Automatic assembly system and method for finished car power battery off-line and lower shell on-line

Abstract

The present invention relates to an automatic assembly system for finished product off-line and lower shell on-line of automobile power battery. At least two material cart positioning devices are arranged on one side of the robot's seventh walking axis, and a trolley positioning device is arranged on the other side. At least one material cart positioning device is used to position the finished product material cart, at least one material cart positioning device is used to position the lower shell material cart, and the trolley positioning device is used to position the AGV carrying trolley; the upper and lower line robots are arranged on the robot's seventh walking axis, and the upper and lower line grippers are arranged on the upper and lower line robots; the trolley positioning device, the robot's seventh walking axis, the upper and lower line robots, the upper and lower line grippers and the material cart positioning device are electrically connected to the control device respectively, and the upper and lower line grippers are equipped with visual equipment. The beneficial effects are: overall planning of the layout of the finished product PACK off-line and the lower shell on-line workstations, realizing the robot vision-guided automatic off-line of the finished product PACK and the automatic on-line of the lower shell, the robot utilization rate is more than 90%, and the production cycle is 165 seconds.

Description

Technical Field

[0001] The present invention relates to the field of automobile assembly production, and in particular to an automatic assembly system and method for off-line finished product and on-line lower shell of automobile power battery. Background Art

[0002] The battery specifications and production processes are diverse, and the precision of finished products and shells is low. At present, the finished products are mostly transplanted manually, which restricts the development of the industrialized automated production line of power battery packs and the automated productivity is not high. The capacity substitution caused by the gradual replacement of fuel vehicles by new energy vehicles has caused the current battery assembly line to have a far insufficient capacity, and it is urgent to improve the automated productivity. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an automatic assembly system and method for the off-line and on-line assembly of finished automotive power batteries, so as to overcome the deficiencies in the above-mentioned prior art.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: an automatic assembly system for finished products of automobile power batteries off-line and lower shells on-line, comprising: a trolley positioning device, a robot's seventh walking axis, an upper and lower line robot, an upper and lower line gripper, a material cart positioning device and a control device. At least two material cart positioning devices are arranged on one side of the robot's seventh walking axis, and a trolley positioning device is arranged on the other side. At least one material cart positioning device is used to position the finished product material cart, at least one material cart positioning device is used to position the lower shell material cart, and the trolley positioning device is used to position the AGV carrying trolley; the upper and lower line robots are arranged on the robot's seventh walking axis, and the upper and lower line grippers are arranged on the upper and lower line robots; the trolley positioning device, the robot's seventh walking axis, the upper and lower line robots, the upper and lower line grippers and the material cart positioning device are electrically connected to the control device respectively, and the upper and lower line grippers are provided with visual equipment.

[0005] Based on the above technical solution, the present invention can also be improved as follows.

[0006] Furthermore, the trolley positioning device includes: a trolley positioning base, a first X-direction guide rail, a first Y-direction clamping cylinder, a first Y-direction pressure arm, a first Z-direction trolley pressure block and an optical communication switch. The two first X-direction guide rails are arranged side by side at a corresponding height above the trolley positioning base, the two first X-direction guide rails are fixed to the trolley positioning base, and the first Z-direction trolley pressure blocks are arranged at both ends of the first X-direction guide rail; the first Y-direction clamping cylinder is arranged at both ends of the first X-direction guide rail, the first Y-direction pressure arm is rotatably arranged at both ends of the first X-direction guide rail, and the piston rod of the first Y-direction clamping cylinder is rotatably connected to the first Y-direction pressure arm; an optical communication switch is arranged at the corresponding position on the trolley positioning base.

[0007] Furthermore, the trolley positioning device includes: a trolley positioning base, a Y-direction trolley front end limiting device, a second X-direction guide rail, an X-direction guide wheel, a second Y-direction clamping cylinder and a second Y-direction pressure arm. The two second X-direction guide rails are arranged side by side at a corresponding height above the trolley positioning base, the two second X-direction guide rails are fixed to the trolley positioning base, and X-direction guide wheels are arranged on opposite sides of the two second X-direction guide rails; a second Y-direction clamping cylinder is arranged at one end of the second X-direction guide rail, and a Y-direction trolley front end limiting device is arranged on the trolley positioning base at the other end; the second X-direction guide rail has a second Y-direction clamping cylinder at one end thereof, and the second Y-direction pressure arm is rotatably arranged, and the second Y-direction pressure arm is rotatably connected to the piston rod of the second Y-direction clamping cylinder.

[0008] Furthermore, the front end limiting device of the Y-axis trolley includes: a support seat and a buffer arranged on the support seat, a front end stop block of the Y-axis trolley and a proximity switch.

[0009] Furthermore, the upper and lower line grippers include: a finished product offline rack, a finished product fixed end clamping claw, a finished product movable end clamping claw, a finished product offline clamping cylinder, a visual device, an in-situ detection switch, a lower shell upper rack, an upper line anti-falling clamping claw, an upper line anti-falling cylinder, a vacuum suction cup, a vacuum generator and a laser rangefinder. The finished product offline clamping cylinder is arranged on the finished product offline rack, the finished product movable end clamping claw is arranged opposite to the finished product fixed end clamping claw, the upper end of the finished product fixed end clamping claw is connected to the finished product offline rack, the upper end of the finished product movable end clamping claw is connected to the piston rod of the finished product offline clamping cylinder, and the visual device and in-position detection switch are arranged at corresponding positions on the finished product offline rack; four online anti-falling cylinders are arranged on the online rack of the lower shell body, and four online anti-falling claws are rotatably arranged on the online rack of the lower shell body at corresponding positions, the piston rods of the four online anti-falling cylinders are rotatably connected with the four online anti-falling claws in a one-to-one correspondence, vacuum suction cups are arranged on both sides of each online anti-falling claw on the online rack of the lower shell body, the vacuum generator and the laser rangefinder are arranged at corresponding positions on the online rack of the lower shell body, the vacuum generators are respectively connected with each vacuum suction cup, and the finished product offline rack is connected with the online rack of the lower shell body.

