Battery pack framework structure and welding tool thereof

By setting limiting holes and snap holes on the battery pack frame, combined with fixed components and drive presses, the bidirectional screw and sliding rod are driven by cylinders and motors, the accuracy and inefficiency of position measurement during battery pack welding is solved. The problem of the problem achieves a fast and stable welding effect.

CN119315198AInactive Publication Date: 2025-01-14WUHU YUANZHENG MOULD MASCH CO LTD
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Patent Information

Application Number
CN202411601298.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-11-11
Publication Date
2025-01-14
Estimated Expiration
Not applicable · inactive patent

AI Technical Summary

Technical Problem

The existing battery pack welding process requires precise measurement of the position, resulting in low efficiency and low welding tooling efficiency.

Method used

A battery-pack skeleton structure and welding tooling were designed. By setting limit holes and snap holes on the skeleton, combining fixing components and driving presses, the bidirectional screws and sliding rods are driven by cylinders and motors to achieve rapid positioning and multiple Weld at the same time.

Benefits of technology

提高了电池包焊接的效率和精度,减少了测量时间,实现了快速且稳固的焊接效果。

✦ Generated by Eureka AI based on patent content.

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Abstract

The invention discloses a battery pack framework structure and a welding tool thereof, and relates to the technical field of battery devices, a framework comprises a bottom plate, two sets of first side plates, second side plates and bent plates are sequentially welded to the periphery of one face of the bottom plate in an end-to-end connection mode, the two sets of first side plates are opposite, the second side plates are opposite to the bent plates, and multiple sets of limiting holes are formed in the opposite faces of the first side plates at equal intervals; the two ends of multiple sets of partition plates parallel to the second side plates are clamped in the limiting holes in the two sides respectively, first buckle holes are formed in the middles of the partition plates and located in the symmetry axis of the bottom plate, second buckle holes corresponding to the first buckle holes are formed in the face, facing the bottom plate, of a fixing plate parallel to the first side plate, and the fixing plate is clamped to the multiple sets of partition plates. Before welding, the partition plates are placed in the limiting holes, the positions of the partition plates can be rapidly determined, the partition plates are preliminarily fixed, welding is convenient, and the welding effect is improved; and the first buckle hole, the second buckle hole and the third buckle hole are matched with one another, so that the position of the fixing plate is rapidly determined, and the partition plate is more stable.
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Description

Technical Field

[0001] The present invention belongs to the field of battery devices, and in particular relates to a battery pack skeleton structure and a welding tool thereof. Background Art

[0002] New energy vehicles are gradually occupying the market. The battery packs of new energy vehicles are usually installed on new energy vehicles through a frame structure. The battery pack frame is usually welded from aluminum profiles. When welding the current battery pack, it is usually necessary to determine the position before welding. When determining the position, precise measurement is required, which takes a lot of time and is inefficient. Battery pack welding tools usually weld different positions in turn, which is inefficient. Summary of the invention

[0003] In view of the problems mentioned in the background technology, the purpose of the present invention is to provide a battery pack skeleton structure and a welding tooling thereof to solve the problems mentioned in the background technology.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] The battery pack skeleton structure includes a bottom plate, one side of the bottom plate is welded with two groups of side panels 1, 2 and a curved plate in sequence, the two groups of side panels 1 are opposite to each other, the side panel 2 and the curved plate are opposite to each other, and the opposite surface of the side panel 1 is provided with multiple groups of limiting holes at equal intervals, and the two ends of multiple groups of partition plates parallel to the side panel 2 are respectively engaged in the limiting holes on both sides, a snap hole 1 is opened in the middle of the partition plate, and the snap hole 1 is located on the symmetry axis of the bottom plate, and a fixed plate parallel to the side panel 1 is provided with a snap hole 2 corresponding to the snap hole 1 facing the bottom plate, and the fixed plate is engaged with multiple groups of partition plates.

