis assembly servo pressing and lifting mechanism 9 is installed on the side of the processing position close to the pallet inlet. The pallet unlocking mechanism 3 is installed on the main machine frame 11, and is used to unlock the length limit of the pallet on the battery module. The X-axis servo pressing mechanism 4 and the X-axis pallet reaction force wedge positioning mechanism 5 are respectively installed on both sides of the X-axis of the processing position, and the X-axis, Y-axis and Z-axis are perpendicular to each other. The pole pressing and lifting mechanism 7 is installed on the main machine frame 11 and is located above the processing position for pressing down and centering the battery module.

[0114] It is understandable that when the pallet on the conveyor line 1000 moves to the vicinity of the processing position, the pallet lateral movement pulling conveying mechanism 6 can accurately transfer the pallet containing the battery module from the conveyor line 1000 to the processing position, thereby achieving efficient transportation. The function of the pallet unlocking mechanism 3 is to loosen the length limit of the pallet on the battery module, so that the battery module can move freely, which is convenient for subsequent centering, shaping, and assembly operations. The pole clamping and lifting mechanism 7 performs a centering operation on the battery module, and the X-direction servo clamping mechanism 4 and the X-direction tray reaction force wedge positioning mechanism 5 approach each other to adjust the length direction (X direction) of the battery module. At the same time, the pole clamping and lifting mechanism 7 presses down the pole of the battery module to prevent the pole from warping up when the battery module is adjusted in the length direction. The width clamping reference positioning mechanism 2 and the Y-direction assembly servo clamping and lifting mechanism 9 approach each other, so that multiple columns of battery modules can be assembled close to each other. These components work together to achieve automatic and precise assembly of battery modules, which not only improves production efficiency but also ensures the high reliability of the battery module.

[0115] In one embodiment, see Figures 2 to 6The combined shaping device also includes a shaping press machine support main body mechanism 1, which includes a Z-axis support seat 18, a cylinder support seat 111, a first positioning pin 19, a first proximity switch 110, a push cylinder 112, a pressure head connection plate 113, a rubber support seat 119, a rubber plug 117, a first support seat 114, a laser mounting bracket 115, and a plurality of first laser ranging sensors 116. Among them, the bottom of the main machine frame 11 is connected to the installation ground through a plurality of equipment feet 12, and an electrical installation board 13 is installed on the main machine frame 11. The electrical installation board 13 is used for connecting electrical components and installing and fixing the distribution box. The Z-axis support seat 18 is installed on the main machine frame 11, and the processing position is formed on the Z-axis support seat 18. Support columns 14 are mounted around the Z-axis support base 18. A mechanism support frame 17 is mounted on the top of the support columns 14. The pole clamping and lifting mechanism 7 and the Y-axis assembly servo clamping and lifting mechanism 9 can be mounted on the mechanism support frame 17 to facilitate assembly and shaping of battery modules at the processing station. A first locating pin 19 and a first proximity switch 110 are mounted on the X-axis side of the Z-axis support base 18, respectively for pallet restraint and pallet sensing. A cylinder support base 111 is mounted on the main machine frame 11, located on the processing station side away from the pallet inlet. A push cylinder 112 is mounted on the cylinder support base 111. A ram connection plate 113 is connected to the output of the push cylinder 112. A rubber support base 119 is mounted on the side of the ram connection plate 113 away from the push cylinder 112. A rubber plug 117 is mounted on the rubber support base 119 via a locking cap 118. This plug supplies air to the pallet rail clamp. The first support seat 114 is installed on the side of the processing position away from the pallet entrance. The laser mounting bracket 115 is installed on the first support seat 114 and extends along the X direction. A plurality of first laser ranging sensors 116 are installed at intervals on the first support seat 114 for sensing the pallet. The first pushing cylinder 112 drives the rubber plug 117 to dock with the pallet to realize the air path connection, which is used for the opening and closing of the pallet guide rail clamp. The battery module needs to open the guide rail clamp before the centering (width direction) adjustment and before assembly. The guide rail clamp is closed after adjustment.

