A platform for rapid changeover, battery production lines, and control methods.

Abstract

DEPCT67 The appearance of this reveal provides a platform for rapid change; Battery production lines and platform control methods for quick replacement, including sets. In the pick-and-place state, the tray is positioned at the first pick-and-place location to perform the action. The target receiving tray assembly is removed from the battery module clamp or makes the tool transport kit available. The battery module picks up the target object placed on the tray set in the second pick-and-place state. The tray sets are... Define a location in the second pick-and-place position to retrieve the target object from the tray set or place the object. Place the target on the tray;

Description

A quick-change platform, battery production line and control method

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure is based on the Chinese patent application with application number 202311320685.3, application date October 12, 2023, and invention name “A quick-change platform, battery production line and control method”, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this disclosure as a reference. Technical Field

[0003] The present disclosure relates to the technical field of battery production, and in particular to a quick-change platform, a battery production line, and a control method. Background Art

[0004] New energy batteries are being used more and more widely in life and industry. For example, new energy vehicles equipped with batteries have been widely used. In addition, batteries are also being increasingly used in energy storage fields.

[0005] During the battery production process, the assembled battery modules need to be placed into the battery box through a battery module handling device to form a battery.

[0006] The battery module handling device is provided with a suction cup for adsorbing the battery module and claws for clamping the battery module, so that the battery module handling device can grasp, transport and release the battery module through atmospheric pressure and the friction between the claws and the battery module.

[0007] Different battery types have different dimensions, weights, and other parameters, requiring different models of claws and suction cups. Therefore, when switching between battery types on a battery production line, the claws and suction cups on the battery module handling device must be replaced, impacting production efficiency.

[0008] Summary of the Invention

[0009] In view of this, the embodiments of the present disclosure aim to provide a quick-change platform, a battery production line, and a control method that can improve production efficiency.

[0010] To achieve the above objectives, the technical solution of the embodiment of the present disclosure is implemented as follows:

[0011] The embodiment of the present disclosure provides a quick-change platform for placing target objects on a battery module handling device, wherein the target objects are claws and suction cups. The quick-change platform includes:

[0012] A tray kit, wherein the tray kit is a movable configuration, comprising a tray assembly, a suction cup placement assembly, and a plurality of gripper placement assemblies, wherein the gripper placement assembly and the suction cup placement assembly are both arranged on the tray assembly, the gripper placement assembly is used to place the claws, and the suction cup placement assembly is used to place the suction cups;

[0013] The quick-change platform includes a first pick-and-place state and a second pick-and-place state;

[0014] In the first pick-and-place state, the tray assembly is located at a first pick-and-place position, so that the tray assembly is used to receive the target object that has fallen off the battery module fixture, or is used for the battery module handling device to pick up the target object placed on the tray assembly;

[0015] In the second picking and placing state, the tray assembly is located at a second picking and placing position for removing the target object from the tray assembly, or for placing the target object on the tray assembly.

[0016] The quick-change platform in the embodiment of the present invention drives the tray kit to switch and move between the first pick-up and placement position and the second pick-up and placement position, so that the position of the battery module handling device's pick-up and placement claws and suction cups is different from the position of the staff's pick-up and placement claws and suction cups. In this way, on the one hand, the probability of interference between the battery module handling device and the staff's pick-up and placement operations during the pick-up and placement operations is reduced, thereby improving the safety of the operation; on the other hand, by setting up multiple quick-change platforms, the pick-up and placement operations of the battery module handling device and the staff's pick-up and placement operations can be carried out synchronously, and the operation time of the two overlaps, thereby reducing the total operation time and improving production efficiency.

[0017] In some embodiments, the quick-change platform includes a drive kit, and a drive end of the drive kit is drivingly connected to the tray kit to drive the tray kit to move between the first pick-and-place position and the second pick-and-place position.

[0018] This is conducive to achieving automated control of the movement of the pallet kit.

[0019] In some embodiments, at least one of the gripper placement assembly and the suction cup placement assembly is detachably connected to the tray assembly. This reduces workload by allowing operators to adapt the gripper and suction cup to corresponding models simply by disassembling and replacing the gripper placement assembly and the suction cup placement assembly. Furthermore, it facilitates handling by operators, facilitating the transport of the gripper placement assembly and the suction cup placement assembly together with the gripper and suction cup, respectively.

[0020] In some embodiments, the tray assembly includes a supporting plate and a plurality of mounting plates, wherein the mounting plates are disposed on the supporting plate, at least one of the mounting plates is movable relative to the supporting plate, and the clamping jaw placement assembly and the suction cup placement assembly are respectively configured to correspond to the mounting plates;

[0021] The movable mounting plate includes a third pick-and-place state and a fourth pick-and-place state;

[0022] In the third pick-and-place state, the mounting plate moves to a third pick-and-place position to receive the target object that has fallen out of the battery module transport device, or to allow the battery module transport device to pick up the target object;

[0023] In the fourth pick-and-place state, the mounting plate moves to a fourth pick-and-place position for removing the target object from the tray assembly, or for placing the target object on the tray assembly.

[0024] In this way, by moving the mounting plate relative to the support plate, the range of movement of the clamp placement component and the suction cup placement component can be expanded while the quick-change platform occupies a certain area, thereby further improving the convenience of the staff in performing the picking and placing operations.

[0025] In some embodiments, the mounting plate provided with the suction cup placement assembly and the supporting plate are slidably engaged with each other, thereby improving the convenience for workers to take and place the suction cups.

[0026] In some embodiments, the pallet kit includes a detection component, which is arranged on the support plate. The detection component includes a through-beam photoelectric sensor and a driving member. The transmitting end and the receiving end of the through-beam photoelectric sensor are respectively located on both sides of the moving direction of the movable mounting plate. The detection light beam emitted by the through-beam photoelectric sensor is used to detect the placement state of the clamping claw placement assembly and / or the placement state of the suction cup placement assembly. At least one of the transmitting end and the receiving end is driven and connected to the driving member so that the driving member drives it to avoid the mounting plate during the movement of the mounting plate.

[0027] By setting up a through-beam photoelectric sensor, whether the detection light beam it emits is blocked can be used to determine whether claws and suction cups are placed on the clamping claw placement component and the suction cup placement component respectively, so that the claws and suction cups can be stopped in time when they fall during the movement of the pallet kit; on the other hand, it is convenient to stop the movement in time when foreign objects fall onto the clamping claw placement component and the suction cup placement component.

[0028] In some embodiments, the suction cup placement assembly is disposed above the mounting plate, such that the suction cup can be naturally placed on the suction cup placement assembly under the action of gravity after being unlocked from the battery module handling device;

[0029] And / or, the clamping jaw placement assembly is arranged above the mounting plate, so that the claws can be naturally placed on the clamping jaw placement assembly under the action of gravity after being unlocked from the battery module handling device.

[0030] In some embodiments, the tray assembly includes a first locking structure, the first locking structure is provided on the supporting plate, the first locking structure is provided with a movable first locking head, the movable mounting plate is provided with a first stop block, and the first locking structure includes a first locked state and a first unlocked state;

[0031] In the first locking state, the first locking head and the first stopping block can cooperate with each other along the moving direction of the mounting plate to limit the movement of the mounting plate;

[0032] In the first unlocked state, in a projection along the moving direction of the mounting plate, a projection of the first lock head is separated from a projection of the first stop block, so that the mounting plate can move.

[0033] In this way, the position of the mounting plate is locked by switching the first locking structure between the first locking state and the first unlocking state, which is conducive to stabilizing the mounting plate in the first locking state, thereby facilitating the picking and placing of the claws and suction cups, and reducing the probability that the battery module handling device cannot locate the position of the picking and placing claws and suction cups due to the movement of the mounting plate. At the same time, it reduces the safety hazards caused by the movement of the mounting plate when the staff are picking and placing the claws and suction cups.

[0034] In some embodiments, the movable mounting plate is configured with two corresponding first locking structures. In the third pick-and-place state, one first locking structure is in the first locking state, and in the fourth pick-and-place state, the other first locking structure is in the first locking state. In the first locking state, the two first locking structures are in opposite directions of the stop of the mounting plate. In this way, by alternately switching between the first locked state and the first unlocked state through the two first locking structures with opposite stop directions, the mounting plate is limited in both directions along its movement direction, thereby respectively limiting the range of movement of the mounting plate in the third pick-and-place state and the fourth pick-and-place state, thereby facilitating operation.

[0035] In some embodiments, the support plate is provided with at least two first limit blocks, which are spaced apart along the direction of movement of the mounting plate and are configured to cooperate with the mounting plate in stopping the mounting plate in its direction of movement. In the first locking state, the stopping direction of the first locking head and the first stop block is opposite to the stopping direction of one of the first limit blocks. In this way, the first limit blocks and the first locking structure simultaneously limit the mounting plate in two directions along its direction of movement, thereby achieving the purpose of fixing the mounting plate in the third and fourth pick-and-place states.

[0036] In some embodiments, the first locking structure is a pneumatic toggle clamp, and the pressure head of the first locking structure forms the first locking head. Thus, using a pneumatic toggle clamp as the first locking structure can improve the stability of the first locking head's position in the first locking state, reduce the probability of locking failure due to the first stop block applying force to the first locking head, and further facilitate the automation of the quick-change platform operation, thereby improving work efficiency.

[0037] In some embodiments, the first locking structure includes a first mounting member, a first elastic member, and a first push rod. The first mounting member is disposed on the support plate. One end of the first elastic member along its telescopic direction abuts the first mounting member, and the other end abuts the first push rod to drive the first push rod to telescope. The first push rod is provided with the first locking head at the end away from the first elastic member. In this way, the first telescopic member drives the first locking head to move, thereby achieving the purpose of switching the first locking structure between the first locked state and the first unlocked state.

[0038] In some embodiments, the first stop block is provided with a first guiding inclined surface on one side along the moving direction of the mounting plate, and a first stop surface on the other side, wherein the first stop surface extends along the extension and contraction direction of the first elastic member;

[0039] In the unlocked state, the first guide slope faces the first locking head and extends along the moving direction of the mounting plate toward the direction of compressing the first elastic member, so that during the movement of the mounting plate, the first guide slope can push the first push rod to compress the first elastic member.

[0040] In the locked state, the first locking head and the first stop surface can engage in a stop manner along the moving direction of the mounting plate.

[0041] In this way, by guiding the first locking head by the first guide bevel, the first locking structure is synchronously transformed from the first unlocked state to the first locked state during the movement of the mounting plate, thereby simplifying the operation steps and improving work efficiency.

[0042] and a first locking mechanism comprising: a first member, a first lever, and a first mounting seat, wherein one end of the first lever is provided with a first sliding groove, the first rolling member being provided on the first push rod and rotatably cooperating with the first push rod, the first rolling member being embedded in the first sliding groove and cooperating with the inner wall of the first sliding groove along the extension and contraction direction of the first elastic member, the first mounting seat being provided on the supporting plate, the first lever being rotatably connected to the first mounting seat, and the rotation axis being perpendicular to the extension and contraction direction of the first elastic member, the first sliding groove extending perpendicular to the rotation axis of the first lever, the first rolling member being able to move relative to the first lever along the extension direction of the first sliding groove, so that the rotation of the first lever can drive the extension and contraction of the first elastic member. In this way, the first push rod is driven by converting the rotation of the first lever into linear motion. At the same time, the rolling of the first rolling member can effectively reduce the friction between it and the inner wall of the first sliding groove, thereby reducing wear and improving its service life.

[0043] And / or, a second rolling member is provided at one end of the first push rod away from the first elastic member, the second rolling member is rotatably connected to the first push rod, the second rolling member forms the first lock head, and the friction between the second rolling member and the first stop block is rolling friction, thereby effectively reducing the friction between the two, reducing the wear between the two, and improving the service life of the two.

[0044] In some embodiments, the suction cup placement assembly includes a placement plate and positioning pins. The placement plate is provided on the tray assembly for placing the suction cups. The positioning pins are provided on one side of the placement plate and extend perpendicularly to the thickness of the placement plate for insertion into the suction cups. Thus, by providing the placement plate and positioning pins, the suction cups are positioned on the suction cup placement assembly, and the suction cups can be easily placed and transported together with the suction cup placement assembly, thereby improving work efficiency.