[0006] As a preferred technical solution, the top view of the bottom plate is a combination of a rectangle and a trapezoid, the bottom plate is axially symmetrical, and the curved plate fits the edge of the trapezoid.

[0007] As a preferred technical solution, a snap hole three is opened in the middle of the side panel two, the snap hole three is located on the symmetry axis of the bottom plate, and the fixed plate is snapped into the snap hole three correspondingly.

[0008] As a preferred technical solution, the fixed plate close to one end of the curved plate does not extend beyond the partition plate.

[0009] The battery pack frame welding tooling includes a welding base plate, on which a fixing component 1 and a fixing component 2 are installed. The frame is placed on the welding base plate between the fixing component 1 and the fixing component 2. The fixing component 1 includes multiple groups of symmetrical pressing pieces and driving pieces of the driving pressing pieces. The multiple groups of symmetrical pressing pieces press both sides of the frame respectively, and the fixing component 2 presses the middle part of the frame.

[0010] As an optimal technical solution, the symmetrical pressure piece includes multiple groups of bidirectional screw rods rotatably installed on the welding base plate, a group of L-shaped seats are installed on both sides of the bidirectional screw rods, a cylinder is installed on the top of the L-shaped seat, the output end of the cylinder faces the welding base plate, and the bidirectional screw rods are installed on the output end of the driving part.

[0011] As an optimal technical solution, fixed component 2 includes a translation component, a distance adjustment component and a vertical fixed component. The translation component is installed on the welded base plate. The movement directions of the translation component and the symmetrical pressure piece are consistent. The distance adjustment component is installed on the top of the translation component. Multiple groups of vertical fixed components are installed on the movable end of the distance adjustment component.

[0012] As a preferred technical solution, the translation assembly includes an n-shaped seat, a movable screw rod rotatably mounted on the welding base plate, and a sliding rod fixedly mounted on the welding base plate. A driving motor is installed at one end of the movable screw rod. The two ends of the n-shaped seat are respectively threadedly connected to the movable screw rod and slidably connected to the sliding rod. The distance adjustment assembly is installed at the top of the n-shaped seat.

[0013] As a preferred technical solution, the distance adjustment component includes multiple groups of sliders, a mounting rod seat and a driving component for driving the multiple groups of sliders to adjust the distance. The driving component is installed on the top of the n-shaped seat, and the multiple groups of sliders are slidably installed on the movable end of the driving component. The mounting rod seat is perpendicular to the length direction of the n-shaped seat, and the vertical fixing components are installed one by one at the bottom of the mounting rod seat.

[0014] As a preferred technical solution, the driving assembly includes a second motor, a pushing screw and a slide rail, all of which are installed on the top of the n-shaped seat. The pushing screw is installed on the output end of the second motor, one group of sliders is threadedly connected to the pushing screw, an X-shaped rod is rotatably installed on the slider, the X-shaped rod rotates around the rotation axis, two adjacent groups of X-shaped rods are rotatably connected, and the two adjacent groups of X-shaped rods form a changeable rhombus, and the middle group of X-shaped rods and the slider are both installed on the n-shaped seat.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The explosion of the battery pack skeleton structure proposed by the present invention Figure 1 ;

[0017] Figure 2 The explosion of the battery pack skeleton structure proposed by the present invention Figure 2 ;

[0018] Figure 3 The three-dimensional structure of the battery pack frame welding tooling proposed by the present invention Figure 1 ;

[0019] Figure 4The three-dimensional structure of the battery pack frame welding tooling proposed by the present invention Figure 2 .