[0010] Furthermore, the upper and lower line grippers also include: a plurality of adjustable brackets, and adjustable brackets are arranged on both sides of each upper line anti-falling clamping claw on the upper line rack of the lower shell body, and the vacuum suction cup is arranged on the adjustable bracket.

[0011] Furthermore, flanges are provided on both the finished product lower wire rack and the lower shell upper wire rack.

[0012] Furthermore, the upper and lower line grippers also include: a finished product gripper guide, and a finished product gripper guide is arranged on the finished product offline rack.

[0013] Furthermore, the upper and lower line grippers also include: a finished product gripper upper limiter, and the finished product gripper upper limiters are set on opposite sides of the finished product fixed end clamping jaw and the finished product movable end clamping jaw.

[0014] Furthermore, elastic pads are provided on opposite sides of the finished product fixed end clamping jaw and the finished product movable end clamping jaw.

[0015] Based on the above technical solution, the present invention also provides a method for assembling finished automobile power batteries offline and lower shells online based on an automatic assembly system for finished automobile power batteries offline and lower shells online, comprising the following steps:

[0016] S01, AGV carrying trolley is in place;

[0017] S02, the up-and-down line robots receive the trolley arrival signal and PACK information;

[0018] S03, the seventh walking axis of the robot drives the upper and lower line robots to run to the finished product off-line station, and the upper and lower line robots carry the visual equipment to re-position the positioning hole of the finished product PACK;

[0019] S04, the upper and lower line robots cooperate with the upper and lower line grippers to grab the finished product PACK and put it into the finished product material cart;

[0020] S05, release the AGV carrier trolley positioning, and the AGV carrier trolley enters the next station;

[0021] S06, the seventh walking axis of the robot drives the upper and lower line robots to run to the lower shell upper line station;

[0022] S07, the upper and lower line robots receive the trolley arrival signal, the upper and lower line robots are above the trolley, the lower shell is on the line, and the carrying visual equipment repositions the lower shell positioning pin;

[0023] S08. The visual device guides the upper and lower line robots to cooperate with the upper and lower line grippers to grab the lower shell on the lower shell material cart and place it on the AGV carrying trolley;

[0024] S09, the upper and lower line robots return to their positions, the trolley positioning device releases the AGV-carrying trolley, and the AGV-carrying trolley enters the next process;

[0025] S10, the up-and-down line robots move to the PACK down-line station.

[0026] The beneficial effects of the present invention are:

[0027] 1) Overall planning of the layout of the finished product PACK offline and lower shell online stations, to achieve robot vision-guided automatic offline of the finished product PACK and automatic online of the lower shell, with a robot utilization rate of more than 90% and a production cycle of 165 seconds;

[0028] 2) The consistency of the material cart is poor. By setting the material cart positioning device, the X and Y positions of the material cart are initially positioned to ensure that the visual guidance gripper can grasp accurately within the range;

[0029] 3) The trolley positioning device positions the AGV trolley in the X, Y, and Z directions. The positioning accuracy can meet the automatic placement accuracy of the lower shell: ±0.2mm, and the visual guidance robot lower shell line accuracy rate ≥99%;

[0030] 4) The material cart has poor material accuracy. The 3D vision-guided robot grasping can achieve an automatic grasping accuracy of ±0.5mm for the finished product PACK, which completely solves the problem of unstable robot grasping. The production line will no longer stop, and the company no longer needs to arrange manual processing of on-site problems, saving a lot of manpower and material resources, greatly improving production efficiency. The accuracy rate of finished product offline guided by the vision-guided robot is ≥99%;

[0031] 5) The upper and lower lines share a common gripper, which can complete the requirements of finished product PACK offline and lower shell online without switching the fixture, and ensure the grasping accuracy and safety to prevent falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a structural diagram of the automatic assembly system for the finished product of the automobile power battery off-line and the lower shell on-line according to the present invention;

[0033] Figure 2 This is a structural diagram of the trolley positioning device of the present invention;

[0034] Figure 3 It is a structural diagram of the material vehicle positioning device of the present invention;

[0035] Figure 4 It is a structural diagram of the upper and lower line grippers of the present invention.

