New energy automobile power battery transfer system and transfer method

Abstract

The invention provides a new energy automobile power battery transferring system and method.The transferring system comprises a mechanical arm and a lifting appliance arranged on the mechanical arm, the lifting appliance comprises a rack, a first clamping driving mechanism and clamping suspension arms, and the clamping suspension arms are symmetrically arranged on the two sides of the rack; the first clamping driving mechanism is connected with the two clamping suspension arms and used for adjusting the distance between the two clamping suspension arms, each clamping suspension arm comprises a clamping support, a second clamping driving mechanism and clamping pieces, and the clamping pieces are symmetrically arranged at the two ends of the clamping support; the second clamping driving mechanism is connected with the two clamping pieces and used for adjusting the distance between the two clamping pieces, the moving direction of the first clamping driving mechanism is perpendicular to the moving direction of the second clamping driving mechanism, and the clamping pieces can move in the length direction and the width direction of the rack; and therefore, the lifting appliance can adapt to automobile power batteries with different models and sizes, and is wide in application range.

Description

Technical Field

[0001] The present invention relates to the field of transplanting battery components of new energy vehicles, and in particular to a system and method for transplanting power batteries of new energy vehicles. Background Art

[0002] The new energy vehicle industry has developed rapidly in recent years, and the requirements for automobile assembly are getting higher and higher. In the production process of new energy vehicle power batteries, it is often necessary to transfer the power batteries to different workstations. Generally, the power batteries are lifted by a lifting device; and then the power batteries are guided to the assembly station; this cannot ensure the precise placement of the power batteries. At the same time, due to the different models of power batteries, the existing angles are different and the clamping width and clamping length are adjusted at the same time. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a new energy vehicle power battery transfer system and transfer method, in which the clamping part can move along the length and width directions of the frame; thus, it can adapt to vehicle power batteries of different models and sizes, and the application range of the sling is wide.

[0004] In order to solve the above technical problems, the technical solution used in the present invention is:

[0005] A new energy vehicle power battery transfer system described in the present invention includes a mechanical arm and a sling arranged on the mechanical arm; the sling includes a frame, a first clamping drive mechanism and a clamping arm, the clamping arms are symmetrically arranged on both sides of the frame, and the first clamping drive mechanism is respectively connected to the two clamping arms for adjusting the distance between the two clamping arms; the clamping arm includes a clamping bracket, a second clamping drive mechanism and a clamping piece; the clamping pieces are symmetrically arranged at both ends of the clamping bracket, and the second clamping drive mechanism is respectively connected to the two clamping pieces for adjusting the distance between the two clamping pieces; the moving direction of the first clamping drive mechanism is perpendicular to the moving direction of the second clamping drive mechanism.

[0006] Preferably, one or more visual positioning mechanisms and one or more mechanical positioning mechanisms are provided on the sling; the visual positioning mechanisms are used for visual positioning of the vehicle power battery; and the mechanical positioning mechanisms are used for mechanical positioning of the vehicle power battery.

[0007] Preferably, each group of visual positioning mechanisms includes more than two visual positioning devices, and the distance between the two visual positioning devices in one group of visual positioning mechanisms is different from the distance between the two visual positioning devices in another group of visual positioning mechanisms.

[0008] Preferably, each group of mechanical positioning mechanisms comprises more than two mechanical positioning devices, and the distance between the two mechanical positioning devices in one group of mechanical positioning mechanisms is different from the distance between the two mechanical positioning devices in another group of mechanical positioning mechanisms.

[0009] Preferably, the mechanical positioning device includes a positioning drive device, a positioning bracket and a positioning pin; the positioning drive device is arranged on the frame and connected to the positioning bracket, the positioning pin is arranged on the positioning bracket, and the positioning drive device drives the positioning pin to extend for mechanical positioning of the automobile power battery.

[0010] Preferably, the clamping member includes a supporting portion, a connecting portion and a bearing portion; one end of the supporting portion is connected to the second clamping drive mechanism, the other end of the supporting portion extends in a direction away from the frame and is connected to the connecting portion, the other end of the connecting portion extends in a vertical direction of the frame and is connected to the bearing portion, and the other end of the bearing portion is extended in a direction close to the frame.

