A lithium ion battery module loading clamp and a loading method

Abstract

This invention relates to a lithium-ion battery module loading fixture, which connects to the end effector of a robot. It includes two X-axis clamping plates, two Y-axis clamping plates, two X-axis servo slides, two Y-axis servo slides, and a controller. The two X-axis clamping plates clamp the lithium-ion battery module in the X-axis and are driven to move by the two X-axis servo slides respectively. The two Y-axis clamping plates clamp the lithium-ion battery module in the Y-axis and are driven to move by the two Y-axis servo slides respectively. The controller controls the movement of the two X-axis and two Y-axis servo slides and, while clamping the lithium-ion battery module, determines the coordinate changes of the robot in the X and Y axes based on the positions of the servo motors of the two X-axis and two Y-axis servo slides, thereby adjusting the robot's loading coordinates. This invention eliminates the influence of low positioning accuracy of lithium-ion battery module positioning fixtures and can achieve automatic gripping of lithium-ion battery sub-modules within a certain accuracy error range.

Description

Technical Field

[0001] This invention relates to the field of lithium battery manufacturing technology, and in particular to a lithium-ion battery module loading fixture and loading method. Background Technology

[0002] Currently, most lithium-ion battery module loading fixtures use cylinders or servo drives to move the clamping plate to a fixed position. This type of fixture requires high precision in positioning the lithium-ion battery module and has poor compatibility with modules of different sizes. For example, if the positioning accuracy of the lithium-ion battery module is not good when using a cylinder, the position switch on the cylinder may not have a position detection signal due to poor positioning accuracy, resulting in frequent alarms. Therefore, it is necessary to design a compatible lithium-ion battery module loading fixture. Summary of the Invention

[0003] Based on this, the purpose of this invention is to provide a lithium-ion battery module loading fixture and loading method, which can clamp the lithium-ion battery module in the length and width directions within a certain error range, and then complete the gripping and unloading of the lithium-ion battery module without the need for frequent manual adjustment of the robot's loading and unloading position.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This invention provides a lithium-ion battery module loading fixture, which is connected to the end effector of a robot. It includes two X-axis clamping plates, two Y-axis clamping plates, two X-axis servo slides, two Y-axis servo slides, and a controller. The two X-axis clamping plates are used to clamp the lithium-ion battery module in the X-axis and are driven to move by the two X-axis servo slides respectively. The two Y-axis clamping plates are used to clamp the lithium-ion battery module in the Y-axis and are driven to move by the two Y-axis servo slides respectively. The controller controls the movement of the two X-axis and two Y-axis servo slides and, when clamping the lithium-ion battery module, determines the coordinate changes of the robot in the X and Y axes based on the positions of the servo motors of the two X-axis and two Y-axis servo slides, thereby adjusting the robot's loading coordinates.

[0006] This invention can clamp lithium-ion battery modules in the length and width directions within a certain error range, and then complete the gripping and unloading of lithium-ion battery modules without the need for frequent manual adjustment of the robot's picking and unloading position.

[0007] As a further improvement to the above-described solution of the present invention, it also includes a first distance sensor and a second distance sensor. The first and second distance sensors are respectively mounted on the sliders of two X-axis servo slides. Both the first and second distance sensors are used to detect the distance between themselves and the clamped lithium-ion battery module. Based on the distance detected by the first and second distance sensors, it is determined whether the two X-axis clamping plates are clamping the lithium-ion battery module.

[0008] As a further improvement of the above-mentioned solution of the present invention, the controller has preset distance one and preset distance two. The controller compares the distance detected by distance measuring sensor one and distance measuring sensor two with preset distance one and preset distance two, respectively. When the distance detected by distance measuring sensor one and distance measuring sensor two reaches preset distance one and preset distance two, respectively, the controller records the position of the servo motor of the two X-axis servo slides at this time and adjusts the amount of coordinate change of the robot in the X-axis according to the position of the servo motor of the two X-axis servo slides.

[0009] As a further improvement to the above-described solution of the present invention, it also includes a third and a fourth distance measuring sensor. The third and fourth distance measuring sensors are respectively mounted on the sliders of the two X-axis servo slides. Both the third and fourth distance measuring sensors are used to detect the distance between themselves and the clamped lithium-ion battery module. Furthermore, based on the distance detected by the third and fourth distance measuring sensors, it is ensured that the two X-axis clamping plates clamp the lithium-ion battery module.

