Automatic boxing equipment and boxing method for energy storage cabinet

Abstract

The invention belongs to the technical field of lithium battery boxing, and particularly relates to energy storage cabinet automatic boxing equipment and a boxing method. The invention relates to a bidirectional pallet fork device which comprises a walking mechanism, a lifting mechanism, a bidirectional pallet fork mechanism, a left positioning mechanism, a right positioning mechanism, a front positioning mechanism and a rear positioning mechanism, the walking mechanism is connected to a base in a sliding mode in the left-right direction, and the lifting mechanism is arranged on the walking mechanism and used for driving the bidirectional pallet fork mechanism to ascend and descend. The bidirectional pallet fork mechanism is connected to the walking mechanism in a sliding mode and used for taking a battery pack from the turnover frame in the front-back direction or discharging the battery pack to the energy storage cabinet, the left positioning mechanism and the right positioning mechanism position the battery pack in the left-right direction, and the front positioning mechanism and the rear positioning mechanism position the battery pack in the front-back direction. The full-automatic process of putting the lithium battery pack into the energy storage cabinet is achieved, no manual intervention exists in the whole process, and safety and reliability are achieved; the equipment is simple, stable and convenient to debug.

Description

Technical Field

[0001] The present invention belongs to the technical field of lithium battery packing, and in particular relates to automatic packing equipment and a packing method for energy storage cabinets. Background Art

[0002] At present, the main method of packing lithium batteries into energy storage cabinets is manual assisted stacker loading, and a small amount of six-axis robots are used for automatic loading. The manual assisted stacker method has safety hazards. On the one hand, the lithium battery pack is a high-energy-density energy storage component. Once it falls or collides, there will be a risk of fire or even explosion. On the other hand, manual pushing of the battery pack into the energy storage cabinet often requires standing on the stacker to observe the alignment, and high-altitude operations are also dangerous. In addition, manual assisted loading is inefficient and is only suitable for small-batch energy storage cabinet assembly. The other method of using a six-axis robot for automatic loading can avoid manual operation, but its system structure is complex, costly, occupies a large area, and the debugging cycle is too long. Summary of the invention

[0003] The purpose of the present invention is to solve the shortcomings of the above-mentioned background technology and provide an energy storage cabinet automatic packing device and packing method. The fully automatic process of packing lithium battery into the energy storage cabinet is realized without manual participation, which is safe and reliable; the equipment is simple and stable, and the debugging is convenient.

[0004] The technical solution adopted by the present invention is: an automatic packing device for an energy storage cabinet, comprising a walking mechanism, a lifting mechanism, a two-way fork mechanism, a left positioning mechanism, a right positioning mechanism, a front positioning mechanism and a rear positioning mechanism, wherein the walking mechanism is slidably connected to a base in the left-right direction, the lifting mechanism is arranged on the walking mechanism for driving the two-way fork mechanism to rise and fall, the two-way fork mechanism is slidably connected to the walking mechanism for taking a battery pack from a turnover rack in the front-back direction or putting the battery pack into the energy storage cabinet, the left positioning mechanism and the right positioning mechanism position the battery pack in the left-right direction, and the front positioning mechanism and the rear positioning mechanism position the battery pack in the front-back direction.

[0005] More preferably, the walking mechanism includes a main frame, a moving frame and a walking servo motor, the walking servo motor is fixed to the bottom of the main frame, the output end of the walking servo motor is meshed with a rack through a gear, the rack is arranged on the first slide rail of the base, the moving frame is located inside the main frame, and the moving frame is connected to the lifting mechanism.

[0006] More preferably, the lifting mechanism includes a double screw and a lifting servo motor, the lifting servo motor is fixed on the top of the main frame, the output end of the lifting servo motor is connected to one end of the double screw, the other end of the double screw is fixed to the left and right sides of the moving frame, the two sides of the moving frame are slidably connected to the lifting slide rails, and the lifting slide rails are fixed on the side beams of the main frame.

