Battery forming system and battery forming method

Abstract

The present application discloses a battery forming system and method, and the application relates to the technical field of battery production equipment. By setting a grasping device and an installation device, the grasping device grasps the battery module to the corresponding installation position on the lower shell, and then the battery module is installed and fixed to the lower shell by the installation device, so as to realize the fully automatic installation of the battery module on the lower shell. The battery forming system includes a grasping device for collecting the first coordinate of the first installation hole of the battery module in the base coordinate system; an installation device for collecting the second coordinate of the second installation hole at the installation position on the lower shell in the base coordinate system, and the installation device is connected to the grasping device by signal, and transmits the second coordinate to the grasping device; the grasping device grasps the normal battery module to the installation position on the lower shell according to the first coordinate and the second coordinate, and the installation device fixes the battery module at the installation position of the lower shell according to the second coordinate.

Description

Technical Field

[0001] The present application relates to the technical field of battery production equipment, and in particular to a battery molding system and a battery molding method. Background Art

[0002] Currently, during the installation and molding process of the battery, the battery module needs to be fixed on the lower shell.

[0003] In the prior art, the process of fixing the battery module on the lower housing cannot meet the automation requirements.

[0004] Therefore, how to provide a battery molding device that can automate the entire process of installing the battery module and the lower shell has become an urgent problem to be solved. Summary of the invention

[0005] In view of the above problems, the present application provides a battery forming system and a battery forming method. By setting a grasping device and an installation device, the grasping device grasps the battery module to the corresponding installation position on the lower shell, and then the battery module is installed and fixed to the lower shell through the installation device, thereby realizing the fully automatic installation of the battery module on the lower shell.

[0006] In order to solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0007] In a first aspect, the present application provides a battery forming system, comprising:

[0008] A grasping device, used for acquiring a first coordinate of a first mounting hole of a battery module in a base coordinate system;

[0009] The mounting device is used to collect the second coordinate of the second mounting hole at the mounting position on the lower shell in the base coordinate system, and the mounting device is connected to the grasping device by signal to transmit the second coordinate to the grasping device;

[0010] The grabbing device grabs the normal battery module to the installation position on the lower shell according to the first coordinate and the second coordinate, and the installation device fixes the battery module to the installation position of the lower shell according to the second coordinate.

[0011] In the technical solution of the embodiment of the present application, the battery forming system includes a grasping device and an installation device, the grasping device is used to collect the first coordinate of the first installation hole of the battery module in the base coordinate system, and the installation device is used to collect the second coordinate of the second installation hole at the installation position on the lower shell in the base coordinate system. In the process of realizing battery forming, it is necessary to correspond the first installation hole of the battery module to the second installation hole at the installation position of the lower shell. In the present application, the coordinates of the first installation hole collected by the grasping device and the coordinates of the second installation hole collected by the installation device are in the same coordinate system, and the installation device sends the collected coordinates of the second installation hole to the grasping device, so that the grasping device does not need to collect the coordinates of the second installation hole, and the same coordinate system is used so that the grasping device The mounting device can cooperate closely and work in an orderly manner, so that the battery module can be accurately placed at the mounting position, thereby saving time and cost, reducing molding time, and thus improving the production efficiency of the battery. The grasping device grasps the normal battery module to the mounting position corresponding to the lower shell according to the first coordinate and the second coordinate. At this time, the first mounting hole on the battery module completely corresponds to the second mounting hole on the mounting position of the lower shell, and both are the positions of the second mounting hole, that is, the coordinate in the base coordinate system is the second coordinate. The mounting device fixes the battery module to the mounting position corresponding to the lower shell according to the second coordinate, thereby realizing fully automatic installation in the process of installing the battery module, saving labor resources and costs, improving production efficiency, and reducing production costs.

[0012] In some embodiments, the battery forming system further includes a controller, which is respectively connected to the grasping device and the installation device by signals, receives the second coordinate sent by the installation device, and sends the second coordinate to the grasping device. The controller is respectively connected to the grasping device and the installation device by signals, thereby receiving the second coordinate of the installation position of the lower shell in the base coordinate system sent by the installation device, and sending the second coordinate of the installation position of the lower shell in the base coordinate system to the grasping device, thereby eliminating the step of the grasping device obtaining the coordinate of the installation position of the lower shell, saving time, and improving the working efficiency of the battery forming system and the efficiency of battery production. The grasping device receives the second coordinate of the installation position of the lower shell in the base coordinate system sent by the controller, thereby grasping the battery module to the installation position of the lower shell according to the first coordinate of the first installation hole of the battery module in the base coordinate system and the second coordinate of the installation position of the lower shell, so that the first installation hole of the battery module and the second installation hole of the installation position of the lower shell are completely corresponding, thereby completing the fixed installation of the battery module.

[0013] In some embodiments, the battery forming system further comprises a first transmission line and a second transmission line, the first transmission line transmits a plurality of battery module transmission trays, the battery module transmission trays contain a plurality of battery modules, the second transmission line transmits a plurality of battery transmission trays, the battery transmission trays contain a lower shell, and a plurality of installation positions are arranged on the lower shell; wherein the first transmission line and the second transmission line are arranged adjacent to each other, and the grasping device and the installation device are arranged oppositely on both sides of the second transmission line. The battery forming system further comprises a first transmission line and a second transmission line, the first transmission line is used to transmit a plurality of battery module trays, each battery module tray is provided with a battery module, the first transmission line is arranged close to the grasping device, so as to facilitate the grasping device to grasp the battery module from the first transmission line, the second transmission line is used to transmit the battery transmission tray, the battery transmission tray is provided with a lower shell, and the lower shell is provided with a plurality of installation positions for installing the battery module, and the second transmission line is arranged close to the grasping device and the installation device, so as to facilitate the grasping device to place the grasped normal battery module at the installation position on the second transmission line, and facilitate the installation device to fix and install the normal battery module placed at the installation position.

[0014] In some embodiments, the battery forming system further includes a third transmission line, and the third transmission line is used to transmit and receive abnormal battery modules grasped by the grasping device; wherein the third transmission line is respectively arranged adjacent to the first transmission line and the grasping device. The battery forming system further includes a third transmission line, and the third transmission line is used to receive abnormal battery modules, and the third transmission line is respectively arranged adjacent to the first transmission line and the grasping device, so as to facilitate the grasping device to grasp the abnormal battery module and place it on the third transmission line, so as to transmit and discharge the abnormal battery module.