[0010] As a further improvement to the above-mentioned solution of the present invention, the controller has preset distance 1, preset distance 2, preset distance 3, and preset distance 4. The controller compares the distances detected by distance measuring sensors 1, 2, 3, and 4 with preset distance 1, preset distance 2, preset distance 3, and preset distance 4, respectively. When the distances detected by distance measuring sensors 1, 2, 3, and 4 reach preset distance 1, preset distance 2, preset distance 3, and preset distance 4, respectively, the controller records the position of the servo motors of the two X-axis servo slides at this time and adjusts the amount of coordinate change of the robot in the X-axis according to the position of the servo motors of the two X-axis servo slides.

[0011] As a further improvement to the above-described solution of the present invention, it further includes a distance measuring sensor five and a distance measuring sensor six, which are respectively mounted on the sliders of the two Y-axis servo slides. Both distance measuring sensors five and six are used to detect the distance between themselves and the clamped lithium-ion battery module. Based on the distance detected by distance measuring sensors five and six, it is ensured that the two Y-axis clamping plates clamp the lithium-ion battery module.

[0012] As a further improvement of the above-mentioned solution of the present invention, the controller has preset distance five and preset distance six. The controller compares the distances detected by distance measuring sensor five and distance measuring sensor six with preset distance five and preset distance six, respectively. When the distances detected by distance measuring sensor five and distance measuring sensor six reach preset distance five and preset distance six, respectively, the controller records the position of the servo motors of the two Y-axis servo slides at this time and adjusts the robot's coordinate change in the Y-axis according to the position of the servo motors of the two Y-axis servo slides.

[0013] As a further improvement to the above-described solution of the present invention, it also includes a frame and two anti-fall mechanisms to prevent the lithium-ion battery modules from falling. Two X-axis servo slides, two Y-axis servo slides, and the two anti-fall mechanisms are all mounted on the frame. The two anti-fall mechanisms are arranged opposite to each other, and each anti-fall mechanism includes multiple anti-fall brackets spaced apart in the Y-axis. The bottom of each anti-fall bracket has a support portion for holding the lithium-ion battery module. By setting up the anti-fall mechanisms, the lithium-ion battery modules are prevented from falling due to lack of clamping during the loading process.

[0014] The present invention proposes a method for loading lithium-ion battery modules, which uses the lithium-ion battery module loading fixture as described above, and includes the following steps:

[0015] During the initial loading, two X-axis servo slides drive two X-axis clamping plates to move respectively, and two Y-axis servo slides drive two Y-axis clamping plates to move respectively, in order to clamp the first lithium-ion battery module; the position S of the servo motors of the two X-axis servo slides is obtained. 11 S 12 And the positions S of the servo motors of the two Y-axis servo slides. 13 S 14 The robot moves the lithium-ion battery module loading fixture to the loading position according to the set loading coordinates. Then, the two X-axis servo slides drive the two X-axis clamps to move and the two Y-axis servo slides drive the two Y-axis clamps to move, so as to release the first lithium-ion battery and complete the first loading.

[0016] During the nth loading, where n is a positive integer and n≥2, two X-axis servo slides drive two X-axis clamping plates to move respectively, and two Y-axis servo slides drive two Y-axis clamping plates to move respectively, to clamp the nth lithium-ion battery module; obtain the position S of the servo motors of the two X-axis servo slides. n1 S n2 The position S of the servo motors of the two Y-axis servo slides n3 S n4 , will S n1 S n2 S n3 S n4 respectively with S 11 S12 S 13 S 14 Compare and set the robot's coordinate changes in the X and Y directions based on the comparison results; substitute the robot's coordinate changes in the X and Y directions into the robot's position coordinates for calculation, and regenerate the robot's nth loading coordinates. After the robot moves the nth lithium-ion battery module loading fixture to the loading position according to the newly generated nth loading coordinates, the two X-axis servo slides drive the two X-axis clamps to move respectively, and the two Y-axis servo slides drive the two Y-axis clamps to move respectively, so as to release the nth lithium-ion battery module and complete the nth loading.