[0036] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0037] 1. Trolley positioning device, 101. Trolley positioning base, 102. First X-axis guide rail, 103. First Y-axis clamping cylinder, 104. First Y-axis pressure arm, 105. First Z-axis trolley pressure block, 106. Optical communication switch, 2. Robot seventh walking axis, 3. Up and down line robot, 4. Up and down line gripper, 401. Finished product offline rack, 402. Finished product fixed end clamp, 403. Finished product movable end clamp, 404. Finished product offline clamping cylinder, 405. Visual equipment, 406. In-situ detection switch, 407. Lower shell online rack, 408. Online anti-falling clamp, 409. Online anti-falling cylinder, 410. Vacuum suction cup, 411. Vacuum generator, 412. Laser rangefinder, 413. Adjustable bracket, 414. Finished product gripper guide, 415, finished product gripper upper limit, 416, elastic pad, 417, double slider guide rail, 5, trolley positioning device, 501, trolley positioning base, 502, Y-axis trolley front end limit device, 503, second X-axis guide rail, 504, X-axis guide wheel, 505, second Y-axis clamping cylinder, 506, second Y-axis pressure arm, 507, Y-axis trolley front end stop block, 508, proximity switch, 509, buffer, 6, finished product trolley, 7, lower shell trolley, 8, AGV carrying trolley, 9, safety guardrail, 901, safety grating, 10, robot pipeline package, 11, robot control cabinet, 12, PLC control cabinet, 13, HMI control cabinet, 14, MES control cabinet, 15, visual control cabinet. DETAILED DESCRIPTION

[0038] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0039] Example 1

[0040] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, an automatic assembly system for finished product off-line and lower shell on-line of automobile power battery includes: a trolley positioning device 1, a robot seventh walking axis 2, an upper and lower line robot 3, an upper and lower line gripper 4, a material car positioning device 5 and a control device;

[0041] At least two trolley positioning devices 5 are arranged on one side of the seventh walking axis 2 of the robot, and a trolley positioning device 1 is arranged on the other side of the seventh walking axis 2 of the robot, wherein at least one trolley positioning device 5 is used to position the finished product trolley 6, and at least one trolley positioning device 5 is used to position the lower shell trolley 7. Under normal circumstances, in order to avoid system shutdown, the two trolley positioning devices 5 are used for positioning the finished product offline trolley, so there are two finished product offline stations, one for use and one for standby, to achieve non-stop operation; the two trolley positioning devices 5 are used for positioning the lower shell online trolley, so there are two lower shell online stations, one for use and one for standby, to achieve non-stop operation, and the trolley positioning device 1 is used to position the AGV carrying trolley 8;

[0042] The up-and-down line robot 3 is arranged on the seventh walking axis 2 of the robot. The up-and-down line robot 3 can reciprocate on the seventh walking axis 2 of the robot, so as to realize the switching between the lower shell on-line and the finished product off-line. The up-and-down line gripper 4 is arranged on the up-and-down line robot 3. The up-and-down line gripper 4 can be used for both the lower shell on-line and the finished product off-line. The up-and-down line gripper 4 is provided with a visual device 405. The up-and-down line robot 3 is provided with a robot pipeline package 10;

[0043] Considering the space occupied by the four material carts and the accessibility of the upper and lower line robots 3, the upper and lower line robots 3 are equipped with the seventh walking axis 2 of the robot, so that the upper and lower line robots 3 can reach the working range of the two stations. The process of the upper and lower line robots 3 is reasonably designed to complete the finished product offline and lower shell online processes within the beat. In the process of designing the robot process, the robot utilization is fully considered;

[0044] The trolley positioning device 1 communicates bidirectionally with the control device, the robot's seventh walking axis 2 is electrically connected to the control device, the upper and lower line robots 3 are electrically connected to the control device, the upper and lower line grippers 4 communicate bidirectionally with the control device, and the material car positioning device 5 communicates bidirectionally with the control device.

[0045] The up-and-down line robot 3 is a six-axis industrial robot, which is installed on the seventh walking axis 2 of the robot. The working range is expanded through the seventh walking axis 2 of the robot. The working range of the up-and-down line robot 3 covers 4 parallel material carts and an operating trolley. After the robot's working space is expanded through the seventh walking axis 2 of the robot, the finished battery PACK and the lower shell are grasped and placed in the trolley and material workshop.

[0046] The upper and lower line robot 3 can reciprocate between the two working positions of the finished product lower line and the lower shell upper line through the robot's seventh walking axis 2;

[0047] Configure visual equipment 405 to complete the automatic unloading of PACK finished products and automatic loading of lower shells through visual guidance;

[0048] The finished product off-line station is equipped with two material carts, each of which can hold three finished product PACKs. The lower shell on-line station is equipped with two material carts, each of which can hold 6 layers of 12 lower shells.

[0049] Under visual guidance, the upper and lower line robots 3 cooperate with the upper and lower line grippers 4 to grab the lower shell and place it on the trolley on the trolley positioning device 1;

[0050] After the finished product cart has placed three finished product PACKs, the AGV carrying the cart is transported to the logistics area along a dedicated track;

[0051] After the lower shell material cart has grabbed 12 lower shells, the AGV carries the empty material cart and transports it to the logistics area along a dedicated route;

[0052] In order to ensure the automation rate and rhythm of the robot, two lower shell material carts and two finished product material carts are set up, one for use and one for backup, to achieve non-stop operation. The upper and lower line grippers 4 are multifunctional and can realize the grabbing and transportation of finished products off the line and the grabbing and placement of the lower shell on the line.

