A new energy vehicle battery intelligent assembly accompanying vehicle

Abstract

A smart, mobile trolley for the assembly of new energy vehicle batteries comprises a track and a flexible trolley on it, a gripper positioning mechanism, at least one tightening robot, a 2D vision intelligent camera, a 3D vision intelligent camera, and a controller. This invention achieves truly fully automated on-the-go assembly. Its flexible floating platform technology breakthrough solves the problem of errors introduced by the trolley during movement. This invention creates a completely new assembly method for new energy vehicle batteries, enabling automatic battery assembly without stopping the production line. Furthermore, it can meet the needs of chassis battery assembly for vehicles of varying specifications and models, enabling continuous assembly of chassis batteries and precise positioning of batteries relative to the vehicle body.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile manufacturing, and in particular to a small accompanying vehicle for intelligent assembly of batteries for new energy vehicles. Background Art

[0002] With the reduction of oil resources and serious pollution of the atmospheric environment, the development of new energy vehicles has become an inevitable trend in the development of the automobile industry. Major automobile manufacturers at home and abroad have adjusted their corporate strategic orientations, expanded rapidly and launched domestic online layouts. The traditional automobile industry has been unable to keep up with the pace of development of the times.

[0003] At present, during the automobile chassis battery assembly process, when the car body is suspended and transported to the battery installation and tightening area, the car main line stops and waits for the battery to be installed, resulting in the battery assembly being unable to proceed, causing production line pauses and waste. Summary of the Invention

[0004] The purpose of the present invention is to design an intelligent assembly accompanying cart for new energy vehicle batteries, effectively breaking through technical bottlenecks such as battery follow-up installation and error adaptive real-time compensation, breaking through conventions, and realizing fully automatic installation of batteries for new energy vehicles without stopping the line, forming an integrated operating platform for body clamp suspension transportation, body assembly, and robot accompanying assembly cart.

[0005] To achieve the above object, the technical solution of the present invention is:

[0006] A new energy vehicle battery intelligent assembly accompanying trolley, comprising: a track; a flexible walking trolley, arranged on the track; comprising: a base, which is a frame structure, a groove structure capable of walking on the track is provided in the center of its lower part; two Y-direction slide rails and a Y-direction slider thereon, the two Y-direction slide rails are respectively provided on both sides of the upper end surface of the base frame, and are arranged perpendicular to the track; a Y-direction movable base plate, the bottom surface of which is connected to the upper end surface of the Y-direction slider; a groove is provided in the front center of the Y-direction movable base plate, and a Y-direction stopper is vertically provided on both sides of the groove; a Y-direction mounting through hole is provided in the center of the Y-direction movable base plate, and an X-direction stopper is provided on the top surface of the Y-direction movable base plate on both sides of the axial direction of the track corresponding to the Y-direction mounting through hole; a Y-direction adjusting cylinder, which is provided by two parallel arrangements with opposite action directions. The first cylinder is fixed to the front center of the base frame structure and is located in the groove in the front center of the Y-axis movable base plate. The ends of the piston rod of the first cylinder correspond to the two Y-axis stoppers on both sides of the groove; two X-axis slide rails and their upper X-axis sliders, the two X-axis slide rails are arranged in parallel on both sides of the upper end surface of the Y-axis movable base plate and are arranged parallel to the rails; the bottom surface of the X-axis movable base plate is connected to the upper end surface of the X-axis slider; an X-axis mounting through hole is provided in the center of the X-axis movable base plate corresponding to the Y-axis mounting through hole; a universal ball is provided at each of the four corners of the X-axis movable base plate, and a pair of guide holes and their upper guide sleeves are provided at a diagonal position of the top surface of the X-axis movable base plate; a roller is protruded from the top surface of the X-axis movable base plate corresponding to the center of the two sides of the X-axis Dynamic bearing; X-direction adjustment cylinder, which consists of two second cylinders arranged in parallel and with opposite action directions, located in the X-direction mounting through hole in the center of the X-direction movable base plate, the X-direction adjustment cylinder body is fixed to the X-direction movable base plate on both sides of the X-direction mounting through hole, and the piston rod ends of the second cylinder respectively correspond to the two X-direction stoppers on both sides of the top surface of the Y-direction movable base plate; a floating platform is arranged parallel to the top of the X-direction movable base plate, and a limit block is respectively provided at the four corners of the bottom surface of the floating platform corresponding to the universal ball at the four corners of the X-direction movable base plate, and a limit groove is provided in the middle of the bottom surface of the limit block to cooperate with the universal ball; a waist-shaped hole which can be sleeved on the rolling bearing on the top surface of the X-direction movable base plate is respectively provided in the center of the two sides corresponding to the X direction of the floating platform; a diagonal position of the floating platform A pair of first guide holes and inner guide sleeves are provided corresponding to the two guide holes arranged diagonally on the top surface of the X-direction movable baseboard; a pair of second guide holes are provided at the other diagonal position of the floating platform; two Z-direction adjustment assemblies are respectively provided at the first guide holes and the guide holes arranged diagonally on the floating platform and the X-direction movable baseboard, and the Z-direction adjustment assembly includes: a Z-direction adjustment cylinder, whose cylinder body is respectively vertically provided at the two guide holes arranged diagonally on the bottom surface of the X-direction movable baseboard, and its piston rod extends from the guide hole; a Z-direction adjustment member, which consists of a Z-direction adjustment block and a rod body vertically extending from the center of its bottom surface; the bottom surface of the Z-direction adjustment block is a conical surface, and the lower end of the rod body passes through the first guide hole of the floating platform and is connected to the end of the piston rod of the Z-direction adjustment cylinder extending from the guide hole of the X-direction movable baseboard;The conical surface of the bottom surface of the Z-direction adjustment block cooperates with the first guide hole of the floating platform, and the waist-shaped holes in the center of the two sides corresponding to the X-direction of the floating platform cooperate with the rolling bearings on the top surface of the X-direction movable base plate to synchronously realize the floating adjustment of rotation around the Z direction; two adjustment connecting parts, which are T-shaped structures, include a disc and a connecting rod fixed to the center of its bottom surface; the lower part of the connecting rod passes through the second guide hole set diagonally on the floating platform and is connected to the top surface of the X-direction movable base plate; a number of universal balls are set along the circumference of the bottom surface of the disc, and the universal balls contact the top surface of the X-direction movable base plate; an encoder is set on the X-direction movable base plate One side of the plate; the coding ruler, corresponding to the encoder, is arranged on one side of the Y-direction movable base plate to realize the X-direction real-time position tracking detection and feedback; the holding fixture positioning mechanism includes at least two holding fixture positioning components, which are relatively arranged on both sides of the top surface of the floating platform, and the holding fixture positioning components include: a fixed column, which is vertically arranged on the top surface of the floating platform; the first and second lifting slides and their upper sliders, and the two lifting slides are respectively arranged on the two opposite sides of the upper part of the fixed column; a mounting plate, which is arranged on the slider of the first lifting slide; a baffle, which is arranged on the slider of the second lifting slide and is connected by a connecting plate The mounting plate; the first lifting cylinder, whose cylinder body is fixed to the lower part of one side of the fixed column, and the end of its piston rod is connected to the connecting plate; the clamping cylinder, whose cylinder body is fixed to the mounting plate, and its piston rod faces upward; the first clamping block is arranged on the slider of the first lifting slide rail, and the end of the piston rod of the clamping cylinder is connected to the first clamping block; the second clamping block is arranged on the inner side surface of the upper part of the baffle opposite to the first clamping block; the third clamping block, one end of which is connected to the side surface of the upper part of the baffle, and the other end is located on the side surface of the fixed column; the buffer is arranged on the inner side surface of the connecting plate; the buffer stop block is arranged on the buffer The floating platform comprises a fixed column on the side of the fixed column above the impactor; a proximity switch, disposed on the side of the fixed column on the side of the buffer stop block; at least one tightening robot, which is a six-axis robot with a tightening gun, disposed on the top surface of the floating platform; a 2D vision smart camera, mounted above the center of the floating platform corresponding to the X direction via a bracket; a 3D vision smart camera, mounted on the tightening robot; and a controller, to which the X-axis adjustment cylinder, Y-axis adjustment cylinder, Z-axis adjustment cylinder, encoder, clamping cylinder, tightening robot, proximity switch, 2D vision smart camera, and 3D vision smart camera are all connected.