[0015] In some embodiments, each installation position on the lower shell has a preset serial number, the preset serial numbers of each pair of installation positions are not adjacent, and the installation position with a forward preset serial number in each pair of installation positions is farther away from the grasping device relative to the other installation position, the grasping device places the battery module according to the preset serial number, and the installation device fixes the battery module according to the preset serial number. The grabbing device and the installation device are relatively arranged on both sides of the second transmission line. The grabbing device grabs one or a pair of battery modules each time. The grabbing device places the grabbed one or a pair of battery modules one by one. Each installation position on the second transmission line has a preset serial number. The multiple installation positions include multiple pairs of installation positions. The preset serial numbers of each pair of installation positions are not adjacent. Therefore, when the grabbing device grabs a pair of battery modules, the grabbing device first places the first battery module on the installation position with a front preset serial number, and the installation position with a front serial number in each pair of installation positions is far away from the grabbing device relative to the other installation position. Therefore, after the first battery module is placed, the installation device can fix and install the battery module without interfering with the grabbing device. At the same time, the grabbing device places another battery module on the installation position with a back preset serial number. That is, at the same time, after the grabbing device places the first battery module, the installation device fixes and installs the first battery module, and the grabbing device places the other battery module, thereby saving time, improving the efficiency of battery installation, and preventing interference.

[0016] In some embodiments, the grasping device includes a first image acquisition device, which is used to take a picture of the first mounting hole of the battery module, and obtain the first coordinates of the first mounting hole in the base coordinate system according to the picture of the first mounting hole. The grasping device includes a first image acquisition device, which is used to take a picture of the first mounting hole of the battery module, and obtain the coordinates of the first mounting hole in the base coordinate system according to the taken picture.

[0017] In some embodiments, the gripping device also includes a detection device for detecting whether the battery module is normal. The detection device is connected to the controller signal and sends the detection result to the controller. If the battery module is normal, the controller controls the gripping device to grip the battery module to the installation position of the second transmission line. If the battery module is abnormal, the controller controls the gripping device to grip the battery module to the third transmission line. The gripping device also includes a detection device, which is used to detect whether the battery module is normal and send the detection result to the controller. The controller controls the gripping device according to the received detection result. If the received detection result is that the battery module is normal, the gripping device is controlled to grip the battery module to the installation position. If the received detection result is that the battery module is an abnormal battery module, the control device controls the gripping device to grip the abnormal battery module to the third transmission line, thereby realizing the detection of the battery module and preventing the abnormal battery module from being finally assembled to form a battery.

[0018] In some embodiments, the detection device includes a QR code scanner and a voltage tester. The QR code scanner is used to scan the QR code on the battery module. The QR code scanner is connected to the controller and sends the scanning result to the controller; the voltage tester is used to detect the voltage of the battery module and send the detection result to the controller; if the QR code scanning result and the voltage detection result are normal, the controller controls the grasping device to grasp the battery module to the installation position of the second transmission line; if the QR code scanning result and / or the voltage detection result are abnormal, the controller controls the grasping device to grasp the battery module to the third transmission line. The detection device includes a QR code scanner and a voltage tester. The QR code scanner is used to scan the QR code on the battery module and send the scanning result to the controller. The QR code set on the battery module is the material code of the battery module. By scanning the QR code, the material information of the battery module can be obtained, and whether the battery module is available can be judged by the material information. The voltage tester is used to detect the voltage of the battery module. The voltage of the battery module is whether the voltage between the positive and negative poles of the battery module is normal, and the detection result is sent to the controller. The controller receives the scanning result of the QR code and the detection result of the voltage. If both are normal, the controller controls the grasping device to grasp the battery module to the installation position of the second transmission line. If at least one of the two received results is abnormal, the controller controls the grasping device to grasp the battery module to the third transmission line, thereby realizing the detection of the battery module and preventing the abnormal battery module from being finally assembled to form a battery.

[0019] In some embodiments, the gripping device includes at least two grippers, each gripper is used to grip a battery module, and each gripper device is correspondingly provided with two voltage testers, and the two voltage testers are used to test the voltage between the positive and negative poles of the battery module. The gripping device includes at least two grippers, so that the gripper device can grab at least two battery modules each time, thereby improving the production efficiency of the battery. Each gripper device is provided with two voltage testers, and the two voltage testers are used to test the voltage between the positive and negative poles of the battery module, so as to detect whether the voltage between the positive and negative poles of the battery module is normal.

[0020] In some embodiments, the installation device includes a second image acquisition device, which is used to take an image of the second installation hole at the installation position of the lower shell, obtain the second coordinates of the second installation hole in the base coordinate system based on the image of the second installation hole, and transmit the second coordinates to the controller. The installation device acquires an image of the second installation hole in the installation position of the upper and lower shells of the second transmission line through the second image acquisition device, and obtains the coordinates of the second installation hole in the base coordinate system based on the image of the second installation hole. Since the coordinates acquired by the installation device and the grasping device are both coordinates in the base coordinate system, the coordinates of the two can be shared. The installation device sends the acquired second coordinates to the grasping device, so that the grasping device does not need to acquire the coordinates of the installation position of the lower shell when it needs them, which saves time and improves the production efficiency of the battery.

[0021] In some embodiments, the installation device further includes at least one tightening gun, which is connected to the controller. The controller controls the tightening gun to tighten the screws inserted into the first mounting hole and the second mounting hole according to the second coordinate to fix the battery module to the mounting position of the lower shell. The battery module has four first mounting holes, and each mounting position of the lower shell has four second mounting holes. The installation device includes four tightening guns. After the battery module is placed in the corresponding mounting position, the installation device tightens the battery module to the mounting position by inserting the screws into the first mounting hole and the second mounting hole. The installation device has four tightening guns. When tightening, the four tightening guns work simultaneously, thereby saving the time of fixed installation and improving the production efficiency of the battery.

[0022] In some embodiments, on the second aspect, the present application provides a battery forming method, including collecting a first coordinate of a first mounting hole of a battery module in a base coordinate system; collecting a second coordinate of a second mounting hole at an installation position on a lower shell in the base coordinate system; based on the first coordinate and the second coordinate, grabbing a normal battery module to the installation position of the lower shell, and fixing the battery module at the installation position of the lower shell.

[0023] In the technical solution of the embodiment of the present application, the grasping device collects the first coordinate of the first mounting hole of the battery module in the base coordinate system, the installing device collects the second coordinate of the second mounting hole at the mounting position on the lower shell in the base coordinate system, the installing device sends the collected second coordinate of the second mounting hole on the lower shell to the grasping device, the grasping device grasps the normal battery module to the corresponding mounting position according to the first coordinate and the second coordinate, the installing device fixes the battery module set at the mounting position on the mounting position of the lower shell, during the installation of the battery module, the grasping device grasps the normal battery module to the corresponding mounting position of the lower shell according to the first coordinate and the second coordinate, at this time, the first mounting hole on the battery module completely corresponds to the second mounting hole at the mounting position of the lower shell, both are the positions of the second mounting hole, that is, the coordinate in the base coordinate system is the second coordinate, the installing device fixes the battery module to the corresponding mounting position of the lower shell according to the second coordinate, thereby realizing fully automatic installation in the process of installing the battery module, saving labor resources and costs, improving production efficiency, and reducing production costs.