[0045] In some embodiments, the locating pins include two first locating pins and two second locating pins. The first locating pins are tapered at one end away from the placement plate and are taller than the second locating pins. The first locating pins are spaced apart from one of the second locating pins along a first direction and spaced apart from the other second locating pin along a second direction, with the first direction and the second direction being orthogonal. In this manner, the guiding effect of the first locating pins reduces the probability of collision between the locating pins and the suction cups, causing damage to both. This also reduces the repeatability accuracy requirements for the battery module handling device and the quick-change platform during suction cup placement.

[0046] In some embodiments, the gripper placement assembly includes a contoured support block and a floating assembly, wherein the floating assembly is disposed on the tray assembly, the floating assembly has a floating end, the contoured support block is disposed on the floating end and is used to receive the claw teeth, and the floating end is used to move when the claw teeth push the contoured support block, and to restore the initial position after the pushing force is eliminated.

[0047] In this way, on the one hand, by setting the contoured support block, it is helpful to keep the claws stable during the movement on the quick-change platform, which is helpful to reduce the contact pressure between the claws and the clamping claw placement assembly; on the other hand, the floating assembly can buffer the collision between the claws and the contoured support block through its own floating, and at the same time, improve the adaptability to the position deviation between the claws and the contoured support block during the placement of the claws, thereby reducing the repeated positioning accuracy requirements of the battery module handling device and the quick-change platform during the placement of the claws.

[0048] In some embodiments, the floating assembly includes a first mounting block, a second mounting block, at least two first stops, at least two second stops, a first telescopic member, a second telescopic member and a floating block, the first mounting block being arranged on the tray assembly, the second mounting block being arranged on the first mounting block and slidingly fitting along a third direction, the first stop blocks being arranged on both sides of the first mounting block along the third direction and being spaced apart, the first telescopic member being clamped between the first stop block and the second mounting block and being capable of elastically stretching and contracting along the third direction, the floating block being arranged on the second mounting block and slidingly fitting along a fourth direction, the second stop blocks being arranged on both sides of the floating block along the fourth direction and being spaced apart, the second telescopic member being clamped between the second stop block and the floating block and being capable of elastically stretching and contracting along the fourth direction, the floating block forming the floating end, and the third direction and the fourth direction being orthogonal to each other.

[0049] In this way, through the extension and retraction of the first telescopic part and the second telescopic part, it is helpful to buffer the impact caused by the claws being placed on the contoured support block, improve the adaptability to the position deviation between the claws and the contoured support block during the placement of the claws, reduce the repeated positioning accuracy requirements of the battery module handling device and the quick-change platform during the placement of the claws, reduce the probability of the battery module handling device getting stuck during the process of taking and placing the claws, and reduce the requirements for debugging accuracy.

[0050] In some embodiments, the contoured support block is provided with a third locating pin for inserting the claws, and the clamping jaw placement assembly includes a pusher having a pushing end that can telescope toward the contoured support block, with the telescopic direction intersecting the extension direction of the third locating pin. The pushing end is configured to abut the claws placed on the contoured support block. In this manner, friction is used to suppress the tendency of the claws to move on the contoured support block, thereby improving the stability of the claws on the contoured support block. Furthermore, during the separation of the battery module handling device from the claws, the tendency of the battery module handling device to dislodge the claws from the contoured support block is suppressed.

[0051] In some embodiments, the quick-change platform includes a frame, on which the drive assembly and the tray assembly are mounted, with the tray assembly slidingly engaged with the frame. The frame is used to support the drive assembly and the tray assembly, providing a stable mounting location for the drive assembly and the tray assembly, thereby reducing the adverse effects of ground vibration on the operation of the drive assembly and the tray assembly. The frame supports the tray assembly, reducing the load on the drive assembly.

[0052] In some embodiments, the quick-change platform includes a second locking structure and a second stop block, the second locking structure is provided on one of the frame and the tray assembly, and the second stop block is provided on the other, the second locking structure is provided with a movable second locking head, and the second locking structure includes a second locked state and a second unlocked state;

[0053] In the second locking state, the second locking head and the second stopping block can cooperate with each other along the moving direction of the tray assembly to limit the movement of the tray assembly;

[0054] In the second unlocking state, in a projection along the moving direction of the tray assembly, a projection of the second locking head is separated from a projection of the second stopping block, so that the tray assembly can move.

[0055] In this way, by converting the second locking structure between the second locking state and the second unlocking state, the position of the drive kit is further locked, which is conducive to stabilizing the position of the drive kit in the second locking state, thereby facilitating the picking and placing of the claws and suction cups, and reducing the probability that the battery module handling device cannot locate the position of the picking and placing claws and suction cups due to the movement of the tray kit. At the same time, it reduces the safety hazards caused by the movement of the tray kit when the staff are picking and placing the claws and suction cups.

[0056] In some embodiments, the tray kit is configured with two corresponding second locking structures. In the first picking and placing state, one second locking structure is in the second locking state, and in the second picking and placing state, the other second locking structure is in the second locking state. The two second locking structures are in the opposite direction of the stop direction of the tray kit in the second locking state.

[0057] In this way, the second locking structure with two opposite stop directions is used to alternately switch between the second locking state and the second unlocking state, so that the tray kit is limited in both directions along its moving direction, so as to limit the range of movement of the tray kit in the first pick-up and placement state and the first pick-up and placement state respectively, thereby facilitating operation.

[0058] In some embodiments, the frame is provided with at least two second limit blocks, spaced apart along the direction of movement of the tray assembly, for engaging with the tray assembly in a stopping manner along the direction of movement. In the second locking state, the second locking head and the second stop block engage in a direction opposite to the direction of movement of one of the second limit blocks. In this manner, the second limit blocks and the second locking structure simultaneously limit the position of the tray in two directions along its direction of movement, thereby securing the position of the tray assembly in the first and second placement states.

[0059] In some embodiments, the second locking structure is a pneumatic toggle clamp mounted on the frame, with the pressure head of the second locking structure forming the second locking head. Using a pneumatic toggle clamp as the second locking structure can improve the stability of the second locking head's position in the second locked state, reducing the probability of locking failure due to the force applied by the second stop block to the second locking head. Furthermore, using a pneumatic toggle clamp facilitates automated operation of the quick-change platform, improving work efficiency.

[0060] In some embodiments, the second locking structure includes a second mounting member, a second elastic member, and a second push rod. The second mounting member is provided on the tray assembly. One end of the second elastic member, along its telescopic direction, abuts the second mounting member, and the other end abuts the second push rod to drive the second push rod to telescope. The second push rod is provided with a second locking head at the end away from the second elastic member. In this way, the second telescopic member drives the second locking head to move, thereby achieving the purpose of switching the second locking structure between the second locked state and the second unlocked state.

[0061] In some embodiments, the second stop block is provided with a second guiding inclined surface on one side along the moving direction of the tray assembly and a second stop surface on the other side, and the second stop surface extends along the extension and contraction direction of the second elastic member;

[0062] In the unlocked state, the second guide slope faces the second locking head and extends along the moving direction of the tray assembly toward the direction of compressing the second elastic member, so that during the movement of the tray assembly, the second guide slope can push the second push rod to compress the second elastic member.

[0063] In the locked state, the second locking head and the second stop surface can engage in a stop manner along the moving direction of the tray assembly.

[0064] In this way, by guiding the second locking head through the second guide bevel, the second locking structure can be synchronously transformed from the second unlocking state to the second locking state during the movement of the pallet kit, thereby simplifying the operation steps and improving work efficiency.

[0065] and a control button which is located on the top of the second locking mechanism and is configured to move the third locking mechanism toward the user, wherein the rotation of the third locking mechanism is controlled by the user to move the third locking mechanism toward the user.

[0066] And / or, a fourth rolling member is provided at one end of the second push rod away from the second elastic member, the fourth rolling member is rotatably connected to the second push rod, the fourth rolling member forms the second lock head, and the friction between the fourth rolling member and the second stop block is rolling friction, thereby effectively reducing the friction between the two, reducing the wear between the two, and improving the service life of the two.

[0067] The present disclosure also provides a battery production line, comprising:

[0068] A first conveying device, used for conveying battery modules;

[0069] a second conveying device, for conveying the battery casing;

[0070] A battery module handling device is provided with a detachable suction cup and a plurality of detachable claws, wherein the plurality of claws are used to clamp the battery module, and the suction cup is used to absorb the battery module, so that the battery module handling device is used to place the battery module into the battery housing;

[0071] At least two of the quick-change platforms of any one of the aforementioned embodiments, at least one of the quick-change platforms is used to place the claws and / or the suction cups detached from the battery module handling device, and at least one of the quick-change platforms is used to place the claws and / or the suction cups to be replaced.

[0072] In this way, by setting up multiple quick-change platforms in the battery production line, the picking and placing operations of the battery module handling device and the picking and placing operations of the staff can be carried out simultaneously, and the operating time of the two overlaps, thereby reducing the total operating time and improving work efficiency.

[0073] The present disclosure also provides a control method for controlling the replacement of claws and suction cups in a battery production line. The control method includes:

[0074] Determining step: determining that the tray assembly of one quick-change platform is in an empty state, and determining that the claws and the suction cups placed on another quick-change platform are target models;

[0075] Positioning step: ensuring that both of the quick-change platforms are in the first pick-and-place state;

[0076] Separation step: driving the battery module transport device to move to a preset disengagement position, controlling the claws and the suction cup on the battery module transport device to disengage, and allowing the tray kit of the quick-change platform in an empty state to receive the claws and the suction cup;

[0077] Installation step: driving the battery module transport device to move to a preset installation position, and controlling the battery module transport device to connect with the claws and the suction cup on another quick-change platform.

[0078] In this way, the control method realizes the coordination of the two quick-change platforms, improves the speed of replacing the claws and suction cups of the battery module handling device, and improves the efficiency of production switching of the battery production line.

[0079] In some embodiments, before the determining step, the control method further includes:

[0080] Controlling a second locking structure of the quick-change platform to be in a second unlocked state;

[0081] Controlling the quick-change platform to be converted into a second pick-and-place state, and controlling the corresponding second locking structure to be in a second locking state;

[0082] Controlling the first locking structures to be in the first unlocked state, controlling the movable mounting plate to be in the fourth pick-and-place state, and controlling the corresponding first locking structures to be in the first locked state;

[0083] Place the claws of the target model on the gripper placement component, and place the suction cup of the target model on the suction cup placement component;

[0084] The first locking structures are controlled to be in the first unlocking state, the movable mounting plate is controlled to be in the third pick-and-place state, and the corresponding first locking structures are controlled to be in the first locking state.

[0085] In this way, the purpose of connecting the target model's claws and the target model's suction cups to the battery module handling device is achieved; by controlling the conversion of the first locking structure between the first locking state and the first unlocking state, the purpose of placing the target model's claws and suction cups on the quick-change platform is achieved, and it is beneficial to maintain their stability during the placement process.

[0086] In some embodiments, controlling the second locking structure of the quick-change platform to be in the second unlocked state specifically includes:

[0087] The second lever is driven to rotate so that the inner wall of the second slide groove abuts against the third rolling element, and the second push rod is driven to move in a direction away from the second stop block until the projection of the second lock head is separated from the second stop block in the projection along the moving direction of the tray assembly.

[0088] In this way, the second locking structure can be converted to the second unlocking state by driving the second lever. The steps are simple and intuitive, and it is easy for staff to operate.

[0089] In some embodiments, controlling the first locking structure to be in the first unlocked state specifically includes:

[0090] The first lever is driven to rotate so that the inner wall of the first slide groove abuts against the first rolling element, and the first push rod is driven to move in a direction away from the first stop block until the projection of the first lock head is separated from the first stop block in the projection along the moving direction of the tray assembly.

[0091] In this way, the first locking structure can be converted to the first unlocking state by driving the first lever. The steps are simple and intuitive, and it is easy for staff to operate.

[0092] In some embodiments, before controlling the movable mounting plate to be in the third pick-and-place state, the control method further includes:

[0093] The driving member is controlled to drive a portion of the through-beam photoelectric sensor located on a moving path of the mounting plate to move so that the through-beam photoelectric sensor avoids the mounting plate.