[0007] Furthermore, it also includes a vehicle body positioning and fixing assembly, which includes: a third lifting slide rail and an upper slider thereof, which are arranged on the upper part of the fixed column and on the other side of the fixed column opposite to the buffer stop block; a mounting seat, a slider arranged on the third lifting slide rail; a second lifting cylinder, whose cylinder body is arranged at the lower part of the side of the fixed column below the third lifting slide rail, and the end of its piston rod is connected to the mounting seat; a positioning cylinder, whose cylinder body is fixed to the mounting seat, and the piston rod is vertically upward; a fixing pin, which is arranged at the end of the piston rod of the positioning cylinder; and an expansion sleeve, which is sleeved on the fixing pin.

[0008] Preferably, a fence and a guard plate are provided outside the base.

[0009] Preferably, the track is a seven-axis ground track.

[0010] Preferably, there are two or four tightening robots, which are symmetrically arranged on both sides of the top surface of the floating platform.

[0011] In the new energy vehicle battery intelligent assembly accompanying vehicle of the present invention:

[0012] The flexible walking trolley can realize real-time error compensation of the vehicle body clamp, flexible floating in the X and Y directions and flexible angle floating in the XY plane. The trolley is also equipped with a traveling encoder ruler, which can realize the relative position between the trolley base frame and the floating platform. When the trolley returns after traveling, the floating platform can realize the self-reset zero function.

[0013] The arm positioning mechanism can detect the arm's arrival signal and compensate for the positive and negative flexibility errors in the Z direction when the arm moves along the line.

[0014] The tightening robot works with a six-axis robot, a 2D / 3D vision intelligent camera, and a tightening gun. The 2D vision intelligent camera first scans the vehicle body and roughly positions it. The tightening robot then drives the 3D vision intelligent camera to scan the bolts on the battery to obtain precise deviation values ​​and transmit them to the robot. Guided by the 2D / 3D vision intelligent camera, the six-axis robot drives the tightening gun to the exact bolt position for the final tightening of the battery mounting bolts.

[0015] During the entire working process, the vehicle body holder is in a moving state, and the flexible walking trolley moves along with the holder on the seven-axis ground track.

[0016] The advantages or positive effects of the present invention compared with the prior art are as follows:

[0017] The flexible accompanying assembly trolley for new energy vehicle batteries of the present invention realizes truly fully automatic accompanying assembly. Its flexible floating platform technology breakthrough solves the error problem caused by the trolley during movement.

[0018] The present invention adopts error-adaptive real-time compensation technology to achieve flexible floating of the body clamp in the X and Y directions and positive and negative compensation in the Z direction. This breaks through the convention and realizes the fully automatic installation of batteries for new energy vehicles without stopping the production line, greatly improving production efficiency and conforming to the development concept of modern precision production management and cost reduction of the automotive ecological chain.

[0019] This invention abandons traditional manual assembly and realizes intelligent and automatic assembly of batteries, reducing labor costs and increasing production efficiency; it creates a new assembly method for new energy vehicle batteries, allowing the battery to be automatically assembled without stopping the vehicle.