[0024] In some embodiments, before collecting the first coordinate of the first mounting hole of the battery module in the base coordinate system, the method further includes: detecting whether the battery module is normal; if the battery module is normal, collecting the first coordinate of the first mounting hole of the battery module in the base coordinate system; if the battery module is abnormal, grabbing the battery module to the third transmission line. Before grabbing the battery module, the battery module is inspected, and if the battery module is detected to be abnormal, the abnormal battery module is grabbed to the third transmission line, thereby picking out the abnormal battery module to prevent the abnormal battery module from being installed to form a faulty battery, and only the battery module with a normal detection result will be grabbed to the second transmission line.

[0025] In some embodiments, grabbing a normal battery module to an installation position of the lower shell based on the first coordinate and the second coordinate includes grabbing one or a pair of normal battery modules; grabbing the first normal battery module to an installation position with a preset serial number identical to the grabbing order according to the first coordinate of the first installation hole of the first battery module and the second coordinate of the second installation hole of the installation position identical to the grabbing order; grabbing the second normal battery module to an installation position with a preset serial number identical to the grabbing order according to the first coordinate of the first installation hole of the second battery module and the second coordinate of the second installation hole of the installation position identical to the grabbing order; wherein the lower shell has a plurality of installation positions corresponding to the battery modules, each installation position having a preset serial number, the preset serial numbers of each pair of installation positions are not adjacent, and the installation position with a forward preset serial number in each pair of installation positions is farther away from the grabbing device relative to the installation device. Each time the grasping device grasps one or a pair of battery modules, when grasping a pair of battery modules, the first battery module is first placed at the corresponding installation position, at which time the installation position is far away from the grasping device and close to the installation device, and then the second battery module is placed at the corresponding installation position, at which time the installation position is close to the grasping device and far away from the installation device.

[0026] In some embodiments, fixing the battery module at the installation position of the lower housing includes fixing the first battery module at the installation position with the same preset serial number as the grabbing order in the lower housing according to the second coordinates of the second installation hole at the installation position with the same preset serial number as the grabbing order; fixing the second battery module at the installation position with the same preset serial number as the grabbing order in the lower housing according to the second coordinates of the second installation hole at the installation position with the same preset serial number as the grabbing order. The installation device first fixes the first battery module at the installation position, and then fixes and installs the second battery module. Thus, the installation and fixation of the two battery modules grabbed each time are completed.

[0027] In some embodiments, when the grasping device grasps a pair of normal battery modules each time, the installation device fixes the first battery module at the installation position with the same preset number as the grasping order in the lower shell according to the second coordinate of the installation position with the same grasping order, and the grasping device grasps the second normal battery module to the installation position with the same preset number as the grasping order according to the first coordinate of the second battery module and the second coordinate of the installation position with the same grasping order. When grasping a pair of battery modules, after the grasping device places the first battery module at the corresponding installation position far away from the grasping device and close to the installation device, the installation device installs and fixes the placed first battery module. At the same time, the grasping device places the second battery module at the installation position far away from the grasping device and close to the installation device, so that the first battery module can be fixed while the second battery module is placed, saving installation time and improving production efficiency. Moreover, since the first installation position is far away from the grasping device and close to the installation device, and the second installation position is close to the grasping device and far away from the installation device, the first battery module can be fixed while the second battery module is placed, and no interference occurs.

[0028] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only used for the purpose of illustrating the preferred embodiments and are not to be considered as limitations of the present application. In addition, the same reference numerals are used throughout the drawings to represent the same components.

[0030] In the attached picture:

[0031] Figure 1 A schematic diagram of a battery forming system according to some embodiments of the present application;

[0032] Figure 2 This is a schematic diagram of the installation position of the lower housing in some embodiments of the present application;

[0033] Figure 3 A schematic diagram of the structure of a gripping device in some embodiments of the present application;

[0034] Figure 4 A schematic diagram of the structure of the installation device of some embodiments of the present application;

[0035] Figure 5A flow chart of a battery forming method according to some embodiments of the present application;

[0036] Figure 6 Another flow chart of a battery forming method according to some embodiments of the present application;

[0037] Figure 7 Another flow chart of a battery forming method according to some embodiments of the present application;

[0038] The reference numerals in the specific implementation manner are as follows:

[0039] Battery forming system 1, gripping device 11, first image acquisition device 111, QR code scanner 112, voltage tester 113, gripper 114, installation device 12, second image acquisition device 121, tightening gun 122, first transmission line 13, second transmission line 14, third transmission line 15, battery module 16, lower shell 17, installation position 172. DETAILED DESCRIPTION

[0040] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0042] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0043] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0044] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0045] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0046] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0047] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0048] The core of Industry 4.0 is data, and the digital construction of enterprises cannot be achieved overnight. The battery production process begins to face the problem of difficulty in integrating multiple isolated data sources. Integrating isolated data sources, being able to conduct horizontal and vertical comprehensive analysis of business data, and data storage and traceability are becoming increasingly important in the battery pack production process.

[0049] With the development of new energy vehicles, the demand for battery production is increasing, so the manufacturing requirements and process equipment for battery production need to be improved. At present, the degree of automation in the installation and molding of batteries is low.

[0050] The inventors have noticed that in the existing battery production process, automated equipment is used only when the battery module is fixed to the lower shell, while the process of placing the battery module on the lower shell cannot meet the automation requirements. The battery module is placed in the box by manual operation, and the robot arm assists in grabbing the battery module and placing it in the lower box. The whole process is inefficient and wastes manpower. Improper grabbing may also cause the battery module to fall and hit people.

[0051] In order to improve the degree of automation in the production and installation of batteries, the applicant has found that the grabbing process of the battery module can also be automated.

[0052] Based on the above considerations, in order to solve the problem of low automation in the battery production process, the inventor has designed a battery forming system after in-depth research. By setting a grasping device and an installation device, the grasping device grasps the battery module to the corresponding installation position on the lower shell, and then the battery module is installed and fixed to the lower shell through the installation device, thereby realizing the fully automatic installation of the battery module on the lower shell.

[0053] Through such a battery forming system, the grabbing process of the battery module is completed by the grabbing device, and the installation and fixing process of the battery module is completed by the installation device, so that no manual operation is required during the grabbing and installation process of the battery module, which saves human resource costs, improves battery production efficiency, reduces production costs, and greatly improves safety.

[0054] Through such a battery forming system, the installation device will send the collected second coordinates of the second installation hole at the installation position in the base coordinate system to the grasping device, so that the grasping device does not need to collect the coordinates of the second installation hole at the installation position, thereby saving time and improving the efficiency of battery production.

[0055] The battery molding system disclosed in the embodiment of the present application can be used in battery production. The battery molding system disclosed in the present application can be used to grab and install the battery module. During the grabbing and installing process of the battery module, the battery molding system is set up to make the whole process fully automated, improve production efficiency, reduce labor, and improve safety.

[0056] For the convenience of description, the following embodiments are described by taking a battery forming method according to an embodiment of the present application as an example.