[0116] In one embodiment, see Figure 1 、 Figure 2 、 Figures 9 to 11The width clamping reference positioning mechanism 2 includes a first welding support 21, a first push-pull cylinder 27, a first cylinder floating joint 26, a first latch cylinder 213 and a sliding mounting plate 211. Among them, the first welding support 21 is installed on the main machine frame 11. The first push-pull cylinder 27 is installed on the first welding support 21. The first cylinder floating joint 26 is installed at the output end of the first push-pull cylinder 27. The first latch cylinder 213 is installed on the first welding support 21 through the cylinder mounting seat 219, which is used to unlock or limit the movement of the first cylinder floating joint 26. The first linear guide rail 214 is installed on the first welding support 21. The sliding mounting plate 211 is slidably set on the first linear guide rail 214, and is connected to the first cylinder floating joint 26 through the cylinder movable hinge 212. First, the push-pull cylinder is installed on the main frame through the cylinder floating joint. The main body of the component is driven to move through the cylinder floating joint. After it is in place, the cylinder pin is fixed to assist in bearing the reverse thrust, and the position is monitored through the proximity sensor. The kinetic energy of the cylinder is offset by the buffer.

[0117] In one embodiment, see Figures 9 to 11 The width clamping reference positioning mechanism 2 also includes a buffer mounting base 22, a first buffer 25, a proximity switch mounting bracket 23, a second proximity switch 24 mounted on the proximity switch mounting bracket 23, a push-on bakelite 29, a latch locating sleeve 215, a first floating joint 220, a latch member 218, a first guide sleeve 217, a hole card 216, and multiple first mounting brackets 210. The buffer mounting base 22 and the first buffer 25 are mounted on the first welded support 21 and the sliding mounting plate 211, respectively. The proximity switch mounting bracket 23 and the second proximity switch 24 mounted on the proximity switch mounting bracket 23 are mounted on the first welded support 21, and the second proximity switch 24 is used to sense the sliding mounting plate 211. Multiple first mounting brackets 210 are installed on the sliding mounting plate 211 at intervals. The push-on bakelite 29 is connected to the multiple first mounting brackets 210 via the first mounting plate 28 and is used to push the battery modules on the tray. The latch locating sleeve 215 is mounted on the sliding mounting plate 211. The first floating joint 220 is mounted on the output end of the first latch cylinder 213. A latch member 218 is connected to the first floating joint 220 and is adapted to extend into the latch positioning sleeve 215. A first guide sleeve 217 is mounted within the cylinder mounting base 219 to guide the linear motion of the latch member 218. A hole card 216 is mounted on the cylinder mounting base 219 and abuts against the end of the first guide sleeve 217 facing away from the first floating joint 220.

[0118] In one embodiment, see Figures 1 to 3 、 Figure 12 and Figure 13The X-axis servo clamping mechanism 4 includes a second welding base 41, a first servo press 415, a drag chain assembly 413 and a clamping connection support 46. Among them, the second welding base 41 is installed on the main machine frame 11. The first servo press 415 is installed on the second welding base 41 through the press mounting base 44, and the output end of the first servo press 415 is connected to the second floating joint 412. The first reinforcing rib 42 connects the second welding base 41 and the press mounting base 44 to strengthen the connection between the two. The drag chain assembly 413 is used to drive the movement of the wires of the electrical components. The clamping connection support 46 is connected to the second floating joint 412 through the floating joint block 411, and is used to abut the battery module on the tray. The X-axis servo clamping mechanism 4 also includes a second linear guide rail 43, a clamping head 47, a contact panel 48, a diffuse reflection sensor 49 and a second laser ranging sensor 418. Among them, the second linear guide rail 43 extends along the X direction, and the clamping connection support 46 is slidably connected to the second linear guide rail 43 through the first connecting member 45. The clamping head 47 is installed on the clamping connection support 46. The contact panel 48 is installed on the end of the clamping head 47 away from the second floating joint 412, and is used to abut the battery module. The diffuse reflection sensor 49 is installed on the clamping connection support 46 through the detection mounting bracket 410, and is used to sense the position of the tray. The second laser ranging sensor 418 is installed on the second welding base 41 through the ranging sensor bracket 417, and is used to sense the distance to the tray. When the pole clamping lifting mechanism 7 is completed, the PLC gives a signal, and the first servo press 415 performs a clamping action after receiving the signal, and stops when the set size position is reached (pressure monitoring is performed at the same time, and if the pressure value exceeds the set value, the first servo press 415 stops immediately).

