Battery pack conveyor line

Abstract

The application provides a battery pack conveying line, which comprises a lifting walking device and a battery pack grabbing device, and the output end of the lifting walking device is connected to the battery pack grabbing device. The battery pack grabbing device comprises a gripper bracket, a first mechanical hand, a second mechanical hand and an opening and closing driving mechanism. The gripper bracket is composed of a bracket body, a first sliding rail, a second sliding rail and a tray. The first sliding rail is arranged on the bracket body in the X direction, and the second sliding rail is arranged in the Z direction and guides the sliding of the tray. The tray is installed on a suspension device in the external environment, and the first sliding rail guides the movement of the first mechanical hand and the second mechanical hand. The gripper bracket is also provided with the opening and closing driving mechanism, which is used for driving the first mechanical hand and the second mechanical hand to be folded or separated from each other. The moving bracket is also provided with a support foot driving mechanism, and the output end of the support foot driving mechanism is connected to a movable support foot to support the battery pack.

Description

Technical Field

[0001] This invention relates to the field of mechanical gripping technology, and more specifically to a battery pack conveyor line. Background Technology

[0002] With the rapid development of the automotive industry, electric vehicles have gradually entered the public eye. Electric vehicles do not require gasoline; they only need to be charged to operate, which greatly reduces operating costs. As people's demand for electric vehicles increases, higher requirements are being placed on their production efficiency. The battery pack is the core component of an electric vehicle, and its assembly is the most crucial step in electric vehicle production. During assembly, a gripping device is used to place the battery pack onto a pallet, which is then moved to its installation position via a conveyor line.

[0003] In the prior art, the gripping device consists of a suspension, a clamping arm, and a controller. The clamping arm is located below the suspension, and the suspension is equipped with a hydraulic drive rod that can extend and retract the clamping arm. The controller controls the clamping arm to grip the battery pack. Since there are two clamping arms and no support plate at the bottom of the clamping arms, they lack stability when gripping objects, causing the objects to slip. Since the battery pack is not heavy, it is particularly easy for the battery pack to fall. Summary of the Invention

[0004] The present invention provides a battery pack conveyor line that solves the problem in the prior art where the battery pack is particularly prone to falling off when being picked up due to the lack of a support plate.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a battery pack conveying line, comprising: a lifting and walking device and a battery pack gripping device, wherein the output end of the lifting and walking device is connected to the battery pack gripping device; The battery pack gripping device includes: a gripper bracket, a first robotic arm, a second robotic arm, and an opening and closing drive mechanism; The gripper bracket includes: a frame, a first slide rail, a second slide rail, and a tray. The first slide rail is installed on the frame and is located in the X direction. The frame is provided with a second slide rail, which is located in the Z direction. The second slide rail guides the tray to slide. The tray is installed on an external suspension device. The first slide rail guides the first and second robotic arms to move. An opening and closing drive mechanism is installed on the frame. The opening and closing drive mechanism is used to drive the first and second robotic arms to close or separate from each other. Both the first and second robotic arms include: a positioning mechanism, a movable frame, a fixed support foot, a movable support foot, and a support foot drive mechanism. The first slide rail guides the movable frame to slide. The positioning mechanism is installed on the movable frame for positioning the battery pack. The fixed support foot and the movable support foot are installed on the movable frame. The movable support foot can move relative to the fixed support foot in the Z direction. The support foot drive mechanism is installed on the movable frame. The output end of the support foot drive mechanism is connected to the movable support foot. The fixed support foot and the movable support foot support the battery pack. The lifting and walking device includes: a mounting frame, a lifting drive mechanism, a sliding mechanism, and guide rails. The mounting frame is installed below the ceiling of the factory building, and the guide rails are laid on the ceiling of the factory building, with racks at the bottom of the guide rails. The lifting drive mechanism includes: a servo motor, a transmission mechanism, and a rotary telescopic mechanism. The servo motor is mounted on one side of the mounting frame, and its output end is connected to the transmission mechanism. The transmission mechanism is connected to the rotary telescopic mechanism, and its output end is connected to the robot arm. The rotary telescopic mechanism is used to lift the robot arm. The sliding mechanism is used to move the device horizontally. The sliding mechanism includes: a pulley block, a rotary motor, and a drive gear. There are four pulley blocks, which are installed at the four corners of the mounting frame. Each pulley block has pulleys that are slidably connected to the guide rails. The rotary motor is located on one side of the mounting frame, and its output end has a drive gear that meshes with the rack. The bottom of the rotary telescopic mechanism is used to install a gripper bracket.