[0057] Please refer to Figure 1 , Figure 1A schematic diagram of the structure of a battery molding system 1 provided in some embodiments of the present application. The battery molding system 1 uses a fully automatic method to grasp and install the battery module 16, so that the battery module 16 can be automatically grasped by the grasping device 11 and enter the installation position 172, and after the battery module 16 is placed on the installation position 172, the battery module 16 is automatically fixed and installed by the installation device 12, so that the entire battery module 16 is entered into the installation position 172 and installed on the installation position 172. The process is automated, which reduces labor, improves production efficiency, and improves safety.

[0058] Please refer to Figure 1 The battery forming system 1 includes a grasping device 11 and an installation device 12, the grasping device 11 and the installation device 12 are respectively used to grasp the battery module 16 and install the battery module 16, and before grasping and installing the battery module 16, the grasping device 11 will collect the first coordinate of the first installation hole of the battery module 16 in the base coordinate system when it is in the initial position, and the installation device 12 will collect the second coordinate of the second installation hole at the installation position 172 on the lower shell 17 in the base coordinate system, and transmit the second coordinate to the grasping device 11, the grasping device 11 needs to grasp the battery module 16 to the installation position 172, and the first installation hole needs to correspond to the second installation hole, the grasping device 11 grasps the battery module 16 from the initial position to the installation position 172 on the lower shell 17 according to the first coordinate of the initial position of the battery module 16 and the second coordinate of the installation position 172, and the installation device 12 fixes the battery module 16 on the lower shell 17 according to the second coordinate of the installation position 172.

[0059] Furthermore, the first coordinate of the first mounting hole collected by the gripping device 11 is in the first coordinate system, and the second coordinate of the mounting position 172 collected by the mounting device 12 is also in the base coordinate system, that is, the gripping device 11 and the mounting device 12 use the same reference coordinate system, so that the first coordinate and the second coordinate collected by the gripping device 11 and the mounting device 12 can be shared. The mounting device 12 sends the collected second coordinate of the second mounting hole of the mounting position 172 in the base coordinate system to the gripping device 11, so that the gripping device 11 does not need to collect the coordinate of the second mounting hole of the mounting position 172 in the base coordinate system again, which saves time and improves production efficiency.

[0060] According to some embodiments of the present application, referring to Figure 1The present application provides a battery forming system 1. The battery forming system 1 includes a grasping device 11 and an installation device 12. The grasping device 11 collects the first coordinate of the first installation hole of the battery module 16 in the base coordinate system, and the installation device 12 collects the second coordinate of the installation position 172 of the lower shell 17 in the base coordinate system. The grasping device 11 grasps the battery module 16 to the installation position 172 on the lower shell 17 according to the first coordinate and the second coordinate, and then the installation device 12 fixes the battery module 16 to the installation position 172 of the lower shell 17 according to the second coordinate. The entire process of the battery module 16 from grasping to installation and fixing is fully automatically completed, which improves production efficiency and reduces costs.

[0061] The reference coordinate system is a coordinate system created at a certain position around the grasping device and the installation device. Its purpose is to make the movement of the robot and the programmed position all refer to this coordinate system. The grasping device 11 and the installation device 12 respectively collect the first coordinate and the second coordinate of the first installation hole of the battery module 16 and the second installation hole of the installation position 172 of the lower shell 17 in the base coordinate system. The first coordinate and the second coordinate are offset values ​​in the base coordinate system. The coordinates of the first coordinate in the base coordinate system are (X1, Y1, A1), and the coordinates of the second coordinate in the base coordinate system are (X2, Y2, A2), wherein X1 and X2 are offset values ​​of the X axis in the base coordinate system, Y1 and Y2 are offset values ​​of the Y axis in the base coordinate system, and A1 and A2 are angle offset values ​​in the base coordinate system. By acquiring the first coordinate and the second coordinate, the accurate position of the battery module 16 and the installation position 172 can be obtained, which improves the accuracy of the position, thereby improving the qualified rate in the subsequent grasping, placing and fixing process.

[0062] In the battery forming system 1, a gripping device 11 and an installation device 12 are included. The gripping device 11 and the installation device 12 respectively collect the coordinates of the first installation hole of the battery module 16 and the second installation hole of the installation position 172 of the lower shell 17 in the base coordinate system. The coordinates collected by the gripping device 11 and the installation device 12 are both in the base coordinate system, so that the coordinates collected by the two can be shared. The second coordinate of the second installation hole of the installation position 172 of the lower shell 17 collected by the installation device 12 can be shared with the gripping device 11, thereby reducing the work task of the gripping device 11, improving the operation efficiency of the gripping device 11, and improving the assembly cycle. The gripping device 11 grabs the battery module 16 from the first coordinate to the second coordinate according to the first coordinate and the second coordinate, thereby completing the boxing of the battery module 16, so that the battery module 16 is grabbed from the initial position to the installation position 172 of the lower shell 17, and then the installation device 12 installs the battery module 16 to the installation position 172 through the second coordinate, thereby completing the boxing and installation of the battery module 16. Thus, through the cooperation between the grasping device 11 and the installation device 12, the battery module 16 is placed on the installation position 172 of the lower shell 17 and fixedly installed, thereby realizing a fully automatic grasping and installation process and improving production efficiency.

[0063] According to some embodiments of the present application, optionally, the battery forming system 1 further includes a controller, which is signal-connected to the gripping device 11 and the mounting device 12 , respectively, receives the second coordinate sent by the mounting device 12 , and sends the second coordinate to the gripping device 11 .

[0064] The controller is a PLC (Programmable Logic Controller), which is a device for controlling the grasping device 11 and the mounting device 12, and is a bridge for connection and signal transmission between the grasping device 11 and the mounting device 12.

[0065] The controller is connected to the grasping device 11 and the installation device 12 respectively. The start and shutdown of the grasping device 11 and the installation device are controlled by the controller. The controller starts the grasping device 11, and the grasping device 11 moves from the original position to the working position. The grasping device 11 sends a request signal to the controller, and the controller sends a signal to the grasping device 11. The grasping device 11 collects the coordinates of the first installation hole of the battery module 16 according to the signal. The controller starts the installation device 12, and the installation device 12 moves from the original position to the working position. The installation device 12 sends a request signal to the controller, and the controller sends a signal to the installation device 12. The installation device 12 collects the second coordinates of the second installation hole at the installation position 172 according to the signal, and sends the second coordinates to the controller. The controller sends the second coordinates to the grasping device 11, and the installation device grasps the battery module 16 to the installation position 172 according to the first coordinate and the second coordinate. The installation device 12 installs and fixes the battery module 16 according to the second coordinate.