[0094] This prevents the through-beam photoelectric sensor from interfering with the movement of the mounting plate, reducing the chance of damage caused by collision between the two.

[0095] In some embodiments, after the separation step, the control method further comprises:

[0096] Controlling the second locking structure of the quick-change platform on which the old claws and the suction cup are placed to be in a second unlocked state;

[0097] Controlling the quick-change platform to be in a second pick-and-place state, and controlling the corresponding second locking structure to be in a second locking state;

[0098] Controlling the first locking structures of the tray assembly to be in a first unlocked state, controlling the movable mounting plate to be in a fourth pick-and-place state, and controlling the corresponding first locking structures to be in a first locked state;

[0099] Remove the old claws from the clamping claw placement assembly and remove the old suction cup from the suction cup placement assembly.

[0100] In this way, the process of transporting the old model claws and suction cups does not interfere with the normal operation of the battery module transport device, thereby improving production efficiency.

[0101] In some embodiments, before the driving battery module transport device moves to the preset installation position, the control method further includes:

[0102] The pushing end of the control pushing member moves to a position abutting against the claw teeth.

[0103] In this way, the pushing member abuts against the claw teeth, which, on the one hand, is conducive to keeping the claw teeth stable on the quick-change platform and reducing the chance of them falling; on the other hand, it is conducive to suppressing the tendency of the battery module transporting device to move the claw teeth out of the contoured support block during the separation process of the battery module transporting device and the claw teeth. BRIEF DESCRIPTION OF THE DRAWINGS

[0104] FIG1 is a schematic diagram of a quick-change platform, claws, and suction cups in one embodiment of the present disclosure;

[0105] FIG2 is a schematic diagram of the embodiment in FIG1 from another perspective;

[0106] FIG3 is a schematic diagram of a tray assembly in a first viewing angle according to an embodiment of the present disclosure;

[0107] FIG4 is a schematic diagram of the embodiment in FIG3 at a second viewing angle;

[0108] FIG5 is a schematic diagram of the embodiment in FIG3 at a third viewing angle;

[0109] FIG6 is a schematic cross-sectional view of FIG5 at position DD;

[0110] FIG7 is a schematic cross-sectional view of FIG5 at position EE;

[0111] FIG8 is a partial enlarged schematic diagram of FIG7 at position G;

[0112] FIG9 is a cross-sectional schematic diagram of FIG5 at the FF position;

[0113] FIG10 is a partial enlarged schematic diagram of FIG9 at position H;

[0114] FIG11 is a schematic diagram of a suction cup placement assembly according to an embodiment of the present disclosure;

[0115] FIG12 is a schematic diagram of a clamping jaw placement assembly and a mounting plate in one embodiment of the present disclosure;

[0116] FIG13 is a schematic diagram of the embodiment in FIG12 from another perspective;

[0117] FIG14 is a partial enlarged schematic diagram of FIG1 at position A;

[0118] FIG15 is a partial enlarged schematic diagram of FIG1 at position B;

[0119] FIG16 is a partial enlarged schematic diagram of FIG2 at position C;

[0120] FIG17 is a schematic diagram of the steps of a control method in an embodiment of the present disclosure.

[0121] Reference Signs Tray assembly 10; tray assembly 11; supporting plate 111; avoidance hole 111a; first limit block 1111; mounting plate 112; first stop block 1121; first guide slope 1121a; first stop surface 1121b; push handle 1122; suction cup placement assembly 12; placement plate 121; Positioning pin 122; first positioning pin 1221; second positioning pin 1222; carrying handle 1223; clamping jaw placement assembly 13; contoured support block 131; floating assembly 132; floating end 132a; first mounting block 1321; second mounting block 1322; first stopper 1323; second stopper 1324; first telescopic member 1325; second telescopic member 1326; floating block 1327; third positioning pin 133; pushing member 134; pushing end 134a; detection assembly 14; through-beam photoelectric sensor 141; driving member 142; first locking structure 15; first locking head 15a; first mounting member 151; first elastic member 152; first push rod 153; first rolling member 154; first lever 155; first slide groove 155a; first mounting seat 156; second rolling member 157; drive kit 20; frame 30; second limit block 31; second locking structure 40; second locking head 40a; second mounting member 41; second elastic member 42; second push rod 43; third rolling member 44; second lever 45; second slide groove 45a; second mounting seat 46; fourth rolling member 47; second stop block 50; second guide slope 50a; second stop surface 50b; claw teeth 60; suction cup 70; target object 80. DETAILED DESCRIPTION

[0122] It should be noted that, unless there is a conflict, the embodiments and technical features in the embodiments of the present disclosure can be combined with each other, and the detailed description in the specific implementation methods should be understood as an explanation of the purpose of the present disclosure and should not be regarded as an improper limitation on the present disclosure.

[0123] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which the present disclosure belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure; the terms "including" and "having" and any variations thereof in the specification of the present disclosure and the above-mentioned drawings are intended to cover non-exclusive inclusions.

[0124] Currently, new energy batteries are increasingly being used in daily life and industry. They are not only used in energy storage systems such as hydropower, thermal power, wind power, and solar power plants, but are also widely used in electric vehicles such as electric bicycles, electric motorcycles, and electric cars, as well as in aerospace and other fields.

[0125] In the embodiments of the present disclosure, the battery may be a battery cell. A battery cell refers to a basic unit that can realize the mutual conversion of chemical energy and electrical energy, and can be used to make a battery module or battery pack, thereby being used to supply power to an electrical device. The battery cell may be a secondary battery, which refers to a battery cell that can be recharged to activate the active material after the battery cell is discharged and continue to be used. The battery cell may be a lithium-ion battery, a sodium-ion battery, a sodium-lithium-ion battery, a lithium metal battery, a sodium metal battery, a lithium-sulfur battery, a magnesium-ion battery, a nickel-metal hydride battery, a nickel-cadmium battery, a lead-acid battery, etc., and the embodiments of the present disclosure are not limited to this.

[0126] A battery cell typically includes an electrode assembly. This assembly includes a positive electrode, a negative electrode, and a separator. During the charge and discharge process of a battery cell, active ions (such as lithium ions) are inserted and removed between the positive and negative electrodes. The separator, placed between the positive and negative electrodes, prevents short circuits between the positive and negative electrodes while allowing the active ions to pass through.

[0127] In some embodiments, the battery cell further includes an electrolyte, which acts as a conductor of ions between the positive and negative electrodes. The present disclosure does not specifically limit the type of electrolyte, and the electrolyte may be selected based on needs. The electrolyte may be liquid, gel, or solid.

[0128] In some embodiments, a battery cell may include a housing. The housing is used to encapsulate components such as the electrode assembly and the electrolyte. The housing may be a steel housing, an aluminum housing, a plastic housing (e.g., polypropylene), a composite metal housing (e.g., a copper-aluminum composite housing), or an aluminum-plastic film.

[0129] As an example, the battery cell can be a cylindrical battery cell, a prismatic battery cell, a soft-pack battery cell or a battery cell of other shapes. The prismatic battery cell includes a square-shell battery cell, a blade-shaped battery cell, a polygonal battery, such as a hexagonal battery, etc. There is no special limitation in the present disclosure.

[0130] In some embodiments, the housing includes an end cap and a shell. The shell has an opening, and the end cap closes the opening to form a sealed space for accommodating the electrode assembly, electrolyte, and other substances. The shell may have one or more openings. One or more end caps may also be provided.

[0131] In some embodiments, the housing is provided with at least one electrode terminal, which is electrically connected to the tab. The electrode terminal may be directly connected to the tab or indirectly connected to the tab via an adapter component. The electrode terminal may be provided on an end cap or on the housing. In some embodiments, the housing is provided with a pressure relief mechanism. This pressure relief mechanism is used to relieve internal pressure within the battery cell.

[0132] In the embodiments of the present disclosure, the battery may also be a single physical module (e.g., a battery module or battery pack) including one or more battery cells to provide higher voltage and capacity. When there are multiple battery cells, the multiple battery cells are connected in series, in parallel, or in hybrid via a busbar.

[0133] In the description of the embodiments of the present disclosure, technical terms such as "first," "second," and "third" are used solely to distinguish different objects and should not be understood to indicate or imply relative importance or to implicitly specify the quantity, specific order, or primary and secondary relationship of the technical features indicated. In the description of the embodiments of the present disclosure, "plurality" means more than two, unless otherwise specifically defined.

[0134] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0135] In the description of the embodiments of the present disclosure, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0136] In the description of the embodiments of the present disclosure, for the convenience of explanation, as shown by the arrows in Figure 1, the direction of the arrow X is the first direction and the fourth direction, the direction of the arrow Y is the second direction and the third direction, and the direction of the arrow Z is the vertical direction. The direction indicated by the arrow Z along the vertical direction is called "up", and the opposite direction is called "down".

[0137] In the description of the embodiments of the present disclosure, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and can refer to internal connectivity between two components or interaction between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present disclosure based on specific circumstances.

[0138] In the description of the embodiments of the present disclosure, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and can be direct contact, contact through an intermediate medium layer, contact with essentially no interaction force between the two contacting parties, or contact with interaction force between the two contacting parties.

[0139] The following describes the embodiments of the present disclosure in detail.

[0140] The claws and suction cups of the battery module handling device are both removable. Manual replacement of these claws and suction cups requires workers to first remove the existing claws and suction cups from the battery module handling device and then install the new ones. This process consumes considerable time for material handling and alignment. Furthermore, the heavy weight of the claws and suction cups makes handling and adjusting their position and orientation difficult, posing safety risks to workers.

[0141] The disclosed embodiments provide a quick-change platform. Workpieces to be replaced from a battery module handling device are pre-placed on the quick-change platform, or old workpieces removed from the battery module handling device are placed on the quick-change platform. This allows for simultaneous placement of new workpieces and removal of old workpieces through the coordination of multiple quick-change platforms, saving time.

[0142] For example, two quick-change platforms are arranged, and the new workpiece that needs to be replaced on the battery module transport device is placed on one quick-change platform. At the same time, the battery module transport device places the old workpiece on the other quick-change platform, and then the battery module transport device installs the new workpiece from the previous quick-change platform, thereby realizing rapid replacement of workpiece types.

[0143] Specifically, an embodiment of the present disclosure provides a quick-change platform for placing a target object 80 on a battery module handling device. Referring to FIG. 1 and FIG. 2 , the quick-change platform includes a tray kit 10 .

[0144] The tray assembly 10 is in a removable configuration.

[0145] The quick-change platform includes a first pick-and-place state and a second pick-and-place state;

[0146] In the first pick-and-place state, the tray assembly 10 is located at the first pick-and-place position, so that the tray assembly 10 is used to receive the target object 80 that has escaped from the battery module fixture, or the battery module handling device is used to pick up the target object 80 that has been placed on the tray assembly 10;

[0147] In the second pick-and-place state, the tray assembly 10 is located at the second pick-and-place position, so as to be used for removing the target object 80 from the tray assembly 10 , or for placing the target object 80 on the tray assembly 10 .

[0148] The tray assembly 10 is movable, that is, the position of the tray assembly 10 can be changed by moving.

[0149] The target object 80 refers to a workpiece that needs to be installed, removed, or replaced from the battery module handling device in order to meet the production requirements of different types of battery modules.

[0150] In the first picking and placing state, the tray kit 10 is located in the first picking and placing position, and the old model claws 60 and suction cups 70 on the battery module transporting device can be separated and placed on the tray kit 10, or the battery module transporting device can be connected to the new model claws 60 and suction cups 70 placed on the tray kit 10.

[0151] In the second picking and placing state, the pallet kit 10 is located at the second picking and placing position, and the staff can move the old model claws 60 and suction cups 70 on the pallet kit 10 that have been detached from the battery module handling device into the warehouse, or place the new model claws 60 and suction cups 70 on the pallet kit 10.