[0006] Preferably, the positioning mechanism includes: a boom beam, a positioning telescopic assembly, a first cylinder, a cylinder piston fixing block, and a cylinder piston connecting shaft. The boom beam is located in the middle of the moving frame, and the first cylinder is mounted on the side of the boom beam. The output end of the first cylinder is provided with a cylinder piston fixing block, and the cylinder piston connecting shaft is connected below the cylinder piston fixing block. The lower end of the cylinder piston connecting shaft is connected to the positioning telescopic assembly.

[0007] Preferably, the positioning telescopic assembly includes: a floating sleeve, a floating head, a spring pin connecting sleeve, a spring pin sleeve, a spring pin retractable tube, a guide structure, and a positioning pin. The floating sleeve is connected to the cylinder piston connecting shaft. A cavity is opened inside the floating sleeve, and a floating head extends into the cavity. There is a gap between the floating head and the inner wall of the cavity. The bottom of the floating head is connected to the spring pin connecting sleeve. The bottom of the spring pin connecting sleeve is connected to the spring pin sleeve. A spring pin retractable tube is provided inside the spring pin sleeve. The inner cavity of the spring pin sleeve and the inner cavity of the spring pin retractable tube communicate to form an air chamber. The air chamber is connected to an external gas compressor. The end of the spring pin retractable tube away from the spring pin sleeve is fixed to the positioning pin. The spring pin retractable tube is elastic, and the end of the spring pin retractable tube is blocked by the positioning pin. A guide structure is connected between the positioning pin and the floating head. The positioning pin is used to insert into the positioning hole of the battery pack.

[0008] Preferably, the guide structure includes a guide cylinder and a guide rod, one end of the guide cylinder is fixed to the floating head, the other end of the guide cylinder is into which one end of the guide rod extends, and the other end of the guide rod is fixed to a positioning pin.

[0009] Preferably, the opening and closing drive mechanism includes: an opening and closing drive motor, a first lead screw, a first reducer, a coupling, and a positioning pin transmission plate. The opening and closing drive motor is installed below the tray. The output end of the opening and closing drive motor is connected to the input end of the first reducer. The output end of the first reducer is connected to the coupling. The two ends of the coupling are respectively connected to the first lead screw. The first lead screw is threadedly connected to the positioning pin transmission plate. The positioning pin transmission plate is connected to the movable frame. The end of the first lead screw is hinged to the support end bearing seat. The support end bearing seat is fixed to the frame.

[0010] Preferably, the support foot drive mechanism includes: a second cylinder, a telescopic arm, and a third slide rail. The second cylinder is mounted on the movable frame, the piston rod of the second cylinder is connected to the telescopic arm, the telescopic arm is connected to the movable support foot, and the movable support foot is slidably connected to the slide rail.

[0011] Preferably, the bottom of the movable support leg and the fixed support leg are provided with a battery pack tray, which is used to support the battery pack.

[0012] The mounting bracket is equipped with a suspension support mechanism for supporting the rotary telescopic mechanism. The suspension support mechanism includes: a suspension bearing seat, a shoulder sleeve, a thrust ball bearing, a washer, and a first nut. The suspension bearing seat is fixed on the mounting bracket. A shoulder sleeve is installed at the top of the rotary telescopic mechanism. The shoulder sleeve, thrust ball bearing, washer, and first nut are all passed through by the rotary telescopic mechanism. The thrust ball bearing is located above the shoulder sleeve and is pressed against the shoulder sleeve by the washer. The first nut presses the washer against the thrust ball bearing. The suspension bearing seat supports the thrust ball bearing.