[0119] In one embodiment, see Figures 1 to 3 、 Figures 14 to 16 The X-axis pallet reaction force wedge positioning mechanism 5 includes a third welding support 51, a wedge-shaped positioning mounting seat 52, a guide shaft positioning sleeve 58, a first guide shaft 59, a second latch cylinder 515, and a second push-pull cylinder 57. The third welding support 51 is mounted on the main machine frame 11. The wedge-shaped positioning mounting seat 52 is mounted on the third welding support 51. The guide shaft positioning sleeve 58 is mounted on the wedge-shaped positioning mounting seat 52, and the axis of the guide shaft positioning sleeve 58 is in the X direction. The first guide shaft 59 is slidably connected to the inner wall of the guide shaft positioning sleeve 58 for abutting the battery module. The second latch cylinder 515 is mounted on the third welding support 51, and the output end of the second latch cylinder 515 is used to extend into the wedge-shaped positioning mounting seat 52 and push the first guide shaft 59 out of the wedge-shaped positioning mounting seat 52. The second push-pull cylinder 57 is fixed to the wedge-shaped positioning mounting seat 52 via the cylinder mounting plate 56, and the output end of the second push-pull cylinder 57 is connected to the first guide shaft 59.

[0120] See also Figures 14 to 16 The X-axis pallet reaction force wedge positioning mechanism 5 also includes a third proximity switch 55, a floating connecting rod 521, an extended latch shaft 519, a support block 513, a guide sleeve 512, and a guide pin 511. The third proximity switch 55 is mounted on the cylinder mounting plate 56 and is used to sense the position of the first guide shaft 59. The floating connecting rod 521 is mounted on the output end of the second latch cylinder 515. The extended latch shaft 519 has a mounting cavity, which contains a spring 520. The spring 520 is connected to the floating connecting rod 521 and the mounting cavity to pull the extended latch shaft 519 back to its original position. The end of the extended latch shaft 519 away from the spring 520 is provided with a first wedge surface, and the first guide shaft 59 has a second wedge surface that matches the first wedge surface. The second latch cylinder 515 is connected to the support block 513 via the second mounting plate 514. The end of the support block 513 away from the mounting plate is connected to the wedge positioning mounting seat 52. The guide sleeve 512 is installed between the wedge-shaped positioning mounting seat 52 and the support block 513 and is provided with a slide groove. The guide pin 511 is installed on the extended latch shaft 519 and is slidably connected to the side wall of the slide groove.

[0121] It is understood that upon receiving the signal, the second push-pull cylinder 57 retracts, pulling the first guide shaft 59 out to press against the workpiece. The second latch cylinder 515 then extends the extended latch shaft 519, transmitting force via the wedge-shaped surface between the extended latch shaft 519 and the first guide shaft 59. The spring 520 acts as a filler to allow for unlocking when the extended latch shaft 519 is extended. When retracting, the latch cylinder's floating connecting rod 521 impacts the extended latch shaft 519, facilitating its retraction.

[0122] See also Figures 14 to 16 The X-axis pallet reaction force wedge positioning mechanism 5 also includes a cover 53, a wear-resistant cap 510, a second connector 516, and a second guide sleeve 518. The mounting seat is provided with a cavity. When the extended latch shaft 519 abuts the first guide shaft 59, the end of the extended latch shaft 519 away from the second latch cylinder 515 can extend into the cavity. The second guide sleeve 518 is installed in the cavity to guide the extended latch shaft 519 in linear motion. The bottom cover of the cavity is provided with a cover 53. The wear-resistant cap 510 is installed at the end of the first guide shaft 59 near the battery module to protect the first guide shaft 59 from wear. The second connector 516 is installed between the second cylinder floating joint 517 and the first guide shaft 59.