[0007] More preferably, the bidirectional fork mechanism includes a second slide rail, a slide bar and a servo motor, the second slide rail is fixed on the moving frame in parallel at intervals, and the slide bar is slidably connected to the second slide rail and driven to move forward and backward by connecting to the servo motor.

[0008] More preferably, a positioning receiving platform is provided on the movable frame, a front end of the positioning receiving platform is connected to a rear end of the second slide rail, and a plurality of evenly arranged ball bearings are provided on an upper surface of the positioning receiving platform.

[0009] In the above technical solution, a ball bearing is installed on the upper surface of the positioning receiving platform to prevent scratches on the lower surface of the battery pack when positioning in the front, back, left and right directions.

[0010] Preferably, the left positioning mechanism and the right positioning mechanism are fixed symmetrically at intervals on the left and right sides of the mobile frame; the left positioning mechanism comprises a first roller strip, a first unlocking cylinder, a first guide post, and a first positioning plate and a first fixing plate arranged in parallel and at intervals, the first fixing plate is located outside the first positioning plate, the first unlocking cylinder is fixed to the first fixing plate, the first unlocking cylinder piston rod is connected to the first roller strip, the first roller strip is located inside the first positioning plate, one end of the first guide post is fixed to the first positioning plate, and the other end passes through the first fixing plate. The structure of the right positioning mechanism is the same as that of the left positioning mechanism.

[0011] In the above technical solution, the roller strip prevents scratches on the side of the battery pack during front and rear positioning. The roller strip is pushed out by the unlocking cylinder, and the guide post is used to guide the process of the unlocking cylinder to ensure that the roller strip is smooth and parallel when pushed out and retracted without skewing.

[0012] Preferably, the front positioning mechanism and the rear positioning mechanism are fixed symmetrically at intervals on the front and rear sides of the mobile frame: the front positioning mechanism includes a first clamping arm and a first double-rotating clamping cylinder fixed on the mobile frame, and the piston rod of the first double-rotating clamping cylinder is connected to the first clamping arm. The structure of the rear positioning mechanism is the same as that of the front positioning mechanism.

[0013] In the above technical solution, when clamping, the clamping arm can extend above the lower surface of the battery pack; when loosening, the clamping arm is lower than the lower surface of the battery pack, which does not affect the forward and backward transportation of the battery pack.

[0014] Preferably, a material taking position detection sensor is provided at the rear end of the movable rack for detecting the material incoming position of the turnover rack.

[0015] Preferably, a material discharge position detection sensor is provided at the front end of the movable frame for detecting the material incoming position of the energy storage cabinet.

[0016] A packing method for automatic packing equipment of an energy storage cabinet comprises the following steps: after a material is received by a turnover rack, the material receiving position of the turnover rack is accurately positioned by a material taking position detection sensor, a walking mechanism, a lifting mechanism and a bidirectional fork mechanism are servo-accurately moved in three directions, the walking mechanism moves left and right, the bidirectional fork mechanism is extended and retracted backward, a battery pack is taken out from the turnover rack and returned to the middle of the mechanism, the lifting mechanism descends, and the battery pack falls onto a positioning receiving platform, a left positioning mechanism and a right positioning mechanism, a front positioning mechanism and a rear positioning mechanism successively position the battery pack left and right and front and back, after the battery pack is accurately positioned in the left and right directions and front and back directions, the left positioning mechanism and the right positioning mechanism and the front positioning mechanism and the rear positioning mechanism are successively evacuated to release the battery pack, the lifting mechanism drives the bidirectional fork mechanism to rise, and the battery pack is lifted up again, at this time, the position of the battery pack in the bidirectional fork mechanism is accurate and unique, the material receiving position of the energy storage cabinet is accurately positioned by a material discharge position detection sensor, and the battery pack is sent to a designated position in the energy storage cabinet under the control of three groups of servo motion mechanisms of the walking mechanism, the lifting mechanism and the bidirectional fork mechanism.