[0013] Compared with the prior art, the present invention has the following advantages: 1) The battery pack conveyor line has a slide rail installed on the frame, and a robot arm is connected below the slide rail, which allows the robot arm to move horizontally to the position of the battery pack to be grasped; 2) The opening and closing drive mechanism installed on the frame can drive the first robot arm and the second robot arm to move away from each other or move closer to each other, thereby achieving the goal of fastening the first robot arm and the second robot arm to the outside of the battery pack, which can improve the efficiency and stability of grasping the battery pack; 3) The robot arm is equipped with a positioning mechanism, which can be used to position the battery pack during the grasping process to prevent the battery pack from shifting during the grasping process.

[0014] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a battery pack conveyor line.

[0016] Figure 2 This is a schematic diagram of a robotic arm on a battery pack conveyor line.

[0017] Figure 3 This is a schematic diagram of the positioning mechanism for the battery pack conveyor line.

[0018] Figure 4 A cross-sectional view of the spring telescopic pin of the battery pack conveyor line.

[0019] Figure 5 This is a schematic diagram of the support foot drive mechanism for the battery pack conveyor line.

[0020] Figure 6 This is a schematic diagram of the opening and closing mechanism of the battery pack conveyor line.

[0021] Figure 7 A schematic diagram of the mounting frame for the lifting device.

[0022] Figure 8 A schematic diagram of the rotating and telescopic mechanism for improving the walking device.

[0023] Figure 9 This is a sectional view of the suspension support mechanism.

[0024] Figure 10 A cross-sectional view of the telescopic boom for lifting the walking device.

[0025] Figure 11 A schematic diagram of the mounting frame for the lifting device.

[0026] Reference numerals: 1. Grab bracket; 11. Frame; 12. First slide rail; 13. Second slide rail; 14. Pallet; 2. First robotic arm; 21. Positioning mechanism; 21. Arm beam; 211. Positioning telescopic assembly; 212. Floating sleeve; 2121. Floating head; 2122. Spring pin connecting sleeve; 2123. Spring pin sleeve; 2124. Spring pin retracting tube; 2125. Guide structure; 2126. Positioning pin; 2127. First cylinder; 213. Cylinder piston fixing block; 214. Cylinder piston connecting shaft; 215. Moving frame; 22. Fixed support foot; 23. Movable support foot; 24. Support foot drive mechanism; 25. Second cylinder; 251. Telescopic arm; 252. Third slide rail; 253. Second robotic arm; 3. Opening and closing drive mechanism; 41. Opening and closing drive motor; 42. First lead screw; 43. First reducer. Speed-up mechanism 43, coupling 44, positioning pin transmission plate 45, mounting bracket 5, suspension support mechanism 51, suspension bearing seat 511, shoulder bushing 512, thrust ball bearing 513, washer 514, first nut 515, lifting drive mechanism 6, servo motor 61, transmission mechanism 62, connecting plate 621, second reducer 622, second transmission gear 623, rotary telescopic mechanism 63, telescopic guide cylinder 631, telescopic rod 632, sliding sleeve 6321, mounting sleeve 6322, telescopic cylinder 6323, connecting rod 6324, second nut 6325, second lead screw 633, first transmission gear 634, sliding mechanism 7, pulley block 71, rotary motor 72, drive gear 73, guide rail 8, rack 81, drag chain 91, U-shaped rod 92. Detailed Implementation