[0123] In one embodiment, see Figures 1 to 3 as well as Figure 17The pallet transverse pulling conveying mechanism 6 includes a front roller bar assembly 64 and a rear roller bar assembly 613, two guide supports 68, a lifting cylinder 61, a mechanical rodless cylinder 66 and a towing hook 67. Among them, the front roller bar assembly 64 and the rear roller bar assembly 613 are provided in two groups, which are respectively arranged on both sides of the X direction of the processing position, for sliding connection with the bottom of the pallet. The two guide supports 68 are arranged on both sides of the X direction of the processing position. The lifting cylinder 61 is installed on the frame. The mechanical rodless cylinder 66 is installed at the output end of the lifting cylinder 61 and moves along the Y direction. The head of the towing hook 67 is constructed as a T-shaped protrusion, and the tail of the towing hook 67 is installed at the output end of the mechanical rodless cylinder 66. The T-shaped protrusion is used to extend into the T-shaped groove of the pallet.

[0124] In one embodiment, the pallet transverse pulling conveying mechanism 6 further includes a second guide shaft 62 and a transverse linear bearing 63, a guide bar 610, a detection sensor 615 and a plurality of pads 611. Among them, one of the second guide shaft 62 and the transverse linear bearing 63 is installed on the fixed plate of the jacking cylinder 61, and the other is connected to the output end of the jacking cylinder 61 through the third cylinder floating joint 612, and the second guide shaft 62 is passed through the transverse linear bearing 63. A plurality of pads 611 are installed on the top of the guide support 68 through the third connecting member 69. The guide bar 610 is installed on the side of the guide support 68 away from the processing position, and is used to contact the side of the pallet. The detection sensor 615 is installed at the tail of the fixed plate of the jacking cylinder 61 to sense the position of the pallet. After the pallet runs to this workstation through the friction roller line, the mechanical rodless cylinder 6 drives the towing hook 677 to pull the pallet into the workstation through the front roller bar assembly 64 and the rear roller bar assembly 613. The detection sensor 615 detects that the pallet is in place, and the lifting cylinder 61 descends after receiving the pallet in place signal, and drops the pallet onto the pad 611 and then performs the next sequence action.

[0125] See also Figures 1 to 3 、 Figure 18 and Figure 19Pole clamping and lifting mechanism 7: Bolt the linear clamping bearing 72, lifting cylinder 75, and first drag chain 76 to the support frame. The lifting cylinder 75 is used to move the lower components up and down, and the first drag chain 76 is used to protect the cables of the lower actuator. Bolt the detection switch 78 and profile angle bracket 710 to the profile bracket 79. Then, bolt the assembled components to the first support frame 71 through the profile angle bracket 710. Use nuts to fasten the limit baffle 74 to the ends of the two clamping guide shafts 73 for connection and position limiting. Then, bolt the guide shaft seat 721 to the other end of the clamping guide shaft 73 for bolt connection and fixing to the lifting connection frame 720. Install the cylinder floating joint 711, clamping cylinder 714, third linear guide 719, knob plunger 722, L-shaped positioning block 723, stop block 724, and pressure strip to the lifting connection frame 720 using bolts and positioning pins. Secure the first pressure plate 712, welding foot 716, and hydraulic buffer support 718 to the first pressure plate 712 connector using bolts and locating pins. Install the limited hydraulic buffer 713 onto the hydraulic buffer support 718 to provide cushioned opening and closing of the clamping cylinder 714. Bolt the fourth cylinder floating joint 715 onto the welding foot 716. Bolt the assembled welding foot 716 to the slider on the third linear guide 719. Connect the piston of the clamping cylinder 714 to the fourth cylinder floating joint 715 using the cylinder's own threads, enabling the welding foot 716 assembly to move left and right.

[0126] It is understandable that after the pallet is transferred to its proper position, the entire mechanism below is driven to rise and fall by the lifting cylinder 75, and the lifting direction is controlled by the clamping guide shaft 73. When there is a product below, the lifting cylinder 75 descends, and the product is clamped in the Z direction by the pole clamping fixture 8. The detection switch 78 detects whether the lowering position of the lifting cylinder 75 is in place. After descending into place, the clamping cylinder 714 pulls back to clamp the two sides of the product. The knob plunger 722 is used to locate the front and rear position of the pole clamping fixture 8, the L-shaped positioning block 723 is used for the Z-direction support of the pole clamping fixture 8, the stop block 724 is used to limit the position when the pole clamping fixture 8 is inserted, and the pressure strip is used for force transmission.