[0020] The present invention can meet the needs of assembling chassis batteries of automobiles with different specifications and models, realizes the assembly of chassis batteries of automobiles without stopping the line, and ensures that the battery assembly is carried out along with the main line. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A perspective view of an embodiment of the present invention;

[0022] Figure 2 A three-dimensional diagram of a flexible walking vehicle in an embodiment of the present invention;

[0023] Figure 3 This is a three-dimensional diagram of the flexible walking vehicle (without the fence) in an embodiment of the present invention;

[0024] Figure 4 A three-dimensional decomposition of the flexible walking vehicle (without the fence) in an embodiment of the present invention Figure 1 ;

[0025] Figure 5 A three-dimensional decomposition of the flexible walking vehicle (without the fence) in an embodiment of the present invention Figure 2 ;

[0026] Figure 6 A three-dimensional decomposition of the flexible walking vehicle (without the fence) in an embodiment of the present invention Figure 3 ;

[0027] Figure 7 The three-dimensional positioning mechanism of the holding device in the embodiment of the present invention is shown in FIG. Figure 1 ;

[0028] Figure 8 The three-dimensional positioning mechanism of the holding device in the embodiment of the present invention is shown in FIG. Figure 2 ;

[0029] Figure 9 This is a three-dimensional diagram of a tightening robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] See also Figures 1 to 9 The new energy vehicle battery intelligent assembly accompanying vehicle of the present invention comprises:

[0031] Track 100;

[0032] The flexible walking trolley 200 is arranged on the track 100 and includes:

[0033] The base 1 is a frame structure, and a groove structure 101 is provided in the center of the lower part thereof for walking on the track 100;

[0034] Two Y-direction slide rails 2, 2' and their upper Y-direction sliders, the two Y-direction slide rails 2, 2' are respectively arranged on both sides of the upper end surface of the base 1 frame, and are arranged perpendicular to the track 100;

[0035] A Y-direction movable base plate 3 has its bottom surface connected to the upper end surfaces of the Y-direction sliders 2 and 2'; a groove 31 is provided in the front center of the Y-direction movable base plate 3, and a Y-direction stopper 32 and 32' are vertically provided on both sides of the groove 31; a Y-direction mounting through hole 33 is provided in the center of the Y-direction movable base plate 3, and an X-direction stopper 34 and 34' are provided on the top surface of the Y-direction movable base plate 31 on both axial sides of the track 100.

[0036] The Y-direction adjustment cylinder 4 is composed of two first cylinders 41 and 42 arranged in parallel and acting in opposite directions. The cylinder body is fixed to the front center of the frame structure of the base 1 and is located in the groove 31 in the front center of the Y-direction movable base plate 3. The piston rod ends of the first cylinders 41 and 42 correspond to the two Y-direction stoppers 32 and 32' on both sides of the groove 31 respectively;

[0037] Two X-direction slide rails 5, 5' and their upper X-direction sliders, the two X-direction slide rails 5, 5' are arranged in parallel on both sides of the upper end surface of the Y-direction movable base plate 3 and are arranged parallel to the track 100;

[0038] An X-direction movable base plate 6 has its bottom surface connected to the upper end surface of the X-direction slider; an X-direction mounting through hole 61 is provided in the center of the X-direction movable base plate 6 corresponding to the Y-direction mounting through hole 33; a universal ball bearing 62, 62' is provided at each of the four corners of the X-direction movable base plate 6, and a pair of guide holes 63, 63' and upper guide sleeves are provided at a diagonal position on the top surface of the X-direction movable base plate 6; and a rolling bearing 64, 64' is provided protrudingly at the center of each side of the top surface of the X-direction movable base plate 6 corresponding to the X direction.

[0039] The X-direction adjustment cylinder 7 is composed of two second cylinders 71 and 72 arranged in parallel and acting in opposite directions. The cylinder is located in the X-direction mounting hole 61 in the center of the X-direction movable base plate 6. The cylinder body of the X-direction adjustment cylinder 7 is fixed to the X-direction movable base plate 6 on both sides of the X-direction mounting hole 61. The piston rod ends of the second cylinders 71 and 72 correspond to the two X-direction stoppers 34 and 34' on both sides of the top surface of the Y-direction movable base plate 3 respectively.