[0017] As a further improvement to the above-described solution of the present invention, the step of S... n1 S n2 S n3 S n4 respectively with S 11 S 12 S 13 S 14 The method for comparing and setting the changes in the robot's coordinates in the X and Y directions based on the comparison results is as follows:

[0018] When S n1 >S 11 And S n2 >S 12 At that time, the change in the robot's coordinate in the X direction is adjusted to (S). n1 -S 11 +S n2 -S 12 ) / 2;

[0019] When S n1 11 And S n2 12 At that time, the change in the robot's coordinate in the X direction is adjusted to (S). 11 -S n1 +S 12 -S n2 ) / 2;

[0020] When S n3 >S 13 And S n4 >S 14 At that time, the change in the robot's Y-axis coordinate is adjusted to (S) n3 -S 13 +S n4 -S 14 ) / 2;

[0021] When S n3 13 And S n4 14 ​​​​At that time, the change in the robot's Y-axis coordinate is adjusted to (S) 13 -S n3 +S 14 -S n4 ) / 2.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. This invention can eliminate the impact of low positioning accuracy of lithium-ion battery module positioning fixtures, and can achieve automatic grasping of lithium-ion battery sub-modules within a certain accuracy error range.

[0024] 2. This invention eliminates the need for frequent manual adjustments to the position of the robot when picking up and placing lithium-ion battery modules, as it can automatically calculate based on coordinate changes.

[0025] 3. This invention is compatible within a certain size range, enabling the grasping of lithium-ion battery sub-modules of different sizes, and has strong compatibility. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a lithium-ion battery module loading fixture proposed in an embodiment of the present invention;

[0027] Figure 2 for Figure 1 Another perspective view;

[0028] Figure 3 for Figure 1 Another perspective view;

[0029] Figure 4 This is a schematic diagram of the anti-fall bracket in a lithium-ion battery module loading fixture according to an embodiment of the present invention.

[0030] Reference numerals: 1. X-axis clamping plate; 2. Y-axis clamping plate; 3. X-axis servo slide; 4. Y-axis servo slide; 5. Frame; 6. Anti-fall bracket; 61. Support. Detailed Implementation

[0031] To facilitate understanding of the present invention, a more comprehensive description will be given below with reference to specific embodiments. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0033] Reference Figures 1-3 This embodiment proposes a lithium-ion battery module loading fixture, which includes two X-axis clamping plates 1, two Y-axis clamping plates 2, two X-axis servo slides 3, two Y-axis servo slides 4, and a controller. It may also include distance measuring sensors 1, 2, 3, 4, 5, and 6, two fall protection mechanisms, and a frame 5 providing mounting foundations for the two X-axis servo slides 3, two Y-axis servo slides 4, and two fall protection mechanisms. The frame of this embodiment's lithium-ion battery module loading fixture is connected to the end effector of a robot via a flange. After the fixture grips a lithium-ion battery module, the robot moves the fixture to complete the loading process. It should be noted that in this embodiment, the X-axis refers to the width direction of the lithium-ion battery module, and the Y-axis refers to the length direction.

[0034] Two X-axis servo slides 3 are arranged opposite each other in the X-axis direction and are both mounted on the frame 5. The X-axis servo slides 3 in this embodiment adopt existing technology. They are slide mechanisms with servo motors as the core driving components. The servo motors can precisely control the output torque and angle. Through the position and speed information fed back by the encoder, precise control of the slider movement is achieved.

[0035] Two X-axis clamping plates 1 are used to clamp the lithium-ion battery module in the X direction. The two X-axis clamping plates 1 are arranged opposite each other in the X direction and are respectively mounted on the sliders of two X-axis servo slides 3. The X-axis clamping plates 1 can move with the movement of the corresponding sliders. When clamping the lithium-ion battery module, the lithium-ion battery module is located between the two X-axis clamping plates 1. The two X-axis servo slides 3 drive the two X-axis clamping plates 1 to move relative to each other to clamp the lithium-ion battery module.

[0036] Two Y-axis servo slides 4 are arranged opposite each other in the Y-axis and are both mounted on the frame 5. The Y-axis servo slides 4 in this embodiment also adopt existing technology. They are slide mechanisms with servo motors as the core driving components. The servo motors can precisely control the output torque and angle. Through the position and speed information fed back by the encoder, precise control of the slider movement is achieved.

[0037] Two Y-axis clamping plates 2 are used to clamp the lithium-ion battery module in the Y direction. The two Y-axis clamping plates 2 are arranged opposite each other in the Y direction and are respectively mounted on the sliders of the two Y-axis servo slides 4. The Y-axis clamping plates 2 can move with the movement of the corresponding sliders. When clamping the lithium-ion battery module, the lithium-ion battery module is located between the two Y-axis clamping plates 2. The two Y-axis servo slides 4 drive the two Y-axis clamping plates 2 to move relative to each other to clamp the lithium-ion battery module.

