A power battery assembly system and method

Abstract

The present invention relates to a power battery assembly system, which includes an automobile production line, a follow-up lifting device, a battery loading subsystem, a battery tray, a battery tray loading subsystem, a bolt loading subsystem, and a battery conveying line. The battery tray loading subsystem can load the battery tray onto the battery conveying line. The bolt loading subsystem can load multiple bolts onto the battery tray on the battery conveying line. The battery loading subsystem can load the power battery onto the battery tray on the battery conveying line. The battery conveying line can convey the power battery carried thereon to the follow-up lifting device. The follow-up lifting device can lift the power battery to the assembly position, and a bolt tightening mechanism is provided on the follow-up lifting device. The present invention also proposes a power battery assembly method. The present invention proposes a complete set of process system solutions that can realize the automatic storage and transportation of power batteries, automatic bolt placement, automatic follow-up lifting and assembly, and automatic tightening.

Description

Technical Field

[0001] The present invention relates to an automobile, and particularly to a power battery assembly system and method. Background Art

[0002] The power battery is one of the most important three major components of new energy vehicles. The power battery is large in volume, heavy in weight, and has many connection points with the vehicle body, and has high requirements for installation. In the prior art, the assembly of the power battery usually uses a lifting AGV cart to assist in manual assembly and manual tightening. This assembly method has at least the following technical problems: manual assembly and tightening of bolts are required, a large number of personnel need to be equipped, the overall efficiency is not high, and the consistency of manual assembly is difficult to meet the high requirements of the power battery; although the lifting AGV cart has a good automatic navigation function, it is still difficult for the lifting AGV cart to meet the high matching accuracy requirements between the power battery and the vehicle body during the assembly process, resulting in a low power battery assembly cycle and low overall efficiency. Summary of the Invention

[0003] The object of the present invention is to provide a power battery assembly system and method to alleviate or eliminate at least one of the above technical problems.

[0004] A power battery assembly system provided by the present invention includes an automobile production line, a battery assembly subsystem, a battery loading subsystem, a battery tray, a battery tray loading subsystem, a bolt loading subsystem, and a battery conveyor line. The battery assembly subsystem is arranged below the automobile production line. The battery assembly subsystem includes a following lifting device capable of following the vehicle body on the automobile production line. The battery tray is provided with a power battery support part and a plurality of bolt placement parts. The battery tray loading subsystem is configured to be able to load the battery tray onto the battery conveyor line. The bolt loading subsystem is configured to be able to load a plurality of bolts onto the plurality of bolt placement parts of the battery tray on the battery conveyor line. The battery loading subsystem is configured to be able to load the power battery onto the power battery support part of the battery tray on the battery conveyor line. The battery conveyor line is configured to be able to convey the battery tray carrying the power battery and a plurality of the bolts to the following lifting device. The following lifting device is configured to be able to lift the battery tray carrying the power battery and a plurality of bolts to the assembly position. A plurality of bolt tightening mechanisms for tightening a plurality of the bolts are arranged on the following lifting device.

[0005] Optionally, the following lifting device includes a lifting mechanism, a servo floating table connected to the upper side of the lifting mechanism, and a first vision device for photographing the vehicle body on the automobile production line.

[0006] Optionally, the accompanying lifting device includes a carrier positioning mechanism and a carrier support mechanism for upwardly supporting the vehicle body carrier.

[0007] Optionally, the bolt tightening mechanism includes an electric wrench and a first lifting mechanism for driving the electric wrench to lift and lower.

[0008] Optionally, the battery assembly subsystem further includes a ground rail, and a first electric traveling mechanism cooperating with the ground rail is provided on the accompanying lifting device.

[0009] Optionally, the battery loading subsystem includes a battery loading device, the battery loading device includes a manipulator for clamping a power battery, a second vision device for photographing the power battery is provided on the manipulator, and at least two first positioning pins for cooperating with positioning holes on the power battery.

[0010] Optionally, at least two first positioning pin telescopic cylinders for driving the first positioning pins to lift and lower are provided on the manipulator.

[0011] Optionally, the battery loading device further includes a manipulator track, and a second electric traveling mechanism cooperating with the manipulator track is provided on the manipulator.

[0012] Optionally, the manipulator further includes a clamping mechanism for clamping a power battery and a second lifting mechanism connected between the second electric traveling mechanism and the clamping mechanism, and the second lifting mechanism can drive the clamping mechanism to lift and lower.

[0013] Optionally, the battery loading subsystem further includes a transfer cart and multiple battery storage and transportation lines, and the transfer cart is used to transfer the power batteries output from the multiple battery storage and transportation lines to the battery loading device.

[0014] Optionally, the battery tray loading subsystem includes a tray library and a loading elevator, multiple layers of tray storage and transportation lines are provided in the tray library, and the loading elevator is used to load the battery trays output from the multiple layers of tray storage and transportation lines onto the battery conveyor line.

[0015] Optionally, the battery tray loading subsystem further includes a return elevator and a return conveyor line, the return elevator is used to convey the battery trays output from the accompanying lifting device to the return conveyor line, and the return conveyor line is used to convey the battery trays output from the return elevator to the loading elevator.