[0040] The floating platform 8 is arranged parallel to the top of the X-direction movable base plate 6. The four corners of the bottom surface of the floating platform 8 corresponding to the universal ball 62, 62' at the four corners of the X-direction movable base plate 6 are respectively provided with a limit block 81, 81', and the middle of the bottom surface of the limit block 81, 81' is provided with a limit groove that cooperates with the universal ball 62, 62'; the center of the two sides of the floating platform 8 corresponding to the X direction is respectively provided with a waist-shaped hole 82, 82' that can be sleeved on the rolling bearing 64, 64' on the top surface of the X-direction movable base plate 6; a pair of first guide holes 83, 83' and their inner guide sleeves are provided at a diagonal position of the floating platform 8 corresponding to the two guide holes 63, 63' diagonally arranged on the top surface of the X-direction movable base plate 6; a pair of second guide holes 84, 84' are provided at the other diagonal position of the floating platform 8;

[0041] Two Z-direction adjustment components 9, 9' are respectively arranged at the first guide holes 83, 83' and guide holes 63, 63' arranged diagonally on the floating platform 8 and the X-direction movable base plate 6. The Z-direction adjustment component 9 (taking the Z-direction adjustment component 9 as an example, the same below) includes:

[0042] The Z-direction regulating cylinder 91 has a cylinder body vertically disposed at two guide holes 63 arranged diagonally on the bottom surface of the X-direction movable base plate 6, and its piston rod extends from the guide holes 63;

[0043] The Z-direction adjustment member 92 comprises a Z-direction adjustment block 921 and a rod 922 extending vertically from the center of its bottom surface. The bottom surface of the Z-direction adjustment block 921 is a conical surface, and the lower end of the rod 922 passes through the first guide hole 83 of the floating platform 8 and is connected to the end of the piston rod of the Z-direction adjustment cylinder 92 extending from the guide hole 63 of the X-direction movable base plate 6. The conical surface of the bottom surface of the Z-direction adjustment block 92 cooperates with the first guide hole 83 of the floating platform 8, and the waist-shaped holes 82 in the center of both sides of the floating platform 8 corresponding to the X-direction cooperate with the rolling bearing 64 on the top surface of the X-direction movable base plate 6 to synchronously realize the Z-direction rotational floating adjustment.

[0044] Two adjusting connectors 93, 93', each of which (using adjusting connector 93 as an example, the same below) is a T-shaped structure, including a disk 931 and a connecting rod 932 fixed to the center of its bottom surface; the lower portion of the connecting rod 932 passes through the second guide hole 84 arranged diagonally on the floating platform 8 and is connected to the top surface of the X-direction movable base plate 6; a plurality of universal ball bearings 933 are provided along the circumference of the bottom surface of the disk 931, and the universal ball bearings 933 contact the top surface of the X-direction movable base plate 6;

[0045] The encoder 10 is provided on one side of the X-direction movable substrate 6;

[0046] The code ruler 11 corresponds to the encoder 10 and is provided on one side of the Y-direction movable substrate 3;

[0047] The gripper positioning mechanism 300 includes at least two gripper positioning components 12 and 12', which are disposed on opposite sides of the top surface of the floating platform 8. The gripper positioning component 12 (take the gripper positioning component 12 as an example, the same below) includes:

[0048] A fixed column 121 is vertically arranged on the top surface of the floating platform 8;

[0049] The first and second lifting rails 122, 122' and their upper sliders, the two lifting rails 122, 122' are respectively arranged on two opposite sides of the upper portion 121 of the fixed column;

[0050] A mounting plate 123 , which is mounted on the slider of the first lifting rail 122 ;

[0051] a baffle 124, which is disposed on the slider of the second lifting rail 122' and is connected to the mounting plate 123 via a connecting plate 125;

[0052] A first lifting cylinder 126, whose cylinder body is fixed to the lower part of a side surface of the fixed column 121, and whose piston rod end is connected to the connecting plate 125;

[0053] The clamping cylinder 127 has a cylinder body fixed on the mounting plate 123 and a piston rod pointing upward;