[0011] Preferably, a supporting rubber and a micro switch are provided on the supporting part.

[0012] Another object of the present invention is to provide a method for transferring a power battery of a new energy vehicle, comprising the following steps:

[0013] S1. Identify the model of the automotive power battery to be transplanted.

[0014] S2, the first clamping drive mechanism is actuated, the second clamping drive mechanism is actuated; the two clamping arms are separated, and the clamping member moves to a preset position.

[0015] S3, identifying the hole distance between the two positioning holes on the automotive power battery to be transplanted; and determining whether the distance between the two positioning pins is consistent with the current hole distance, if so, proceed to S4; if not, proceed to S1 to repeatedly identify the model of the automotive power battery to be transplanted.

[0016] S4. The robotic arm drives the positioning pin to align with the positioning hole, and the positioning drive device drives the positioning pin to extend into the positioning hole to position the power battery.

[0017] S5. The first clamping drive mechanism drives the two clamping arms to approach each other to clamp the vehicle power battery.

[0018] S6. The robotic arm moves the car power battery to the next station.

[0019] Preferably, identifying the hole distance between two positioning holes on the automotive power battery to be transplanted in S3 specifically includes the following steps:

[0020] S3.1. Preset the distance between the two visual positioning devices; the distance between the two visual positioning devices is consistent with the distance between the two positioning pins.

[0021] S3.2. The robotic arm drives the visual positioning device to move to the top of the positioning hole.

[0022] S3.3. Determine the axis of the positioning hole respectively by two visual positioning devices.

[0023] S3.4. If the axes of the two visual positioning devices coincide with the axes of the two positioning holes in the height direction, it is judged that the distance between the two positioning pins is consistent with the current hole spacing; if the axes of the two visual positioning devices do not coincide with the axes of the two positioning holes in the height direction, it is judged that the distance between the two positioning pins is inconsistent with the current hole spacing.

[0024] Compared with the prior art, the beneficial effects of the new energy vehicle power battery transfer system described in the present invention are mainly reflected in: the sling is used to clamp the vehicle power battery; in the sling, the two clamping arms are driven to move by the first clamping drive mechanism, and the two clamping members are driven to move by the second clamping drive mechanism, so that the clamping members can move along the length and width directions of the frame; thus, the sling can adapt to vehicle power batteries of different models and sizes, and has a wide range of applications.

[0025] Positioning the automobile power battery through the visual positioning mechanism and the mechanical positioning mechanism can improve the accuracy of positioning; at the same time, after positioning through the visual positioning mechanism and the mechanical positioning mechanism, the clamping member can accurately clamp the automobile power battery.

[0026] At the same time, there are more than two groups of visual positioning mechanisms, and the distance between the two visual positioning devices in each group of visual positioning mechanisms is different; in this way, visual positioning of different models of automotive power batteries can be performed; there are more than two groups of mechanical positioning mechanisms, and the distance between the two mechanical positioning devices in each group of mechanical positioning mechanisms is different; in this way, model positioning of different models of automotive power batteries can be performed.

[0027] In the mechanical positioning device, the positioning pin is driven to move by the positioning drive device; when positioning is performed by the positioning pin, after the model of the current vehicle power battery is determined, the mechanical positioning mechanism corresponding to the model is actuated; the positioning drive device drives the positioning pin to extend; after positioning is completed, the positioning drive device drives the positioning pin to retract; in this way, different mechanical positioning mechanisms will not interfere with each other.

[0028] In the clamping member, the supporting part and the bearing part extend in the horizontal direction of the frame; the distance between the connecting part and the frame is extended, thereby increasing the accommodating space of the automobile power battery, and the automobile power battery is supported by the bearing part, thereby improving the stability of the hanger clamping the automobile power battery.

[0029] At the same time, a supporting rubber is provided on the supporting part to increase the friction between the supporting part and the vehicle power battery while avoiding wear on the vehicle power battery. A micro switch is provided to detect whether the supporting part is in contact with the vehicle power battery; the stability of the lifting device clamping the vehicle power battery is improved.