[0127] See also Figures 1 to 3 、 Figure 20 The pole clamping fixture 8: First, use nuts, bolts, and locating pins to secure the side ribs 84, middle connecting beam 85, and handle 86 to the transition mounting plate 81. Then, bolt the second hold-down strip 82 to the transition mounting plate 81 to press the battery cells into contact. Finally, secure the positioning mounting plate 83 to the side ribs 84 and middle connecting beam 85 using bolts and locating pins. This allows for easy assembly disassembly.

[0128] It can be understood that this component is a pressing component, which is directly fixed on the pole pressing and lifting mechanism 7 through a quick installation method. The pole lifting mechanism drives this component to press and shape the module through the action of the electric cylinder.

[0129] See also Figures 1 to 3 、 Figure 21 , Y-axis assembled servo clamping lifting mechanism 9: First, fix the lifting guide rail 92 and the cylinder mounting seat 219 to the second support frame 91 with bolts and locating pins, fix the lifting guide rail 92 to the slider, and then fix the cylinder connecting seat and the first oil pressure buffer 94 to the cylinder mounting seat 219 with bolts and locating pins, fix the first oil pressure buffer 94, the detection sensor 615, and the cylinder floating joint to the lifting frame 95 with bolts, and then fix the assembled components to the guide rail of the lifting guide rail 92 through the lifting frame 95 with bolts and locating pins so that it can slide up and down. Finally, use the self-threaded connection to lock the piston rod of the lifting cylinder 96 and the cylinder floating joint. Fix the transverse guide rail 915 to the Y-axis mounting plate 916 with bolts and locating pins, and then fix the detection sensor 615 to the side of the Y-axis mounting plate 916 with bolts to detect whether the clamping mechanism is in place. Next, install the press protection bracket 98 and the second servo press 97 support on the Y-mounting plate 916 using bolts and locating pins. Then, insert the second servo press 97 through the press protection bracket 98 and secure it to the second servo press 97 support using bolts. Install the intermediate connecting bracket 913 on the movable telescopic bracket 912 using bolts and locating pins. Then, secure the insulating pressing plate 914 to the intermediate connecting bracket 913 using bolts. Finally, secure the assembled assembly to the slider of the transverse guide rail 915 through the movable telescopic bracket 912 using bolts, allowing the press mechanism to extend and retract.

[0130] Action: Lifting cylinder 96 raises and lowers the entire press mechanism to accommodate pallet movement. When a pallet is in place, lifting cylinder 96 descends, and sensor 615 detects its position. The rear press piston rod extends, applying pressure to the product. The press stops when the designed dimensions and pressure are reached.

[0131] Upper / lower protection of the workstation: First, install the lower protection plate under the machine for protection. At the same time, install the electrical control components PLC, servo controller, switching power supply and other components inside. The single machine has a high degree of integration and can be controlled independently or as a whole line. Use bolts to fix the pneumatic triplex in the groove of the lower protection to facilitate the connection and control of the equipment startup components. Install the upper protection on the machine for the protection of the whole machine. Then install the maintenance door and side maintenance door on the upper protection for equipment maintenance. Then install the button, HMI4, mouse and keyboard, and industrial control all-in-one computer on the upper protection. Finally, install the three-color light on the top of the equipment for functional warning. Finally, debug the overall wiring and operation.

[0132] Action: The mouse and keyboard are used for equipment debugging. The HMI is a human-computer interaction used for PLC function debugging. The industrial computer is used for data communication, collecting and transmitting equipment data to the local MES or factory-level MES for data monitoring. The three-color light monitors the equipment operation status.

[0133] The present invention is described by way of example, and those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the teachings of the present invention, these features and embodiments may be modified to suit specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be within the scope of the present invention.

Claims

1. A device for assembling and shaping multiple battery modules, characterized in that: include: The main machine frame (11) is provided with a processing position; A pallet lateral pulling conveying mechanism (6) is installed on the main machine frame (11) and is used to transfer the pallet from the conveyor line to the processing position; A width clamping reference positioning mechanism (2) is installed on the side of the processing position away from the tray inlet; A Y-axis combined servo pressing and lifting mechanism (9) is installed on the side of the processing position close to the tray inlet; A tray unlocking mechanism (3), mounted on the main machine frame (11), for unlocking the length limit of the tray on the battery module; An X-direction servo clamping mechanism (4) and an X-direction pallet reaction force wedge positioning mechanism (5) are respectively installed on both sides of the X-direction of the processing position, wherein the X-direction is perpendicular to the Y-direction; and The pole pressing and lifting mechanism is installed on the main machine frame (11) and is arranged above the processing position, and is used for pressing down and centering the battery module.