[0054] A first clamping block 128 is provided on the slider of the first lifting rail 122 , and the piston rod end of the clamping cylinder 127 is connected to the first clamping block 128 ;

[0055] A second clamping block 128 ′ is disposed on the inner side surface of the upper portion of the baffle 124 opposite to the first clamping block 128 ;

[0056] A third clamping block 128 ″ has one end connected to the side surface of the upper portion of the baffle 124 and the other end located on the side surface of the fixed column 121 ;

[0057] A buffer 129 is provided on the inner side of the connecting plate 125;

[0058] A buffer stop block 1291 is provided on the side of the fixed column 121 above the buffer 129;

[0059] A proximity switch 1292 is provided on a side surface of the fixed column 121 on one side of the buffer stop block 1291;

[0060] At least one tightening robot 400, which is a six-axis robot with a tightening gun 401, is installed on the top surface of the floating platform 8;

[0061] A 2D visual inspection smart camera 500 is mounted above the center of one side of the floating platform 8 corresponding to the X direction via a bracket;

[0062] A 3D visual inspection smart camera 600 is provided on the tightening robot 400;

[0063] A controller (not shown), the X-axis adjustment cylinder, the Y-axis adjustment cylinder, the Z-axis adjustment cylinder, the encoder, the clamping cylinder, the tightening robot, the proximity switch, the 2D vision smart camera, and the 3D vision smart camera are all connected to the controller.

[0064] Furthermore, a vehicle body positioning and fixing assembly 13 is included, which includes:

[0065] The third lifting rail 131 and its upper slider are arranged on the upper part of the fixed column 121 and on the other side of the fixed column 121 opposite to the buffer stop block 1291;

[0066] A mounting seat 132 is provided on the slider on the third lifting rail 131;

[0067] A second lifting cylinder 133, whose cylinder body is arranged at the lower part of the side of the fixed column 121 below the third lifting rail 131, and the end of its piston rod is connected to the mounting seat 132;

[0068] The positioning cylinder 134 has a cylinder body fixed to the mounting base 132 and a piston rod pointing vertically upward;

[0069] A fixing pin 135 is provided at the end of the piston rod of the positioning cylinder 134;

[0070] An expansion sleeve 136 is sleeved on the fixing pin 135;

[0071] The first and second lifting cylinders and the positioning cylinder are connected to the controller.

[0072] Preferably, a fence and a guard plate 14 are provided outside the base 1 .

[0073] Preferably, the track 100 is a seven-axis ground track.

[0074] Preferably, there are two or four tightening robots 400 , which are symmetrically arranged on both sides of the top surface of the floating platform 8 .

[0075] The working process of the new energy vehicle battery intelligent assembly accompanying vehicle of the present invention is as follows:

[0076] After the clamp positioning mechanism detects that the vehicle body clamp is in place, the clamping cylinder clamps the clamp. At the same time, the floating platform of the flexible walking trolley adaptively compensates for the vehicle body clamp error in real time, ensuring that the flexible walking trolley remains relatively stationary with the vehicle body clamp during the accompanying process.

[0077] The 2D vision smart camera captures some features of the vehicle body, calculates the initial XY position of the battery, and gives the offset to the robot. The tightening robot adjusts the 3D scanning position of the bolt based on the offset of the 2D vision smart camera;

[0078] After the 3D vision intelligent camera completes the scan, it sends the calculated position offset information to the robot. At the same time, the tightening robot drives the tightening gun to the tightening position to perform the final tightening of the bolt.

[0079] After all the bolts are tightened, the accompanying positioning mechanism retracts and disengages from the vehicle body clamp. At the same time, the floating platform of the flexible walking trolley resets itself, and the flexible walking trolley moves to the beginning of the seven-axis ground rail to wait for the next vehicle to cycle.

[0080] The present invention creates an integrated working platform for vehicle body clamp suspension transportation, vehicle body assembly, and robot-assisted assembly carts, thereby expanding the utilization of automobile assembly space, reducing waste, pursuing flexible assembly of batteries on the bottom of the vehicle, enhancing spatial matching of the automobile industry chain, and ensuring sustainable and synchronous coordination of automobile bottom assembly.