[0152] The quick-change platform in the embodiment of the present disclosure switches between the first pick-up and placement position and the second pick-up and placement position through the pallet kit 10, so that the position where the battery module handling device picks up and places the target object 80 is different from the position where the staff picks up and places the target object 80. In this way, on the one hand, the probability of interference between the battery module handling device and the staff's pick-up and placement operations during the pick-up and placement operations is reduced, thereby improving the safety of the operation; on the other hand, by setting up multiple quick-change platforms, the pick-up and placement operations of the battery module handling device and the staff's pick-up and placement operations can be carried out synchronously, and the operation time of the two overlaps, thereby reducing the total operation time and improving production efficiency.

[0153] The following is a detailed description of some quick-change platforms in the embodiments of the present disclosure.

[0154] In some embodiments, the target object 80 carried by the tray assembly 10 is the claw 60 ; and / or the target object 80 carried by the tray assembly 10 is the suction cup 70 .

[0155] That is to say, the quick-change platform can be used only to place the claws 60 on the battery module handling device; it can also be used only to place the suction cups 70 on the battery module handling device; it can also be used to place both the claws 60 and the suction cups 70 on the battery module handling device.

[0156] In this way, the applicability of the tray kit 10 is improved.

[0157] In some embodiments, referring to FIG. 1 and FIG. 2 , the quick-change platform includes a drive assembly 20 , a drive end of which is drivingly connected to the tray assembly 10 to drive the tray assembly 10 to move between a first pick-and-place position and a second pick-and-place position.

[0158] The specific type of the drive kit 20 is not limited, such as a synchronous belt linear module, a ball screw linear module, a linear motor, a slide cylinder, a rodless cylinder, and a six-axis robot.

[0159] The driving end of the driving kit 20 refers to the portion of the driving kit 20 that can be driven to move relative to other portions of the driving kit 20 . For example, when the driving kit 20 is a rodless cylinder, the driving end is a slide.

[0160] The tray assembly 10 can be moved between at least two positions by the movement of the driving end of the driving assembly 20. The two positions are a first pick-up position and a second pick-up position.

[0161] This is conducive to achieving automatic control of the movement of the tray kit 10.

[0162] It is understandable that the battery module handling device needs to be provided with a plurality of claws 60 , and each claw 60 applies a force in a different direction to the battery module during the process of grasping the battery module, so as to achieve the purpose of grasping the battery module.

[0163] In some embodiments, referring to Figures 3 to 5, the tray kit 10 includes a tray assembly 11, a suction cup placement assembly 12 and a plurality of clamping claw placement assemblies 13. The driving end of the driving kit 20 is driven and connected to the tray assembly 11. The clamping claw placement assembly 13 and the suction cup placement assembly 12 are both arranged on the tray assembly 11. The clamping claw placement assembly 13 is used to place the claw teeth 60, and the suction cup placement assembly 12 is used to place the suction cup 70.

[0164] The suction cup placement assembly 12 is used to carry the old model suction cup 70 separated from the battery module handling device, and is used for staff to place the new model suction cup 70 on the suction cup placement assembly 12.

[0165] The clamping claw placement assembly 13 is used to carry the old model claws 60 separated from the battery module handling device, and is used by the staff to place the new model claws 60 on the suction cup placement assembly 12.

[0166] It is understandable that there may be multiple jaw placement assemblies 13 , and each jaw placement assembly 13 is used to carry one claw 60 .

[0167] The tray assembly 11 provides an installation location for the suction cup placement assembly 12 and the clamping claw placement assembly 13, and enables the suction cup placement assembly 12 and the clamping claw placement assembly 13 to move synchronously and switch between the first pick-and-place position and the second pick-and-place position.

[0168] In this way, by setting the suction cup placement component 12 and the clamping claw placement component 13, the claw teeth 60 and the suction cup 70 respectively have specific placement positions on the tray kit 10, which is convenient for positioning the two, and further conducive to realizing automatic control of the quick-change platform.

[0169] It is understandable that different types of claws 60 and different types of suction cups 70 have different sizes and shapes.

[0170] In some embodiments, at least one of the gripper placement assembly 13 and the suction cup placement assembly 12 is detachably connected to the tray assembly 11 .

[0171] In this way, on the one hand, it is only necessary to disassemble and replace the clamping jaw placement assembly 13 and the suction cup placement assembly 12 to achieve adaptation with the corresponding model of claw teeth 60 and suction cup 70, which reduces the workload; on the other hand, it is convenient for the staff to carry the clamping jaw placement assembly 13 and the suction cup placement assembly 12 together with the claw teeth 60 and the suction cup 70 respectively, so as to improve the convenience of operation.

[0172] The specific method of achieving the detachable connection is not limited. For example, the detachable connection is achieved by the cooperation of a screw and a threaded hole.

[0173] The specific structure of the tray assembly 11 is not limited.

[0174] For example, referring to FIG3 and FIG4 , the tray assembly 11 includes a supporting plate 111 and a plurality of mounting plates 112 . The mounting plates 112 are disposed on the supporting plate 111 . At least one mounting plate 112 is movable relative to the supporting plate 111 . The gripper placement assembly 13 and the suction cup placement assembly 12 are respectively configured to correspond to the mounting plates 112 .

[0175] The movable mounting plate 112 includes a third pick-and-place state and a fourth pick-and-place state;

[0176] In the third pick-and-place state, the mounting plate 112 moves to the third pick-and-place position to receive the target object 80 that has escaped from the battery module transport device, or to allow the battery module transport device to pick up the target object 80;

[0177] In the fourth pick-and-place state, the mounting plate 112 moves to the fourth pick-and-place position for removing the target object 80 from the tray assembly 10 , or for placing the target object 80 on the tray assembly 10 .

[0178] The supporting plate 111 is used to provide a mounting location for other components in the tray assembly 11 and drive other components to move together.

[0179] A clamping jaw placement assembly 13 or a suction cup placement assembly 12 is respectively provided on each mounting plate 112. The movable mounting plate 112 can drive the clamping jaw placement assembly 13 or the suction cup placement assembly 12 placed thereon to move.

[0180] In this way, by moving the mounting plate 112 relative to the support plate 111, the range of movement of the clamp placement assembly 13 and the suction cup placement assembly 12 can be expanded while the quick-change platform occupies a certain area, thereby further improving the convenience of the staff in performing the picking and placing operations.

[0181] For example, the quick-change platform is located within the safety fence to reduce the safety hazards generated during the process of the drive kit 20 driving the tray kit 10 to move; when the quick-change platform is in the second pick-and-place state, the movable mounting plate 112 is driven to be converted from the third pick-and-place state to the fourth pick-and-place state. In this way, the position of the mounting plate 112 in the fourth pick-and-place state is farther away from the position of the mounting plate 112 in the first pick-and-place state, which is conducive to expanding the operating space of the staff and improving the convenience of operation.

[0182] It can be understood that when the movable mounting plate 112 is in the third picking state, the tray assembly 10 is in the first picking state; when the movable mounting plate 112 is in the fourth picking state, the tray assembly 10 is in the second picking state.

[0183] The specific material of the supporting plate 111 and the mounting plate 112 is not limited, such as stainless steel, aluminum alloy, etc.

[0184] The specific method of achieving relative movement between the support plate 111 and the movable mounting plate 112 is not limited. For example, one of the support plate 111 and the movable mounting plate 112 is provided with a ball slider, and the other is provided with a guide rail. The guide rail and the ball slider are slidably fitted together, thereby reducing the friction required for sliding between the support plate 111 and the mounting plate 112.

[0185] It can be understood that the driving end of the driving kit 20 is drivingly connected to the supporting plate 111 to drive the supporting plate 111 to move.

[0186] In some embodiments, referring to FIG. 3 , a push handle 1122 is provided on the movable mounting plate 112 , so that a worker can push the mounting plate 112 to move by holding the push handle 1122 .

[0187] In some embodiments, the driving kit 20 drives the tray kit 10 to move in a direction that is the same as the moving direction of the movable mounting plate 112 relative to the support plate 111. This facilitates the mounting plate 112 to be better away from the battery module handling device in the fourth pick-and-place state, thereby improving the operational convenience of the staff.

[0188] The suction cup 70 on the battery module transport device is heavier and larger in size than the claws 60 .

[0189] In some embodiments, the mounting plate 112 of the suction cup placement assembly 12 is slidably engaged with the supporting plate 111. This improves the convenience of the staff in taking and placing the suction cup 70.

[0190] In some embodiments, referring to Figures 3 and 4, the tray kit 10 includes a detection component 14, which is arranged on the support plate 111. The detection component 14 includes a through-beam photoelectric sensor 141 and a driving member 142. The transmitting end and the receiving end of the through-beam photoelectric sensor 141 are respectively located on both sides of the moving direction of the movable mounting plate 112. The detection light beam emitted by the through-beam photoelectric sensor 141 is used to detect the placement status of the gripper placement component 13 and / or the placement status of the suction cup placement component 12. At least one of the transmitting end and the receiving end is driven and connected to the driving member 142 so that during the movement of the mounting plate 112, the driving member 142 drives it to avoid the mounting plate 112.

[0191] The through-beam photoelectric sensor 141 has a paired transmitter and receiver. The transmitter emits a detection beam, while the receiver senses it. These two terminals are positioned opposite each other. If an object enters between them and blocks the detection beam, the through-beam photoelectric sensor 141 sends a specific signal to the corresponding control device. Based on this signal, the control device determines whether the object exists between the transmitter and receiver, meeting the current operating conditions. This determines whether to proceed to the next step or pause the current step.

[0192] The placement state of the gripper placement component 13 refers to whether an object is placed on the gripper placement component 13 .

[0193] The placement state of the suction cup placement component 12 refers to whether an object is placed on the suction cup placement component 12 .

[0194] By setting up a through-beam photoelectric sensor 141, whether the detection light beam emitted by it is blocked can be used to determine whether claws 60 and suction cups 70 are placed on the clamping claw placement component 13 and the suction cup placement component 12 respectively, so that the claws 60 and suction cups 70 can be stopped in time when they fall during the movement of the tray kit 10; on the other hand, it is convenient to stop the movement in time when foreign objects fall onto the clamping claw placement component 13 and the suction cup placement component 12.

[0195] It can be understood that when the mounting plate 112 is in the fourth pick-and-place state, in the projection along the moving direction of the mounting plate 112, the projections of the driving member 142 and the part of the opposing photoelectric sensor 141 driven and connected to the driving member 142 are both located outside the projection of the mounting plate 112.

[0196] The through-beam photoelectric sensor 141 is driven by the driving member 142, and interference between the movement of the through-beam photoelectric sensor 141 and the mounting plate 112 is avoided without affecting the detection function of the through-beam photoelectric sensor 141, which is conducive to arranging the through-beam photoelectric sensor 141 closer to the mounting plate 112, and further conducive to improving the detection accuracy of the through-beam photoelectric sensor 141.

[0197] The specific form of the driving member 142 is not limited. For example, at least one of the transmitting end and the receiving end is arranged on a slide that cooperates with the guide rail, and the driving end of the cylinder is connected to the slide, that is, the cylinder, the guide rail and the slide together form the driving member 142.

[0198] In some embodiments, referring to FIG. 1 and FIG. 3 , the mounting plate 112 is located above the supporting plate 111 to reduce the footprint of the tray kit 10 and facilitate transmission of the mounting plate 112 itself and the gravity load it receives to the supporting plate 111 .

[0199] In some embodiments, referring to Figures 1 and 3, the suction cup placement assembly 12 is disposed above the mounting plate 112. This allows the suction cup 70 to be naturally placed on the suction cup placement assembly 12 under the action of gravity after being unlocked from the battery module handling device.

[0200] In some embodiments, referring to Figures 1 and 3, the gripper placement assembly 13 is disposed above the mounting plate 112. This allows the claws 60 to be naturally placed on the gripper placement assembly 13 under the action of gravity after being unlocked from the battery module handling device.

[0201] It is understandable that when the mounting plate 112 is in the third pick-and-place state or the fourth pick-and-place state, the position of the mounting plate 112 needs to be restricted to reduce the adverse effects of the movement of the mounting plate 112 on subsequent steps.

[0202] In some embodiments, referring to Figures 3 to 8, the tray assembly 11 includes a first locking structure 15, the first locking structure 15 is arranged on the supporting plate 111, the first locking structure 15 is provided with a movable first locking head 15a, and the movable mounting plate 112 is provided with a first stop block 1121. The first locking structure 15 includes a first locked state and a first unlocked state.