[0053] Example 2

[0054] like Figure 2 As shown, this embodiment is a further improvement on the basis of embodiment 1, and the details are as follows:

[0055] The trolley positioning device 1 comprises: a trolley positioning base 101, a first X-direction guide rail 102, a first Y-direction clamping cylinder 103, a first Y-direction pressing arm 104, a first Z-direction trolley pressing block 105 and an optical communication switch 106;

[0056] Two first X-direction guide rails 102 are arranged side by side at a corresponding height above the trolley positioning base 101, and the two first X-direction guide rails 102 are fixed to the trolley positioning base 101;

[0057] First Z-direction trolley pressing blocks 105 are provided at both ends of the first X-direction guide rail 102;

[0058] A first Y-direction clamping cylinder 103 is arranged at both ends of the first X-direction guide rail 102, and a first Y-direction pressure arm 104 is rotatably arranged at both ends of the first X-direction guide rail 102. The piston rod of the first Y-direction clamping cylinder 103 is rotatably connected to the first Y-direction pressure arm 104, and the piston rod of the first Y-direction clamping cylinder 103 can drive the first Y-direction pressure arm 104 to rotate around the rotation connection point of the first X-direction guide rail 102 during the extension and retraction process; an optical communication switch 106 is arranged at the corresponding position on the trolley positioning base 101.

[0059] Trolley positioning device 1 working process:

[0060] The piston rod of the first Y-axis clamping cylinder 103 is retracted, and the trolley is positioned in the initial position;

[0061] The AGV carrying trolley moves forward along the first X-direction guide rail 102.

[0062] The X-direction guide wheel on the trolley rolls along the inner side of the first X-direction guide rail 102, and the X-direction positioning of the trolley is completed;

[0063] The Z-direction guide wheel of the trolley rolls above the first X-direction guide rail 102 of the positioning device, and the trolley is separated from the ground at the first Z-direction trolley pressing block 105, thereby realizing the Z-direction positioning of the trolley;

[0064] The AGV carrying trolley arrives at the designated position along the X-direction guide, and the optical communication switch 106 detects that the trolley is in place, and the piston rod of the first Y-direction clamping cylinder 103 extends, driving the front end of the first Y-direction pressing arm 104 to clamp (the trolley's forward direction is the reference, and the front support of the trolley is the front end), thereby stopping the trolley;

[0065] Then the piston rod of the rear first Y-direction clamping cylinder 103 extends out, driving the rear end of the first Y-direction pressing arm 104 to clamp, and the Y-direction positioning of the trolley is completed;

[0066] After positioning is completed, a positioning completion signal is sent to the robot. After the robot receives the signal, it proceeds to the next step.

[0067] Example 3

[0068] like Figure 3 As shown, this embodiment is a further improvement on the basis of Embodiment 1 or 2, and the details are as follows:

[0069] The trolley positioning device 5 includes: a trolley positioning base 501, a Y-direction trolley front end limiting device 502, a second X-direction guide rail 503, an X-direction guide wheel 504, a second Y-direction clamping cylinder 505 and a second Y-direction pressing arm 506;

[0070] Two second X-direction guide rails 503 are arranged side by side at a corresponding height above the trolley positioning base 501, and the two second X-direction guide rails 503 are fixed to the trolley positioning base 501;

[0071] X-direction guide wheels 504 are arranged on opposite sides (inner sides) of the two second X-direction guide rails 503; a second Y-direction clamping cylinder 505 is arranged at one end of the second X-direction guide rail 503, and a Y-direction trolley front end limiting device 502 is arranged on the trolley positioning base 501 at the other end of the second X-direction guide rail 503;

[0072] The second X-direction guide rail 503 has a second Y-direction clamping cylinder 505 rotatably provided at one end thereof with a second Y-direction pressing arm 506 , and the second Y-direction pressing arm 506 is rotatably connected to the piston rod of the second Y-direction clamping cylinder 505 .

[0073] Furthermore: the Y-axis trolley front end limiting device 502 includes: a support seat and a buffer 509 arranged on the support seat, a Y-axis trolley front end stop block 507 and a proximity switch 508.

[0074] Material car positioning device 5 working process:

[0075] The piston rod of the second Y-axis clamping cylinder 505 is retracted, and the trolley is positioned in the initial position;

[0076] The AGV carrying the material cart moves forward along the second X-direction guide rail 503 until the Y-direction positioning block at the front end of the material cart reaches the Y-direction stop block 507 at the front end of the material cart. The proximity switch 508 detects that the material cart is in place and the material cart stops. The buffer is set to prevent the material position from shifting during the stopping process.

[0077] The piston rod of the second Y-direction clamping cylinder 505 extends, and the second Y-direction pressing arm 506 moves to achieve Y-direction clamping and positioning of the material cart;

[0078] After completion, a positioning completion signal is sent to the robot, and after the robot receives the signal, it proceeds to the next step.

[0079] Example 4

[0080] like Figure 4 As shown, this embodiment is a further improvement on any one of Embodiments 1 to 3, and the details are as follows:

[0081] The upper and lower line gripper 4 includes: a finished product lower line rack 401, a finished product fixed end clamping claw 402, a finished product movable end clamping claw 403, a finished product lower line clamping cylinder 404, a visual device 405, an in-situ detection switch 406, a lower shell upper line rack 407, an upper line anti-falling clamping claw 408, an upper line anti-falling cylinder 409, a vacuum suction cup 410, a vacuum generator 411 and a laser rangefinder 412. The finished product lower line clamping cylinder 404 is arranged on the finished product lower line rack 401;