[0027] To make the technical means, creative features, objectives and effects of this invention clearer and easier to understand, the invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0028] like Figures 1 to 11 As shown, the present invention provides a battery pack conveyor line, including: a lifting and walking device and a battery pack gripping device, wherein the output end of the lifting and walking device is connected to the battery pack gripping device; The battery pack gripping device includes: a gripper bracket 1, a first robotic arm 2, a second robotic arm 3, and an opening and closing drive mechanism 4; The gripper bracket 1 includes: a frame 11, a first slide rail 12, a second slide rail 13, and a tray 14. The first slide rail 12 is mounted on the frame 11 and is located in the X direction. The frame 11 is provided with the second slide rail 13, which is located in the Z direction. The second slide rail 13 guides the tray 14 to slide. The tray 14 is mounted on an external suspension device to facilitate the movement of the first robotic arm 2 and the second robotic arm 3 in the X and Z directions to align with the gripping position of the battery pack. The first slide rail 12 guides the first robotic arm 2 and the second robotic arm 3 to move. An opening and closing drive mechanism 4 is installed on the frame 11. The opening and closing drive mechanism 4 is used to drive the first robotic arm 2 and the second robotic arm 3 to close or separate from each other. Both the first robotic arm 2 and the second robotic arm 3 include: a positioning mechanism 21, a movable frame 22, a fixed support foot 23, a movable support foot 24, and a support foot drive mechanism 25. The first slide rail 12 guides the movable frame 22 to slide. The positioning mechanism 21 is installed on the movable frame 22. The positioning mechanism 21 is used to position the battery pack. The fixed support foot 23 and the movable support foot 24 are installed on the movable frame 22. The movable support foot 24 can move relative to the fixed support foot 23 in the Z direction. The support foot drive mechanism 25 is installed on the movable frame 22. The output end of the support foot drive mechanism 25 is connected to the movable support foot 24. The fixed support foot 23 and the movable support foot 24 support the battery pack.

[0029] The positioning mechanism 21 includes: a boom beam 211, a positioning telescopic assembly 212, a first cylinder 213, a cylinder piston fixing block 214, and a cylinder piston connecting shaft 215. The boom beam 211 is located in the middle of the moving frame 22. The first cylinder 213 is mounted on the side of the boom beam 211. The output end of the first cylinder 213 is provided with a cylinder piston fixing block 214. The cylinder piston connecting shaft 215 is connected below the cylinder piston fixing block 214. The lower end of the cylinder piston connecting shaft 215 is connected to the positioning telescopic assembly 212. The first cylinder 213 can drive the positioning telescopic assembly to align with the positioning hole on the battery pack in the horizontal direction. Because the position of the battery pack relative to the first robot arm may change after the battery pack is placed on the first robot arm and the second robot arm, the first cylinder 213 is set to drive the positioning telescopic assembly 212 to change position to align with the positioning hole on the battery pack.

[0030] The positioning telescopic assembly 212 includes: a floating sleeve 2121, a floating head 2122, a spring pin connecting sleeve 2123, a spring pin sleeve 2124, a spring pin retractable tube 2125, a guide structure 2126, and a positioning pin 2127. The floating sleeve 2121 is connected to the cylinder piston connecting shaft 215. The floating sleeve 2121 has a cavity, and the floating head 2122 extends into the cavity. There is a gap between the floating head 2122 and the inner wall of the cavity. The bottom of the floating head 2122 is connected to the spring pin connecting sleeve 2123. The bottom of the spring pin connecting sleeve 2123 is connected to the cavity wall. A spring pin sleeve 2124 is connected, and a spring pin retractable tube 2125 is provided inside the spring pin sleeve 2124. The inner cavity of the spring pin sleeve 2124 and the inner cavity of the spring pin retractable tube 2125 are connected to form an air chamber, which is connected to an external gas compressor. The end of the spring pin retractable tube 2125 away from the spring pin sleeve is fixed to the positioning pin 2127. The spring pin retractable tube 2125 is elastic, and its end is blocked by the positioning pin 2127. A guide structure 2126 is connected between the positioning pin 2127 and the floating head 2122. During operation, after the first cylinder 213 drives the positioning telescopic component 212 to align with the battery pack, firstly, the external gas compressor controls the change in air pressure in the air chamber; then, the spring pin retractable tube 2125 deforms and extends, causing the positioning pin 2127 to extend into the positioning hole of the battery pack, thus achieving positioning. In this application, a cavity is provided in the floating sleeve 2121, and the floating head 2122 cannot fill the cavity. When the positioning pin 2127 is inserted into the battery pack positioning hole, it is very likely that the axis of the positioning pin 2127 and the axis of the battery pack positioning hole cannot be precisely aligned. Therefore, the cavity in the floating sleeve 2121 and the floating head 2122 are designed to cooperate, so that the floating head 2122 can be offset to a certain extent during positioning, and finally the positioning pin 2127 is inserted into the battery pack positioning hole. This avoids the phenomenon that the positioning pin 2127 cannot be inserted into the battery pack positioning hole when the axis of the positioning pin 2127 is offset from the axis of the battery pack positioning hole. The positioning function of the positioning pin can be realized.