[0038] Distance sensors 1 and 3 are both mounted on the slider of one of the X-axis servo slides 3, while distance sensors 2 and 4 are both mounted on the slider of the other X-axis servo slide 3. These sensors are used to detect the distance between themselves and the clamped lithium-ion battery module. The positions of distance sensors 1 and 3 on the sliders of the X-axis servo slides 3 are not specifically defined; they can be parallel or not. Similarly, the positions of distance sensors 2 and 4 on the sliders of the X-axis servo slides 3 are not specifically defined; they can be parallel or not. By setting distance sensors 1, 2, 3, and 4, the clamping of the lithium-ion battery module by the two X-axis clamping plates 1 is ensured.

[0039] Distance sensor five and distance sensor six are respectively installed on the sliders of the two Y-axis servo slides 4. Both distance sensor five and distance sensor six are used to detect the distance between them and the clamped lithium-ion battery module.

[0040] It should be noted that when the lithium-ion battery module is clamped by two X-axis clamping plates 1 and two Y-axis clamping plates 2, since the positions of distance sensors 1, 2, 3, 4, 5, and 6 are fixed, the distance between these sensors and the lithium-ion battery module is also fixed. In other words, based on the distances detected by these sensors and their corresponding distances to the lithium-ion battery module, it can be determined whether the lithium-ion battery module is clamped.

[0041] Both fall arrest mechanisms are mounted on the frame 5 and arranged opposite each other. Each fall arrest mechanism includes multiple fall arrest brackets 6 spaced apart in the Y direction. Figure 4 The bottom of the anti-fall bracket 6 is provided with a support part 61 for supporting the lithium-ion battery module, and two anti-fall mechanisms are used to prevent the lithium-ion battery module from falling during movement.

[0042] The controller is communicatively connected to the servo motors of the two X-axis servo slides 3 and the two Y-axis servo slides 4. The controller can control the operation of the servo motors of the two X-axis servo slides 3 and the two Y-axis servo slides 4 and can acquire the position information of the servo motors of the two X-axis servo slides 3 and the two Y-axis servo slides 4 in real time. The controller is also communicatively connected to distance measuring sensors 1, 2, 3, 4, 5 and 6 and can acquire the measurement results of distance measuring sensors 1, 2, 3, 4, 5 and 6 in real time.

[0043] The loading method of the lithium-ion battery module loading fixture in this embodiment includes the following steps:

[0044] Setting parameters: The controller presets preset distance 1, preset distance 2, preset distance 3, preset distance 4, preset distance 5, and preset distance 6. That is, when the distance between distance sensors 1, 2, 3, 4, 5, and 6 and the lithium-ion battery module reaches preset distance 1, preset distance 2, preset distance 3, preset distance 4, preset distance 5, and preset distance 6 respectively, it means that the lithium-ion battery module is clamped by the two X-axis clamping plates 1 and the two Y-axis clamping plates 2.

[0045] During the initial loading: The robot control unit moves the robot to the placement position of the lithium-ion battery module. The width direction of the lithium-ion battery module is consistent with the X-axis, and the length direction is consistent with the Y-axis. The controller controls the servo motors of the two X-axis servo slides 3 to drive the two X-axis clamping plates 1 to move closer together in the X-axis to clamp the lithium-ion battery module. The controller also controls the servo motors of the two Y-axis servo slides 4 to drive the two Y-axis clamping plates 2 to move closer together in the Y-axis to clamp the lithium-ion battery module. When the distances between the distance sensors 1, 2, 3, 4, 5, and 6 and the lithium-ion battery module reach preset distances 1, 2, 3, 4, 5, and 6 respectively, the controller acquires and records the position S of the servo motors of the two X-axis servo slides 3 at this time. 11 S 12 And the positions S of the servo motors of the two Y-axis servo slides 4 13 S 14 The robot moves the lithium-ion battery module loading fixture to the loading position according to the loading coordinates set by the robot control unit. Then, the two X-axis servo slides 3 drive the two X-axis clamps 1 to move away from each other in the X direction, and the two Y-axis servo slides 4 drive the two Y-axis clamps 2 to move away from each other in the Y direction, so as to complete the first loading of the lithium-ion battery module.