[0016] Optionally, the bolt feeding subsystem includes a bolt feeding robot, a bolt tray, and at least two bolt vibrators. The at least two bolt vibrators are used to feed bolts to the bolt tray, and the bolt feeding robot is used to feed the bolts on the bolt tray onto the battery tray on the battery conveying line.

[0017] Optionally, the battery tray includes a tray body for supporting the power battery and a plurality of rotatable bolt mounting members. Upper mating holes for mating with the heads of the bolts are provided at the upper ends of the plurality of bolt mounting members, and connection structures for connecting with the bolt tightening mechanism are provided on the plurality of bolt mounting members.

[0018] Optionally, at least two second positioning pins for mating with the positioning holes on the power battery and at least two third positioning pins for mating with the positioning holes on the vehicle body are provided on the battery tray.

[0019] Optionally, the battery conveying line is in an L shape. The battery conveying line includes a first section arranged in the front-rear direction and a second section extending leftward from the rear end of the first section. The battery tray feeding subsystem and the bolt feeding subsystem are arranged at the front end of the first section. The battery feeding subsystem is arranged on the right side of the battery conveying line, and the battery assembly subsystem is arranged on the left side of the battery conveying line.

[0020] Optionally, a control subsystem is further included. The control subsystem is used to control the operation of the battery assembly subsystem, the battery feeding subsystem, the battery tray feeding subsystem, the bolt feeding subsystem, and the battery conveying line.

[0021] A method for assembling a power battery according to the present invention uses the power battery assembly system described in any one of the above. The method includes the following steps: According to the information of the vehicle body to be assembled on the automobile production line, controlling the battery tray feeding subsystem to feed the battery tray corresponding to the vehicle body to be assembled onto the battery conveying line, controlling the bolt feeding subsystem to feed a plurality of bolts corresponding to the vehicle body to be assembled onto the battery tray on the battery conveying line, controlling the battery feeding subsystem to feed the power battery corresponding to the vehicle body to be assembled onto the battery tray, controlling the battery conveying line to convey the battery tray carrying the power battery and the plurality of bolts to the accompanying lifting device, controlling the accompanying lifting device to follow the vehicle body to be assembled on the automobile production line, controlling the accompanying lifting device to lift the battery tray carrying the power battery and the plurality of bolts to the assembly position, and controlling a plurality of bolt tightening mechanisms to tighten the plurality of bolts.

[0022] The present invention has the following characteristics: It proposes a complete set of process system solutions capable of realizing the automatic storage and transportation of power batteries, automatic bolt placement, automatic in-process lifting and assembly, and automatic tightening, which can achieve the automatic assembly of power batteries, reduce the staffing, is conducive to improving the assembly efficiency and assembly consistency of power batteries, can achieve flexible and rapid switching among multiple vehicles, and has the characteristics of clear structural hierarchy, high automation degree, reliable performance, and strong practicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of the power battery assembly system described in the specific implementation manner;

[0024] Figure 2 It is one of the schematic structural diagrams of the manipulator described in the specific implementation manner;

[0025] Figure 3 It is the second schematic structural diagram of the manipulator described in the specific implementation manner;

[0026] Figure 4 It is a schematic structural diagram of the bolt feeding subsystem described in the specific implementation manner;

[0027] Figure 5 It is a schematic structural diagram of the battery tray described in the specific implementation manner;

[0028] Figure 6 It is a schematic structural diagram of the bolt mounting part described in the specific implementation manner;

[0029] Figure 7 It is a schematic structural diagram of the battery tray feeding subsystem, battery conveying line, battery assembly subsystem, and automobile production line described in the specific implementation manner;

[0030] Figure 8 It is a schematic structural diagram of the battery tray feeding subsystem and battery conveying line described in the specific implementation manner.

[0031] Figure 9 It is a schematic structural diagram of the battery assembly subsystem described in the specific implementation manner;

[0032] Figure 10 It is an exploded view of the in-process lifting device described in the specific implementation manner;

[0033] Figure 11 It is a schematic structural diagram of the carrier support mechanism and carrier positioning mechanism described in the specific implementation manner;

[0034] Figure 12 It is a schematic structural diagram of the servo floating table and bolt tightening mechanism described in the specific implementation manner;

[0035] Figure 13Schematic structural diagram of the bolt tightening mechanism described in the specific implementation manner.

[0036] Among them, 1 - automotive production line; 2 - battery storage and transportation line; 3 - transfer trolley; 4 - battery loading subsystem; 5 - battery tray loading subsystem; 6 - bolt loading subsystem; 7 - battery conveying line; 8 - battery assembly subsystem; 9 - battery tray;

[0037] 11 - automotive production line body; 12 - vehicle body carrier;

[0038] 41 - manipulator track; 42 - manipulator;

[0039] 421 - second electric walking mechanism; 422 - clamping mechanism; 423 - second lifting cylinder; 424 - second walking motor; 425 - battery gripper; 426 - second vision device; 427 - first positioning pin; 428 - first positioning pin telescopic cylinder; 429 - gripper cylinder;

[0040] 51 - pallet library; 52 - loading elevator; 53 - return elevator; 54 - return conveyor line;

[0041] 61 - bolt loading robot; 62 - bolt grasping and placing fixture; 63 - bolt tray; 64 - bolt vibrating feeder;