[0066] According to some embodiments of the present application, optionally, please continue to refer to Figure 1 The battery forming system 1 also includes a first transmission line 13 and a second transmission line 14. The first transmission line 13 transmits a plurality of battery module 16 transmission trays, and the battery module 16 transmission trays contain a plurality of battery modules 16; the second transmission line 14 transmits a plurality of battery transmission trays, and the battery transmission trays contain a lower shell 17, and a plurality of installation positions 172 are arranged on the lower shell 17; wherein the first transmission line 13 and the second transmission line 14 are arranged adjacent to each other, and the grasping device 11 and the installation device 12 are arranged on both sides of the second transmission line 14 opposite to each other.

[0067] The first transmission line 13 is provided with a battery module 16, the second transmission line 14 is provided with a lower shell 17, the first transmission line 13 and the second transmission line 14 are arranged adjacent to each other, and the grabbing device 11 is arranged adjacent to both the first transmission line 13 and the second transmission line 14, the installation device 12 is arranged adjacent to the second transmission line 14, and the grabbing device 11 and the installation device 12 are arranged oppositely on both sides of the second transmission line 14, so that it is convenient for the grabbing device 11 to grab the battery module 16 onto the lower shell 17, and the installation device 12 to fix the battery module 16 on the installation position 172 of the lower shell 17. Preferably, the first transmission line 13 and the second transmission line 14 are relatively vertical.

[0068] The first transmission line 13 is used to transmit the battery module 16 transmission tray, and each battery module 16 transmission tray is provided with a plurality of battery modules 16, that is, a plurality of battery modules 16 are transmitted on the first transmission line 13, and a plurality of battery transmission trays are transmitted on the second transmission line 14, and a lower shell 17 is contained on the battery transmission tray, and a plurality of installation positions 172 are provided on the lower shell 17, so that the battery module 16 and the lower shell 17 can be installed during the transmission process by the setting of the first transmission line 13 and the second transmission line 14.

[0069] According to some embodiments of the present application, the battery forming system 1 further includes a third transmission line 15, which is used to receive an abnormal battery module 16 grasped by the grasping device 11; wherein the third transmission line 15 is respectively arranged adjacent to the first transmission line 13 and the grasping device 11.

[0070] When it is detected that the battery module 16 is abnormal, the grabbing device 11 grabs the abnormal battery module 16 from the first transmission line 13 to the third transmission line 15. The third transmission line 15 is arranged adjacent to the first transmission line 13, so that the grabbing device 11 can grab and place it conveniently.

[0071] The third transmission line 15 is used to transmit abnormal battery modules 16. Before the grabbing device 11 grabs the battery module 16 to the lower shell 17 on the second transmission line 14, the battery module 16 will be tested first. If the battery module 16 is abnormal, the battery module 16 will be grabbed to the third transmission line 15 and the abnormal battery module 16 will be discarded to prevent the abnormal battery module 16 from being installed with the lower shell 17 and eventually forming a bad battery.

[0072] like Figure 2 Shown is a schematic diagram of the installation positions 172 in the lower shell 17 in the present application, which shows the positions of each installation position 172 and the preset serial numbers of each installation position 172. According to some embodiments of the present application, optionally, each installation position 172 on the lower shell 17 has a preset serial number, the preset serial numbers of each pair of installation positions 172 are not adjacent, and the installation position 172 with a forward preset serial number in each pair of installation positions 172 is away from the grasping device 11 relative to the other installation position, the grasping device 11 places the battery module 16 according to the preset serial number, and the installation device 12 fixes the battery module 16 according to the preset serial number.

[0073] In each pair of installation positions 172, the installation position 172 with a forward preset serial number is farther away from the grasping device 11 relative to the other installation position. The grasping device 11 places the battery module 16 according to the preset serial number, and the installation device 12 fixes the battery module 16 according to the preset serial number, that is, the grasping device 11 grasps and places each pair of battery modules 16 in an order from far to near. During the grasping process, when grasping the battery module 16, the grasping device 11 grasps one or two battery modules 16 from far to near according to the transmission order of the battery module 16 on the first transmission line 13, thereby completing the grasping process. Similarly, when the grasping device 11 places the battery module 16 on the second transmission line 14, it also places it in an order from far to near, thereby completing the grasping and placement of the battery module 16.

[0074] The lower shell 17 has a plurality of mounting positions 172, each mounting position 172 having a preset serial number. The grasping device 11 places the battery module 16 according to the preset serial number, and the preset serial numbers of two adjacent mounting positions 172 are not adjacent, and the mounting position 172 with the preset serial number in front of each pair is farther away from the grasping device 11 and closer to the mounting device 12 relative to the other, so that after the grasping device 11 grasps the first battery module 16 in each pair to the mounting position 172 with the preset serial number in front, it moves another battery module to another mounting position 172 close to the grasping device 11, so that the grasping device 11 makes room for the mounting device 12 to move, and the mounting device 12 can move the battery module 16 within a certain range. During installation, the grasping device 11 can grasp another battery module 16 to another installation position 172 with a later preset serial number. Since the preset serial numbers of two adjacent installation positions 172 are not adjacent, the installation device 12 and the grasping device 11 can work at the same time. When the grasping device 11 returns to the initial working position, the installation device 12 fixes and installs the second battery module 16, thereby improving the working efficiency of the grasping device 11 and the installation device 12, as well as the production efficiency of the battery. Moreover, each pair of installation positions 172 with a forward preset serial number is farther away from the grasping device 11 than the other one, and closer to the installation device 12, so that the installation devices 12 and the grasping devices 11 working at the same time will not interfere with each other due to the movable range of their respective robotic arms.

[0075] In this embodiment, if Figure 2 As shown, the preset serial numbers of the installation positions 172 of the lower housing 17 are paired in odd and even order and gradually increase, such as (01, 02), (03, 04) (05, 06) ... ... (23, 24). The gripping device 11 first places one battery module 16 at an odd position away from the gripping device 11, such as position 1, and the other at an even position close to the gripping device 11, such as position 2.

[0076] like Figure 3The figure is a schematic diagram of the structure of the grasping device 11. According to some embodiments of the present application, optionally, the grasping device 11 includes a first image acquisition device 111, and the first image acquisition device 111 is used to take a picture of the first mounting hole of the battery module 16, and obtain the first coordinate of the first mounting hole in the base coordinate system according to the picture of the first mounting hole.

[0077] The gripping device 11 includes a first image acquisition device 111, which is a visual industrial camera, arranged at the bottom of the gripping device 11 facing the battery module 16, and arranged opposite to the battery module 16, so as to facilitate photographing the battery module 16. There are two visual industrial cameras, which are respectively arranged corresponding to the first mounting holes of the two battery modules 16, and are used to photograph the two symmetrical first mounting holes of the battery module 16, and calculate the first coordinates of the two first mounting holes in the base coordinate system according to the photographed pictures.

[0078] The first picture acquisition device 111 sends a request to the controller, and the controller sends a signal to the first picture acquisition device 111 according to the request. The first picture acquisition device 111 photographs the battery module 16 according to the signal. If the photographing and the detection are normal, if the photograph is empty, the controller sends a signal to the first picture acquisition device 111, and the first picture acquisition device 111 goes to the next position to take pictures again until the battery module 16 is photographed.