[0082] The finished product movable end clamping jaw 403 and the finished product fixed end clamping jaw 402 are arranged relatively below the finished product offline rack 401, the upper end of the finished product fixed end clamping jaw 402 is connected to the finished product offline rack 401, and the upper end of the finished product movable end clamping jaw 403 is connected to the piston rod of the finished product offline clamping cylinder 404, and a double slider guide rail 417 can be set between the finished product movable end clamping jaw 403 and the finished product offline rack 401 to ensure the subsequent smooth movement of the finished product movable end clamping jaw 403, and the finished product movable end clamping jaw 403 can be driven to approach and move away from the finished product fixed end clamping jaw 402 through the telescopic action of the finished product offline clamping cylinder 404 to complete the finished product offline process; the visual device 405 and the in-situ detection switch 406 are both set at corresponding positions on the finished product offline rack 401;

[0083] Four upper line anti-falling cylinders 409 are arranged on the upper line rack 407 of the lower shell, and four upper line anti-falling claws 408 are rotatably arranged at corresponding positions on the upper line rack 407 of the lower shell. The piston rods of the four upper line anti-falling cylinders 409 are rotatably connected with the four upper line anti-falling claws 408 in a one-to-one correspondence. Vacuum suction cups 410 are arranged on both sides of each upper line anti-falling claw 408 on the upper line rack 407 of the lower shell, and a vacuum generator 411 and a laser rangefinder 412 are arranged at corresponding positions on the upper line rack 407 of the lower shell, and the vacuum generator 411 is respectively connected to each vacuum suction cup 410, and the finished product lower line rack 401 is connected to the upper line rack 407 of the lower shell.

[0084] The four upper line anti-falling claws 408 adopt an aluminum alloy frame and vacuum adsorb the bottom plate of the lower shell to automatically grab the workpiece. The vacuum generator 411 adopts a containerized vacuum generator with vacuum filtration, outlet one-way valve, and a vacuum component that integrates vacuum generation and vacuum destruction. When any generator fails, the remaining vacuum systems can ensure that the workpiece will not fall accidentally; the vacuum suction cup 410 can not only ensure the stability of the position after sucking the workpiece, but also meet the requirements of good adsorption.

[0085] There is no obstruction around the visual device 405, so it can directly locate and identify the positioning hole of the lower shell of the battery. After the lower shell material cart 7 arrives at the online station for precise positioning, the upper and lower line robots 3 receive the arrival signal of the material cart, read the lower shell RFID to obtain the vehicle model signal, call the corresponding robot program, and move to the top of the lower shell for visual positioning. The upper and lower line robots 3 cooperate with the upper and lower line grippers 4 to automatically grab the lower shell and place it at the specified position of the AGV carrying trolley 8.

[0086] The Vision Device 405 uses an area scan 3D camera designed specifically for capturing high-resolution 3D images. The area scan 3D camera is an existing technology that can provide 3D point cloud images with a full field of view of up to 200ms, providing higher throughput and shorter cycle time. When combined with 3D vision tools, it can solve a variety of application problems from assembly verification to online measurement and robot guidance.

[0087] The area array scanning 3D camera performs hand-eye calibration with the upper and lower line robot 3. The upper and lower line robot 3 is equipped with different postures and runs 6 different positions around the 3D calibration block of the camera. The image of each Pose point and the coordinates of the robot's Pose point are recorded, and then a calibration file is generated through the tool. Then, the 3DPatMax tool is loaded in the VisionPro programming software to train the module 3D model. After loading the calibration file, the coordinates of the upper and lower line gripper 4 photo position are input. In this way, the battery shell position coordinates can be directly sent to the robot, and the coordinates sent by the 3D camera are completely consistent with the actual coordinates of the robot.

[0088] Typically, the lower shell material cart has multiple layers. When the upper and lower line robots 3 cooperate with the upper and lower line grippers 4 to automatically grasp the lower shell, the laser rangefinder 412 is used to identify the position of the workpiece to prevent the upper and lower line grippers 4 from colliding or missing during the grasping process.

[0089] Robot vision guidance realizes two functions: secondary positioning and vision-guided grasping and placement;

[0090] 1. Secondary positioning of the positioning pins of the finished PACK and the lower shell of the trolley;

[0091] 2. Guide the upper and lower line robots 3 to cooperate with the upper and lower line grippers 4 to grab the PACK finished products and the lower shell;

[0092] 3. Guide the upper and lower line robots 3 to install the grabbed PACK finished products into the finished product trolley. Visually guide the upper and lower line robots 3 to grab the lower shell and place it in the specified position of the trolley, with an accuracy of ±0.5mm.

[0093] The upper and lower line grippers 4 carry out the finished product offline and the lower shell online workflow:

[0094] Initial state:

[0095] The piston rod of the finished product offline clamping cylinder 404 extends, and the finished product movable end clamping jaw 403 moves away from the finished product fixed end clamping jaw 402, so that the clamping jaw opens;

[0096] The piston rod of the upper line anti-falling cylinder 409 is retracted, and the upper line anti-falling clamping claw 408 is opened;

[0097] The solenoid valve of the vacuum generator 411 is closed, and the vacuum suction cup 410 is in a normal state;

[0098] The finished product off-line station trolley is in place, and the upper and lower line robots 3 receive the trolley arrival signal. The upper and lower line robots 3 carry the upper and lower line grippers 4 to the top of the finished product off-line trolley, and the visual device 405 re-locates the position of the positioning hole of the finished product PACK;

[0099] The upper and lower line robot 3 changes the posture of the upper and lower line gripper 4, the upper and lower line gripper 4 moves downward, the fixed end clamping claw 402 of the finished product moves horizontally close to the side of the finished product, the piston rod of the finished product lower line clamping cylinder 404 retracts, and the finished product movable end clamping claw 403 moves along the double slider guide rail 416 driven by the finished product lower line clamping cylinder 404 until the finished product PACK is clamped;