[0042] 71 - first section; 72 - second section;

[0043] 81 - ground rail; 82 - attendant lifting device;

[0044] 821 - lifting mechanism; 822 - servo floating table; 823 - bolt tightening mechanism; 824 - first walking motor; 825 - first vision device; 826 - carrier support mechanism; 827 - carrier positioning mechanism; 828 - pallet stop; 829 - pallet limit strip;

[0045] 8231 - first bracket; 8232 - first slide rail; 8233 - first sliding member; 8234 - first lifting cylinder; 8235 - electric wrench; 8236 - tightening shaft; 8237 - horizontal position adjustment cylinder;

[0046] 8261 - support mechanism bracket; 8262 - support mechanism lifting cylinder; 8263 - support mechanism slide rail; 8264 - support mechanism sliding member; 8265 - support block; 8271 - positioning mechanism bracket; 8272 - positioning mechanism lifting cylinder; 8273 - positioning mechanism slide rail; 8274 - positioning mechanism sliding member; 8275 - fourth positioning pin;

[0047] 91 - pallet body; 92 - second positioning pin; 93 - third positioning pin; 94 - bolt mounting member; 95 - mounting seat; 941 - lower mating hole. Detailed implementation manners

[0048] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, rather than for limiting the protection scope of the present invention.

[0049] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0050] As Figure 1 shown, a power battery assembly system includes an automobile production line 1, a battery assembly subsystem 8, a battery feeding subsystem 4, a battery tray 9, a battery tray feeding subsystem 5, a bolt feeding subsystem 6, and a battery conveying line 7. The battery assembly subsystem 8 is arranged below the automobile production line 1. The battery assembly subsystem 8 includes a follow-up lifting device 82 that can follow the vehicle body on the automobile production line 1. The battery tray 9 is provided with a power battery support portion and a plurality of bolt placement portions. The battery tray feeding subsystem 5 is configured to be able to feed the battery tray 9 onto the battery conveying line 7. The bolt feeding subsystem 6 is configured to be able to feed multiple bolts onto the plurality of bolt placement portions of the battery tray 9 on the battery conveying line 7 respectively. The battery feeding subsystem 4 is configured to be able to feed the power battery onto the power battery support portion of the battery tray 9 on the battery conveying line 7. The battery conveying line 7 is configured to be able to convey the battery tray 9 carrying the power battery and multiple bolts to the follow-up lifting device 82. The follow-up lifting device 82 is configured to be able to lift the battery tray 9 carrying the power battery and multiple bolts to the assembly position. A plurality of bolt tightening mechanisms 823 for tightening multiple bolts respectively are arranged on the follow-up lifting device 82.

[0051] Adopting the above technical solution, it is possible to achieve the automatic storage and transportation of power batteries, automatic bolt placement, automatic lifting and assembly with the carrier, and automatic tightening, enabling the automated assembly of power batteries, reducing the staffing requirements, facilitating the improvement of the assembly efficiency and assembly consistency of power batteries. By reasonably setting the bolt feeding position and arranging a bolt tightening mechanism 823 in the carrier lifting device 82, on the one hand, the difficulty of bolt feeding is reduced, and on the other hand, it avoids setting a bolt feeding device and a bolt tightening device below the automotive production line 1, with low requirements for the layout space below the automotive production line 1 and low requirements for the carrier lifting device, featuring a wide range of applications and being conducive to the transformation of the existing automotive production line 1 to implement the above power battery assembly system.

[0052] In some embodiments, as Figures 9 to 13 shown, the carrier lifting device 82 includes a lifting mechanism 821, a servo floating table 822 connected to the upper side of the lifting mechanism 821, and a first vision device 825 for photographing the vehicle body on the automotive production line 1. Adopting the above technical solution, during the power battery assembly, the first vision device 825 can be used to photograph the feature holes on the vehicle body, determine the coordinates of each feature hole based on the photos of the feature holes on the vehicle body, and fit the coordinates of each feature hole with the coordinates of the power battery to determine the position adjustment parameters of the power battery. The servo floating table 822 can then adjust the position of the power battery according to the position adjustment parameters, and use the servo floating table 822 to perform displacement compensation based on the coordinates obtained from the photographing and fitting, so that the relative position between the power battery and the vehicle body meets the assembly requirements, enabling multiple bolts to align with multiple mounting holes on the vehicle body; by setting the first vision device 825 and the servo floating table 822, the position of the power battery can be automatically adjusted, which is conducive to ensuring the assembly accuracy and assembly consistency of the power battery. In specific implementation, the lifting mechanism 821 can adopt an electric lifting mechanism driven by a motor, the servo floating table 822 can adopt a servo floating table 822 capable of adjusting the displacement in the left-right direction and the front-back direction, and the first vision device 825 includes multiple vision cameras, facilitating the photographing of the feature holes at the front and rear of the vehicle body.

[0053] In some embodiments, as Figure 9 and Figure 12 shown, a tray limiting structure for limiting the position of the battery tray 9 is provided at the top of the servo floating table 822. Specifically, the tray limiting structure includes a tray stop 828 and two parallel tray limiting bars 829. A tray limiting groove is formed between the two tray limiting bars 829. One end of the tray limiting groove forms a sliding inlet for the battery tray 9 to slide in, and the tray stop 828 is provided at the other end of the tray limiting groove. Setting the tray limiting structure can position the battery tray 9, providing a basis for using the first vision device 825 in cooperation with the servo floating table 822 to adjust the position of the power battery.