[0030] Compared with the prior art, the beneficial effects of the new energy vehicle power battery transfer method described in the present invention are mainly reflected in: by first determining the model of the vehicle power battery, selecting the visual positioning structure corresponding to the model to position the vehicle power battery; when identifying the model of the vehicle power battery, the hole distance between the two positioning holes on the vehicle power battery is determined for the first time; then the hole distance between the two positioning holes on the vehicle power battery is determined for the second time through the visual positioning structure, so as to improve the accuracy of visual positioning; when it is determined that the hole distance between the two positioning holes is consistent with the distance between the two positioning pins, mechanical positioning is then performed through a mechanical positioning mechanism, so that the positioning pin can match the positioning hole to avoid the positioning pin damaging the vehicle power battery; after completing the mechanical positioning of the vehicle power battery, the clamping member is then driven to clamp the vehicle power battery, so as to ensure that the clamping member is clamped in place. At the same time, when identifying the hole spacing of the two locating holes, the distance between the two visual positioning devices is preset to be consistent with the distance between the two locating pins; by judging whether the axes of the two visual positioning devices coincide with the axes of the two locating holes in the height direction, it is possible to judge whether the distance between the two visual positioning devices, the distance between the two visual positioning pins, and the distance between the axes of the two locating holes are consistent. The method is simple and has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and other purposes, features and advantages of the present invention will become more clear by more specific description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts in all the accompanying drawings, and the accompanying drawings are not deliberately scaled to the actual size, and the focus is on illustrating the main purpose of the present invention.

[0032] Figure 1 It is a schematic diagram of the sling in the present invention.

[0033] Figure 2 It is a three-dimensional schematic diagram of the lifting device in the present invention.

[0034] Figure 3 Based Figure 2 A is an enlarged view of the middle image.

[0035] Figure 4 It is another stereoscopic schematic diagram of the sling in the present invention.

[0036] Figure 5 It is a three-dimensional schematic diagram of the clamping boom in the present invention.

[0037] Figure 6 for Figure 5 Enlarged view of B.

[0038] Figure 7 It is a schematic diagram of the connection between the mechanical arm and the lifting device in the present invention.

[0039] Figure 8 It is a schematic diagram of the connection between the bottom plate 3 and the base in the present invention.

[0040] Fig. 9 It is a three-dimensional schematic diagram of the base in the present invention.

[0041] Fig.10 It is a three-dimensional schematic diagram of the bottom plate of the present invention.

[0042] Fig.11 It is a schematic diagram of the automobile power battery placed on the shelf in the present invention.

[0043] Description of the drawings: Robot arm 1; sling 2; frame 21; first clamping drive mechanism 22, first clamping transmission device 221, second clamping transmission device 222; clamping boom 23; clamping bracket 24; second clamping drive mechanism 25, third clamping transmission device 251, fourth clamping transmission device 252; clamping member 26, supporting portion 261, connecting portion 262, supporting portion 263, supporting rubber 264, micro switch 265; visual positioning mechanism 27, visual positioning device 271; mechanical positioning mechanism 28, mechanical positioning device 281, positioning drive device 282, positioning bracket 283, positioning pin 284, linear bearing 285, positioning spring 286, column 287; identification device 29; bottom plate 3, shelf 31, recessed portion 32; base 4, protruding portion 41; automotive power battery 5. DETAILED DESCRIPTION

[0044] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it. However, the embodiments cited are not intended to limit the present invention. In the present embodiment, it should be understood that the orientations or positional relationships indicated by terms such as "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", and "outside" are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying 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 of the present invention.

[0045] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element and integrated therewith, or there may be an intermediate element at the same time. The terms "installed", "one end", "the other end" and similar expressions used in the present invention are for illustrative purposes only.

[0046] This embodiment provides a new energy vehicle power battery transfer system, such as Figure 1-7 As shown, it includes a robot arm 1 and a sling 2 arranged on the robot arm 1; the robot arm 1 is a six-axis robot arm 1, and the robot arm 1 is a prior art, which will not be described here.