[0020] Figure numerals: 1, frame; 11, bottom plate; 12, side plate 1; 121, limit hole; 13, side plate 2; 131, buckle hole 3; 14, curved plate; 15, partition plate; 151, buckle hole 1; 16, fixed plate; 161, buckle hole 2; 2, welding bottom plate; 3, fixed component 1; 31, motor 1; 32, synchronous belt 1; 33, synchronous wheel 1; 34, mounting hole 1; 35, two-way screw rod 1; 36, L-shaped seat; 37, cylinder 1; 4, fixed component 2; 41, translation component ; 411, mounting hole two; 412, movable screw; 413, sliding rod; 414, N-shaped seat; 42, distance adjustment assembly; 421, slide rail; 422, slider; 423, X-shaped rod; 424, synchronous belt two; 425, synchronous wheel two; 426, synchronous wheel three; 427, push screw; 428, mounting rod seat; 429, motor two; 43, vertical fixing assembly; 431, two-way screw; 432, slide seat; 433, linkage pull rod; 434, cylinder two; 435, sliding rod. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar symbols throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0022] Example 1

[0023] refer to Figure 1 to Figure 2 The battery pack skeleton structure described in this embodiment, the skeleton 1 includes a bottom plate 11, the top view of the bottom plate 11 is a combination of a rectangle and a trapezoid and the bottom plate 11 is axially symmetrical, the bottom plate 11 is divided into a front side and a back side, and the bottom plate 11 is sequentially connected and welded with two groups of side plates 12, side plates 13 and curved plates 14 around the bottom plate 11, the two groups of side plates 12 are opposite, the side plates 13 and the curved plates 14 are opposite, and the curved plates 14 are in contact with the edge of the trapezoid; the opposite surface of the side plate 12 is provided with a plurality of groups of limiting holes 121 at equal intervals, and the plurality of groups of limiting holes 121 are provided with the side plates 12. The two ends of the partition plates 15 parallel to the second side plate 13 are respectively engaged in the limiting holes 121 on both sides, and the partition plates 15 and the middle parts of the second side plate 13 are respectively provided with a snap hole 151 and a snap hole 3 131, and the snap hole 151 and the snap hole 3 131 are located on the symmetry axis of the bottom plate 11, and the fixed plate 16 parallel to the side plate 12 is provided with a snap hole 2 161 corresponding to the snap hole 151 and the snap hole 3 131 on the side facing the bottom plate 11, and the fixed plate 16 is engaged with multiple groups of partition plates 15 and the second side plate 13.

[0024] Preferably, the fixing plate 16 close to one end of the curved plate 14 does not extend beyond the partition plate 15 .

[0025] To ensure stability, the joints of the curved plate 14, the multiple groups of partition plates 15, the second side plate 13 and the first side plate 12 are all welded, and the joints of the multiple groups of partition plates 15, the second side plate 13 and the fixed plate 16 are all welded.

[0026] Multiple groups of partition plates 15 and fixing plates 16 divide the frame 1 into multiple groups of spaces for placing battery packs, and wires can be placed between the partition plates 15 and the curved plates 14. Before welding, the partition plates 15 are placed in the limiting holes 121, so that the position of the partition plates 15 can be quickly determined and the partition plates can be initially fixed, which is convenient for welding and improves the welding effect; the buckle hole 151, the buckle hole 2 161 and the buckle hole 3 131 cooperate with each other to quickly determine the position of the fixing plate 16 and make the partition plates 15 more stable.

[0027] Example 2

[0028] refer to Figure 3 to Figure 4 The battery pack skeleton structure and welding tooling thereof described in this embodiment include a welding base plate 2, on which a fixing component 1 3 and a fixing component 2 4 are installed. The skeleton 1 is placed on the welding base plate 2 between the fixing component 1 3 and the fixing component 2 4. The fixing component 1 3 includes multiple groups of symmetrical pressing pieces and driving pieces for driving the pressing pieces. The multiple groups of symmetrical pressing pieces press the two sides of the skeleton 1 respectively, and cooperate with the fixing component 2 4 to press the middle part of the skeleton 1, so that multiple welding can be performed at the same time, for example, two groups of side panels 12 are welded to the base plate 11 at the same time, and multiple groups of partition plates 15 are welded to the side panels 12 at the same time, thereby improving the welding efficiency.