[0079] According to some embodiments of the present application, the grasping device 11 also includes a detection device for detecting whether the battery module 16 is normal. The detection device is connected to the controller signal and sends the detection result to the controller; if the battery module 16 is normal, the controller controls the grasping device 11 to grasp the battery module 16 to the installation position 172 of the second transmission line 14; if the battery module 16 is abnormal, the controller controls the grasping device 11 to grasp the battery module 16 to the third transmission line 15.

[0080] The gripping device 11 includes a detection device, which is also arranged at the bottom of the gripping device 11 and is arranged opposite to the battery module 16 , so as to facilitate the detection of the battery module 16 .

[0081] The detection device is used to detect whether the battery module 16 is normal. If the battery module 16 is normal, the grasping device 11 grasps the battery module 16 to the installation position 172 of the lower shell 17 of the second transmission line 14, thereby further fixing the normal battery module 16 on the lower shell 17. If the detection device detects that the battery module 16 is abnormal, the grasping device 11 grasps the battery module 16 to the third transmission line 15 for waste discharge, thereby preventing the abnormal battery module 16 from being fixed to the lower shell 17 to finally form a battery.

[0082] like Figure 3As shown, according to some embodiments of the present application, the detection device includes a QR code scanner 112 and a battery tester, the QR code scanner 112 is used to scan the QR code on the battery module 16, the QR code scanner 112 is connected to the controller, and sends the scanning result to the controller; the voltage tester is used to detect the voltage of the battery module 16, and sends the detection result to the controller; if the QR code scanning result and the voltage detection result are normal, the controller controls the grasping device 11 to grasp the battery module 16 to the installation position 172 of the second transmission line 14; if the QR code scanning result and / or the voltage detection result are abnormal, the controller controls the grasping device 11 to grasp the battery module 16 to the third transmission line 15.

[0083] The grasping device 11 first moves to the first image acquisition device 111 corresponding to the first mounting hole to complete the shooting of the first mounting hole. At the same time, the QR code scanner 112 scans the QR code on the battery module 16, and then moves to the position corresponding to the voltage test piece and the positive and negative poles, so as to detect the voltage of the battery module 16.

[0084] A two-dimensional code is set on the surface of each battery module 16. The two-dimensional code is the identity tag of the battery module 16, which records the material code, voltage data and tightening quality data of the battery module 16. The grasping device 11 scans the two-dimensional code through the two-dimensional code scanning device, and detects the positive and negative voltages of the battery module 16 through the voltage test piece. If there is a problem with one of the two test results, the battery module 16 will be grasped to the waste discharge line through the grasping device 11. If there is no problem with both test results, the grasping device 11 is controlled to grasp the battery module 16 to the installation position 172 of the second transmission line 14.

[0085] like Figure 3 As shown, according to some embodiments of the present application, the gripping device 11 includes at least two grippers 114, each gripper 114 is used to grip a battery module 16, and each gripper 114 device is correspondingly provided with two voltage test pieces, and the two voltage test pieces are used to test the voltage between the positive and negative poles of the battery module.

[0086] The grasping device 11 includes at least two graspers 114 , each grasper 114 can grasp one battery module 16 , so that at least two battery modules 16 can be grasped at the same time, which improves work efficiency and saves time.

[0087] Each gripper 114 device is correspondingly provided with two voltage test pieces, and the two voltage test pieces are used to test the voltage between the positive and negative poles of the battery module, and the voltage test of the battery module 16 is performed through the voltage test pieces.

[0088] like Figure 4As shown, according to some embodiments of the present application, the mounting device 12 includes a second image acquisition device 121, which is used to take a picture of the second mounting hole of the mounting position 172 of the lower shell 17, obtain the second coordinates of the second mounting hole in the base coordinate system according to the picture of the second mounting hole, and transmit the second coordinates to the controller.

[0089] The mounting device 12 has a second picture acquisition device 121, which is used to take a picture of the second mounting hole of the upper shell of the second transmission line 14, so as to obtain the second coordinates of the second mounting hole according to the picture of the second mounting hole, wherein the second picture acquisition device 121 is a visual industrial camera, which is arranged at the bottom of the mounting device 12 facing the mounting position 172 and is arranged opposite to the mounting position 172, so as to facilitate the shooting of the second mounting hole at the mounting position 172.

[0090] The installation device 12 sends a request to the controller, and the controller sends a signal to the installation device 12 according to the request. The installation device 12 photographs the second installation holes at different installation positions 172 according to the signal of the controller. There are two visual industrial cameras, which are respectively arranged corresponding to the two second installation holes, and are used to photograph the two symmetrical second installation holes respectively, and calculate the second coordinates of the two second installation holes in the base coordinate system according to the photographed pictures, and send the second coordinates to the controller, and the controller sends the second coordinates to the grasping device 11, so that the grasping device 11 does not need to photograph the second installation holes, saving time and improving efficiency.

[0091] like Figure 4 As shown, according to some embodiments of the present application, the installation device 12 also includes at least one tightening gun 122, which is connected to the controller. The controller controls the tightening gun 122 to tighten the screws inserted into the first mounting hole and the second mounting hole according to the second coordinate to fix the battery module 16 to the installation position 172 of the lower shell 17.

[0092] The tightening gun 122 of the mounting device 12 serves as a fixing device of the mounting device 12 to the battery module 16 , and inserts the screws into the first mounting hole and the second mounting hole and tightens them, thereby fixing the battery module 16 and the lower shell 17 .

[0093] The battery module 16 has four first mounting holes, each mounting position 172 has four second mounting holes, and there are four tightening guns 122. Therefore, when the mounting device 12 fixes the battery module 16, the controller controls the nail feeder to deliver the screws to the gun heads of the four tightening guns 122 respectively. The four tightening guns 122 work simultaneously to tighten the battery module 16 together, thereby improving the tightening efficiency.

[0094] The battery forming system 1 provided in the present application includes a gripping device 11, an installation device 12, a controller, a first transmission line 13, a second transmission line 14 and a third transmission line 15. The first transmission line 13 transmits a battery module 16, the second transmission line 14 transmits a lower shell 17, and the third transmission line 15 is a waste discharge line. The gripping device 11 collects the first coordinates of the first installation hole of the battery module 16 in the base coordinate system and detects the battery module 16. The installation device 12 collects the second installation hole of the upper and lower shell 17 installation position 172 of the second transmission line 14 in the base coordinate system. The second coordinate in the reference system is determined, and the detected second coordinate is sent to the grasping device 11. The grasping device 11 is also used to detect the battery module 16. If the battery module 16 is detected to be normal, the grasping device 11 grasps the battery module 16 to the installation position 172 on the lower shell 17 of the second transmission line 14 according to the first coordinate and the second coordinate. The installation device 12 fixes the battery module 16 on the lower shell 17, thereby realizing the full automation of the battery forming system 1, saving labor costs, improving the efficiency of battery production, and improving safety performance.