Claims

1. A new energy vehicle battery intelligent assembly accompanying vehicle, characterized in that: include: track; A flexible walking trolley is arranged on the track; It includes: The base is a frame with a groove structure at the center of its lower part that can walk on the track; Two Y-direction slide rails and a Y-direction slider thereon, the two Y-direction slide rails being respectively arranged on both sides of the upper end surface of the frame of the base and arranged perpendicular to the horizontal direction of the track; A Y-direction movable base plate, the bottom surface of which is connected to the upper end surface of the Y-direction slider; a groove is provided in the front center of the Y-direction movable base plate, and a Y-direction stopper is vertically provided on both sides of the groove; a Y-direction mounting through hole is provided in the center of the Y-direction movable base plate, and an X-direction stopper is provided on the top surface of the Y-direction movable base plate on both sides of the Y-direction mounting through hole corresponding to the axial direction of the track; A Y-axis adjustment cylinder, which is composed of two first cylinders arranged in parallel and acting in opposite directions, wherein the cylinder body is fixed to the front center of the frame of the base and is located in a groove in the front center of the Y-axis movable base plate, and the ends of the piston rods of the first cylinders correspond to the two Y-axis stoppers on both sides of the groove; Two X-direction slide rails and an upper X-direction slider, the two X-direction slide rails are arranged parallel to both sides of the upper end surface of the Y-direction movable base plate and are arranged parallel to the track; An X-direction movable base plate, the bottom surface of which is connected to the upper end surface of the X-direction slider; an X-direction mounting through hole is provided in the center of the X-direction movable base plate corresponding to the Y-direction mounting through hole; a universal ball bearing is provided at each of the four corners of the X-direction movable base plate, and a pair of guide holes and upper guide sleeves are provided at a diagonal position on the top surface of the X-direction movable base plate; a rolling bearing is protruded from the center of each of the two sides of the top surface of the X-direction movable base plate corresponding to the X direction; The X-direction adjustment cylinder is composed of two second cylinders arranged in parallel and acting in opposite directions. The cylinders are located in the X-direction mounting through-hole in the center of the X-direction movable baseplate. The cylinder bodies of the X-direction adjustment cylinders are fixed to the X-direction movable baseplates on both sides of the X-direction mounting through-hole. The ends of the piston rods of the second cylinders correspond to the two X-direction stoppers on both sides of the top surface of the Y-direction movable baseplate. The floating platform is arranged parallel to the top of the X-direction movable base plate, and a limit block is respectively provided at the four corners of the bottom surface of the floating platform corresponding to the universal ball at the four corners of the X-direction movable base plate, and a limit groove is provided in the middle of the bottom surface of the limit block to cooperate with the universal ball; the center of the two sides of the floating platform corresponding to the X direction is respectively provided with a waist-shaped hole that can be sleeved on the rolling bearing on the top surface of the X-direction movable base plate; a pair of first guide holes and their inner guide sleeves are provided at a diagonal position of the floating platform corresponding to the two guide holes arranged diagonally on the top surface of the X-direction movable base plate; a pair of second guide holes are provided at the other diagonal position of the floating platform; Two Z-direction adjustment components are respectively arranged at the first guide hole and the guide hole arranged diagonally on the floating platform and the X-direction movable base plate, and the Z-direction adjustment components include: The Z-direction regulating cylinder has a cylinder body vertically disposed at two guide holes arranged diagonally on the bottom surface of the X-direction movable base plate, and a piston rod thereof extends from the guide holes; The Z-axis adjustment member consists of a Z-axis adjustment block and a rod extending vertically from the center of its bottom surface. The bottom surface of the Z-axis adjustment block is a conical surface, and the lower end of the rod passes through the first guide hole of the floating platform and is connected to the end of the Z-axis adjustment cylinder piston rod extending from the guide hole of the X-axis movable baseplate. The conical surface of the bottom surface of the Z-axis adjustment block cooperates with the first guide hole of the floating platform, and the waist-shaped holes in the center of both sides of the floating platform corresponding to the X-axis cooperate with the rolling bearings on the top surface of the X-axis movable baseplate to synchronously achieve rotational floating adjustment around the Z-axis. Two adjustable connecting members, each of which is a T-shaped structure, including a circular disc and a connecting rod fixed to the center of its bottom surface; the lower portion of the connecting rod passes through a second guide hole arranged diagonally on the floating platform and is connected to the top surface of the X-direction movable base plate; a plurality of universal ball bearings are provided along the circumference of the bottom surface of the circular disc, and the universal ball bearings contact the top surface of the X-direction movable base plate; An encoder is provided on one side of the X-direction movable substrate; A coding ruler, corresponding to the encoder, is provided on one side of the Y-direction movable substrate; The grip positioning mechanism includes at least two grip positioning components, which are arranged on both sides of the top surface of the floating platform. The grip positioning components include: A fixed column is vertically arranged on the top surface of the floating platform; First and second lifting rails and upper sliders thereof, wherein the two lifting rails are respectively arranged on two opposite sides of the upper portion of the fixed column; A mounting plate, arranged on the slider of the first lifting rail; a baffle, disposed on the slider of the second lifting rail and connected to the mounting plate via a connecting plate; A first lifting cylinder, the cylinder body of which is fixed to the lower part of one side of the fixed column, and the end of the piston rod of which is connected to the connecting plate; A clamping cylinder, the cylinder body of which is fixed to the mounting plate and the piston rod of which is upward; A first clamping block is provided on the slider of the first lifting slide rail, and the end of the piston rod of the clamping cylinder is connected to the first clamping block; a second clamping block, disposed on the inner side surface of the upper portion of the baffle opposite to the first clamping block; a third clamping block, one end of which is connected to the side surface of the upper portion of the baffle, and the other end of which is located on the side surface of the column; a buffer, arranged on the inner side of the connecting plate; A buffer stop block is provided on the side of the fixed column above the buffer; a proximity switch, arranged on the side of the column on one side of the buffer stop block; at least one tightening robot, which is a six-axis robot with a tightening gun, arranged on the top surface of the floating platform; A 2D vision intelligent camera is arranged above the center of one side of the floating platform corresponding to the X direction through a bracket; A 3D vision intelligent camera is provided on the tightening robot; The controller is connected to the X-axis adjustment cylinder, the Y-axis adjustment cylinder, the Z-axis adjustment cylinder, the encoder, the clamping cylinder, the tightening robot, the proximity switch, the 2D vision smart camera, and the 3D vision smart camera.