[0203] In the first locked state, the first lock head 15a and the first stop block 1121 can stop and cooperate along the moving direction of the mounting plate 112 to limit the movement of the mounting plate 112. In other words, the first lock head 15a can abut against the first stop block 1121 along the moving direction of the mounting plate 112, thereby inhibiting its movement, thereby achieving the purpose of maintaining the installation in the third or fourth pick-and-place state.

[0204] In the first unlocked state, the projection of the first lock head 15a and the projection of the first stop block 1121 are separated along the moving direction of the mounting plate 112, thereby enabling the mounting plate 112 to move. In other words, the projection of the first lock head 15a and the projection of the first stop block 1121 do not overlap along the moving direction of the mounting plate 112, thereby enabling the mounting plate 112 to move between the third and fourth access positions.

[0205] In this way, the position of the mounting plate 112 is locked by switching the first locking structure 15 between the first locking state and the first unlocking state, which is conducive to stabilizing the mounting plate 112 in the first locking state, thereby facilitating the picking and placing of the claws 60 and the suction cup 70, and reducing the probability that the battery module handling device cannot locate the position of the picking and placing claws 60 and the suction cup 70 due to the movement of the mounting plate 112. At the same time, it reduces the safety hazards caused by the movement of the mounting plate 112 when the staff are picking and placing the claws 60 and the suction cup 70.

[0206] It can be understood that the stopping direction between the first locking head 15 a and the first stopping block 1121 is the moving direction of the mounting plate 112 .

[0207] It is understandable that the specific number of the first locking structures 15 configured corresponding to the movable mounting plate 112 is not limited, and can be one or more.

[0208] In some embodiments, referring to Figures 3 to 7, the movable mounting plate 112 is correspondingly configured with two first locking structures 15. In the third picking and placing state, one first locking structure 15 is in the first locking state, and in the fourth picking and placing state, the other first locking structure 15 is in the first locking state. In the first locking state, the two first locking structures 15 are in opposite directions to the stopping direction of the mounting plate 112.

[0209] That is to say, in the third picking and placing state, one first locking structure 15 is in the first locking state, and the other first locking structure 15 is in the first unlocking state; and in the fourth picking and placing state, one is switched from the first locking state to the first unlocking state, and the other is switched from the first unlocking state to the first locking state.

[0210] The stopping directions of the two first locking structures 15 are opposite to each other, that is, the stopping directions of the two first locking structures 15 are respectively along the positive and negative directions of the moving direction of the mounting plate 112 .

[0211] In this way, the first locking structure 15 with two opposite stop directions is alternately switched between the first locking state and the first unlocking state, so that the mounting plate 112 is limited in both directions along its moving direction, so as to limit the range of movement of the mounting plate 112 in the third pick-and-place state and the fourth pick-and-place state, respectively, thereby facilitating operation.

[0212] It is understandable that the movement stroke of the movable mounting plate 112 needs to be limited to prevent the mounting plate 112 from being separated from the supporting plate 111.

[0213] In some embodiments, referring to Figures 3 and 6, at least two first limit blocks 1111 are provided on the supporting plate 111, and the two first limit blocks 1111 are arranged at intervals along the moving direction of the mounting plate 112 to cooperate with the mounting plate 112 in its moving direction. In the first locking state, the stopping direction of the first locking head 15a and the first stop block 1121 is opposite to the stopping direction of one of the first limit blocks 1111.

[0214] The first limit block 1111 can abut against the mounting plate 112 along the direction of movement of the mounting plate 112 to limit the movement of the mounting plate 112. It can be understood that the two first limit blocks 1111 respectively limit the forward and reverse directions of movement of the mounting plate 112, thereby achieving the purpose of limiting the movement range of the mounting plate 112.

[0215] In the first locking state, one of the first limiting blocks 1111 engages with the mounting plate 112. Thus, the first limiting block 1111 and the first locking structure 15 simultaneously limit the mounting plate 112 in two directions along its moving direction, thereby securing the mounting plate 112 in the third and fourth pick-and-place states.

[0216] In an embodiment in which two first locking structures 15 are provided and the stopping directions of the two are opposite, in the third picking and placing state, one first locking structure 15 and one first limit block 1111 jointly cooperate with the mounting plate 112 to achieve a stopping operation, so that the mounting plate 112 remains in the corresponding position of the third picking and placing state; in the fourth picking and placing state, another first locking structure 15 and another first limit block 1111 jointly cooperate with the mounting plate 112 to achieve a stopping operation, so that the mounting plate 112 remains in the corresponding position of the fourth picking and placing state.

[0217] The specific form of the first locking structure 15 is not limited.

[0218] In some embodiments, referring to FIG. 4 , FIG. 6 and FIG. 7 , the first locking structure 15 is a pneumatic toggle clamp, and the pressure head of the first locking structure 15 forms a first locking head 15 a .

[0219] The pneumatic toggle clamp is a type of pneumatic standard actuator. It combines a cylinder and a toggle clamp, and drives the four-bar linkage formed by the toggle clamp to connect the driving end of the cylinder. The four-bar linkage is driven by the cylinder to move the pressure head on the linkage. The dead point principle of the four-bar linkage is used to prevent external force from acting on the pressure head to achieve the purpose of unlocking.

[0220] In this way, the use of a pneumatic elbow clamp as the first locking structure 15 can improve the stability of the position of the first lock head 15a in the first locking state, and reduce the probability of locking failure due to the force applied by the first stop block 1121 to the first lock head 15a. At the same time, the use of a pneumatic elbow clamp is conducive to the automation of the operation of the quick-change platform and improve work efficiency.

[0221] In some embodiments, referring to FIG. 4 , the support plate is provided with a through-hole 111a. In the first unlocked state, the first locking structure 15 is located on the side of the support plate facing away from the mounting plate 112. In the first locked state, the first locking head 15a passes through the through-hole 111a and abuts against the first stop block 1121. This reduces the gap between the support plate and the mounting plate 112, facilitating installation of the first locking structure 15.

[0222] In some embodiments, referring to Figure 8, the first locking structure 15 includes a first mounting member 151, a first elastic member 152 and a first push rod 153. The first mounting member 151 is arranged on the support plate 111, and the first elastic member 152 abuts against the first mounting member 151 at one end along its telescopic direction, and abuts against the first push rod 153 at the other end to drive the first push rod 153 to telescopically move. The first push rod 153 is provided with a first lock head 15a at one end away from the first elastic member 152.

[0223] The first mounting member 151 is used to provide a fixed mounting position for other components in the first locking structure 15 .

[0224] The first telescopic member 1325 provides a power source for the movement of the first push rod 153 to achieve the telescopic movement of the first push rod 153 and further achieve the purpose of driving the first lock head 15a to move.

[0225] In this way, the first locking head 15 a is driven to move by the first telescopic member 1325 , thereby achieving the purpose of switching the first locking structure 15 between the first locking state and the first unlocking state.

[0226] It can be understood that the extension direction of the first elastic member 152 is toward the mounting plate 112. In the absence of external force, the first telescopic member 1325 is in an extended state. In this way, in the first locking state, the first lock head 15a and the first stop block 1121 can be stopped without the need for external force, thereby improving the stability of the locking.

[0227] The specific structural form of the first mounting member 151 is not limited. For example, the first mounting member 151 may be a shell structure with a first mounting space defined therein. The first elastic member 152 and the first push rod 153 are both disposed within the first mounting space. The first mounting space is open on the side facing away from the first elastic member 152, and the first push rod 153 is disposed in the open position. In this manner, the first mounting member 151 protects the first elastic member 152 and the first push rod 153, restricts their telescopic movement, and serves as a guide.

[0228] It can be understood that by pushing the first push rod 153 to move along the telescopic direction of the first elastic member 152 toward the direction of compressing the first elastic member 152, the size of the first elastic member 152 along the telescopic direction is shortened, so that the first elastic member 152 is transformed from the first locked state to the first unlocked state.

[0229] It is understandable that the specific manner of achieving the mutual transition between the first unlocked state and the first locked state by pushing the first push rod 153 is not limited.

[0230] In some embodiments, referring to FIG. 7 and FIG. 8 , the first stop block 1121 is provided with a first guide inclined surface 1121 a on one side along the moving direction of the mounting plate 112 and a first stop surface 1121 b on the other side. The first stop surface 1121 b extends along the extension direction of the first elastic member 152 .

[0231] In the unlocked state, the first guide slope 1121a faces the first lock head 15a and extends along the moving direction of the mounting plate 112 toward the direction of compressing the first elastic member 152, so that during the movement of the mounting plate 112, the first guide slope 1121a can push the first push rod 153 to compress the first elastic member 152.

[0232] In the locked state, the first locking head 15 a and the first stopping surface 1121 b can engage in a stopping manner along the moving direction of the mounting plate 112 .

[0233] During the movement of the mounting plate 112, the first guide inclined surface 1121a contacts the first lock head 15a, and as the mounting plate 112 continues to move, the contact position between the first guide inclined surface 1121a and the first lock head 15a gradually approaches the first elastic member 152, thereby causing the first elastic member 152 to gradually compress until the first lock head 15a is separated from the first guide inclined surface 1121a, and the compressive force on the first push rod 153 is reduced or even disappears, causing the first elastic member 152 to turn from compression to extension, and the first push rod 153 is re-extended under the action of the first elastic member 152 until, in the projection along the moving direction of the mounting plate 112, the projection of the first lock head 15a at least partially overlaps with the projection of the first stop surface 1121b, thereby causing the first lock head 15a to achieve stop cooperation with the first stop surface 1121b, thereby achieving the transition to the first locking state.

[0234] In this way, by guiding the first locking head 15a through the first guide slope 1121a, the first locking structure 15 is synchronously completed to change from the first unlocking state to the first locking state during the movement of the mounting plate 112, thereby simplifying the operation steps and improving work efficiency.

[0235] In some embodiments, the first stop surface 1121b extends along the extension and contraction direction of the first elastic member 152 to reduce the probability that after the first stop surface 1121b abuts the first lock head 15a, the force applied to the first lock head 15a causes the first elastic member 152 to be compressed and causes the first locking structure 15 to be converted to the first unlocked state.

[0236] In some embodiments, referring to Figure 8, the first locking structure 15 further includes a first rolling member 154, a first lever 155 and a first mounting seat 156. One end of the first lever 155 is provided with a first sliding groove 155a, the first rolling member 154 is provided on the first push rod 153 and rotatably cooperates with the first push rod 153, the first rolling member 154 is embedded in the first sliding groove 155a and cooperates with the inner wall of the first sliding groove 155a along the extension and contraction direction of the first elastic member 152, the first mounting seat 156 is provided on the supporting plate 111, the first lever 155 and the first mounting seat 156 are rotatably connected and the rotation axis is perpendicular to the extension and contraction direction of the first elastic member 152, the first sliding groove 155a extends perpendicular to the rotation axis of the first lever 155, and the first rolling member 154 can move relative to the first lever 155 along the extension direction of the first sliding groove 155a, so that the rotation of the first lever 155 can drive the extension and contraction of the first elastic member 152.

[0237] The first shifting rod 155 is used for a worker to contact and apply a force to avoid a safety hazard caused by the worker directly contacting the first push rod 153 .

[0238] The specific form of the first rolling element 154 is not limited, such as a ball bearing.

[0239] The specific manner of achieving the rotational connection between the first deflector rod 155 and the first mounting seat 156 is not limited, for example, a rotating pin is passed through the first deflector rod 155 and the first mounting seat 156 .

[0240] In other words, a slider-crank mechanism is formed between the first lever 155, the first rolling element 154, and the first push rod 153. As the first lever 155 rotates, the first chute 155a rotates accordingly, and the inner wall of the first chute 155a abuts against the first rolling element 154, thereby applying a force to the first rolling element 154. Since the first rolling element 154 moves along the expansion and contraction direction of the first elastic element 152 along with the first push rod 153, the force applied by the inner wall of the first chute 155a to the first rolling element 154 can be divided into a force component along the expansion and contraction direction of the first elastic element 152 and a force component along the tangential direction of the first rolling element 154, thereby driving the first rolling element 154 to move along the expansion and contraction direction of the first elastic element 152, thereby pushing the first push rod 153 to move.