[0029] The symmetrical pressing piece includes a plurality of mounting holes 34 equidistantly arranged on the welding base plate 2, a bidirectional screw rod 35 is rotatably installed in the mounting hole 34, a group of L-shaped seats 36 are respectively installed on both sides of the bidirectional screw rod 35, a cylinder 37 is installed on the top of the L-shaped seat 36, and the output end of the cylinder 37 faces the welding base plate 2.

[0030] The driving part includes a motor 31, and a bidirectional screw rod 35 is installed on the output end of the motor 31.

[0031] Preferably, a synchronous wheel 33 is installed at one end of each set of bidirectional screw rods 35, and a set of synchronous wheels 33 is also installed on the output end of the motor 33. Multiple sets of synchronous wheels 33 are connected through a synchronous belt 32.

[0032] The motor 31 synchronously drives the plurality of sets of bidirectional screw rods 35 to rotate through the synchronous wheel 33 and the synchronous belt 32, thereby driving the L-shaped seats 36 on both sides to move closer or farther away. When the L-shaped seats 36 are adjusted to a suitable position, the cylinder 37 is started to suppress the frame 1 to facilitate welding.

[0033] The second fixed component 4 includes a translation component 41, a distance adjustment component 42 and a vertical fixed component 43. The translation component 41 is installed on the welding base plate 2. The translation component 41 and the L-shaped seat 36 have the same movement direction. The distance adjustment component 42 is installed on the top of the translation component 41, and multiple groups of vertical fixed components 43 are all installed on the movable end of the distance adjustment component 42.

[0034] The translation assembly 41 includes two groups of mounting holes 411 and an n-shaped seat 414. A group of moving screw rods 412 are rotatably installed in the two groups of mounting holes 411 and a group of sliding rods 413 are fixedly installed. A driving motor is installed at one end of the moving screw rod 412. The two ends of the n-shaped seat 414 are respectively threadedly connected to the moving screw rod 412 and slidably connected to the sliding rod 413. The distance adjustment assembly 42 is installed at the top of the n-shaped seat 414.

[0035] The driving motor drives the movable screw 412 to rotate, thereby driving the N-shaped seat 414 to slide along the sliding rod 413, so as to facilitate loading and unloading of the skeleton 1.

[0036] The distance adjustment component 42 includes multiple groups of mounting seats and a driving component that drives the multiple groups of mounting seats to adjust the distances at equal intervals. The driving component is installed on the top of the n-shaped seat 414, and the multiple groups of mounting seats are installed on the movable end of the driving component.

[0037] The mounting seat includes a slider 422, and a mounting rod seat 428 is installed at the bottom end of the slider 422. The mounting rod seat 428 is parallel to the side plate 13 and is not shorter than the side plate 13. The slider 422 is slidably installed on the driving assembly, and the vertical fixing assembly 43 is installed one-to-one at the bottom end of the mounting rod seat 428.

[0038] The driving assembly includes a second motor 429, a pushing screw 427 and a slide rail 421, all of which are installed on the top of the n-shaped seat 414. The pushing screw 427 is installed on the output end of the second motor 429. One group of sliders 422 is threadedly connected with the pushing screw 427. An X-shaped rod 423 is rotatably installed on the slider 422. The X-shaped rod 423 rotates around the rotation axis. Two adjacent groups of X-shaped rods 423 are rotatably connected. The two adjacent groups of X-shaped rods 423 form a changeable rhombus. The middle group of X-shaped rods 423 and the slider 422 are all installed on the n-shaped seat 414.

[0039] It is worth noting that the slider 422 threadedly connected to the push screw 427 does not include a fixed slider 422. Preferably, a group of sliders 422 closest to the motor 2 429 is threadedly connected to the push screw 427.

[0040] Preferably, the lateralmost X-shaped rods 423 are half a set.