[0017] The present invention adopts an independent three-axis private service mechanism, in which the X-axis is a left and right walking mechanism for picking up and placing different battery packs, the Z-axis is a double-screw lifting mechanism for picking up and placing different layers, and the Y-axis is a two-way fork mechanism for taking the battery pack out of the turnover rack or placing the battery pack into the energy storage cabinet. Before picking up and placing, there are material picking position detection sensors and material discharge position detection sensors at both the front and rear ends of the Y-axis mechanism, which are used to detect and lock the position of the turnover rack and the energy storage cabinet. After the device takes the battery pack and before inserting it into the energy storage cabinet, it will center the battery pack in the XY directions.

[0018] The present invention replaces the traditional manual operation of packing batteries into energy storage cabinets, reducing safety hazards and labor intensity during manual operation. The equipment consists of a servo mechanism in three directions, with a series of auxiliary mechanisms such as front, back, left, right positioning mechanisms and material loading and unloading position sensors, making the equipment more accurate, intelligent and efficient.

[0019] The present invention greatly reduces the floor space and equipment cost of conventional six-axis robot solutions, reduces the difficulty of use and debugging, and has higher use accuracy, which can eliminate the position error of incoming materials. In addition to being used in the automatic packaging of energy storage cabinets, the present invention is also used in heavy material horizontal assembly occasions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the automatic packing equipment;

[0022] Figure 3 It is a side view of the automatic packing equipment;

[0023] Figure 4 for Figure 3 Sectional view at AA.

[0024] In the figure, 1-energy storage cabinet; 2-automatic packing equipment; 3-turnover rack; 4-battery pack; 5-base (5.1-first slide rail); 6-travel mechanism (6.1-main frame; 6.2-movable frame; 6.3-gear; 6.4-rack); 7-travel servo motor; 8-bidirectional fork mechanism (8.1-servo motor; 8.2-second slide rail; 8.3-slide bar); 9-lifting servo motor; 10-lifting mechanism (10.1-double screw rod; 10.2-lifting slide rail); 11-left positioning mechanism (11.1-first roller bar; 11.2-first unlocking cylinder; 11.3-first guide column; 11.4-first positioning plate; 11.5-first - a fixed plate); 12-a first material picking position detection sensor; 13-a rear positioning mechanism (13.1-a second double rotating clamping cylinder; 13.2-a second clamping arm); 14-a second material picking position detection sensor; 15-a right positioning mechanism (15.1-a second roller bar; 15.2-a second unlocking cylinder; 15.3-a second guide column; 15.4-a second positioning plate; 15.5-a second fixed plate); 16-a first material discharge position detection sensor; 17-a front positioning mechanism (17.1-a first double rotating clamping cylinder; 17.2-a first clamping arm); 18-a second material discharge position detection sensor; 19-a positioning receiving platform (19.1-a ball bearing). DETAILED DESCRIPTION

[0025] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0026] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0027] It should be understood that the term “and / or” used in the specification and appended claims of this application refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0028] In addition, in the description of the present application and the claims, the terms "first", "second", "third", "top", "bottom", "one side", "the other side", "one end", "the other end", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. For example, without departing from the scope of this specification, the first component can be called the second component, and similarly, the second component can be called the first component. The components at the top and the bottom can also be swapped or converted with each other under certain circumstances; the components at one end and the other end can have the same or different performances.

[0029] In the case of using "including", "having" and "comprising" described in this specification, unless used, there may also be another part or other parts, and the terms used may generally be singular but may also represent plural forms. In the description of this specification, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, when constituting a component, although there is no clear description thereof, it can be understood that a certain error area must be included.

[0030] When describing a positional relationship, for example, when the positional sequence is described as "on," "above," "below," and "next," unless words or terms such as "just" or "directly" are used, situations where they are not in contact or in contact may also be included. If a first element is mentioned to be "on" a second element, it does not mean that the first element must be above the second element in the figure. The upper and lower parts of the component will change depending on the change in the angle of observation and orientation. Therefore, in the drawings or in the actual construction, if it is mentioned that the first element is "on" the second element, it may include a situation where the first element is "below" the second element and a situation where the first element is "above" the second element.