[0095] Second, please refer to Figure 5 , as shown in the figure, the present application provides a battery forming method, comprising:

[0096] S101, collecting a first coordinate of a first mounting hole of a battery module in a base coordinate system;

[0097] The grasping device collects the first coordinate of the first mounting hole of the battery module in the base coordinate system. The first coordinate is the offset value of the first mounting hole of the battery module in the base coordinate system. The coordinates of the first coordinate in the base coordinate system are (X1, Y1, A1).

[0098] S102, collecting the second coordinate of the second mounting hole at the mounting position on the lower housing in the base coordinate system;

[0099] The installation device collects the second coordinate of the second mounting hole at the installation position on the lower shell in the base coordinate system, the second coordinate is the offset value of the second mounting hole at the installation position on the lower shell in the base coordinate system, and the coordinate of the first coordinate in the base coordinate system is (X2, Y2, A2), and the collected second coordinate is sent to the grasping device.

[0100] S103: grab a normal battery module to an installation position of the lower housing based on the first coordinate and the second coordinate, and fix the battery module at the installation position of the lower housing.

[0101] The grasping device grasps the normal battery module to the installation position of the lower shell according to the first coordinate and the second coordinate, and the installation device fixes the battery module at the installation position according to the second coordinate.

[0102] In the battery forming method, the coordinates of the first mounting hole of the battery module and the second mounting hole at the mounting position of the lower shell are collected by the grasping device and the installation device respectively in the base coordinate system. The coordinates collected by the grasping device and the installation device are both in the base coordinate system, so that the coordinates collected by the two can be shared. The second coordinates of the second mounting hole at the mounting position of the lower shell collected by the installation device can be shared with the grasping device for sharing, thereby reducing the work tasks of the grasping device, improving the operation efficiency of the grasping device, and improving the assembly cycle. The grasping device grasps the battery module from the first coordinate to the second coordinate according to the first coordinate and the second coordinate, thereby completing the entry of the battery module, so that the battery module is grasped from the initial position to the mounting position of the lower shell, and then the installation device installs the battery module to the mounting position through the second coordinate, thereby completing the entry and installation of the battery module. Therefore, through the mutual cooperation of the grasping device and the installation device, the battery module is placed on the mounting position of the lower shell and fixedly installed, thereby realizing a fully automatic grasping and installation process, and improving production efficiency.

[0103] like Figure 6 As shown, the present application provides another battery forming method, comprising:

[0104] S201, collecting a first coordinate of a first mounting hole of a battery module in a base coordinate system;

[0105] S202, collecting the second coordinate of the second mounting hole at the mounting position on the lower housing in the base coordinate system;

[0106] S203, checking whether the battery module is normal;

[0107] Before grabbing the battery module, it is necessary to detect whether the battery module is normal to prevent abnormal battery modules from being grabbed onto the lower shell to form a battery. The methods for detecting whether the battery module is normal include QR code detection and voltage detection. The QR code on the battery module is scanned and detected by a QR code scanner, and the voltage of the battery module is detected by a voltage tester.

[0108] S204, if the battery module is normal, grab the normal battery module to the installation position of the lower housing based on the first coordinate and the second coordinate;

[0109] If the QR code scanning result and the voltage detection result are both normal, the grabbing device is controlled to grab the battery module to the installation position of the second transmission line;

[0110] S205: If the battery module is abnormal, the battery module is grabbed onto the third transmission line.

[0111] If one of the two-dimensional code scanning result or the voltage detection result is abnormal, the grabbing device is controlled to grab the battery module onto the third transmission line.

[0112] In the battery forming method, the coordinates of the first mounting hole of the battery module and the second mounting hole at the mounting position of the lower shell are collected by the grasping device and the installation device respectively in the base coordinate system. The coordinates collected by the grasping device and the installation device are both in the base coordinate system, so that the coordinates collected by the two can be shared. The second coordinates of the second mounting hole at the mounting position of the lower shell collected by the installation device can be shared with the grasping device for sharing, thereby reducing the work tasks of the grasping device, improving the operation efficiency of the grasping device, and improving the assembly rhythm. The grasping device grasps the battery module from the first coordinate to the second coordinate according to the first coordinate and the second coordinate, thereby completing the entry of the battery module into the box, so that the battery module is grasped from the initial position to the mounting position of the lower shell, and then the installation device installs the battery module to the mounting position through the second coordinate, thereby completing the entry and installation of the battery module. The grasping device also detects the battery module. If it is detected that there is a problem with the battery module, it will be grasped to the third transmission line for waste discharge. If it is detected that there is no problem with the battery module, the battery module will be grasped to the mounting position on the second transmission line for installation. Thus, through the cooperation between the grasping device and the installation device, the battery module is placed on the installation position of the lower shell and fixedly installed, thereby realizing a fully automatic grasping and installation process and improving production efficiency.

[0113] like Figure 7 As shown, the present application provides another battery forming method, comprising:

[0114] S301, collecting a first coordinate of a first mounting hole of a battery module in a base coordinate system;

[0115] S302, collecting the second coordinate of the second mounting hole at the mounting position on the lower housing in the base coordinate system;

[0116] S303, checking whether the battery module is normal;

[0117] S304, if the battery module is normal, grab one or a pair of battery modules;

[0118] If the battery module is normal, the grabbing device grabs one or a pair of battery modules from the first conveying line.

[0119] S305, placing the first normal battery module at the installation position having the same preset serial number as the grabbing order according to the first coordinate of the first installation hole of the first battery module and the second coordinate of the second installation hole of the installation position having the same serial number as the grabbing order;

[0120] Then, the first battery module is placed on an installation position having a preset serial number which is the same as its grabbing order, wherein the lower shell has multiple installation positions corresponding to the battery modules, each installation position has a preset serial number, the preset serial numbers of each pair of installation positions are not adjacent, and the installation position with a forward preset serial number in each pair of installation positions is farther away from the grabbing device relative to the installation device, that is, the battery module is first placed at an installation position farther away from the grabbing device, and the placement order follows the principle of far first and near later.

[0121] S306, fixing the first battery module at the mounting position having the same preset serial number as the grabbing order in the lower housing according to the second coordinates of the second mounting hole at the mounting position having the same preset serial number as the grabbing order; placing the second normal battery module at the mounting position having the same preset serial number as the grabbing order according to the first coordinates of the first mounting hole of the second battery module and the second coordinates of the second mounting hole at the mounting position having the same preset serial number as the grabbing order;

[0122] The installation device then installs the battery module that has been placed close to the installation position. At the same time, the grasping device places another battery module at an installation position close to itself, so that the installation device and the grasping device work at the same time, saving time and improving efficiency.

[0123] S307, fixing the second battery module at the installation position having the same preset serial number as the grabbing order in the lower housing according to the second coordinates of the second installation hole at the installation position having the same preset serial number as the grabbing order.