[0054] In some embodiments, as Figures 9 to 11 shown, the follow - up lifting device 82 includes a carrier positioning mechanism 827 and a carrier support mechanism 826 for upwardly supporting the vehicle body carrier 12. The carrier positioning mechanism 827 is provided to achieve the preliminary positioning of the vehicle body carrier 12, and the carrier support mechanism 826 is provided to upwardly support the vehicle body carrier 12. By providing the carrier positioning mechanism 827 and the carrier support mechanism 826, it is beneficial to ensure the synchronous movement of the follow - up lifting device 82 and the vehicle body.

[0055] As a specific example, as Figure 11 shown, the carrier positioning mechanism 827 includes a positioning mechanism bracket 8271, a positioning mechanism slide rail 8273 fixedly provided on the positioning mechanism bracket 8271, a positioning mechanism slider 8274 defined to slide up and down along the positioning mechanism slide rail 8273, a fourth positioning pin 8275 fixedly connected to the positioning mechanism slider 8274, and a positioning mechanism lifting cylinder 8272 connected between the positioning mechanism bracket 8271 and the positioning mechanism slider 8274. By driving the fourth positioning pin 8275 to rise through the positioning mechanism lifting cylinder 8272, the fourth positioning pin 8275 is engaged with the positioning hole on the vehicle body carrier 12, and the relative position between the follow - up lifting device 82 and the vehicle body carrier 12 can be preliminarily defined.

[0056] As a specific example, as Figure 11 shown, the carrier support mechanism 826 includes a support mechanism bracket 8261, a support mechanism slide rail 8263 fixedly provided on the support mechanism bracket 8261, a support mechanism slider 8264 defined to slide up and down along the support mechanism slide rail 8263, a support block 8265 fixedly connected to the support mechanism slider 8264, and a support mechanism lifting cylinder 8262 connected between the support mechanism bracket 8261 and the support mechanism slider 8264. By driving the support block 8265 to rise through the support mechanism lifting cylinder 8262, the vehicle body carrier 12 can be upwardly supported by the support block 8265, which is beneficial to maintaining the relative position between the follow - up lifting device 82 and the vehicle body carrier 12. On the one hand, it is beneficial to ensure the synchronous movement of the follow - up lifting device 82 and the vehicle body, and on the other hand, it is beneficial to ensure the fitting accuracy.

[0057] In some embodiments, as Figure 12 and Figure 13As shown, the bolt tightening mechanism 823 includes an electric wrench 8235 and a first lifting mechanism for driving the electric wrench 8235 to move up and down. The first lifting mechanism can drive the electric wrench 8235 to connect to and disengage from the bolt mounting member 94, and the electric wrench 8235 can drive the bolt mounting member 94 to rotate to tighten the bolt. As a specific example, the first lifting mechanism includes a first bracket 8231, a first slide rail 8232 fixedly provided on the first bracket 8231, a first sliding member 8233 defined to slide up and down along the first slide rail 8232, and a first lifting cylinder 8234 connected between the first bracket 8231 and the first sliding member 8233. The electric wrench 8235 is fixedly connected to the first sliding member 8233, and the tightening shaft 8236 of the electric wrench 8235 extends upward out of the first sliding member 8233. Further, in order to be applicable to different models of power batteries, the bolt tightening mechanism 823 further includes a horizontal position adjustment cylinder 8237. The horizontal position adjustment cylinder 8237 is connected between the first bracket 8231 and the servo floating table 822, and the horizontal position of the electric wrench 8235 is adjusted by the telescopic movement of the horizontal position adjustment cylinder 8237.

[0058] In some embodiments, as Figure 9 shown, the battery assembly subsystem 8 further includes a ground rail 81, and a first electric traveling mechanism cooperating with the ground rail 81 is provided on the attendant lifting device 82. By providing the ground rail 81, the movement accuracy of the attendant lifting device 82 can be ensured, so that the attendant lifting device 82 can better follow the vehicle body. As a specific example, the first electric traveling mechanism includes a first traveling mechanism cooperating with the ground rail 81 and a first traveling motor 824 for driving the first traveling mechanism to move along the ground rail 81. In specific implementation, the first traveling mechanism can adopt a wheeled traveling mechanism, and the first traveling motor 824 drives the rollers in contact with the ground rail 81 to rotate, so as to drive the first traveling mechanism to move along the ground rail 81.

[0059] In some embodiments, a conveying mechanism for driving the loading and unloading of the battery tray is provided on the attendant lifting device 82. The conveying mechanism can be selected but is not limited to a belt conveying mechanism or a chain conveying mechanism. In specific implementation, the conveying mechanism can be provided on the servo floating table 822.

[0060] In some embodiments, as Figures 1 to 3As shown, the battery loading subsystem 4 includes a battery loading device, and the battery loading device includes a manipulator 42 for gripping a power battery. A second vision device 426 for photographing the power battery and at least two first positioning pins 427 respectively used for cooperating with at least two positioning holes on the power battery are arranged on the manipulator 42. By adopting the above technical solution, before the manipulator 42 grips the power battery, the second vision device 426 can be used to photograph and position the feature holes on the power battery, and then the position of the manipulator 42 can be adjusted according to the photographing result, so that at least two first positioning pins 427 are aligned with at least two positioning holes on the power battery, thereby ensuring the position accuracy of the power battery and providing a basis for subsequently loading the power battery onto the battery tray 9.