[0241] In this way, by converting the rotation of the first lever 155 into linear motion, the driving of the first push rod 153 is achieved. At the same time, the rolling of the first rolling member 154 can effectively reduce the friction between it and the inner wall of the first slide groove 155a, reducing wear and improving its service life.

[0242] It can be understood that, with the rotational connection position between the first lever 155 and the first mounting seat 156 as the dividing position, the length of the portion of the first lever 155 located on one side of the first slide groove 155a is smaller than the length of the portion located on the other side. In this way, the first lever 155 forms a labor-saving lever, thereby improving the convenience of operation for the staff.

[0243] It is understandable that during the process of the first locking head 15a and the first stopping block 1121 achieving the stopping cooperation, friction will occur between the two, causing wear on both.

[0244] In some embodiments, referring to FIG8 , a second rolling member 157 is provided at one end of the first push rod 153 away from the first elastic member 152. The second rolling member 157 is rotatably connected to the first push rod 153 and forms the first locking head 15a. In other words, the friction between the second rolling member 157 and the first stop block 1121 is rolling friction, which effectively reduces friction between the two, reduces wear between the two, and increases the service life of both.

[0245] The specific form of the second rolling element 157 is not limited, such as a ball bearing, a roller, etc.

[0246] It can be understood that in the embodiment where there are multiple first locking structures 15, all of the first locking structures 15 may be pneumatic toggle clamps; or all of them may be in the form of a first rolling element 154, a first shift rod 155 and a first mounting seat 156; or some of them may be pneumatic toggle clamps and some may be in the form of a first rolling element 154, a first shift rod 155 and a first mounting seat 156.

[0247] The specific structural form of the suction cup placement component 12 is not limited.

[0248] For example, referring to Figure 11, the suction cup placement assembly 12 includes a placement plate 121 and a positioning pin 122. The placement plate 121 is arranged on the tray assembly 11 for placing the suction cup 70. The positioning pin 122 is arranged on one side of the placement plate 121 and extends perpendicular to the thickness direction of the placement plate 121 for being inserted into the suction cup 70.

[0249] The placement plate 121 is used to bear the weight of the suction cup 70 and provide an operating position required for the staff to carry the suction cup 70 so that the staff can avoid touching the suction cup 70 during the transportation process.

[0250] The positioning pin 122 cooperates with the hole on the suction cup 70 to fix the position of the suction cup 70 through the stop cooperation between the inner wall of the hole and the positioning pin 122.

[0251] In this way, by providing the placement plate 121 and the positioning pin 122, the suction cup 70 is positioned on the suction cup placement component 12, and the suction cup 70 is conveniently taken, placed and transported together with the suction cup placement component 12, thereby improving work efficiency.

[0252] It can be understood that the thickness direction of the placement plate 121 is the vertical direction, that is, the positioning pin 122 extends along the vertical direction.

[0253] It can be understood that the placement plate 121 and the tray assembly 11 are detachably connected; or, the tray assembly 11 is provided with a positioning protrusion extending in the vertical direction, and the placement plate 121 is provided with a positioning hole extending in the vertical direction, and the positioning protrusion is embedded in the positioning hole and cooperates with the inner wall stop of the positioning hole, thereby limiting the placement plate 121.

[0254] It is understandable that the positioning pin 122 needs to be positioned during the process of being inserted into the suction cup 70 to prevent the two from colliding.

[0255] In some embodiments, referring to Figure 11, the positioning pin 122 includes two first positioning pins 1221 and two second positioning pins 1222, the end of the first positioning pin 1221 away from the placement plate 121 is conical and higher than the second positioning pin 1222, the first positioning pin 1221 is spaced apart from one second positioning pin 1222 along the first direction, and is spaced apart from another second positioning pin 1222 along the second direction, and the first direction is orthogonal to the second direction.

[0256] That is, the two first positioning pins 1221 are arranged diagonally, and the two second positioning pins 1222 are arranged diagonally.

[0257] The first positioning pin 1221 is higher than the second positioning pin 1222 , which means that the first positioning pin 1221 is larger than the second positioning pin 1222 in the thickness direction of the placement plate 121 , thereby facilitating the first positioning pin 1221 to be inserted into the suction cup 70 before the second positioning pin 1222 .

[0258] If there is a certain offset between the position of the suction cup 70 and the position of the suction cup placement assembly 12, the edge of the hole of the suction cup 70 and the surface of the conical part of the first positioning pin 1221 will act as a guide, so that the first positioning pin 1221 can smoothly enter the hole of the suction cup 70.

[0259] In this way, the guiding role of the first positioning pin 1221 reduces the probability of collision between the positioning pin 122 and the suction cup 70 and causing damage to both; at the same time, the repeated positioning accuracy requirements of the battery module handling device and the quick-change platform are reduced during the placement of the suction cup 70.

[0260] In some embodiments, the placement plate 121 is placed on the mounting plate 112 , and the thickness directions of the two are the same.

[0261] In some embodiments, one of the first direction and the second direction is the same as the moving direction of the mounting plate 112 , and both the first direction and the second direction are perpendicular to the vertical direction.

[0262] In some embodiments, referring to FIG. 11 , a carrying handle 1223 is provided on the edge of the placement plate 121 so that a worker can hold the carrying handle 1223 to carry the suction cup placement assembly 12 and the suction cup 70 placed thereon.

[0263] In some embodiments, an RFID (Radio Frequency Identification) chip is provided on the placement plate 121 for detecting whether the suction cup 70 placed on the placement plate 121 is of the required model.

[0264] The specific structural form of the clamping jaw placement component 13 is not limited.

[0265] For example, referring to Figures 12 and 13, the clamping claw placement assembly 13 includes a contoured support block 131 and a floating assembly 132. The floating assembly 132 is arranged on the tray assembly 11. The floating assembly 132 has a floating end 132a. The contoured support block 131 is arranged on the floating end 132a. The floating end 132a is used to move when the claw tooth 60 pushes the floating end 132a, so that the floating end 132a can be used to receive the claw tooth 60 and return to the initial position after the pushing force is eliminated.

[0266] The contoured support block 131 is used to house and support the claw 60. A contoured surface is provided on the contoured support block 131, which matches the shape of a portion of the outer surface of the claw 60. This increases the contact area between the claw 60 and the contoured support block 131 when the claw 60 is placed on the contoured support block 131. This reduces the chance of damage between the claw 60 and the contoured support block 131 due to the claw 60's own weight, and helps maintain the stability of the claw 60 during movement.

[0267] The floating end 132a of the floating assembly 132, when not under external force, is in its initial position. During the placement of the claw 60 on the contoured support block 131, due to positioning errors between the claw 60 and the contoured support block 131, the claw 60, as the battery module handling device moves, comes into contact with the contoured support block 131 and exerts a force on the contoured support block 131, causing the contoured support block 131 to move the floating end away from its initial position. After the claw 60 separates from the battery module handling device, the force exerted on the contoured support block 131 decreases, and the floating end 132a, under the influence of the internal force of the floating assembly 132, returns to its initial position.

[0268] In this way, on the one hand, by setting the contoured support block 131, it is beneficial to keep the claw 60 stable during the movement on the quick-change platform, which is beneficial to reducing the contact pressure between the claw 60 and the clamping claw placement component 13; on the other hand, the floating component 132 can buffer the collision between the claw 60 and the contoured support block 131 through its own floating, and at the same time, improve the adaptability to the position deviation between the claw 60 and the contoured support block 131 during the placement of the claw 60, thereby reducing the repeated positioning accuracy requirements of the battery module handling device and the quick-change platform during the placement of the claw 60.

[0269] In some embodiments, an RFID chip is provided on the contoured support block 131 for detecting whether the claw 60 placed on the contoured support block 131 is of the required model.

[0270] The specific structure of the floating assembly 132 is not limited.

[0271] For example, referring to Figures 12 and 13, the floating assembly 132 includes a first mounting block 1321, a second mounting block 1322, at least two first stoppers 1323, at least two second stoppers 1324, a first telescopic member 1325, a second telescopic member 1326 and a floating block 1327. The first mounting block 1321 is provided on the tray assembly 11, the second mounting block 1322 is provided on the first mounting block 1321 and slides along the third direction, and the first stoppers 1323 are provided on both sides of the first mounting block 1321 along the third direction and are spaced apart. The first telescopic member 1325 is clamped between the first stop block 1323 and the second mounting block 1322 and can elastically expand and contract along the third direction, the floating block 1327 is provided on the second mounting block 1322 and slides along the fourth direction, the second stop block 1324 is provided on both sides of the floating block 1327 along the fourth direction and is spaced apart, the second telescopic member 1326 is clamped between the second stop block 1324 and the floating block 1327 and can elastically expand and contract along the fourth direction, the floating block 1327 forms a floating end 132a, and the third direction is orthogonal to the fourth direction.

[0272] The first mounting block 1321 provides a mounting location for other components in the floating assembly 132 .

[0273] The first telescopic member 1325 is located between the first stopper 1323 and the second mounting block 1322, and the first stopper 1323 is fixed relative to the first mounting block 1321. Therefore, under the telescopic force of the first telescopic member 1325, the second mounting block 1322 can move relative to the first mounting block 1321. Since the first telescopic member 1325 is provided on both sides of the second mounting block 1322 along the third direction, the force on the second mounting block 1322 along the third direction is balanced under the action of the first telescopic members 1325 on both sides.

[0274] The second telescopic member 1326 is located between the second stopper 1324 and the floating block 1327. The second stopper 1324 is fixed relative to the second mounting block 1322. Therefore, under the telescopic force of the second telescopic member 1326, the floating block 1327 can move relative to the second mounting block 1322. Since the second telescopic member 1326 is provided on both sides of the floating block 1327 along the fourth direction, the second telescopic members 1326 on both sides balance the force on the floating block 1327 along the fourth direction.

[0275] When the claws 60 come into contact with the contoured support block 131, the floating block 1327 moves with the contoured support block 131, thereby deviating from its initial position, causing the first telescopic member 1325 on one side of the second mounting block 1322 to compress and the first telescopic member 1325 on the other side to extend; and / or causing the second telescopic member 1326 on one side of the floating block 1327 to compress and the second telescopic member 1326 on the other side to extend. After the force applied to the contoured blocks by the battery module handling device is eliminated, the first telescopic members 1325 on both sides of the second mounting block 1322 release their elastic potential energy, and the second telescopic members 1326 on both sides of the floating block 1327 release their elastic potential energy, thereby driving the second mounting block 1322 and the floating block 1327 to move, respectively, until the second mounting block 1322 and the floating block 1327 return to a force-balanced position, causing the floating block 1327 to return to its initial position.

[0276] In this way, through the extension and retraction of the first telescopic member 1325 and the second telescopic member 1326, it is beneficial to buffer the impact caused by the claw 60 being placed on the contoured support block 131, improve the adaptability to the position deviation between the claw 60 and the contoured support block 131 during the placement of the claw 60, reduce the repeated positioning accuracy requirements of the battery module handling device and the quick-change platform during the placement of the claw 60, reduce the probability of the battery module handling device getting stuck during the process of taking and placing the claw 60, and reduce the requirements for debugging accuracy.

[0277] In some embodiments, the third direction and the fourth direction are both perpendicular to the vertical direction.

[0278] In some embodiments, one of the first direction and the second direction is the same as the third direction, and the other is the same as the fourth direction.

[0279] The specific types of the first telescopic member 1325 and the second telescopic member 1326 are not limited, such as springs.

[0280] There is no limitation on the specific manner of achieving sliding fit between the floating block 1327 and the second mounting block 1322 , and between the first mounting block 1321 and the second mounting block 1322 , such as fit between a ball slider and a guide rail.

[0281] The specific method for fixing the claws 60 on the contoured support block 131 is not limited.

[0282] For example, referring to Figures 12 and 13, the contoured support block 131 is provided with a third positioning pin 133 for inserting the claw teeth 60, and the clamping jaw placement assembly 13 includes a pushing member 134, which has a pushing end 134a that can be telescopically moved toward the contoured support block 131, and the telescopic direction intersects with the extension direction of the third positioning pin 133, and the pushing end 134a is used to abut against the claw teeth 60 placed on the contoured support block 131.