[0100] A pressure reducing valve is provided at the air inlet end of the finished product offline clamping cylinder 404 to adjust the clamping force;

[0101] By setting the in-position detection switch 406, it is ensured that the gripper grabs the PACK successfully;

[0102] The upper and lower line robots 3 cooperate with the upper and lower line grippers 4 to carry the finished product PACK to the top of the finished product trolley. After the finished product trolley is positioned, the upper and lower line robots 3 cooperate with the upper and lower line grippers 4 to place the finished product PACK on the finished product trolley. The finished product lower line clamping cylinder 404 is locked to prevent it from falling in the event of power outage, gas outage or equipment alarm during normal grasping;

[0103] The trolley at the lower shell on-line station is in place, and the upper and lower line robot 3 receives the trolley arrival signal. The upper and lower line robot 3 carries the upper and lower line gripper 4 to the top of the lower shell on-line trolley, and the visual device 405 repositions the trolley surface positioning pin position. The upper and lower line robot 3 carries the upper and lower line gripper 4 to the top of the lower shell material cart, and the laser rangefinder 412 identifies the Z position of the grabbing lower shell, ensuring that the upper and lower line robot 3 carrying the upper and lower line gripper 4 arrives within the visual guidance range;

[0104] The positioning hole of the lower shell is visually identified, and the upper and lower line robots 3 are visually guided to control the upper and lower line grippers 4 to reach the grasping position of the lower shell, the vacuum generator 411 is turned on, and the vacuum suction cup 410 absorbs the lower shell;

[0105] The upper and lower line robots 3 cooperate with the upper and lower line grippers 4 to carry the lower shell upward, and the piston rod of the upper line anti-falling cylinder 409 extends to drive the upper line anti-falling claws 408 to clamp, and the four upper line anti-falling claws 408 hold the bottom of the lower shell;

[0106] The upper and lower line robots 3 cooperate with the upper and lower line grippers 4 to carry the lower shell and move it to the specified position of the lower shell trolley. The robot is guided by vision to place the lower shell entry pin on the trolley table;

[0107] The on-line anti-fall cylinder 409 is locked to prevent it from falling in case of power outage, gas outage or equipment alarm during normal grasping.

[0108] Example 5

[0109] like Figure 4 As shown, this embodiment is a further improvement on the basis of embodiment 4, and the details are as follows:

[0110] The upper and lower line grippers 4 also include: multiple adjustable brackets 413, and adjustable brackets 413 are set on both sides of each upper line anti-fall clamp 408 on the upper line frame 407 of the lower shell. The vacuum suction cup 410 is set on the adjustable bracket 413. By installing the vacuum suction cup 410 on the adjustable bracket 413, the position of the vacuum suction cup 410 can be adjusted to meet the use requirements.

[0111] Example 6

[0112] like Figure 4 As shown, this embodiment is a further improvement on the basis of Embodiment 4 or 5, and the details are as follows:

[0113] Flanges are provided on both the finished product lower line rack 401 and the lower shell upper line rack 407 , so as to be installed on the upper and lower line robots 3 through the flanges.

[0114] Example 7

[0115] like Figure 4 As shown, this embodiment is a further improvement on the basis of Embodiment 4, 5 or 6, and the details are as follows:

[0116] The upper and lower line grippers 4 also include: a finished product gripper guide 414. The finished product gripper guide 414 is set on the finished product offline rack 401. The upper and lower line robots 3 change the postures of the upper and lower line grippers 4. The upper and lower line grippers 4 move downward along the finished product gripper guide 414. The finished product gripper guide 414 is set. On the one hand, it provides initial guidance for the gripper to grasp the finished product PACK. On the other hand, the two ends are close to the outer extension limit of the upper shell to prevent the finished product from moving in the Y direction.

[0117] Example 8

[0118] like Figure 4 As shown, this embodiment is a further improvement on the basis of Embodiment 4, 5, 6 or 7, and the details are as follows:

[0119] The upper and lower line grippers 4 also include: a finished product gripper upper limit 415, and the finished product gripper upper limit 415 is set on the opposite side of the finished product fixed end clamping jaw 402 and the finished product movable end clamping jaw 403 to prevent the finished product PACK from tipping over.

[0120] Example 9

[0121] like Figure 4 As shown, this embodiment is a further improvement on the basis of Embodiment 4, 5, 6, 7 or 8, and the details are as follows:

[0122] Elastic pads 416 are provided on opposite sides of the finished product fixed end clamping jaw 402 and the finished product movable end clamping jaw 403 to prevent the finished product from being worn during the grasping process.

[0123] Example 10

[0124] like Figure 1 As shown, this embodiment is a further improvement on any one of Embodiments 1 to 9, and the details are as follows:

[0125] The automatic assembly system for finished automotive power batteries off-line and lower shells on-line also includes a safety guardrail 9, which surrounds the trolley positioning device 1, the robot's seventh walking axis 2, the upper and lower line robots 3, the upper and lower line grippers 4 and the material cart positioning device 5. A safety grating 901 is set on the safety guardrail 9 in the direction of travel of the AGV carrying trolley 8, a safety grating 901 is set on the safety guardrail 9 in the direction of travel of the finished product trolley 6, and a safety grating 901 is set on the safety guardrail 9 in the direction of travel of the lower shell trolley 7.