[0046] During the nth (n is a positive integer and n≥2) loading: the robot control unit controls the robot to move to the lithium-ion battery module placement position. The two X-axis servo slides 3 drive the two X-axis clamping plates 1 to move closer to each other in the X-axis to clamp the lithium-ion battery module. The two Y-axis servo slides 4 drive the two Y-axis clamping plates 2 to move closer to each other in the Y-axis to clamp the lithium-ion battery module. When the distances between the distance sensors 1, 2, 3, 4, 5, and 6 and the lithium-ion battery module reach the preset distances 1, 2, 3, 4, 5, and 6 respectively, the controller acquires and records the position S of the servo motors of the two X-axis servo slides 3 at this time. n1 S n2 And the positions S of the servo motors of the two Y-axis servo slides 4 n3 S n4 , will S n1 S n2 S n3 S n4 respectively with S 11 S 12 S 13 S 14 Comparison, when S n1 >S 11 And S n2 >S 12 At that time, the change in the robot's coordinate in the X direction is adjusted to (S). n1 -S 11 +S n2 -S 12 ) / 2; when S n1 11 And S n2 12 At that time, the change in the robot's coordinate in the X direction is adjusted to (S). 11 -S n1 +S 12 -S n2 ) / 2; when S n3 >S 13 And S n4 >S 14 At that time, the change in the robot's Y-axis coordinate is adjusted to (S) n3 -S 13 +S n4 -S 14 ) / 2; when S n3 13 And S n4 14 At that time, the change in the robot's Y-axis coordinate is adjusted to (S) 13 -S n3 +S 14 ​​​​-S n4 ) / 2; The controller sends the adjusted coordinate changes of the robot in the X and Y directions to the robot control unit. The robot control unit substitutes the coordinate changes of the robot in the X and Y directions into the robot's position coordinates for calculation and regenerates the coordinates for the nth loading of the robot. Based on the coordinates for the nth loading, the robot control unit controls the robot to move the lithium-ion battery module loading fixture to the loading position. Then, the two X-axis servo slides 3 drive the two X-axis clamping plates 1 to move away from each other in the X direction, and the two Y-axis servo slides 4 drive the two Y-axis clamping plates 2 to move away from each other in the Y direction, so as to complete the nth loading of the lithium-ion battery module.

[0047] It should be noted that the robot control unit is set with threshold values ​​for the X-axis coordinate change and the Y-axis coordinate change, depending on the robot model. When the calculated X-axis coordinate change and Y-axis coordinate change exceed the threshold values ​​respectively, the robot control unit will issue an alarm signal.

[0048] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A method for feeding lithium-ion battery modules, characterized in that, It employs a lithium-ion battery module loading fixture connected to the robot's end effector, which includes two... X To the clamp (1), two Y To the clamp (2), two X To the servo slide (3), two Y To the servo slide (4) and the controller; two X The clamp (1) is used for in X The lithium-ion battery module is clamped together and consists of two... X Driven to move towards the servo slide (3), two Y The clamp (2) is used for in Y The lithium-ion battery module is clamped together and consists of two... Y Driven to move to the servo slide (4); the controller controls the two X To the servo slide (3), two Y When the servo slide (4) moves and clamps the lithium-ion battery module, according to two X To the servo slide (3), two Y The position of the servo motor of the servo slide (4) is determined by the robot. X Towards, Y The amount of coordinate change in the direction is used to adjust the robot's feeding coordinates; The lithium-ion battery module loading method includes the following steps: During the initial feeding, two X Drive two servo slides (3) respectively X Move towards clamp (1), two Y Drive two servo slides (4) respectively Y Move towards clamping plate (2) to clamp the first lithium-ion battery module; obtain two X Position of the servo motor of the servo slide S 11 , S 12 and two Y Position of the servo motor of the servo slide (4) S 13 , S 14 The robot moves the lithium-ion battery module loading fixture to the loading position according to the preset loading coordinates, and then the two... X Drive two servo slides (3) respectively X Move towards clamp (1), two Y Drive two servo slides (4) respectively Y Move toward clamp (2) to release the first lithium-ion battery to complete the initial loading; For the nth feeding, n is a positive integer and n≥2, two... X Drive two servo slides (3) respectively X Move towards clamp (1), two Y Drive two servo slides respectively Y Move towards clamping plate (2) to clamp the nth lithium-ion battery module; obtain two X Position of the servo motor of the servo slide (3) S n1 、S n2 ,two Y Position of the servo motor of the servo slide (4) S n3 、 S n4 ,Will S n1 、S n2 、S n3 、S n4 respectively with S 11 、S 12 、S 13 、S 14 Compare and set the robot's position based on the comparison results. X Towards, Y The change in coordinates of the direction; the robot in X Towards, Y The coordinate change is substituted into the robot's position coordinates for calculation, and the coordinates for the nth loading operation of the robot are regenerated. Based on the newly generated nth loading coordinates, the robot moves the nth lithium-ion battery module loading fixture to the loading position. Then, the two... X Drive two servo slides (3) respectively X Move towards clamp (1), two Y Drive two servo slides (4) respectively Y Move toward clamp (2) to release the nth lithium-ion battery module and complete the nth loading; The S n1 、S n2 、S n3 、S n4 respectively with S 11 、S 12 、S 13 、S 14 Compare and set the robot's position based on the comparison results. X Towards, Y The method for determining the change in coordinates is as follows: when S n1 >S 11 and S n2 >S 12 At that time, adjust the robot in X The change in coordinates in the direction is （S n1 -S 11 ＋S n2 -S 12 ） / 2 ; when S n1 <S 11 and S n2 <S 12 At that time, adjust the robot in X The change in coordinates in the direction is （S 11 -S n1 ＋S 12 -S n2 ） / 2 ; when S n3 >S 13 and S n4 >S 14 At that time, adjust the robot in Y The change in coordinates in the direction is （S n3 -S 13 ＋S n4 -S 14 ） / 2 ; when S n3 <S 13 and S n4 <S 14 At that time, adjust the robot in Y The change in coordinates in the direction is （S 13 -S n3 ＋S 14 -S n4 ） / 2 .