2. The new energy vehicle battery intelligent assembly accompanying vehicle according to claim 1, characterized in that: Also included is a vehicle body positioning and fixing assembly, which includes: The third lifting rail and its upper slider are arranged on the upper part of the fixed column and on the other side of the fixed column opposite to the buffer stop block; A mounting seat, a slider disposed on the third lifting rail; a second lifting cylinder, the cylinder body of which is arranged at the lower part of the side of the fixed column below the third lifting slide rail, and the end of the piston rod of which is connected to the mounting seat; A positioning cylinder, the cylinder body of which is fixed to the mounting seat and the piston rod of which is vertically upward; A fixing pin, provided at the end of the piston rod of the positioning cylinder; an expansion sleeve, sleeved on the fixing pin; The first and second lifting cylinders and the positioning cylinder are connected to the controller.

3. The new energy vehicle battery intelligent assembly accompanying vehicle according to claim 1, characterized in that: A fence and a guard plate are also arranged outside the base.

4. The new energy vehicle battery intelligent assembly accompanying vehicle according to claim 1, characterized in that: There are two or four tightening robots, which are symmetrically arranged on both sides of the top surface of the floating platform.

5. The new energy vehicle battery intelligent assembly accompanying vehicle according to claim 1, characterized in that: The track is a seven-axis ground track.

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