[0047] The sling 2 includes a frame 21, a first clamping drive mechanism 22 and a clamping arm 23, the clamping arms 23 are symmetrically arranged on both sides of the frame 21, the first clamping drive mechanism 22 is respectively connected to the two clamping arms 23 for adjusting the distance between the two clamping arms 23; the clamping arm 23 includes a clamping bracket 24, a second clamping drive mechanism 25 and a clamping member 26; the clamping member 26 is symmetrically arranged at both ends of the clamping bracket 24, the second clamping drive mechanism 25 is respectively connected to the two clamping members 26 for adjusting the distance between the two clamping members 26; the moving direction of the first clamping drive mechanism 22 is perpendicular to the moving direction of the second clamping drive mechanism 25. The sling 2 is used to clamp the automotive power battery; in the sling 2, the two clamping arms 23 are driven to move by the first clamping drive mechanism 22, and the two clamping members 26 are driven to move by the second clamping drive mechanism 25, so that the clamping members 26 can move along the length and width directions of the frame 21; thus, the sling 2 can adapt to automotive power batteries of different models and sizes, and the application range of the sling 2 is wide.

[0048] The clamping member 26 includes a supporting portion 261, a connecting portion 262 and a supporting portion 263; one end of the supporting portion 261 is connected to the second clamping drive mechanism 25, the other end of the supporting portion 261 extends in a direction away from the frame 21 and is connected to the connecting portion 262, the other end of the connecting portion 262 extends in a vertical direction of the frame 21 and is connected to the supporting portion 263, and the other end of the supporting portion 263 extends in a direction close to the frame 21. In the clamping member 26, the supporting portion 261 and the supporting portion 263 extend in a horizontal direction of the frame 21; the distance between the connecting portion 262 and the frame 21 is extended, thereby increasing the accommodation space for the automotive power battery, and the automotive power battery is supported by the supporting portion 263, thereby improving the stability of the sling 2 in clamping the automotive power battery.

[0049] In a preferred embodiment, a supporting rubber 264 and a micro switch 265 are provided on the supporting portion 263. The supporting rubber 264 is provided on the supporting portion 263 to increase the friction between the supporting portion 263 and the vehicle power battery while avoiding wear on the vehicle power battery. The micro switch 265 is provided to detect whether the supporting portion 263 is in contact with the vehicle power battery; and to improve the stability of the lifting device 2 in clamping the vehicle power battery.

[0050] The first clamping drive mechanism 22 includes a first clamping transmission device 221 and a second clamping transmission device 222, and the first clamping transmission device 221 and the second clamping transmission device 222 are arranged along the length direction of the frame 21, the first clamping transmission device 221 is connected to a clamping boom 23, and the second clamping transmission device 222 is connected to another clamping boom 23; the first clamping transmission device 221 and the second clamping transmission device 222 are both linear transmission devices, which can be cylinders, oil cylinders, gear rack transmission mechanisms or ball screw pairs. In this embodiment, the first clamping transmission device 221 and the second clamping transmission device 222 are both ball screw pairs. Specifically, the ball screw in the first clamping drive mechanism 22 is arranged on the frame 21, and the ball nut in the first clamping drive mechanism 22 is arranged on the clamping bracket 24.

[0051] A first linear guide is also connected between the clamping bracket 24 and the frame 21 . The first linear guide is arranged along the length direction of the first clamping transmission device 221 and the second clamping transmission device 222 . The first linear guide includes a slide rail and a slider.

[0052] The second clamping drive mechanism 25 includes a third clamping transmission device 251 and a fourth clamping transmission device 252, and the third clamping transmission device 251 and the fourth clamping transmission device 252 are arranged along the width direction of the frame 21, the third clamping transmission device 251 is connected to a clamping member 26, and the fourth clamping transmission device 252 is connected to another clamping member 26; the third clamping transmission device 251 and the fourth clamping transmission device 252 are both linear transmission devices, which can be cylinders, oil cylinders, gear rack transmission mechanisms or ball screw pairs. In this embodiment, the third clamping transmission device 251 and the fourth clamping transmission device 252 are both ball screw pairs; specifically, the ball screw in the second clamping drive mechanism 25 is arranged on the clamping bracket 24, and the ball nut in the second clamping drive mechanism 25 is arranged on the clamping member 26.

[0053] A second linear guide is also connected between the clamping member 26 and the clamping bracket 24. The second linear guide is arranged along the length direction of the third clamping transmission device 251 and the fourth clamping transmission device 252. The second linear guide includes a slide rail and a slider.