[0061] In some embodiments, as Figure 2 shown, at least two first positioning pin telescopic cylinders 428 respectively used for driving the first positioning pins 427 to lift and lower are arranged on the manipulator 42. By adopting the above technical solution, after the manipulator 42 grips the power battery, during the process of loading the power battery onto the battery tray 9, the first positioning pin telescopic cylinders 428 can be used to drive the first positioning pins 427 to withdraw from the positioning holes on the power battery, preventing the first positioning pins 427 from interfering with the second positioning pins 92 on the battery tray 9.

[0062] In some embodiments, as Figure 1 and Figure 3 shown, the battery loading device further includes a manipulator track 41, a second electric traveling mechanism 421 cooperating with the manipulator track 41 is arranged on the manipulator 42, and one end of the manipulator track 41 is suspended above the battery conveyor line 7. By adopting the above technical solution, by cooperating the manipulator track 41 and the second electric traveling mechanism 421, the manipulator 42 and the power battery can be conveyed above the battery tray 9. As a specific example, the second electric traveling mechanism 421 includes a second traveling mechanism cooperating with the manipulator track 41 and a second traveling motor 424 for driving the second traveling mechanism to move along the manipulator track 41. In specific implementation, the second traveling mechanism can adopt a wheeled traveling mechanism, and the second traveling motor 424 drives the gear meshing with the rack on the manipulator track 41 to rotate to drive the second traveling mechanism to move along the manipulator track 41.

[0063] In some embodiments, as Figure 2 and Figure 3As shown in the figure, the manipulator 42 further includes a clamping mechanism 422 for clamping the power battery and a second lifting mechanism connected between the second electric traveling mechanism 421 and the clamping mechanism 422. The second lifting mechanism can drive the clamping mechanism 422 to lift. With the above technical solution, the power battery can be lifted by the second lifting mechanism. In specific implementation, the second lifting mechanism can adopt a second lifting cylinder 423 connected between the second electric traveling mechanism 421 and the clamping mechanism 422. In some embodiments, the clamping mechanism 422 includes a plurality of battery grippers 425 and a gripper cylinder 429 for driving the plurality of battery grippers 425 to open and close.

[0064] In some embodiments, such as Figure 1 As shown in the figure, the battery loading subsystem 4 further includes a transfer cart 3 and a plurality of battery storage and transportation lines 2. The transfer cart 3 is used to transfer the power batteries output by the plurality of battery storage and transportation lines 2 to the battery loading device. Arranging a plurality of battery storage and transportation lines 2 can achieve the storage and transportation of more power batteries, providing convenience for the loading of power batteries of various models, facilitating the continuous loading of power batteries by logistics personnel, and helping to achieve flexible and rapid switching of multiple vehicles. In specific use, the transfer cart 3 receives the power battery from the corresponding battery storage and transportation line 2 according to the received battery online sequence information. As a preferred example, the power battery is placed on the battery storage and transportation line 2 through a battery container, and a positioning structure for positioning the position of the power battery is provided on the battery container. A battery container positioning structure for limiting the position of the battery container is provided on the transfer cart 3. In specific implementation, the transfer cart 3 can be an RGV cart.

[0065] In some embodiments, such as Figure 1 、 Figure 7 and Figure 8 As shown in the figure, the battery tray loading subsystem 5 includes a tray library 51 and a loading elevator 52. A multi-layer tray storage and transportation line is arranged in the tray library 51, and the loading elevator 52 is used to load the battery trays 9 output by the multi-layer tray storage and transportation line onto the battery conveyor line 7. The multi-layer tray storage and transportation line and the loading elevator 52 can achieve the storage, transportation and loading of battery trays 9 of various different models, helping to achieve flexible and rapid switching of multiple vehicles. As a specific example, a lifting platform driven by a motor is arranged on the loading elevator 52, and a conveyor belt for transporting the power battery up and down the lifting platform is arranged on the lifting platform.

[0066] In some embodiments, such as Figure 1 、 Figure 7 and Figure 8As shown, the upstream material system 5 of the battery tray further includes a return elevator 53 and a return conveyor line 54. The return elevator 53 is used to convey the battery tray 9 output by the accompanying lifting device 82 to the return conveyor line 54, and the return conveyor line 54 is used to convey the battery tray 9 output by the return elevator 53 into the upstream elevator 52. The provision of the return elevator 53 enables the recycling of the empty battery tray 9, and the provision of the return conveyor line 54 can reduce the requirements for the layout space. As a preferred example, the return elevator 53 is arranged on one side of the battery conveyor line 7 close to the battery assembly subsystem 8, the pallet library 51 and the upstream elevator 52 are arranged on the other side of the battery assembly subsystem 8, and the return conveyor line 54 is arranged on the lower side of the battery conveyor line 7.