[0031] Embodiment 1

[0032] like Figure 1-4As shown, an automatic packing device for an energy storage cabinet of the present invention comprises a traveling mechanism 6, a lifting mechanism 10, a two-way fork mechanism 8, a left positioning mechanism 11, a right positioning mechanism 15, a front positioning mechanism 17 and a rear positioning mechanism 13. The traveling mechanism 6 is slidably connected to the base 5 in the left-right direction. The lifting mechanism 10 is arranged on the traveling mechanism 6 for driving the two-way fork mechanism 8 to rise and fall. The two-way fork mechanism 8 is slidably connected to the traveling mechanism 6 for taking the battery pack 4 from the turnover rack 3 in the front-back direction or putting the battery pack 4 into the energy storage cabinet 1. The left positioning mechanism 11 and the right positioning mechanism 15 position the battery pack 4 in the left-right direction. The front positioning mechanism 17 and the rear positioning mechanism 13 position the battery pack 4 in the front-back direction.

[0033] In some optional embodiments, the walking mechanism 6 includes a main frame 6.1, a moving frame 6.2 and a walking servo motor 7. The walking servo motor 7 is fixed to the bottom of the main frame 6.1. The output end of the walking servo motor 7 is meshed with the rack 6.4 through the gear 6.3. The rack 6.4 is arranged on the first slide rail 5.1 of the base 5. The moving frame 6.2 is located inside the main frame 6.1 and is connected to the lifting mechanism 10.

[0034] In some optional embodiments, the lifting mechanism 10 includes a double screw 10.1 and a lifting servo motor 9. The lifting servo motor 9 is fixed on the top of the main frame 6.1. The output end of the lifting servo motor 9 is connected to one end of the double screw 10.1. The other end of the double screw 10.1 is fixed to the left and right sides of the moving frame 6.2. The two sides of the moving frame 6.2 are slidably connected to the lifting slide rails 10.2. The lifting slide rails 10.2 are fixed on the side beams of the main frame 6.1.

[0035] In some optional embodiments, the bidirectional fork mechanism 8 includes a second slide rail 8.2, a slide bar 8.3 and a servo motor 8.1. The second slide rail 8.2 is fixed on the movable frame 6.2 in parallel at intervals. The slide bar 8.3 is slidably connected to the second slide rail 8.2 and driven to move forward and backward by connecting to the servo motor 8.1.

[0036] In some optional embodiments, a positioning receiving platform 19 is provided on the movable frame 6.2, the front end of the positioning receiving platform 19 is connected to the rear end of the second slide rail 8.2, and a plurality of evenly arranged ball bearings 19.1 are provided on the upper surface of the positioning receiving platform 19.

[0037] In some optional embodiments, the left positioning mechanism 11 and the right positioning mechanism 15 are symmetrically fixed on the left and right sides of the mobile frame 6.2; the left positioning mechanism 11 includes a first roller strip 11.1, a first unlocking cylinder 11.2, a first guide column 11.3 and a first positioning plate 11.4 and a first fixed plate 11.5 arranged in parallel and at intervals, the first fixed plate 11.5 is located on the outside of the first positioning plate 11.4, the first unlocking cylinder 11.2 is fixed on the first fixed plate 11.5, the piston rod of the first unlocking cylinder 11.2 is connected to the first roller strip 11.1, the first roller strip 11.1 is located on the inside of the first positioning plate 11.4, one end of the first guide column 11.3 is fixed to the first positioning plate 11.4, and the other end passes through the first fixed plate 11.5. The structure of the right positioning mechanism 15 is the same as that of the left positioning mechanism 11. The right positioning mechanism 15 includes a second roller strip 15.1, a second unlocking cylinder 15.2, a second guide column 15.3 and a second positioning plate 15.4 and a second fixed plate 15.5 arranged in parallel and spaced apart. The second fixed plate 15.5 is located on the outside of the second positioning plate 15.4. The second unlocking cylinder 15.2 is fixed on the second fixed plate 15.5. The piston rod of the second unlocking cylinder 15.2 is connected to the second roller strip 15.1. The second roller strip 15.1 is located on the inside of the second positioning plate 15.4. One end of the second guide column 15.3 is fixed to the second positioning plate 15.4, and the other end passes through the second fixed plate 15.5.