[0041] Preferably, a second synchronous wheel 425 is installed on the output end of the second motor 429 , a third synchronous wheel 426 is installed on the push screw 427 , and the second synchronous wheel 425 and the third synchronous wheel 426 are connected through a second synchronous belt 424 .

[0042] Motor 2 429 drives screw rod 427 to rotate through synchronous wheel 2 425 , synchronous wheel 3 426 and synchronous belt 2 424 , and screw rod 427 drives one group of sliders 422 to move. Multiple groups of sliders 422 slide along slide rail 421 through X-shaped rod 423 , and slider 422 drives mounting rod seat 428 to adjust equidistantly.

[0043] The vertical fixing assembly 43 includes a two-way screw rod 431 rotatably mounted on a middle group of mounting rod seats 428 and a sliding rod 435 fixedly mounted on the mounting rod seats 428 movable on both sides. A motor 3 436 is mounted on the mounting rod seat 428 at one end of the two-way screw rod 431. The output end of the motor 3 436 is fixedly connected to the two-way screw rod 431. A group of slide seats 432 are respectively mounted at both ends of the two-way screw rod 431 and the sliding rod 435. A linkage pull rod 433 is installed between adjacent slide seats 432. The pulling direction of the linkage pull rod 433 is perpendicular to the length direction of the mounting rod seat 428. A cylinder 2 434 is installed at the bottom end of the slide seat 432, and the output end of the cylinder 2 434 faces the skeleton 1.

[0044] When the mounting rod seat 428 moves along the length direction of the N-shaped seat 414, the slide 432 and the cylinder 434 follow the moving position, and the linkage pull rod 433 follows the moving slide 432 to be pulled and adjusted. When the mounting rod seat 428 is adjusted to a suitable position, the motor three 436 drives the two-way screw rod two 431 to rotate, and the two-way screw rod two 431 drives the two groups of slides 432 thereon to move closer or farther away from each other. The slide 432 drives the other groups of slides 432 to slide along the slide rod 435 through the linkage pull rod 433. When the slide 432 slides to a suitable position, the cylinder two 434 starts to press down the skeleton 1 for easy welding.

[0045] When the side plate 12, the side plate 2, and the curved plate 14 are welded to the bottom plate 11, the plurality of groups of cylinders 1 37 respectively press the ends of the side plate 12, the side plate 2, and the curved plate 14, so that welding can be performed simultaneously, thereby improving efficiency.

[0046] After the partition plate 15 is clamped to the side plate 12, the cylinder 1 37 and the cylinder 2 434 respectively press the side plate 12 and the partition plate 15, so that multiple groups of partition plates 15 can be welded at the same time.

[0047] And so on.

[0048] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0050] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0052] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A battery pack skeleton structure, wherein the skeleton (1) comprises a bottom plate (11), wherein one side of the bottom plate (11) is welded with two sets of side plates (12), side plates (13) and curved plates (14) in sequence around the four sides of the bottom plate (11), wherein the two sets of side plates (12) are opposite to each other, and the side plates (13) and curved plates (14) are opposite to each other, and wherein: The opposite surface of the side plate (12) is provided with a plurality of groups of limiting holes (121) at equal intervals, and the two ends of the plurality of groups of partition plates (15) parallel to the side plate (13) are respectively engaged in the limiting holes (121) on both sides, and a snap hole (151) is provided in the middle of the partition plate (15), and the snap hole (151) is located on the symmetry axis of the bottom plate (11), and a fixing plate (16) parallel to the side plate (12) is provided with a snap hole (161) corresponding to the snap hole (151) on the side facing the bottom plate (11), and the fixing plate (16) is engaged with the plurality of groups of partition plates (15).

2. The battery pack skeleton structure according to claim 1, characterized in that: The top view of the bottom plate (11) is a combination of a rectangle and a trapezoid, and the bottom plate (11) is axially symmetrical, and the curved plate (14) is in contact with the edge of the trapezoid.