[0126] Embodiment 11

[0127] like Figure 1 As shown, this embodiment is a further improvement on any one of Embodiments 1 to 10, and the details are as follows:

[0128] The control equipment includes: a robot control cabinet 11, a PLC control cabinet 12, a HMI control cabinet 13, a MES control cabinet 14 and a vision control cabinet 15.

[0129] Example 12

[0130] A method for automatically assembling a finished product of an automobile power battery off-line and a lower shell on-line, comprising the following steps:

[0131] S01, AGV carrying trolley 8 is in place;

[0132] S02, the up-and-down line robot 3 receives the trolley arrival signal and PACK information;

[0133] S03, the seventh walking axis 2 of the robot drives the upper and lower line robot 3 to run to the finished product offline station, and the upper and lower line robot 3 carries the visual device 405 to locate the positioning hole of the finished product PACK for the second time;

[0134] S04, the upper and lower line robots 3 cooperate with the upper and lower line grippers 4 to grab the finished product PACK and put it into the finished product material cart 6;

[0135] S05, release the AGV carrier trolley 8 to position it, and the AGV carrier trolley 8 enters the next station;

[0136] S06, the seventh walking axis 2 of the robot drives the upper and lower line robots 3 to run to the lower shell upper line station;

[0137] S07, the up-down line robot 3 receives the trolley arrival signal; the up-down line robot 3 is above the trolley, at the upper line position of the lower shell, and the carrying visual device 405 repositions the lower shell positioning pin;

[0138] S08, the visual device 405 guides the upper and lower line robots 3 to cooperate with the upper and lower line grippers 4 to grab the lower shell on the lower shell material cart 7, and place it on the AGV carrying trolley 8;

[0139] S09, the upper and lower line robots 3 return to their positions, the trolley positioning device 1 releases the AGV carrying trolley 8, and the AGV carrying trolley 8 enters the next process;

[0140] S10, the up-and-down line robot 3 moves to the PACK down-line station.

[0141] Technical indicators achieved in actual application

[0142] 1. During assembly, the lower shell automatic placement accuracy is ±0.2mm; the finished product PACK automatic grabbing accuracy is ±0.5mm;

[0143] 2. The finished product PACK offline gripper is adapted to multiple specifications, and the visual guidance robot’s finished product offline accuracy rate is ≥99%;

[0144] 3. The lower shell on-line gripper is adapted to the requirements of multiple specifications of modules, and the visual guidance robot lower shell on-line accuracy rate is ≥99%;

[0145] 3. The production cycle is 165 seconds.

[0146] Equipment capacity: All equipment is designed to operate continuously for 300 days a year and 21 hours a day;

[0147] Equipment availability: ≥99%;

[0148] Equipment service life ≥ 10 years, MTBF average failure time ≥ 2000 hours, MTTR average repair time ≤ 0.5 hours.

[0149] Production capacity increased from 20,000 units / year to 100,000 units / year.

[0150] Multiple vehicle models share the same use, saving at least 50% of equipment floor space.

[0151] Reduce 4 operators and reduce production costs.

[0152] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An automatic assembly system for finished car power batteries off-line and lower shells on-line, characterized in that: include: A trolley positioning device (1), a robot seventh walking axis (2), an upper and lower line robot (3), an upper and lower line gripper (4), a material cart positioning device (5) and a control device, wherein at least two material cart positioning devices (5) are arranged on one side of the robot seventh walking axis (2), and a trolley positioning device (1) is arranged on the other side, at least one material cart positioning device (5) is used to position a finished product material cart (6), at least one material cart positioning device (5) is used to position a lower shell material cart (7), and the trolley positioning device (1) is used to position an AGV carrying trolley (8); the upper and lower line robot (3) is arranged on the robot seventh walking axis (2), and the upper and lower line gripper (4) is arranged on the upper and lower line robot (3); the trolley positioning device (1), the robot seventh walking axis (2), the upper and lower line robot (3), the upper and lower line gripper (4) and the material cart positioning device (5) are respectively electrically connected to the control device, and the upper and lower line gripper (4) is provided with a visual device (405); The trolley positioning device (1) comprises: a trolley positioning base (101), a first X-direction guide rail (102), a first Y-direction clamping cylinder (103), a first Y-direction pressing arm (104), a first Z-direction trolley pressing block (105) and an optical communication switch (106), wherein two first X-direction guide rails (102) are arranged side by side at corresponding heights above the trolley positioning base (101), the two first X-direction guide rails (102) are fixed to the trolley positioning base (101), and the first X-direction A first Z-direction trolley pressure block (105) is provided at both ends of the first X-direction guide rail (102); a first Y-direction clamping cylinder (103) is provided at both ends of the first X-direction guide rail (102); a first Y-direction pressure arm (104) is rotatably provided at both ends of the first X-direction guide rail (102); a piston rod of the first Y-direction clamping cylinder (103) is rotatably connected to the first Y-direction pressure arm (104); an optical communication switch (106) is provided at a corresponding position on the trolley positioning base (101); The upper and lower line gripper (4) comprises: a finished product lower line rack (401), a finished product fixed end clamping claw (402), a finished product movable end clamping claw (403), a finished product lower line clamping cylinder (404), a visual device (405), an in-situ detection switch (406), a lower shell upper line rack (407), an upper line anti-falling clamping claw (408), an upper line anti-falling cylinder (409), a vacuum suction cup (410), a vacuum generator (411) and a laser rangefinder (412); the finished product lower line clamping cylinder (404) is arranged on the finished product lower line rack (401); the finished product movable end clamping claw (403) and the finished product fixed end clamping claw (402) are arranged opposite to each other; the upper end of the finished product fixed end clamping claw (402) is connected to the finished product lower line rack (401); the upper end of the finished product movable end clamping claw (403) is connected to the piston rod of the finished product lower line clamping cylinder (404); The visual device (405) and the in-position detection switch (406) are both arranged at corresponding positions on the finished product offline rack (401); four online anti-falling cylinders (409) are arranged on the online rack (407) of the lower shell; four online anti-falling clamps (408) are rotatably arranged at corresponding positions on the online rack (407) of the lower shell; piston rods of the four online anti-falling cylinders (409) are rotatably connected to the four online anti-falling clamps (408) in a one-to-one correspondence; vacuum suction cups (410) are arranged on both sides of each online anti-falling clamp (408) on the online rack (407) of the lower shell; the vacuum generator (411) and the laser rangefinder (412) are both arranged at corresponding positions on the online rack (407) of the lower shell; the vacuum generator (411) is respectively connected to each vacuum suction cup (410); and the finished product offline rack (401) is connected to the online rack (407) of the lower shell.