2. The lithium-ion battery module feeding method according to claim 1, characterized in that, It also includes distance sensor one and distance sensor two, which are respectively installed on two... X On the slider of the servo slide, distance sensor one and distance sensor two are used to detect the distance between them and the clamped lithium-ion battery module.

3. The lithium-ion battery module feeding method according to claim 2, characterized in that, The controller has two preset distances: a first preset distance and a second preset distance. The controller compares the distances detected by the first and second ranging sensors with these preset distances. When the distances detected by the first and second ranging sensors reach the first and second preset distances respectively, the controller records the results. X Position of the servo motor of the servo slide (3) and according to two X The robot adjusts the position of the servo motor of the servo slide (4) in the servo position. X The change in coordinates.

4. The lithium-ion battery module feeding method according to claim 2, characterized in that, The lithium-ion battery module loading fixture also includes a third distance sensor and a fourth distance sensor, which are respectively installed on two... X On the slider of the servo slide (3), distance sensor three and distance sensor four are used to detect the distance between them and the clamped lithium-ion battery module.

5. The lithium-ion battery module feeding method according to claim 4, characterized in that, The controller has preset distances 1, 2, 3, and 4. The controller compares the distances detected by distance measuring sensors 1, 2, 3, and 4 with these preset distances. When the detected distances reach the preset distances 1, 2, 3, and 4 respectively, the controller records the result. X Position of the servo motor of the servo slide (3) and according to two X The robot adjusts the position of the servo motor of the servo slide (3) in the position of the servo motor. X The change in coordinates.

6. The lithium-ion battery module feeding method according to claim 1, characterized in that, The lithium-ion battery module loading fixture also includes a distance sensor five and a distance sensor six, which are respectively installed on two... Y On the slider of the servo slide, distance sensors five and six are used to detect the distance between themselves and the clamped lithium-ion battery module.

7. The lithium-ion battery module feeding method according to claim 6, characterized in that, The controller has preset distances five and six. The controller compares the distances detected by distance measuring sensors five and six with these preset distances. When the distances detected by distance measuring sensors five and six reach the preset distances five and six respectively, the controller records the results. Y Position of the servo motor of the servo slide (4) and according to two Y The robot adjusts the position of the servo motor of the servo slide (4) in the servo position. Y The change in coordinates.

8. The lithium-ion battery module feeding method according to claim 1, characterized in that, The lithium-ion battery module loading fixture also includes a frame (5) and two anti-fall mechanisms to prevent the lithium-ion battery module from falling. X To the servo slide (3), two Y The servo slide (4) and two fall protection mechanisms are both mounted on the frame (5). The two fall protection mechanisms are arranged opposite to each other, and each fall protection mechanism includes multiple [missing information]. Y The anti-fall brackets (6) are spaced apart, and the bottom of the anti-fall brackets (6) is provided with a support (61) for supporting the lithium-ion battery module.

Images