[0031] The guide structure 2126 includes a guide cylinder and a guide rod. One end of the guide cylinder is fixed to the floating head 2122, and the other end of the guide cylinder is into which one end of the guide rod extends. The other end of the guide rod is fixed to the positioning pin 2127. The positioning pin 2127 can be fixedly installed in the spring pin inner tube 2125 through the guide structure 2126 to prevent the positioning pin 2127 from shifting arbitrarily relative to the floating head.

[0032] The opening and closing drive mechanism 4 includes: an opening and closing drive motor 41, a first lead screw 42, a first reducer 43, a coupling 44, and a positioning pin 2127 transmission plate. The opening and closing drive motor 41 is installed below the tray 14. The output end of the opening and closing drive motor 41 is connected to the input end of the first reducer 43. The output end of the first reducer 43 is connected to the coupling 44. The two ends of the coupling 44 are respectively connected to the first lead screw 42. The first lead screw 42 is threadedly connected to the positioning pin 2127 transmission plate. The positioning pin 2127 transmission plate is connected to the moving frame 22. The end of the first lead screw 42 is hinged to the support end bearing seat. The support end bearing seat is fixed to the frame 11. The opening and closing drive mechanism 4 can move the two robotic arms in the X direction to control the gripping and lowering of the robotic arms.

[0033] The support foot drive mechanism 25 includes: a second cylinder 251, a telescopic arm 252 and a third slide rail 253. The second cylinder 251 is mounted on the movable frame 22. The piston rod of the second cylinder 251 is connected to the telescopic arm 252. The telescopic arm 252 is connected to the movable support foot 24. The movable support foot 24 is slidably connected to the slide rail.

[0034] The bottom of the movable support leg 24 and the fixed support leg 23 is provided with a battery pack tray 14, which is used to support the battery pack.

[0035] The lifting and walking device includes: a mounting frame 5, a lifting drive mechanism 6, a sliding mechanism 7, and a guide rail; the mounting frame 5 is located below the ceiling of the factory building, the guide rail is laid on the ceiling of the factory building, and a rack 81 is provided at the bottom of the guide rail; the lifting drive mechanism 6 includes: a servo motor 61, a transmission mechanism 62, and a rotary telescopic mechanism 63. The servo motor 61 is mounted on one side of the mounting frame 5, the output end of the servo motor 61 is connected to the transmission mechanism 62, the transmission mechanism 62 is connected to the rotary telescopic mechanism 63, the output end of the rotary telescopic mechanism 63 is connected to the robot arm, and the rotary telescopic mechanism 63 is used to lift the robot arm. The sliding mechanism 7 includes: a pulley block 71, a rotary motor 72, and a drive gear 73. There are four pulley blocks 71, which are respectively installed at the four corners of the mounting frame 5. The pulley blocks 71 are equipped with pulleys, which are slidably connected to the guide rail. The rotary motor 72 is located on one side of the mounting frame 5. The output end of the rotary motor 72 is equipped with a drive gear 73, which meshes with the rack 81. When the rotary motor 72 is started, the rotary motor 72 can drive the drive gear 73 to rotate. The drive gear, by meshing with the rack 81, can make the device move horizontally along the rack direction.