[0067] In some embodiments, as Figure 4 As shown, the upstream bolt system 6 includes a bolt feeding robot 61, a bolt tray 63 and at least two bolt vibrators 64. The at least two bolt vibrators 64 are used to convey bolts to the bolt tray 63, and the bolt feeding robot 61 is used to feed the bolts on the bolt tray 63 onto the battery tray 9 on the battery conveyor line 7. The provision of at least two bolt vibrators 64 enables the feeding of at least two types of bolts, which helps to achieve flexible and rapid switching among multiple vehicles. As a specific example, a bolt gripper fixture 62 for grasping bolts is provided on the bolt feeding robot 61, and a plurality of bolt jaws are provided on the bolt gripper fixture 62. During operation, the bolt vibrator 64 vibrates and arranges the bolts and conveys them to the bolt tray 63. The bolt feeding robot 61 brings the bolt gripper fixture 62 to the bolt tray 63 to grasp the bolts and places them one by one on the corresponding bolt placement parts on the battery tray.

[0068] In some embodiments, as Figure 5 As shown, the battery tray 9 includes a tray body 91 for supporting the power battery and a plurality of rotatable bolt mounting members 94. Upper mating holes for mating with the heads of the bolts are provided at the upper ends of the plurality of bolt mounting members 94, and connection structures for connecting with the bolt tightening mechanism 823 are provided on the plurality of bolt mounting members 94. As a specific example, the connection structure is a lower mating hole 941 provided at the lower end of the bolt mounting member 94. As a specific example, as Figure 6As shown, the bolt mounting member 94 includes a mounting base 95, an outer sleeve, and a bolt support rod. The mounting base 95 is fixedly connected to the tray body 91. The outer sleeve is connected to the mounting base 95 in a rotatable and axially fixed manner. The bolt support rod is in spline fit with the outer sleeve and can slide up and down relative to the outer sleeve. A spring for upwardly pressing the bolt support rod and an axial limiting structure for preventing the bolt support rod from disengaging from the outer sleeve upward are provided between the bolt support rod and the outer sleeve. The upper mating hole is provided at the upper end of the bolt support rod, and the lower mating hole 941 is provided at the lower end of the outer sleeve. During use, the tightening shaft 8236 of the electric wrench 8235 mates with the lower mating hole 941, and the head of the bolt mates with the upper mating hole. The electric wrench 8235 drives the tightening shaft 8236 to rotate, and drives the bolt to rotate through the outer sleeve and the bolt support rod, thereby realizing the tightening of the bolt.

[0069] In some embodiments, at least two second positioning pins 92 for mating with at least two positioning holes on the power battery and at least two third positioning pins 93 for mating with at least two positioning holes on the vehicle body are provided on the battery tray 9. By providing the second positioning pins 92 and the third positioning pins 93, the assembly accuracy of the power battery can be ensured.

[0070] In some embodiments, the battery conveying line 7 is in an L shape. The battery conveying line 7 includes a first section 71 arranged in the front-rear direction and a second section 72 extending leftward from the rear end of the first section 71. The battery tray loading subsystem 5 and the bolt loading subsystem 6 are arranged at the front end of the first section 71. The battery loading subsystem 4 is arranged on the right side of the battery conveying line 7, and the battery assembly subsystem 8 is arranged on the left side of the battery conveying line 7. Adopting the above layout scheme can reduce the requirements for the layout space below the automobile production line 1, which is beneficial to the transformation of the existing automobile production line 1.

[0071] In some embodiments, the power battery assembly system further includes a control subsystem, which is used to control the operation of the battery assembly subsystem 8, the battery loading subsystem 4, the battery tray loading subsystem 5, the bolt loading subsystem 6, and the battery conveyor line 7. The control subsystem determines the battery tray loading sorting information of the battery tray loading subsystem 5, determines the bolt loading sorting information of the bolt loading subsystem 6, and determines the battery loading sorting information of the battery loading subsystem 4 by receiving the vehicle production sorting sequence information of the settling system in the output workshop. It controls the operation of the battery tray loading subsystem 5 according to the battery tray loading sorting information, controls the operation of the bolt loading subsystem 6 according to the bolt loading sorting information, and controls the operation of the battery loading subsystem 4, the battery conveyor line 7, and the battery assembly subsystem 8 according to the battery loading sorting information. The logistics personnel load the power battery onto the battery loading subsystem 4 according to the battery loading sorting information. As a specific example, the control subsystem is an industrial control computer set in the production workshop. A wired communication or wireless communication can be adopted between the industrial control computer and the battery assembly subsystem 8, the battery loading subsystem 4, the battery tray loading subsystem 5, the bolt loading subsystem 6, and the battery conveyor line 7 to transmit signals. Each subsystem of the power battery assembly system is provided with sensors for monitoring the operating state, such as a sensor group for monitoring the positions of the power battery and the battery tray. The sensors of the sensor group can adopt proximity switches, and the industrial control computer can receive the signals of the sensor group to determine the positions of the electric battery and the battery tray.

[0072] In some embodiments, the vehicle production line 1 includes a vehicle production line body 11 and a vehicle body carrier 12 connected to the vehicle production line body 11. The vehicle body carrier 12 is used for hanging the vehicle body.

[0073] In some embodiments, the battery conveyor line 7 adopts a conveyor chain bed structure.