[0283] The third positioning pin 133 is adapted to fit into the hole on the claw 60 , so as to fix the position of the claw 60 by cooperating with the inner wall of the hole and the stopper of the third positioning pin 133 .

[0284] After the pushing member 134 extends toward the contoured support block 131, it abuts against the claw 60 located on the contoured support block 131, thereby pushing the claw 60 so that the third positioning pin 133 abuts against the inner wall of the hole, thereby generating friction between the pushing member 134 and the contoured support block 131, and between the third positioning pin 133 and the inner wall of the hole.

[0285] In this way, the tendency of the claw 60 to move on the contoured support block 131 is suppressed by friction, thereby improving the stability of the claw 60 on the contoured support block 131; at the same time, during the separation of the battery module handling device from the claw 60, the tendency of the battery module handling device to move the claw 60 away from the contoured support block 131 is suppressed.

[0286] In some embodiments, the third positioning pin 133 extends in a vertical direction, so that when the claw 60 falls in the vertical direction, the third positioning pin 133 is directly inserted into the hole on the claw 60 .

[0287] In some embodiments, referring to Figures 12 and 13, there are two third positioning pins 133, one of which is a cylindrical pin and the other is a diamond pin. On the one hand, the two third positioning pins 133 cooperate with each other to suppress the tendency of the claw 60 to rotate relative to the contoured support block 131; on the other hand, over-positioning between the third positioning pin 133 and the claw 60 is avoided, reducing the probability of the position error between the two third positioning pins 133 affecting their respective cooperation with the claw 60.

[0288] In some embodiments, referring to FIG. 1 and FIG. 2 , the quick-change platform includes a frame 30 , and the tray assembly 10 is disposed on the frame 30 . The tray assembly 10 and the frame 30 are slidably engaged.

[0289] The frame 30 is at least used to carry the pallet kit 10, providing a stable installation position for the pallet kit 10 and reducing the adverse effect of ground vibration on the movement of the pallet kit 10; the frame 30 supports the pallet kit 10 and reduces the load on the drive kit 20.

[0290] The specific implementation method of the sliding cooperation between the tray kit 10 and the rack 30 is not limited. For example, a guide rail is provided on the rack 30, and a ball slider is provided on the tray kit 10, and the ball slider and the guide rail are slidably cooperated.

[0291] The specific manufacturing method of the frame 30 is not limited. For example, referring to FIG1 , the frame 30 can be formed by welding a plurality of square steel pipes; or by splicing a plurality of aluminum alloy profiles.

[0292] It is understandable that when the quick-change platform is in the first pick-and-place state or the second pick-and-place state, the position of the tray assembly 10 needs to be restricted to reduce the adverse effects of the movement of the tray assembly 10 on the pick-and-place operation.

[0293] In some embodiments, referring to FIG. 1 , FIG. 3 , FIG. 9 , FIG. 14 , and FIG. 15 , the quick-change platform includes a second locking structure 40 and a second stop block 50 . The second locking structure 40 is disposed on one of the frame 30 and the tray assembly 10 , and the second stop block 50 is disposed on the other. The second locking structure 40 includes a movable second locking head 40 a . The second locking structure 40 includes a second locked state and a second unlocked state.

[0294] In the second locking state, the second locking head 40a and the second stop block 50 can stop and cooperate along the moving direction of the tray assembly 10 to limit the movement of the tray assembly 10. In other words, the second locking head 40a can abut against the second stop block 50 along the moving direction of the tray assembly 10, thereby inhibiting its movement, thereby achieving the purpose of maintaining the installation in the first or second access state.

[0295] In the second unlocked state, the projection of the second lock head 40a and the projection of the second stop block 50 along the moving direction of the tray assembly 10 are separated, thereby enabling the tray assembly 10 to move. In other words, the projection of the second lock head 40a and the projection of the second stop block 50 along the moving direction of the tray assembly 10 do not overlap, thereby enabling the tray assembly 10 to be switched between the first and second access positions by movement.

[0296] In this way, by switching the second locking structure 40 between the second locking state and the second unlocking state, the position of the tray kit 10 is further locked, which is conducive to stabilizing the position of the tray kit 10 in the second locking state, thereby facilitating the picking and placing of the claws 60 and the suction cup 70, reducing the probability that the battery module handling device cannot locate the position of the picking and placing claws 60 and the suction cup 70 due to the movement of the tray kit 10, and at the same time, reducing the safety hazards caused by the movement of the tray kit 10 when the staff are picking and placing the claws 60 and the suction cup 70.

[0297] It can be understood that the stopping direction between the second locking head 40 a and the second stopping block 50 is the moving direction of the tray assembly 10 .

[0298] It is understandable that the specific number of the second locking structures 40 configured corresponding to the drive kit 20 is not limited, and can be one or more.

[0299] In some embodiments, referring to Figures 1 and 2, the tray kit 10 is correspondingly configured with two second locking structures 40. In the first picking and placing state, one second locking structure 40 is in the second locking state, and in the second picking and placing state, the other second locking structure 40 is in the second locking state. The two second locking structures 40 are in the opposite direction of the stop direction of the tray kit 10 in the second locking state.

[0300] That is, in the first picking and placing state, one second locking structure 40 is in the second locking state, and the other second locking structure 40 is in the second unlocking state; and in the second picking and placing state, one is switched from the second locking state to the second unlocking state, and the other is switched from the second unlocking state to the second locking state.

[0301] The stopping directions of the two second locking structures 40 are opposite to each other, that is, the stopping directions of the two second locking structures 40 are respectively along the positive and negative directions of the moving direction of the tray assembly 10 .

[0302] In this way, the second locking structure 40 with two opposite stop directions is alternately switched between the second locking state and the second unlocking state, so that the tray kit 10 is limited in both directions along its moving direction, so as to limit the range of movement of the tray kit 10 in the first pick-up and placement state and the first pick-up and placement state, respectively, thereby facilitating operation.

[0303] In some embodiments, referring to FIG. 1 , at least two second limit blocks 31 are provided on the frame 30, and the two second limit blocks 31 are spaced apart along the moving direction of the tray kit 10 so as to cooperate with the tray kit 10 to stop along its moving direction. In the second locking state, the stopping direction of the second locking head 40a and the second stop block 50 is opposite to the stopping direction of one of the second limit blocks 31.

[0304] The second limit block 31 can abut against the tray assembly 10 along the direction of movement of the tray assembly 10 to limit the movement of the tray assembly 10. It can be understood that the two second limit blocks 31 respectively limit the forward and reverse directions of movement of the tray assembly 10, thereby achieving the purpose of limiting the movement range of the tray assembly 10.

[0305] In the second locking state, one of the second limiting blocks 31 engages with the tray assembly 10. Thus, the second limiting block 31 and the second locking structure 40 simultaneously limit the position of the tray in two directions along its moving direction, thereby achieving the purpose of fixing the position of the tray assembly 10 in the first and second loading and unloading states.

[0306] In an embodiment in which two second locking structures 40 are provided and the stopping directions of the two are opposite, in the first picking and placing state, one second locking structure 40 and one second limit block 31 jointly cooperate with the tray kit 10 to achieve a stop, so that the mounting plate 112 remains in the corresponding position of the first picking and placing state; in the second picking and placing state, another second locking structure 40 and another second limit block 31 jointly cooperate with the tray kit 10 to achieve a stop, so that the tray kit 10 remains in the corresponding position of the second picking and placing state.

[0307] The specific form of the second locking structure 40 is not limited.

[0308] In some embodiments, referring to FIG. 2 and FIG. 16 , the second locking structure 40 is a pneumatic toggle clamp and is disposed on the frame 30 , and the pressing head of the second locking structure 40 forms a second locking head 40 a .

[0309] The use of a pneumatic elbow clamp as the second locking structure 40 can improve the stability of the position of the second locking head 40a in the second locking state, and reduce the probability of locking failure due to the force applied by the second stop block 50 to the second locking head 40a. At the same time, the use of a pneumatic elbow clamp is conducive to the automation of the operation of the quick-change platform and improve work efficiency.

[0310] In some embodiments, referring to Figures 10 and 14, the second locking structure 40 includes a second mounting member 41, a second elastic member 42 and a second push rod 43. The second mounting member 41 is arranged on the tray kit 10, and the second elastic member 42 abuts against the second mounting member 41 at one end along its telescopic direction, and abuts against the second push rod 43 at the other end to drive the second push rod 43 to telescopically move. A second lock head 40a is provided at the end of the second push rod 43 away from the second elastic member 42.

[0311] The second mounting member 41 is used to provide a fixed mounting position for other components in the second locking structure 40 .

[0312] The second telescopic member 1326 provides a power source for the movement of the second push rod 43 to achieve the telescopic movement of the second push rod 43 and further achieve the purpose of driving the second lock head 40a to move.

[0313] In this way, the second locking head 40a is driven to move by the second telescopic member 1326, thereby achieving the purpose of switching the second locking structure 40 between the second locking state and the second unlocking state.

[0314] It is understandable that in the absence of external force, the second telescopic member 1326 is in an extended state. In this way, in the second locking state, the second lock head 40a and the second stop block 50 can be stopped without the need for external force, thereby improving the stability of the locking.

[0315] The specific structural form of the second mounting member 41 is not limited. For example, the second mounting member 41 may be a housing structure with a second mounting space defined therein. The second elastic member 42 and the second push rod 43 are both disposed within the second mounting space. The second mounting space is open on the side facing away from the second elastic member 42, and the second push rod 43 is disposed in the open position. In this manner, the second mounting member 41 protects the second elastic member 42 and the second push rod 43, restricts their telescopic movement, and serves as a guide.

[0316] It can be understood that by pushing the second push rod 43 to move along the telescopic direction of the second elastic member 42 toward the direction of compressing the second elastic member 42, the size of the second elastic member 42 along the telescopic direction is shortened, so that the second elastic member 42 is transformed from the second locked state to the second unlocked state.

[0317] It is understandable that the specific manner of achieving the transition between the second unlocked state and the second locked state by pushing the second push rod 43 is not limited.

[0318] In some embodiments, referring to FIG. 15 , the second stop block 50 has a second guide slope 50 a on one side along the moving direction of the tray assembly 10 and a second stop surface 50 b on the other side. The second stop surface 50 b extends along the extension direction of the second elastic member 42 .

[0319] In the unlocked state, the second guide slope 50a faces the second lock head 40a and extends along the moving direction of the tray kit 10 toward the direction of compressing the second elastic member 42, so that during the movement of the tray kit 10, the second guide slope 50a can push the second push rod 43 to compress the second elastic member 42.

[0320] In the locked state, the second locking head 40 a and the second stop surface 50 b can engage in a stop manner along the moving direction of the tray assembly 10 .

[0321] During the movement of the tray kit 10, the second guide slope 50a comes into contact with the second lock head 40a, and as the tray kit 10 continues to move, the contact position between the second guide slope 50a and the second lock head 40a gradually approaches the second elastic member 42, so that the second elastic member 42 is gradually compressed until the second lock head 40a is separated from the second guide slope 50a, and the compressive force on the second push rod 43 is reduced or even disappears, so that the second elastic member 42 turns from compression to extension, and the second push rod 43 is re-extended under the action of the second elastic member 42 until, in the projection along the moving direction of the tray kit 10, the projection of the second lock head 40a at least partially overlaps with the projection of the second stop surface 50b, so that the second lock head 40a and the second stop surface 50b achieve stop cooperation, realizing the transition to the second locking state.

[0322] In this way, by guiding and driving the second locking head 40a by the second guiding slope 50a, the second locking structure 40 is synchronously completed to transition from the second unlocking state to the second locking state during the movement of the tray kit 10, thereby simplifying the operation steps and improving work efficiency.

[0323] In some embodiments, the second stop surface 50b extends along the extension and contraction direction of the second elastic member 42 to reduce the probability that after the second stop surface 50b abuts the second lock head 40a, the force applied to the second lock head 40a causes the second elastic member 42 to be compressed and the second locking structure 40 to be converted to the second unlocked state.