[0036] A suspension support mechanism 51 is mounted on the mounting bracket 5. The suspension support mechanism 51 includes: a suspension bearing seat 511, a shoulder sleeve 512, a thrust ball bearing 513, a washer 514, and a first nut 515. The suspension bearing seat 511 is fixed on the mounting bracket 5. The shoulder sleeve 512 is mounted on the top of the rotary telescopic mechanism 63. The shoulder sleeve 512, the thrust ball bearing 513, the washer 514, and the first nut 515 are all passed through by the rotary telescopic mechanism 63. The thrust ball bearing 513 is located above the shoulder sleeve 512. The thrust ball bearing 513 is... Washer 514 is pressed onto shoulder sleeve 512, and first nut 515 presses washer 514 onto thrust ball bearing 513. After suspension bearing seat 511 is fixed to mounting bracket 5, thrust ball bearing 513 is locked onto suspension bearing seat 511 by tightening the nut. Suspension bearing seat 511 supports thrust ball bearing 513. Because rotary telescopic mechanism 63 extends into thrust ball bearing 513, rotary telescopic mechanism 63 can rotate relative to suspension bearing seat 511. Suspension support mechanism 51 serves to support rotary telescopic mechanism 63. The bottom end of rotary telescopic mechanism 63 is used to install gripper bracket 1.

[0037] The rotary telescopic mechanism 63 includes: a telescopic guide cylinder 631, a telescopic rod 632, and a second lead screw 633. The telescopic guide cylinder 631 is mounted on the mounting bracket 5. The telescopic rod 632 is slidably connected inside the telescopic guide cylinder 631. One end of the telescopic rod 632 is provided with a screw hole for connecting to an external robotic arm. The second lead screw 633 is threadedly connected inside the cavity of the telescopic rod 632. One end of the second lead screw 633 is fixed with a first transmission gear 634, which is connected to the transmission mechanism 62. When the rotary telescopic mechanism 63 is running, the second lead screw 633 rotates inside the telescopic guide cylinder 631. The telescopic guide cylinder 631 can position the second lead screw 633, and the second lead screw 633 will not deviate during rotation.

[0038] The top of the second lead screw 633 passes through the suspension bearing seat 511, shoulder sleeve 512, thrust ball bearing 513, washer 514, and first nut 515. A step is formed at the top of the second lead screw 633, and the shoulder sleeve 512 is pressed tightly onto the step by the thrust ball bearing 513. This strengthens the fixation of the second lead screw 633 on the suspension bearing seat 511, preventing it from being dragged or displaced by the object being lifted during rotation and lifting. This provides strong suspension support for the second lead screw 633 and allows for smooth rotation.

[0039] The telescopic rod 632 includes: a sliding sleeve 6321, a mounting sleeve 6322, a telescopic cylinder 6323, a connecting rod 6324, and a second nut 6325. Both the sliding sleeve 6321 and the mounting sleeve 6322 have a T-shaped structure. The small end of the sliding sleeve 6321 is surrounded by one end of the telescopic cylinder 6323, and the small end of the mounting sleeve 6322 is surrounded by the other end of the telescopic cylinder 6323. The telescopic cylinder 6323 is clamped between the sliding sleeve 6321 and the mounting sleeve 6322. Both the sliding sleeve 6321 and the mounting sleeve 6322 are passed through by the connecting rod 6324. The two ends of the connecting rod 6324 are threaded with the second nuts 6325. The two second nuts 6325 clamp the sliding sleeve 6321 and the mounting sleeve 6322. The sliding sleeve 6321 is threadedly connected to the second lead screw 633. The mounting sleeve 6322 has a threaded hole. The telescopic rod 632 is used to connect to the lower robotic arm. The telescopic rod 632 is connected to the second lead screw 633 through its sliding sleeve 6321. When the second lead screw 633 rotates, the telescopic rod 632 can move relative to the second lead screw 633, thereby achieving the telescopic effect of the robotic arm lifting and walking device.