[0074] The present invention also proposes a power battery assembly method, which adopts the power battery assembly system described in any one of the above. The method includes the following steps: According to the information of the vehicle body to be assembled on the vehicle production line, control the battery tray loading subsystem to load the battery tray corresponding to the vehicle body to be assembled onto the battery conveyor line, control the bolt loading subsystem to load multiple bolts corresponding to the vehicle body to be assembled onto the battery tray on the battery conveyor line, control the battery loading subsystem to load the power battery corresponding to the vehicle body to be assembled onto the battery tray, control the battery conveyor line to transport the battery tray carrying the power battery and multiple bolts to the follow-up lifting device, control the follow-up lifting device to follow the vehicle body to be assembled on the vehicle production line, control the follow-up lifting device to lift the battery tray carrying the power battery and multiple bolts to the assembly position, and control multiple bolt tightening mechanisms to tighten multiple bolts.

[0075] In some embodiments, the power battery assembly method includes the following steps:

[0076] After the vehicle body runs to the preset work station, the settlement system sends the vehicle production sequencing sequence information to the industrial control computer of the power battery assembly system. The industrial control computer converts the vehicle production sequencing sequence information into battery loading sequencing information, and guides the logistics personnel to put the power batteries on the battery storage and transportation line according to the battery loading sequencing information. In specific implementation, the above-mentioned preset work station can be the interior installation work station;

[0077] Before the vehicle body runs to the assembly work station, the transfer trolley receives the battery loading sequencing information transmitted by the industrial control computer, picks up the power battery on the corresponding battery storage and transportation line, and transports the power battery to the centering and grasping work station;

[0078] The pallet library outputs a battery pallet corresponding to the above-mentioned power battery. The battery pallet is loaded onto the battery conveyor line through the loading elevator. The bolt loading subsystem places multiple bolts corresponding to the above-mentioned power battery onto the battery pallet;

[0079] After the transfer trolley transports the power battery to the centering and grasping work station and stops accurately, the manipulator identifies and locates the power battery by taking pictures. The manipulator grabs the power battery and transports and places it onto the battery pallet on which the bolts have been placed. After the battery pallet picks up the power battery, the battery conveyor line transports the battery pallet carrying the power battery and multiple bolts to the follow-up lifting device;

[0080] After the vehicle body runs to the assembly work station, the follow-up lifting device is initially positioned with the vehicle body fixture through the gripper positioning mechanism and the gripper support mechanism. Then, the first vision device takes pictures of the feature holes at the front and rear of the vehicle body, and controls the servo floating table to perform position fine-tuning according to the recognized vehicle body position, so that the power battery is aligned with the vehicle body. After the fine-tuning is completed, the follow-up lifting device automatically performs lifting and assembly;

[0081] After the power battery is lifted in place by the follow-up lifting device, the bolt tightening mechanism integrated on the servo floating table starts to tighten multiple bolts until the set torque value is reached;

[0082] While tightening the bolts, the follow-up lifting device advances to the return elevator along with the automobile production line. The conveyor mechanism on the follow-up lifting device pushes the battery pallet into the return elevator, and the follow-up lifting device returns to the starting point of the battery assembly work station to prepare to pick up the next power battery.

[0083] The above embodiments are merely preferred embodiments given to fully illustrate the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics of the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0084] In the description of the present invention, it should be understood that the directions indicated by terms such as "front", "rear", "upper", "lower", "left", "right", etc. are the directions represented based on the coordinate system in the Figure 1 accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be construed as a limitation to the present invention.

Claims

1. A power battery assembly system, characterized in that, It includes an automobile production line, a battery assembly subsystem, a battery loading subsystem, a battery tray, a battery tray loading subsystem, a bolt loading subsystem, and a battery conveyor line. The battery assembly subsystem is arranged below the automobile production line. The battery assembly subsystem includes a following lifting device capable of following the vehicle body on the automobile production line. The battery tray is provided with a power battery support part and a plurality of bolt placement parts. The battery tray loading subsystem is configured to be able to load the battery tray onto the battery conveyor line. The bolt loading subsystem is configured to be able to load multiple bolts onto the multiple bolt placement parts of the battery tray on the battery conveyor line. The battery loading subsystem is configured to be able to load the power battery onto the power battery support part of the battery tray on the battery conveyor line. The battery conveyor line is configured to be able to convey the battery tray carrying the power battery and multiple bolts to the following lifting device. The following lifting device is configured to be able to lift the battery tray carrying the power battery and multiple bolts to the assembly position. A plurality of bolt tightening mechanisms for respectively tightening multiple bolts are arranged on the following lifting device. The bolt loading subsystem includes a bolt loading robot, a bolt tray, and at least two bolt vibrating feeders. At least two bolt vibrating feeders are used to convey bolts to the bolt tray. The bolt loading robot is used to load the bolts on the bolt tray onto the battery tray on the battery conveyor line. The battery tray includes a tray body for supporting the power battery and a plurality of rotatable bolt mounting parts. Upper mating holes for cooperating with the heads of the bolts are arranged at the upper ends of the plurality of bolt mounting parts. Connection structures for connecting with the bolt tightening mechanisms are arranged on the plurality of bolt mounting parts. The connection structure is a lower mating hole arranged at the lower end of the bolt mounting part. The bolt mounting part includes a mounting seat, an outer sleeve, and a bolt support rod. The mounting seat is fixedly connected to the tray body. The outer sleeve is connected to the mounting seat in a rotatable and axially fixed manner. The bolt support rod is in spline fit with the outer sleeve and the bolt support rod can slide up and down relative to the outer sleeve. A spring for upwardly pressing the bolt support rod and an axial limiting structure for preventing the bolt support rod from disengaging upward from the outer sleeve are arranged between the bolt support rod and the outer sleeve. The upper mating hole is arranged at the upper end of the bolt support rod. The lower mating hole is arranged at the lower end of the outer sleeve. The tightening shaft of the electric wrench cooperates with the lower mating hole. The head of the bolt cooperates with the upper mating hole. The electric wrench drives the tightening shaft to rotate, and drives the bolt to rotate through the outer sleeve and the bolt support rod, thereby realizing the tightening of the bolt.