2. The combined shaping device according to claim 1, characterized in that: The combined shaping device further comprises a shaping and pressurizing machine support main body mechanism (1), and the shaping and pressurizing machine support main body mechanism (1) comprises: A Z-direction support seat (18) is mounted on the main machine frame (11), and the processing position is formed on the Z-direction support seat (18); A first positioning pin (19) and a first proximity switch (110) are installed on one side of the X-direction of the Z-direction support seat (18), and are used to limit and sense the pallet respectively; A cylinder support seat (111) is mounted on the main machine frame (11) and is located on a side of the processing position away from the tray inlet; A pushing cylinder (112) is mounted on the cylinder support seat (111); A pressure head connecting plate (113) is connected to the output end of the pushing cylinder (112); A rubber support seat (119) is mounted on a side of the pressure head connecting plate (113) away from the pushing cylinder (112); A rubber plug (117) is mounted on the rubber support seat (119) via a locking cap (118), and the rubber plug (117) is used to supply air to the guide rail clamp of the tray; A first support seat (114) is installed on a side of the processing position away from the tray inlet; a laser mounting bracket (115), mounted on the first support seat (114) and extending along the X direction; and A plurality of first laser distance measuring sensors (116) are installed at intervals on the first support seat (114) for sensing the tray.

3. The combined shaping device according to claim 1, characterized in that: The width clamping reference positioning mechanism (2) comprises: A first welding support (21) is mounted on the main machine frame (11); A first push-pull cylinder (27) is mounted on the first welding support (21); A first cylinder floating joint (26) is installed at the output end of the first push-pull cylinder (27); A first latch cylinder (213) is mounted on the first welding support (21) via a cylinder mounting seat (219) and is used to unlock or limit the movement of the first cylinder floating joint (26); A first linear guide rail (214) is mounted on the first welding support (21); and A sliding mounting plate (211) is slidably arranged on the first linear guide rail (214) and is connected to the first cylinder floating joint (26) via a cylinder movable hinge (212).

4. The combined shaping device according to claim 3, characterized in that: The width clamping reference positioning mechanism (2) further comprises: A buffer mounting seat (22) and a first buffer (25) are respectively mounted on the first welding support (21) and the sliding mounting plate (211); a proximity switch mounting bracket (23) and a second proximity switch (24) mounted on the proximity switch mounting bracket (23), wherein the proximity switch mounting bracket (23) is mounted on the first welding support (21), and the second proximity switch (24) is used to sense the sliding mounting plate (211); A plurality of first mounting brackets (210) are installed at intervals on the sliding mounting plate (211); a pushing bakelite (29) connected to a plurality of first mounting brackets (210) via the first mounting plate (28) and used for pushing the battery module on the tray; A latch positioning sleeve (215) is mounted on the sliding mounting plate (211); A first floating joint (220) is installed at the output end of the first latch cylinder (213); a latch member (218), connected to the first floating joint (220) and adapted to extend into the latch positioning sleeve (215); A first guide sleeve (217) is installed inside the cylinder mounting seat (219) and is used to guide the linear motion of the latch member (218); and The hole card (216) is mounted on the cylinder mounting seat (219) and abuts against an end of the first guide sleeve (217) away from the first floating joint (220).

5. The combined shaping device according to claim 1, characterized in that: The X-direction servo pressing mechanism (4) comprises: A second welding base (41) is mounted on the main machine frame (11); A first servo press (415) is mounted on the second welding base (41) via a press mounting base (44), and an output end of the first servo press (415) is connected to the second floating joint (412); and The pressing connection support (46) is connected to the second floating joint (412) via the floating joint block (411) and is used to abut against the battery module on the tray.