3. The battery pack skeleton structure according to claim 1, characterized in that: A third snap-fit ​​hole (131) is provided in the middle of the second side plate (13), the third snap-fit ​​hole (131) is located on the symmetry axis of the bottom plate (11), and the fixing plate (16) is correspondingly snap-fitted with the third snap-fit ​​hole (131).

4. The battery pack skeleton structure according to claim 1, characterized in that: The fixing plate (16) close to one end of the curved plate (14) does not extend beyond the partition plate (15).

5. A battery pack frame welding tool, comprising a welding base plate (2), characterized in that: A fixing component 1 (3) and a fixing component 2 (4) are installed on the welding base plate (2), and the frame (1) is placed on the welding base plate (2) between the fixing component 1 (3) and the fixing component 2 (4). The fixing component 1 (3) includes a plurality of groups of symmetrical pressing pieces and a driving piece for driving the pressing pieces. The plurality of groups of symmetrical pressing pieces press two sides of the frame (1) respectively, and the fixing component 2 (4) presses the middle of the frame (1).

6. The battery pack frame welding tool according to claim 5, characterized in that: The symmetrical pressing member comprises a plurality of groups of bidirectional screw rods (35) rotatably mounted on the welding base plate (2), a group of L-shaped seats (36) are respectively mounted on both sides of the bidirectional screw rods (35), a cylinder (37) is mounted on the top of the L-shaped seat (36), the output end of the cylinder (37) faces the welding base plate (2), and the bidirectional screw rods (35) are mounted on the output end of the driving member.

7. The battery pack frame welding tool according to claim 5, characterized in that: The second fixing assembly (4) comprises a translation assembly (41), a distance adjustment assembly (42) and a vertical fixing assembly (43); the translation assembly (41) is mounted on the welding base plate (2); the translation assembly (41) and the symmetrical pressing piece have the same movement direction; the distance adjustment assembly (42) is mounted on the top of the translation assembly (41); and a plurality of groups of vertical fixing assemblies (43) are mounted on the movable end of the distance adjustment assembly (42).

8. The battery pack frame welding tool according to claim 7, characterized in that: The translation assembly (41) comprises an n-shaped seat (414), a moving lead screw (412) rotatably mounted on the welding base plate (2), and a sliding rod (413) fixedly mounted on the welding base plate (2); a driving motor is mounted on one end of the moving lead screw (412); two ends of the n-shaped seat (414) are respectively threadedly connected to the moving lead screw (412) and slidably connected to the sliding rod (413); and the pitch adjustment assembly (42) is mounted on the top end of the n-shaped seat (414).

9. The battery pack frame welding tool according to claim 8, characterized in that: The distance adjustment component (42) comprises a plurality of sets of sliders (422), a mounting rod seat (428) and a driving component for driving the plurality of sets of sliders (422) to adjust the distance, the driving component being mounted on the top of the n-shaped seat (414), the plurality of sets of sliders (422) being slidably mounted on the movable end of the driving component, the mounting rod seat (428) being perpendicular to the length direction of the n-shaped seat, and the vertical fixing components (43) being mounted one-to-one at the bottom of the mounting rod seat (428).

10. The battery pack frame welding tool according to claim 9, characterized in that: The driving assembly comprises a second motor (429), a push screw (427) and a slide rail (421) all mounted on the top of an n-shaped seat (414); the push screw (427) is mounted on the output end of the second motor (429); a group of sliders (422) is threadedly connected to the push screw (427); an X-shaped rod (423) is rotatably mounted on the slider (422); the X-shaped rod (423) rotates around a rotation axis; two adjacent groups of X-shaped rods (423) are rotatably connected; the two adjacent groups of X-shaped rods (423) form a variable rhombus; and a middle group of X-shaped rods (423) and the slider (422) are both mounted on the n-shaped seat (414).