[0040] The transmission mechanism 62 includes a connecting plate 621, a second transmission gear 623, and a second reducer 622. The servo motor 61 is connected to the input end of the second reducer 622 via the connecting plate 621. The output end of the second reducer 622 is equipped with the second transmission gear 623, which meshes with the first transmission gear 634. When the connecting plate 621 rotates, it drives the second transmission gear 623 and the first transmission gear to rotate, thereby rotating the second lead screw inside the telescopic rod 632, thus enabling the extension and retraction of the telescopic rod 632. Both the second transmission gear 623 and the first transmission gear are bevel gears. A U-shaped rod 92 is installed on one side of the mounting bracket 5, and a drag chain 91 is hung at one end of the U-shaped rod 92. The drag chain 91 is used for sliding guidance of the mounting bracket 5.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A battery pack conveyor line, characterized in that, include: The system includes a lifting and walking device and a battery pack gripping device, with the output of the lifting and walking device connected to the battery pack gripping device. The battery pack gripping device includes: a gripper bracket (1), a first robotic arm (2), a second robotic arm (3), and an opening and closing drive mechanism (4); The gripper bracket (1) includes: a frame (11), a first slide rail (12), a second slide rail (13), and a tray (14). The first slide rail (12) is installed on the frame (11) and is located in the X direction. The frame (11) is provided with a second slide rail (13) and is located in the Z direction. The second slide rail (13) guides the tray (14) to slide. The tray (14) is installed on an external suspension device. The first slide rail (12) guides the first robot (2) and the second robot (3) to move. An opening and closing drive mechanism (4) is installed on the frame (11). The opening and closing drive mechanism (4) is used to drive the first robot (2) and the second robot (3) to close or separate from each other. Both the first robotic arm (2) and the second robotic arm (3) include: a positioning mechanism (21), a moving frame (22), a fixed support foot (23), a movable support foot (24), and a support foot drive mechanism (25). The first slide rail (12) guides the moving frame (22) to slide. The positioning mechanism (21) is installed on the moving frame (22). The positioning mechanism (21) is used to position the battery pack. The fixed support foot (23) and the movable support foot (24) are installed on the moving frame (22). The movable support foot (24) can move relative to the fixed support foot (23) in the Z direction. The support foot drive mechanism (25) is installed on the moving frame (22). The output end of the support foot drive mechanism (25) is connected to the movable support foot (24). The fixed support foot (23) and the movable support foot (24) support the battery pack. The lifting and walking device includes: a mounting frame (5), a lifting drive mechanism (6), a sliding mechanism (7), and a guide rail; the mounting frame (5) is located below the ceiling of the factory building, the guide rail is laid on the ceiling of the factory building, and a rack is provided at the bottom of the guide rail; the lifting drive mechanism (6) includes: a servo motor (61), a transmission mechanism (62), and a rotary telescopic mechanism (63), the servo motor (61) is installed on one side of the mounting frame (5), the output end of the servo motor (61) is connected to the transmission mechanism (62), and the transmission mechanism (62) is connected to the rotary telescopic mechanism (63). 63) Connection, the output end of the rotary telescopic mechanism (63) is connected to the robot arm, and the rotary telescopic mechanism (63) is used to lift the robot arm; the sliding mechanism (7) includes: pulley group (31), rotary motor (32) and drive gear (73). There are four pulley groups (31), which are respectively installed at the four corners of the mounting frame (5). The pulley group (31) is provided with pulleys, and the pulleys are slidably connected to the guide rail. The rotary motor (32) is located on one side of the mounting frame (5). The output end of the rotary motor (32) is provided with a drive gear, and the drive gear meshes with the rack. The bottom of the rotating telescopic mechanism (63) is used to install the gripper bracket (1).

2. The battery pack conveyor line according to claim 1, characterized in that, The positioning mechanism (21) includes: a boom beam (211), a positioning telescopic assembly (212), a first cylinder (213), a cylinder piston fixing block (214), and a cylinder piston connecting shaft (215). The boom beam (211) is located in the middle of the moving frame (22). The first cylinder (213) is mounted on the side of the boom beam (211). The output end of the first cylinder (213) is provided with a cylinder piston fixing block (214). The cylinder piston fixing block (214) is connected to the cylinder piston connecting shaft (215) below. The lower end of the cylinder piston connecting shaft (215) is connected to the positioning telescopic assembly (212).