[0038] In some optional embodiments, the front positioning mechanism 17 and the rear positioning mechanism 13 are fixed symmetrically at intervals on the front and rear sides of the mobile frame 6.2: the front positioning mechanism 17 includes a first clamping arm 17.2 and a first double-rotating clamping cylinder 17.1 fixed on the mobile frame 6.2, and the piston rod of the first double-rotating clamping cylinder 17.1 is connected to the first clamping arm 17.2. The structure of the rear positioning mechanism 13 is the same as that of the front positioning mechanism 17, and the rear positioning mechanism 13 includes a second clamping arm 13.2 and a second double-rotating clamping cylinder 13.1 fixed on the mobile frame 6.2, and the piston rod of the second double-rotating clamping cylinder 13.1 is connected to the second clamping arm 13.2. The structures of the first clamping arm 17.2 and the second clamping arm 13.2 both include a fixed seat and a clamping portion, the piston rods of the double-rotating clamping cylinders are respectively connected to the two clamping portions, and the double-rotating clamping cylinders are arranged on the fixed seat.

[0039] In some optional embodiments, a material taking position detection sensor is provided at the rear end of the mobile frame 6.2 for detecting the incoming material position of the turnover frame 3. In this embodiment, the material taking position detection sensor includes a first material taking position detection sensor 12 and a second material taking position detection sensor 14. A material discharge position detection sensor is provided at the front end of the mobile frame 6.2 for detecting the incoming material position of the energy storage cabinet 1. In this embodiment, the material discharge position detection sensor includes a first material discharge position detection sensor 16 and a second material discharge position detection sensor 18.

[0040] The automatic packing equipment 2 is the main structure of the present invention, the energy storage cabinet 1 is the product cabinet, the turnover rack 3 is the temporary storage mechanism for the battery pack 4, the turnover rack 3 is transported to this workstation manually or by AGV, the battery pack 4 is temporarily stored on the turnover rack 3, and the battery pack 4 is stored in sequence in advance. The automatic packing equipment 2 of the present invention can automatically insert the battery pack 4 on the turnover rack 3 into the energy storage cabinet 1 according to the program sequence.

[0041] All mechanisms of the automatic packing equipment 2 are installed on a base 5, which is fixed to the ground by expansion screws. The walking mechanism 6 moves left and right under the action of the walking servo motor 7, and the lifting mechanism 10 moves up and down under the action of the lifting servo motor 9. The bidirectional fork 8 holds up the battery pack 4 so that the battery pack 4 can move forward and backward, and forward is to load materials into the energy storage cabinet 1. Reverse is to take materials from the turnover rack 3.

[0042] Embodiment 2

[0043] A packing method for an energy storage cabinet automatic packing device, comprising: after the turnover rack 3 and the energy storage cabinet 1 are loaded, the first material picking position detection sensor 12 and the second material picking position detection sensor 14 are used to accurately locate the incoming material position of the turnover rack 3, and the two accurate positioning data determine the moving position of the three-direction servo of the subsequent boxing action, and the walking mechanism 6, the lifting mechanism 10 and the two-way fork mechanism 8 are accurately moved along the three-direction servo, the walking mechanism 6 moves left and right, the two-way fork mechanism 8 is extended and retracted backward, a battery pack 4 is taken out from the turnover rack 3, and returned to the middle of the mechanism, and the lifting mechanism 10 is used to accurately move the battery pack 4 from the turnover rack 3 to the middle of the mechanism. The structure 10 descends to make the battery pack 4 fall onto the positioning receiving platform 19, and then the left positioning mechanism 11 and the right positioning mechanism 15 and the front positioning mechanism 13 and the rear positioning mechanism 17 successively position the battery pack 4 leftward and rightward and frontward and rearward. There is a ball bearing 19.1 on the positioning receiving platform 19 to ensure that the bottom of the battery pack 4 will not be scratched when the battery pack 4 moves in the front-back and left-right directions; the left positioning mechanism 11 and the right positioning mechanism 15 are equipped with a first roller bar 11.1 and a second roller bar 15.1 to ensure that the two sides of the battery pack 4 will not be scratched when the battery pack 4 moves in the front-back direction.