[0124] The installation device then installs the next battery module, thereby completing the installation of the pair of battery modules, wherein a pair consists of two.

[0125] During the battery forming process, a plurality of installation positions are provided on the lower shell, each installation position has a preset serial number, and the grasping device places the battery module according to the preset serial number when placing the battery module, and the preset serial numbers of two adjacent installation positions are not adjacent, and the installation position with the front preset serial number of each pair is farther away from the grasping device and closer to the installation device relative to the other, so that after the grasping device grasps the first battery module in each pair to the installation position with the front preset serial number, the other battery module is moved closer to another installation position of the grasping device, and since the preset serial numbers of two adjacent installation positions are not adjacent, the grasping device makes room for the installation device to move. The installation device can install the battery module within a certain range, and the grasping device can grasp another battery module to another installation position with a preset serial number at the same time, so that the installation device and the grasping device can work at the same time, and when the grasping device returns to the initial working position, the installation device fixes and installs the second battery module, which improves the working efficiency of the grasping device and the installation device, as well as the production efficiency of the battery, and each pair of installation positions with preset serial numbers is far away from the grasping device and close to the installation device relative to the other, so that the installation device and the grasping device working at the same time will not interfere with each other due to the activity range of their respective robotic arms.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A battery forming system, characterized in that: include: A grasping device, used for acquiring a first coordinate of a first mounting hole of a battery module in a base coordinate system; An installation device is used to collect the second coordinate of the second installation hole at the installation position on the lower shell in the base coordinate system, and the installation device is connected to the grasping device by signal to transmit the second coordinate to the grasping device; The grabbing device grabs the normal battery module to the installation position on the lower shell according to the first coordinate and the second coordinate, and the installation device fixes the battery module at the installation position of the lower shell according to the second coordinate; Each installation position on the lower shell has a preset serial number, the preset serial numbers of each pair of the installation positions are not adjacent, and the installation position with a front preset serial number in each pair of the installation positions is farther away from the grasping device relative to the other installation position, the grasping device places the battery module according to the preset serial number, and the installation device fixes the battery module according to the preset serial number.

2. The battery forming system according to claim 1, characterized in that: Also includes: A controller is respectively connected to the grasping device and the installation device by signals, receives the second coordinate sent by the installation device, and sends the second coordinate to the grasping device.

3. The battery forming system according to claim 2, characterized in that: Also includes: A first transmission line, transmitting a plurality of battery module transmission trays, wherein the battery module transmission trays contain a plurality of battery modules; The second transmission line transmits a plurality of battery transmission trays, wherein the battery transmission trays contain the lower shell, and the lower shell is provided with a plurality of installation positions; wherein the first transmission line and the second transmission line are arranged adjacent to each other, and the grabbing device and the installation device are arranged opposite to each other on both sides of the second transmission line.

4. The battery forming system according to claim 3, characterized in that: Also includes: The third transmission line is used to receive the abnormal battery module grasped by the grasping device; wherein the third transmission line is respectively arranged adjacent to the first transmission line and the grasping device.

5. The battery forming system according to claim 2, characterized in that: The grasping device includes: a first image acquisition device, which is used to take a picture of the first mounting hole of the battery module and obtain a first coordinate of the first mounting hole in a base coordinate system according to the picture of the first mounting hole.

6. The battery forming system according to claim 4, characterized in that: The gripping device also includes: A detection device, used to detect whether the battery module is normal, the detection device is connected to the controller signal and sends the detection result to the controller; If the battery module is normal, the controller controls the grabbing device to grab the battery module to the installation position of the second transmission line; If the battery module is abnormal, the controller controls the grabbing device to grab the battery module onto the third transmission line.

7. The battery forming system according to claim 6, characterized in that: The detection device comprises: A two-dimensional code scanner, which is used to scan the two-dimensional code on the battery module, and is connected to the controller to send the scanning result to the controller; and a voltage test piece, wherein the voltage test piece is used to detect the voltage of the battery module and send the detection result to the controller; if the QR code scanning result and the voltage detection result are normal, the controller controls the grasping device to grasp the battery module to the installation position of the second transmission line; if the QR code scanning result and / or the voltage detection result are abnormal, the controller controls the grasping device to grasp the battery module to the third transmission line.

8. The battery forming system according to claim 7, characterized in that: The gripping device includes at least two grippers, each of which is used to grip one battery module, and each of the grippers is correspondingly provided with two voltage test pieces, which are used to test the voltage between the positive and negative poles of the battery module.

9. The battery forming system according to any one of claims 2 to 8, characterized in that: The installation device includes: a second image acquisition device, which is used to take a picture of the second installation hole at the installation position of the lower shell, obtain the second coordinates of the second installation hole in the base coordinate system according to the picture of the second installation hole, and transmit the second coordinates to the controller.

10. The battery forming system according to any one of claims 2 to 8, characterized in that: The installation device also includes: at least one tightening gun, which is connected to the controller, and the controller controls the tightening gun to tighten the screws inserted into the first mounting hole and the second mounting hole according to the second coordinate to fix the battery module to the installation position of the lower shell.

11. A battery forming method, characterized in that: include: Collecting the first coordinate of the first mounting hole of the battery module in the base coordinate system; Collect the second coordinate of the second mounting hole at the mounting position on the lower housing in the base coordinate system; Grab one or a pair of battery modules; Placing the first normal battery module at the installation position having the same preset serial number as the grabbing order according to the first coordinate of the first installation hole of the first battery module and the second coordinate of the second installation hole at the installation position having the same serial number as the grabbing order; placing the second normal battery module at the installation position having the same preset serial number as the grabbing order according to the first coordinate of the first installation hole of the second battery module and the second coordinate of the second installation hole at the installation position having the same serial number as the grabbing order, and fixing the battery module at the installation position of the lower housing; Wherein, the lower shell has multiple installation positions corresponding to the battery module, each installation position has a preset serial number, the preset serial numbers of each pair of installation positions are not adjacent, and the installation position with a forward preset serial number in each pair of installation positions is far away from the grasping device relative to the other installation position.

12. The battery forming method according to claim 11, characterized in that: Before grabbing the normal battery module to the installation position of the lower housing based on the first coordinate and the second coordinate, the method further includes: Detecting whether the battery module is normal; If the battery module is normal, the normal battery module is grabbed to the installation position of the lower shell based on the first coordinate and the second coordinate; if the battery module is abnormal, the battery module is grabbed to the third transmission line.

13. The battery forming method according to claim 11, characterized in that: The step of fixing the battery module at the installation position of the lower housing comprises: Fixing the first battery module at the installation position having the same preset serial number as the grabbing order in the lower housing according to the second coordinates of the second installation hole at the installation position having the same serial number as the grabbing order; The second battery module is fixed to the installation position with the same preset serial number as the grabbing order in the lower shell according to the second coordinate of the second installation hole at the installation position with the same installation position as the grabbing order.

Images