2. The automatic assembly system for finished vehicle power battery offline and lower shell online according to claim 1 is characterized in that: The trolley positioning device (5) comprises: a trolley positioning base (501), a Y-direction trolley front end limiting device (502), a second X-direction guide rail (503), an X-direction guide wheel (504), a second Y-direction clamping cylinder (505) and a second Y-direction pressing arm (506), wherein the two second X-direction guide rails (503) are arranged side by side at a corresponding height above the trolley positioning base (501), the two second X-direction guide rails (503) are fixed to the trolley positioning base (501), and the two second X-direction guide rails ( An X-direction guide wheel (504) is arranged on the opposite side of the second X-direction guide rail (503); a second Y-direction clamping cylinder (505) is arranged at one end of the second X-direction guide rail (503), and a Y-direction trolley front end limiting device (502) is arranged on the trolley positioning base (501) at the other end; the second X-direction guide rail (503) has a second Y-direction clamping cylinder (505) at one end of which a second Y-direction pressing arm (506) is rotatably arranged, and the second Y-direction pressing arm (506) is rotatably connected to the piston rod of the second Y-direction clamping cylinder (505).

3. The automatic assembly system for finished vehicle power battery offline and lower shell online according to claim 2 is characterized in that: The Y-direction trolley front end limiting device (502) comprises: a support seat and a buffer (509) arranged on the support seat, a Y-direction trolley front end stop block (507) and a proximity switch (508).

4. The automatic assembly system for finished vehicle power battery offline and lower shell online according to claim 1 is characterized in that: The upper and lower line grippers (4) further include: a plurality of adjustable brackets (413); adjustable brackets (413) are provided on both sides of each upper line anti-falling clamping claw (408) on the upper line rack (407) of the lower shell body; and the vacuum suction cup (410) is provided on the adjustable brackets (413).

5. The automatic assembly system for finished vehicle power battery offline and lower shell online according to claim 1, characterized in that: Flanges are provided on the finished product lower wire rack (401) and the lower shell upper wire rack (407).

6. The automatic assembly system for finished vehicle power battery offline and lower shell online according to claim 1, characterized in that: The upper and lower line grippers (4) further include: a finished product gripper guide (414), and the finished product lower line frame (401) is provided with a finished product gripper guide (414).

7. The automatic assembly system for finished vehicle power battery offline and lower shell online according to claim 1, characterized in that: The upper and lower line grippers (4) further include: a finished product gripper upper limiter (415), and the finished product gripper upper limiters (415) are arranged on opposite sides of the finished product fixed end clamping jaw (402) and the finished product movable end clamping jaw (403).

8. A method for assembling finished automotive power battery products and lower shells by an automatic assembly system for finished automotive power battery products and lower shells as claimed in any one of claims 1 to 7, characterized in that: The steps include: S01, AGV carrying trolley (8) is in place; S02, the up-and-down line robot (3) receives the trolley arrival signal and PACK information; S03, the seventh walking axis (2) of the robot drives the upper and lower line robots (3) to run to the finished product offline station, and the upper and lower line robots (3) carry the visual device (405) to re-locate the positioning hole of the finished product PACK; S04, the upper and lower line robots (3) cooperate with the upper and lower line grippers (4) to grab the finished product PACK and put it into the finished product material cart (6); S05, releasing the AGV carrying trolley (8) to position the AGV carrying trolley (8), and the AGV carrying trolley (8) enters the next workstation; S06, the seventh walking axis (2) of the robot drives the upper and lower line robots (3) to move to the upper line station of the lower shell; S07, the upper and lower line robot (3) receives the trolley arrival signal, the upper and lower line robot (3) is above the trolley, at the upper line position of the lower shell, and the carrying visual device (405) re-positions the positioning pin of the lower shell; S08, the visual device (405) guides the upper and lower line robots (3) to cooperate with the upper and lower line grippers (4) to grab the lower shell on the lower shell material cart (7) and place it on the AGV carrying trolley (8); S09, the upper and lower line robots (3) return to their positions, the trolley positioning device (1) releases the AGV carrying trolley (8), and the AGV carrying trolley (8) enters the next process; S10, the up-and-down line robot (3) moves to the PACK down-line station.

Images