[0054] The sling 2 is provided with one or more visual positioning mechanisms 27 and one or more mechanical positioning mechanisms 28; the visual positioning mechanisms 27 are used to visually position the automotive power battery; the mechanical positioning mechanisms 28 are used to mechanically position the automotive power battery. Positioning the automotive power battery by the visual positioning mechanisms 27 and the mechanical positioning mechanisms 28 can improve the accuracy of positioning; at the same time, after positioning by the visual positioning mechanisms 27 and the mechanical positioning mechanisms 28, the clamping member 26 can accurately clamp the automotive power battery.

[0055] Each group of visual positioning mechanisms 27 includes more than two visual positioning devices 271. In a preferred embodiment, two visual positioning devices 271 in one group of visual positioning mechanisms 27 are arranged diagonally on the frame. The distance between the two visual positioning devices 271 in one group of visual positioning mechanisms 27 is different from the distance between the two visual positioning devices 271 in another group of visual positioning mechanisms 27. The visual positioning devices 271 are cameras. The visual positioning mechanisms 27 are respectively provided with more than two groups, and the distance between the two visual positioning devices 271 in each group of visual positioning mechanisms 27 is different; in this way, different types of automotive power batteries can be visually positioned.

[0056] Each set of mechanical positioning mechanisms 28 includes more than two mechanical positioning devices 281. In a preferred embodiment, two mechanical positioning devices 281 in one set of mechanical positioning mechanisms 28 are arranged diagonally on the frame. The distance between the two mechanical positioning devices 281 in one set of mechanical positioning mechanisms 28 is different from the distance between the two mechanical positioning devices 281 in another set of mechanical positioning mechanisms 28. There are more than two sets of mechanical positioning mechanisms 28, and the distance between the two mechanical positioning devices 281 in each set of mechanical positioning mechanisms 28 is different; in this way, different types of automotive power batteries can be positioned.

[0057] The mechanical positioning device 281 includes a positioning drive device 282, a positioning bracket 283 and a positioning pin 284; the positioning drive device 282 is arranged on the frame 21 and connected to the positioning bracket 283, the positioning pin 284 is arranged on the positioning bracket 283, and the positioning drive device 282 drives the positioning pin 284 to extend for mechanical positioning of the automotive power battery. The positioning drive device 282 is a linear transmission device. In this embodiment, the positioning drive device 282 is a cylinder. The positioning pin 284 is driven to move by the positioning drive device 282; when positioning is performed by the positioning pin 284, after determining the model of the current automotive power battery, the mechanical positioning mechanism 28 corresponding to the model is actuated; the positioning drive device 282 drives the positioning pin 284 to extend; after positioning is completed, the positioning drive device 282 drives the positioning pin 284 to retract; in this way, different mechanical positioning mechanisms 28 will not interfere with each other.

[0058] In a preferred embodiment, the mechanical positioning device 281 also includes a linear bearing 285 and a positioning spring 286, and a column 287 is provided at one end of the positioning pin 284; the linear bearing 285 is arranged on the positioning bracket 283, and the column 287 is movably arranged on the linear bearing 285; the positioning spring 286 is sleeved on the column 287, and when the positioning pin 284 is subjected to an upward force, the column 287 moves relative to the linear bearing 285, the positioning spring 286 contracts, and the positioning pin 284 moves toward the direction close to the linear bearing 285; when the upward force on the positioning pin 284 disappears, the positioning spring 286 is reset, and the positioning pin 284 is driven to reset under the action of the elastic force of the positioning spring 286 itself; in this way, when the positioning pin 284 accidentally touches the area outside the positioning hole of the vehicle power battery 5, the positioning pin 284 retracts to prevent the positioning pin 284 from damaging the vehicle power battery. When the positioning pin 284 is aligned with the positioning hole, the positioning pin 284 will not move relative to the linear bearing 285, thereby ensuring the matching effect between the positioning pin 284 and the positioning hole, and achieving a good positioning effect.

[0059] In a preferred embodiment, an identification device 29 is further provided on the frame 21, and the identification device 29 is a camera.