[0044] After the battery pack 4 is precisely positioned in the left and right directions and the front and back directions, the left positioning mechanism 11 and the right positioning mechanism 15 and the front positioning mechanism 17 and the rear positioning mechanism 13 are successively withdrawn to release the battery pack 4, and the lifting mechanism 10 drives the two-way fork mechanism 8 to rise and lift the battery pack 4 again. At this time, the position of the battery pack 4 in the two-way fork mechanism 8 is accurate and unique, and the first discharge position detection sensor 16 and the second discharge position detection sensor 18 are used to accurately locate the incoming material position of the energy storage cabinet 1. Finally, the battery pack 4 is sent to the specified position in the energy storage cabinet 1 under the control of the three servo motion mechanisms of the walking mechanism 6, the lifting mechanism 10 and the two-way fork mechanism 8.

[0045] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in the field.

Claims

1. An automatic packing device for energy storage cabinets, characterized in that: The utility model comprises a walking mechanism (6), a lifting mechanism (10), a bidirectional fork mechanism (8), a left positioning mechanism (11), a right positioning mechanism (15), a front positioning mechanism (17) and a rear positioning mechanism (13); the walking mechanism (6) is slidably connected to a base (5) in the left-right direction; the lifting mechanism (10) is arranged on the walking mechanism (6) and is used to drive the bidirectional fork mechanism (8) to rise and fall; the bidirectional fork mechanism (8) is slidably connected to the walking mechanism (6) and is used to take a battery pack (4) from a turnover rack (3) in the front-back direction or to discharge the battery pack (4) into an energy storage cabinet (1); the left positioning mechanism (11) and the right positioning mechanism (15) are used to position the battery pack (4) in the left-right direction; and the front positioning mechanism (17) and the rear positioning mechanism (13) are used to position the battery pack (4) in the front-back direction.

2. The automatic packing equipment for energy storage cabinets according to claim 1 is characterized in that: The walking mechanism (6) comprises a main frame (6.1), a moving frame (6.2) and a walking servo motor (7); the walking servo motor (7) is fixed to the bottom of the main frame (6.1); the output end of the walking servo motor (7) is meshed with a rack (6.4) through a gear (6.3); the rack (6.4) is arranged on a first slide rail (5.1) of a base (5); the moving frame (6.2) is located inside the main frame (6.1); and the moving frame (6.2) is connected to a lifting mechanism (10).

3. The automatic packing equipment for energy storage cabinets according to claim 2 is characterized in that: The lifting mechanism (10) comprises a double screw (10.1) and a lifting servo motor (9); the lifting servo motor (9) is fixed to the top of the main frame (6.1); the output end of the lifting servo motor (9) is connected to one end of the double screw (10.1); the other end of the double screw (10.1) is fixed to the left and right sides of the moving frame (6.2); the two sides of the moving frame (6.2) are slidably connected to the lifting slide rails (10.2); and the lifting slide rails (10.2) are fixed to the side beams of the main frame (6.1).