2. The battery pack assembly system according to claim 1, wherein The following lifting device includes a lifting mechanism, a servo floating table connected to the upper side of the lifting mechanism, and a first vision device for photographing the vehicle body on the automobile production line.

3. The battery pack assembly system according to claim 1, wherein, The following lifting device includes a fixture positioning mechanism and a fixture support mechanism for upwardly supporting the vehicle body fixture.

4. The battery pack assembly system according to claim 1, wherein, The bolt tightening mechanism includes an electric wrench and a first lifting mechanism for driving the electric wrench to lift.

5. The battery pack assembly system according to claim 1, wherein, The battery assembly subsystem further includes a ground rail. A first electric traveling mechanism cooperating with the ground rail is arranged on the following lifting device.

6. The battery pack assembly system according to claim 1, wherein The battery loading subsystem includes a battery loading device, which includes a manipulator for clamping power batteries. A second vision device for photographing the power batteries and at least two first positioning pins for cooperating with the positioning holes on the power batteries are arranged on the manipulator.

7. The battery pack assembly system according to claim 6, wherein At least two first positioning pin telescopic cylinders for driving the lifting of the first positioning pins are arranged on the manipulator.

8. The battery pack assembly system according to claim 6, wherein, The battery loading device further includes a manipulator track, and a second electric traveling mechanism cooperating with the manipulator track is arranged on the manipulator.

9. The battery pack assembly system according to claim 8, wherein, The manipulator further includes a clamping mechanism for clamping power batteries and a second lifting mechanism connected between the second electric traveling mechanism and the clamping mechanism. The second lifting mechanism can drive the clamping mechanism to lift.

10. The battery pack assembly system according to claim 6, wherein The battery loading subsystem further includes a transfer cart and multiple battery storage and transportation lines. The transfer cart is used to transfer the power batteries output from the multiple battery storage and transportation lines to the battery loading device.

11. The battery pack assembly system according to claim 1, wherein, The battery tray loading subsystem includes a tray library and a loading elevator. Multiple layers of tray storage and transportation lines are arranged in the tray library. The loading elevator is used to load the battery trays output from the multiple layers of tray storage and transportation lines onto the battery conveyor line.

12. The battery pack assembly system according to claim 11, wherein, The battery tray loading subsystem further includes a return elevator and a return conveyor line. The return elevator is used to convey the battery trays output from the accompanying lifting device to the return conveyor line. The return conveyor line is used to convey the battery trays output from the return elevator to the loading elevator.

13. The battery pack assembly system according to claim 1, wherein At least two second positioning pins for cooperating with the positioning holes on the power batteries and at least two third positioning pins for cooperating with the positioning holes on the vehicle body are arranged on the battery tray.

14. The battery pack assembly system according to claim 1, characterized in that, The battery conveyor line is in an L shape. The battery conveyor line includes a first section arranged in the front-back direction and a second section extending leftward from the rear end of the first section. The battery tray loading subsystem and the bolt loading subsystem are arranged at the front end of the first section. The battery loading subsystem is arranged on the right side of the battery conveyor line, and the battery assembly subsystem is arranged on the left side of the battery conveyor line.

15. The battery pack assembly system according to claim 1, wherein, A control subsystem is further included. The control subsystem is used to control the operation of the battery assembly subsystem, the battery loading subsystem, the battery tray loading subsystem, the bolt loading subsystem, and the battery conveyor line.

16. A method for assembling power batteries, characterized in that, Using the battery assembly system according to any one of claims 1-15, the method includes the following steps: according to the information of the vehicle body to be assembled on the automobile production line, controlling the material subsystem on the battery tray to load the battery tray corresponding to the vehicle body to be assembled onto the battery conveyor line, controlling the bolt feeding subsystem to load multiple bolts corresponding to the vehicle body to be assembled onto the battery tray on the battery conveyor line, controlling the battery feeding subsystem to load the power battery corresponding to the vehicle body to be assembled onto the battery tray, controlling the battery conveyor line to convey the battery tray carrying the power battery and multiple bolts to the follow-up lifting device, controlling the follow-up lifting device to follow the vehicle body to be assembled on the automobile production line, controlling the follow-up lifting device to lift the battery tray carrying the power battery and multiple bolts to the assembly position, and controlling multiple bolt tightening mechanisms to tighten multiple bolts.

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