[0060] In a preferred embodiment, the untransplanted automobile power battery 5 is placed on the base plate 3; the base plate 3 is provided with a shelf 31, and the automobile power battery 5 is placed on the shelf 31; the bottom of the base plate 3 is supported by a base 4; before transplanting the automobile power battery, it is necessary to first receive the automobile power battery on the conveyor line through an AGV (not shown in the figure); specifically, first transfer the base plate 3 carrying the automobile power battery to the base 4 through the AGV; and then transplant the automobile power battery on the shelf 31 to another workstation through the sling 2.

[0061] A protrusion 41 is provided on the top of the base 4; a recessed portion 32 is recessed in the wall of the bottom plate 3 close to the base 4; the recessed portion 32 is used to accommodate the protrusion 41; the positioning of the shelf 31 on the base 4 is achieved by the cooperation between the protrusion 41 and the recessed portion 32; the stability of the vehicle power battery placed on the shelf 31 is ensured.

[0062] This embodiment also provides a method for transferring a power battery of a new energy vehicle, comprising the following steps:

[0063] S1. Identify the model of the automotive power battery to be transplanted. In a preferred embodiment, the model of the automotive power battery to be transplanted is identified by an identification device.

[0064] S2, the first clamping drive mechanism 22 is actuated, and the second clamping drive mechanism 25 is actuated; the two clamping arms 23 are separated, and the clamping member 26 moves to a preset position.

[0065] S3, identifying the hole distance between the two positioning holes on the automotive power battery to be transplanted; and determining whether the distance between the two positioning pins 284 is consistent with the current hole distance, if so, proceed to S4; if not, proceed to S1 to repeatedly identify the model of the automotive power battery to be transplanted.

[0066] S4. The robot arm 1 drives the positioning pin 284 to align with the positioning hole, and the positioning drive device 282 drives the positioning pin 284 to extend into the positioning hole to position the power battery.

[0067] S5. The first clamping drive mechanism 22 drives the two clamping arms 23 to move closer to each other to clamp the vehicle power battery.

[0068] S6. Robot arm 1 transfers the vehicle power battery to the next station.

[0069] The above method first determines the model of the automobile power battery, and selects the visual positioning structure corresponding to the model to position the automobile power battery; when identifying the model of the automobile power battery, the hole distance between the two positioning holes on the automobile power battery is determined for the first time; then the hole distance between the two positioning holes on the automobile power battery is determined for the second time through the visual positioning structure to improve the accuracy of visual positioning; when it is determined that the hole distance between the two positioning holes is consistent with the distance between the two positioning pins 284, mechanical positioning is then performed through the mechanical positioning mechanism 28, so that the positioning pin 284 can match the positioning hole to avoid the positioning pin 284 damaging the automobile power battery; after completing the mechanical positioning of the automobile power battery, the clamping member 26 is then driven to clamp the automobile power battery, thereby ensuring that the clamping member 26 is clamped in place.

[0070] In the above S3, identifying the hole distance between two positioning holes on the automotive power battery to be transplanted specifically includes the following steps:

[0071] S3.1. Preset the distance between the two visual positioning devices 271 ; the distance between the two visual positioning devices 271 is consistent with the distance between the two positioning pins 284 .

[0072] S3.2. The robot arm 1 drives the visual positioning device 271 to move to the top of the positioning hole.

[0073] S3.3. Determine the axis of the positioning hole respectively through two visual positioning devices 271.

[0074] S3.4. If the axis centers of the two visual positioning devices 271 coincide with the axis centers of the two positioning holes in the height direction, it is judged that the distance between the two positioning pins 284 is consistent with the current hole spacing; if the axis centers of the two visual positioning devices 271 do not coincide with the axis centers of the two positioning holes in the height direction, it is judged that the distance between the two positioning pins 284 is inconsistent with the current hole spacing.

[0075] When identifying the hole spacing between the two positioning holes, the distance between the two visual positioning devices 271 is preset to be consistent with the distance between the two positioning pins 284; by judging whether the axes of the two visual positioning devices 271 coincide with the axes of the two positioning holes in the height direction, it is possible to judge whether the distance between the two visual positioning devices 271, the distance between the two visual positioning pins 284, and the distance between the axes of the two positioning holes are consistent. The method is simple and has high accuracy.

[0076] In this specification, 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.