6. The combined shaping device according to claim 5, characterized in that: The X-direction servo pressing mechanism (4) further comprises: A second linear guide rail (43) extends along the X direction, and the pressing connection support (46) is slidably connected to the second linear guide rail (43) through the first connecting member (45); A pressing head (47) is mounted on the pressing connection support (46); a contact panel (48), mounted on the end of the pressing head (47) away from the second floating joint (412), for abutting against the battery module; a diffuse reflection sensor (49), mounted on the compression connection support (46) via the detection mounting bracket (410), for sensing the position of the tray; and A second laser distance measuring sensor (418) is mounted on the second welding base (41) via a distance measuring sensor bracket (417) and is used to sense the distance to the tray.

7. The combined shaping device according to claim 1, characterized in that: The X-direction pallet reaction force wedge positioning mechanism (5) comprises: A third welding support (51) is mounted on the main machine frame (11); A wedge-shaped positioning mounting seat (52) is mounted on the third welding support (51); A guide shaft positioning sleeve (58) is mounted on the wedge-shaped positioning mounting seat (52), and the axis of the guide shaft positioning sleeve (58) is the X direction; A first guide shaft (59) is slidably connected to the inner wall of the guide shaft positioning sleeve (58) and is used to abut against the battery module; a second latch cylinder (515) mounted on the third welding support (51), wherein the output end of the second latch cylinder (515) is used to extend into the wedge-shaped positioning mounting seat (52) and push the first guide shaft (59) out of the wedge-shaped positioning mounting seat (52); and The second push-pull cylinder (57) is fixed on the wedge-shaped positioning mounting seat (52) via a cylinder mounting plate (56), and the output end of the second push-pull cylinder (57) is connected to the first guide shaft (59).

8. The combined shaping device according to claim 7, characterized in that: The X-direction tray reaction force wedge positioning mechanism (5) further comprises: a third proximity switch (55), mounted on the cylinder mounting plate (56), for sensing the position of the first guide shaft (59); A floating connecting rod (521) is installed at the output end of the second latch cylinder (515); The extended latch shaft (519) is provided with a mounting cavity, wherein a spring (520) is provided in the mounting cavity, wherein the spring (520) is connected to the floating connecting rod (521) and the mounting cavity, and is used to pull the extended latch shaft (519) to reset, and an end of the extended latch shaft (519) away from the spring (520) is provided with a first wedge surface, and the first guide shaft (59) is provided with a second wedge surface adapted to the first wedge surface; A support block (513), wherein the second latch cylinder (515) is connected to the support block (513) via a mounting plate, and an end of the support block (513) away from the mounting plate is connected to the wedge-shaped positioning mounting seat (52); A guide sleeve (512) is installed between the wedge-shaped positioning mounting seat (52) and the support block (513) and is provided with a slide groove; and A guide pin (511) is mounted on the extended latch shaft (519) and is slidably connected to the side wall of the slide groove.

9. The combined shaping device according to claim 1, characterized in that: The tray transverse pulling conveying mechanism (6) comprises: Two groups of front roller strip assemblies (64) and rear roller strip assemblies (613) are provided, which are respectively arranged on both sides of the X direction of the processing position and are used for sliding connection with the bottom of the tray; Two guide supports (68) are arranged on both sides of the processing position in the X direction; A lifting cylinder (61) is mounted on the frame; A mechanical rodless cylinder (66) is installed at the output end of the lifting cylinder (61) and moves along the Y direction; and A towing hook (67), the head of the towing hook (67) is constructed as a T-shaped protrusion, the tail of the towing hook (67) is installed at the output end of the mechanical rodless cylinder (66), and the T-shaped protrusion is used to extend into the T-shaped groove of the pallet.

10. The combined shaping device according to claim 9, characterized in that: The tray transverse pulling conveying mechanism (6) further comprises: A second guide shaft (62) and a horizontal pull linear bearing (63), one of which is mounted on a fixed plate of the lifting cylinder (61), and the other is connected to the output end of the lifting cylinder (61) via a third cylinder floating joint (612), and the second guide shaft (62) is passed through the horizontal pull linear bearing (63); A plurality of spacers (611) are mounted on the top of the guide support (68) via a third connecting member (69); a guide bar (610) mounted on a side of the guide support (68) away from the processing position, for contacting a side of the tray; and A detection sensor (615) is installed at the tail of the fixing plate of the lifting cylinder (61) and is used to sense the position of the pallet.

Images