[0324] In some embodiments, referring to Figures 10 and 14, the second locking structure 40 also includes a third rolling member 44, a second lever 45 and a second mounting seat 46. A second slide groove 45a is provided at one end of the second lever 45. The third rolling member 44 is provided on the second push rod 43 and rotatably cooperates with the second push rod 43. The third rolling member 44 is embedded in the second slide groove 45a and cooperates with the inner wall of the second slide groove 45a along the extension and contraction direction of the second elastic member 42. The second mounting seat 46 is provided on the tray kit 10. The second lever 45 and the second mounting seat 46 are rotatably connected and the rotation axis is perpendicular to the extension and contraction direction of the second elastic member 42. The second slide groove 45a extends perpendicular to the rotation axis of the second lever 45. The third rolling member 44 can move relative to the second lever 45 along the extension direction of the second slide groove 45a, so that the rotation of the second lever 45 can drive the extension and contraction of the second elastic member 42.

[0325] The second shifting rod 45 is used for workers to contact and apply force to avoid potential safety hazards caused by workers directly contacting the second push rod 43.

[0326] The specific form of the third rolling element 44 is not limited, for example, a ball bearing, etc.

[0327] The specific method for achieving the rotational connection between the second shifting rod 45 and the second mounting seat 46 is not limited, for example, by rotating a pin shaft passing through the second shifting rod 45 and the second mounting seat 46 .

[0328] In other words, a slider-crank mechanism is formed between the second lever 45, the third rolling element 44, and the second push rod 43. As the second lever 45 rotates, the second chute 45a rotates accordingly, and the inner wall of the second chute 45a abuts against the third rolling element 44, thereby applying a force to the third rolling element 44. Since the third rolling element 44 moves in the direction of expansion and contraction of the second elastic element 42 along with the second push rod 43, the force applied by the inner wall of the second chute 45a to the third rolling element 44 can be divided into a force component along the direction of expansion and contraction of the second elastic element 42 and a force component tangential to the third rolling element 44, thereby driving the third rolling element 44 to move in the direction of expansion and contraction of the second elastic element 42, thereby pushing the second push rod 43 to move.

[0329] In this way, by converting the rotation of the second lever 45 into linear motion, the second push rod 43 is driven. At the same time, the rolling of the third rolling element 44 can effectively reduce the friction between it and the inner wall of the second slide groove 45a, reduce wear and improve its service life.

[0330] It can be understood that, with the rotational connection position between the second lever 45 and the second mounting seat 46 as the dividing position, the length of the portion of the second lever 45 located on one side of the second slide groove 45a is smaller than the length of the portion located on the other side. In this way, the second lever 45 forms a labor-saving lever, thereby improving the convenience of operation for the staff.

[0331] In some embodiments, referring to Figures 10 and 14 , a fourth rolling member 47 is provided at the end of the second push rod 43 distal from the second elastic member 42. The fourth rolling member 47 is rotatably connected to the second push rod 43 and forms the second locking head 40a. In other words, the friction between the fourth rolling member 47 and the second stop block 50 is rolling friction, effectively reducing friction between the two, reducing wear between the two, and increasing the service life of both.

[0332] The specific form of the fourth rolling element 47 is not limited, such as a ball bearing, a roller, etc.

[0333] It can be understood that in the embodiment where there are multiple second locking structures 40, all of the second locking structures 40 may be pneumatic toggle clamps; or all of them may be in the form of a third rolling element 44, a second lever 45 and a second mounting seat 46; or some of them may be pneumatic toggle clamps and some may be in the form of a third rolling element 44, a second lever 45 and a second mounting seat 46.

[0334] An embodiment of the present disclosure provides a battery production line for producing batteries. The battery production line includes a first conveying device, a second conveying device, a battery module handling device, and at least two quick-change platforms in the aforementioned embodiments.

[0335] The first conveying device is used to convey the battery module.

[0336] The second conveying device is used to convey the battery casing.

[0337] The battery module handling device is provided with a detachable suction cup 70 and a plurality of detachable claws 60 . The plurality of claws 60 are used to clamp the battery module, and the suction cup 70 is used to adsorb the battery module, so that the battery module handling device is used to place the battery module into the battery housing.

[0338] At least one quick-change platform is used to place the target object 80 separated from the battery module transport device, and at least one quick-change platform is used to place the target object 80 to be replaced.

[0339] After the first conveying device conveys the battery module to the first conveying position, the battery module handling device drives the suction cup 70 and the claws 60 to move to the picking position, clamps the battery module through multiple claws and the suction cup 70 adsorbs the battery module, and the battery module handling device drives the battery module to move to the discharge position, so that the battery module enters the battery shell conveyed to the second conveying position by the second conveying device, and then, the claws 60 separate from the battery module, and the suction cup 70 breaks the vacuum and separates from the battery module, thereby achieving the purpose of placing the battery module into the battery shell.

[0340] When the battery production line switches to the new battery model production mode, the quick-change platform used to place the target object 80 detached by the battery module handling device is in an empty state, and the quick-change platform is in the first pick-and-place state. At the same time, the other quick-change platform switches to the second pick-and-place state, and the staff places the new model claws 60 and suction cups 70 corresponding to the new model battery on the quick-change platform. Then, the quick-change platform switches to the first pick-and-place state. The battery module handling device moves to the preset disengagement position, disengages from the old model claws 60 and suction cups 70, and places them on the empty quick-change platform. Then, the battery module handling device moves to the preset installation position and connects with the new model claws 60 and suction cups 70 placed on the other quick-change platform to achieve the replacement of the claws 60 and suction cups 70.

[0341] In this way, by setting up multiple quick-change platforms in the battery production line, the picking and placing operations of the battery module handling device and the picking and placing operations of the staff can be carried out simultaneously, and the operating time of the two overlaps, thereby reducing the total operating time and improving work efficiency.

[0342] The disclosed embodiment also provides a control method for controlling the replacement of claws 60 and suction cups 70 in a battery production line, which is applied to a control device, such as a PLC (Programmable Logic Controller) device, an industrial computer, etc.

[0343] Referring to FIG. 17 , the control method includes:

[0344] Step S01: Determination step: Determine that the tray assembly of one quick-change platform is in an empty state, and determine that the claws and suction cups placed on another quick-change platform are target models.

[0345] The empty state means that the claws 60 and the suction cups 70 are not placed on the quick-change platform.

[0346] The target model of claws 60 and suction cups 70 refers to the new model of claws 60 and suction cups 70 required after the battery production line changes the type of batteries produced.

[0347] Step S02: Positioning step: Determine that both quick-change platforms are in the first pick-and-place state.

[0348] Both are in the first pick-and-place state, so that the battery handling device can pick up and place the claws 60 and the suction cup 70 .

[0349] Step S03: Separation step: driving the battery module transport device to move to a preset disengagement position, controlling the claws and suction cups on the battery module transport device to disengage, and having the claws and suction cups be taken over by the tray kit of the quick-change platform in an empty state.

[0350] That is, after the old model claws 60 and suction cups 70 are separated from the battery module transport device, they are taken over by the tray assembly 10 on the quick-change platform in an empty state.

[0351] Step S04: Installation step: driving the battery module transport device to move to a preset installation position, and controlling the battery module transport device to connect with the claws and suction cups on another quick-change platform.

[0352] That is, the battery module transport device connects the new model of claws 60 and suction cups 70 placed on another quick-change platform to adapt to the subsequent production of new models of batteries.

[0353] In this way, the control method realizes the coordination of the two quick-change platforms, improves the speed of replacing the claws 60 and the suction cups 70 of the battery module handling device, and improves the efficiency of production switching of the battery production line.

[0354] In some embodiments, before the determining step, the control method further includes:

[0355] Controlling a second locking structure 40 of a quick-change platform to be in a second unlocked state;

[0356] Controlling the quick-change platform to be converted into the second pick-and-place state, and controlling the corresponding second locking structure 40 to be in the second locking state;

[0357] Controlling the first locking structures 15 to be in the first unlocked state, controlling the movable mounting plate 112 to be in the fourth pick-and-place state, and controlling the corresponding first locking structures 15 to be in the first locked state;

[0358] Place the claws 60 of the target model on the gripper placement component 13, and place the suction cup 70 of the target model on the suction cup placement component 12;

[0359] The first locking structures 15 are controlled to be in the first unlocked state, the movable mounting plate 112 is controlled to be in the third pick-and-place state, and the corresponding first locking structures 15 are controlled to be in the first locked state.

[0360] In this way, the purpose of connecting the target model's claws 60 and the target model's suction cup 70 to the battery module handling device is achieved; by controlling the conversion of the first locking structure 15 between the first locking state and the first unlocking state, the purpose of placing the target model's claws 60 and suction cup 70 on the quick-change platform is achieved, and it is beneficial to maintain its stability during the placement process.

[0361] In some embodiments, controlling the second locking structure 40 of a quick-change platform to be in the second unlocked state specifically includes:

[0362] The second lever 45 is driven to rotate so that the inner wall of the second slide groove 45a abuts against the third rolling member 44, and the second push rod 43 is driven to move in the direction away from the second stop block 50 until the projection of the second lock head 40a is separated from the second stop block 50 in the projection along the moving direction of the tray kit 10.

[0363] In this way, the second locking structure 40 can be converted into the second unlocking state by driving the second shifting rod 45. The steps are simple and intuitive, and it is convenient for the staff to operate.

[0364] In some embodiments, controlling the first locking structure 15 to be in the first unlocked state specifically includes:

[0365] The first lever 155 is driven to rotate so that the inner wall of the first slide groove 155a abuts against the first rolling member 154, and the first push rod 153 is driven to move in the direction away from the first stop block 1121 until the projection of the first lock head 15a is separated from the first stop block 1121 in the projection along the moving direction of the tray kit 10.

[0366] In this way, the first locking structure 15 can be converted to the first unlocking state by driving the first shifting rod 155. The steps are simple and intuitive, and the staff can operate it easily.

[0367] In some embodiments, before controlling the movable mounting plate 112 to be in the third pick-and-place state, the control method further includes:

[0368] The control driving member 142 drives the portion of the through-beam photoelectric sensor 141 located on the moving path of the mounting plate 112 to move so that the through-beam photoelectric sensor 141 avoids the mounting plate 112 .

[0369] In this way, the through-beam photoelectric sensor 141 is prevented from interfering with the movement of the mounting plate 112 , thereby reducing the probability of damage caused by collision between the two.

[0370] It is understandable that the thing that moves may be the transmitting end of the through-beam photoelectric sensor 141; it may be the receiving end of the through-beam photoelectric sensor 141; or both the transmitting end and the receiving end may move.

[0371] In some embodiments, after the separation step, the control method further comprises:

[0372] The second locking structure 40 of the quick-change platform on which the old claws 60 and the suction cup 70 are placed is controlled to be in the second unlocked state;

[0373] Control the quick-change platform to be in the second pick-and-place state, and control the corresponding second locking structure 40 to be in the second locking state;

[0374] Controlling the first locking structures 15 of the tray assembly 10 to be in the first unlocked state, controlling the movable mounting plate 112 to be in the fourth pick-and-place state, and controlling the corresponding first locking structures 15 to be in the first locked state;

[0375] Remove the old claws 60 from the clamping claw placement assembly 13 and remove the old suction cup 70 from the suction cup placement assembly 12.

[0376] In this way, the process of transporting the old-type claws 60 and suction cups 70 does not interfere with the normal operation of the battery module transporting device, thereby improving production efficiency.

[0377] In some embodiments, before the driving battery module transport device moves to the preset installation position, the control method further includes:

[0378] The pushing end 134 a of the control pushing member 134 moves to a position where it abuts against the claw 60 .

[0379] In this way, the pushing member 134 is in contact with the claw 60. On the one hand, it is beneficial for the claw 60 to remain stable on the quick-change platform and reduce the chance of it falling; on the other hand, it is beneficial for suppressing the tendency of the battery module transporting device to move the claw 60 away from the contoured support block 131 during the separation process of the battery module transporting device and the claw 60.

[0380] The various embodiments / implementations provided in the present disclosure can be combined with each other without causing any contradiction.

[0381] The foregoing description is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Industrial Applicability

[0382] Embodiments of the present disclosure provide a quick-change platform, a battery production line, and a control method that can improve production efficiency.

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