4. The automatic packing equipment for energy storage cabinets according to claim 2 is characterized in that: The bidirectional fork mechanism (8) comprises a second slide rail (8.2), a slide bar (8.3) and a servo motor (8.1); the second slide rail (8.2) is fixed on the moving frame (6.2) in parallel with an interval; the slide bar (8.3) is slidably connected to the second slide rail (8.2) and driven to move forward and backward by connecting to the servo motor (8.1).

5. The automatic packing equipment for energy storage cabinets according to claim 2 is characterized in that: The movable frame (6.2) is provided with a positioning receiving platform (19), the front end of the positioning receiving platform (19) is butted against the rear end of the second slide rail (8.2), and the upper surface of the positioning receiving platform (19) is provided with a plurality of evenly arranged ball bearings (19.1).

6. The automatic packing equipment for energy storage cabinets according to claim 2 is characterized in that: The left positioning mechanism (11) and the right positioning mechanism (15) are fixed symmetrically on the left and right sides of the mobile frame (6.2); the left positioning mechanism (11) comprises a first roller strip (11.1), a first unlocking cylinder (11.2), a first guide column (11.3), and a first positioning plate (11.4) and a first fixed plate (11.5) arranged in parallel and at intervals, wherein the first fixed plate (11.5) is located outside the first positioning plate (11.4), the first unlocking cylinder (11.2) is fixed on the first fixed plate (11.5), the piston rod of the first unlocking cylinder (11.2) is connected to the first roller strip (11.1), the first roller strip (11.1) is located inside the first positioning plate (11.4), one end of the first guide column (11.3) is fixed to the first positioning plate (11.4), and the other end passes through the first fixed plate (11.5).

7. The automatic packing equipment for energy storage cabinets according to claim 2 is characterized in that: The front positioning mechanism (17) and the rear positioning mechanism (13) are fixed symmetrically at intervals on the front and rear sides of the moving frame (6.2): ​​the front positioning mechanism (17) comprises a first clamping arm (17.2) and a first double-rotating clamping cylinder (17.1) fixed on the moving frame (6.2); the piston rod of the first double-rotating clamping cylinder (17.1) is connected to the first clamping arm (17.2).

8. The automatic packing equipment for energy storage cabinets according to claim 2 is characterized in that: The rear end of the movable frame (6.2) is provided with a material taking position detection sensor for detecting the material incoming position of the turnover frame (3).

9. The automatic packing equipment for energy storage cabinets according to claim 2 is characterized in that: The front end of the movable frame (6.2) is provided with a material discharge position detection sensor for detecting the material incoming position of the energy storage cabinet (1).

10. A packing method for an energy storage cabinet automatic packing device according to any one of claims 1 to 9, characterized in that: include After the material is received by the turnover rack (3), the material receiving position of the turnover rack (3) is accurately positioned by the material taking position detection sensor, and the walking mechanism (6), the lifting mechanism (10) and the two-way fork mechanism (8) are servo-accurately moved in three directions. The walking mechanism (6) moves left and right, and the two-way fork mechanism (8) is extended and retracted backward. A battery pack (4) is taken out from the turnover rack (3) and returned to the middle of the mechanism. The lifting mechanism (10) is lowered to make the battery pack (4) fall onto the positioning receiving platform (19). The left positioning mechanism (11) and the right positioning mechanism (15), the front positioning mechanism (13) and the rear positioning mechanism (17) successively position the battery pack (4) left and right and front and back. ) After precise positioning in the left and right and front and back directions, the left positioning mechanism (11) and the right positioning mechanism (15) and the front positioning mechanism (17) and the rear positioning mechanism (13) are successively withdrawn to release the battery pack (4), and the lifting mechanism (10) drives the two-way fork mechanism (8) to rise and lift the battery pack (4) again. At this time, the position of the battery pack (4) on the two-way fork mechanism (8) is precise and unique. The material position of the energy storage cabinet (1) is precisely positioned by the material placement position detection sensor. The battery pack (4) is sent to the specified position in the energy storage cabinet (1) under the control of the three servo motion mechanisms of the walking mechanism (6), the lifting mechanism (10) and the two-way fork mechanism (8).

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