3. A battery pack conveyor line according to claim 2, characterized in that, The positioning telescopic assembly (212) includes: a floating sleeve (2121), a floating head (2122), a spring pin connecting sleeve (2123), a spring pin sleeve (2124), a spring pin retractable tube (2125), a guide structure (2126), and a positioning pin (2127). The floating sleeve (2121) is connected to the cylinder piston connecting shaft (215). The floating sleeve (2121) has a cavity, and the floating head (2122) extends into the cavity. There is a gap between the floating head (2122) and the inner wall of the cavity. The bottom of the floating head (2122) is connected to the spring pin connecting sleeve (2123). The bottom of the spring pin connecting sleeve (2123) is connected to the spring pin sleeve (2124). 24) Connection: The spring pin sleeve (2124) is provided with a spring pin retractor tube (2125). The inner cavity of the spring pin sleeve (2124) and the inner cavity of the spring pin retractor tube (2125) are connected to form an air chamber. The air chamber is connected to an external gas compressor. The end of the spring pin retractor tube (2125) away from the spring pin sleeve is fixed with a positioning pin (2127). The spring pin retractor tube (2125) is elastic, and the end of the spring pin retractor tube (2125) is blocked by the positioning pin (2127). The positioning pin (2127) is connected to the floating head (2122) by a guide structure (2126). The positioning pin (2127) is used to insert into the positioning hole of the battery pack.

4. A battery pack conveyor line according to claim 3, characterized in that, The guide structure (2126) includes a guide cylinder and a guide rod. One end of the guide cylinder is fixed to the floating head (2122), and the other end of the guide cylinder is into which one end of the guide rod extends. The other end of the guide rod is fixed to the positioning pin (2127).

5. A battery pack conveyor line according to any one of claims 1 to 4, characterized in that, The opening and closing drive mechanism (4) includes: an opening and closing drive motor (41), a first lead screw (42), a first reducer (43), a coupling (44), and a positioning pin (2127) transmission plate. The opening and closing drive motor (41) is installed below the tray (14). The output end of the opening and closing drive motor (41) is connected to the input end of the first reducer (43). The output end of the first reducer (43) is connected to the coupling (44). The two ends of the coupling (44) are respectively connected to the first lead screw (42). The first lead screw (42) is threadedly connected to the positioning pin (2127) transmission plate. The positioning pin (2127) transmission plate is connected to the movable frame (22). The end of the first lead screw (42) is hinged to the support end bearing seat. The support end bearing seat is fixed to the frame (11).

6. A battery pack conveyor line according to claim 1, characterized in that, The support foot drive mechanism (25) includes: a second cylinder (251), a telescopic arm (252) and a third slide rail (253). The second cylinder (251) is mounted on the movable frame (22). The piston rod of the second cylinder (251) is connected to the telescopic arm (252). The telescopic arm (252) is connected to the movable support foot (24). The movable support foot (24) is slidably connected to the slide rail.

7. A battery pack conveyor line according to claim 1, characterized in that, The bottom of the movable support foot (24) and the fixed support foot (23) is provided with a battery pack tray (14), which is used to support the battery pack.

8. A battery pack conveyor line according to claim 1, characterized in that, A suspension support mechanism (51) is mounted on the mounting bracket (5). The suspension support mechanism (51) is used to support the rotary telescopic mechanism (63). The suspension support mechanism (51) includes: a suspension bearing seat (511), a shoulder bushing (512), a thrust ball bearing (513), a washer (514), and a first nut (515). The suspension bearing seat (511) is fixed on the mounting bracket (5). The shoulder bushing (512) is mounted on the top of the rotary telescopic mechanism (63). (512), thrust ball bearing (513), washer (514) and first nut (515) are all passed through by the rotary telescopic mechanism (63). The thrust ball bearing (513) is located above the shoulder sleeve (512). The thrust ball bearing (513) is pressed onto the shoulder sleeve (512) by the washer (514). The first nut (515) presses the washer (514) onto the thrust ball bearing (513). The suspension bearing seat (511) supports the thrust ball bearing (513).

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