[0077] In the description of this specification, the description with reference to the terms "preferred embodiment", "further embodiment", "other embodiments" or "specific example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0078] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A new energy vehicle power battery transfer system, characterized in that: It includes a mechanical arm and a sling arranged on the mechanical arm; the sling includes a frame, a first clamping drive mechanism and a clamping arm, the clamping arms are symmetrically arranged on both sides of the frame, and the first clamping drive mechanism is respectively connected to the two clamping arms for adjusting the distance between the two clamping arms; the clamping arm includes a clamping bracket, a second clamping drive mechanism and a clamping piece; the clamping pieces are symmetrically arranged at both ends of the clamping bracket, and the second clamping drive mechanism is respectively connected to the two clamping pieces for adjusting the distance between the two clamping pieces; the moving direction of the first clamping drive mechanism is perpendicular to the moving direction of the second clamping drive mechanism.

2. The new energy vehicle power battery transfer system according to claim 1 is characterized in that: One or more visual positioning mechanisms and one or more mechanical positioning mechanisms are arranged on the sling; the visual positioning mechanism is used for visual positioning of the automotive power battery; and the mechanical positioning mechanism is used for mechanical positioning of the automotive power battery.

3. The new energy vehicle power battery transfer system according to claim 2 is characterized in that: Each group of visual positioning mechanisms includes more than two visual positioning devices, and the distance between the two visual positioning devices in one group of visual positioning mechanisms is different from the distance between the two visual positioning devices in another group of visual positioning mechanisms.

4. The new energy vehicle power battery transfer system according to claim 2 is characterized in that: Each group of mechanical positioning mechanisms includes more than two mechanical positioning devices, and the distance between the two mechanical positioning devices in one group of mechanical positioning mechanisms is different from the distance between the two mechanical positioning devices in another group of mechanical positioning mechanisms.

5. The new energy vehicle power battery transfer system according to claim 4 is characterized in that: The mechanical positioning device includes a positioning drive device, a positioning bracket and a positioning pin; the positioning drive device is arranged on the frame and connected to the positioning bracket, the positioning pin is arranged on the positioning bracket, and the positioning drive device drives the positioning pin to extend for mechanical positioning of the automobile power battery.

6. The new energy vehicle power battery transfer system according to claim 1 is characterized in that: The clamping member includes a supporting portion, a connecting portion and a bearing portion; one end of the supporting portion is connected to the second clamping drive mechanism, the other end of the supporting portion extends in a direction away from the frame and is connected to the connecting portion, the other end of the connecting portion extends in a vertical direction of the frame and is connected to the bearing portion, and the other end of the bearing portion is extended in a direction close to the frame.

7. The new energy vehicle power battery transfer system according to claim 6 is characterized in that: A supporting rubber and a micro switch are arranged on the supporting part.

8. A method for transferring a power battery of a new energy vehicle, which uses the power battery transfer system of a new energy vehicle according to any one of claims 1 to 8 to transfer the power battery of the vehicle, characterized in that: The new energy vehicle power battery transfer method comprises the following steps: S1. Identify the model of the automotive power battery to be transplanted; S2, the first clamping drive mechanism is actuated, the second clamping drive mechanism is actuated; the two clamping arms are separated, and the clamping member moves to a preset position; S3, identifying the hole distance between the two positioning holes on the automotive power battery to be transplanted; and determining whether the distance between the two positioning pins is consistent with the current hole distance, if so, proceed to S4; if not, proceed to S1 to repeatedly identify the model of the automotive power battery to be transplanted; S4, the mechanical arm drives the positioning pin to align with the positioning hole, and the positioning drive device drives the positioning pin to extend into the positioning hole to position the power battery; S5, the first clamping drive mechanism drives the two clamping arms to approach each other to clamp the vehicle power battery; S6. The robotic arm moves the car power battery to the next station.

9. The method for transferring power batteries for new energy vehicles according to claim 8, characterized in that: In S3, identifying the hole distance between two positioning holes on the automotive power battery to be transplanted specifically includes the following steps: S3.

1. Preset the distance between the two visual positioning devices; the distance between the two visual positioning devices is consistent with the distance between the two positioning pins; S3.2, the robotic arm drives the visual positioning device to move directly above the positioning hole; S3.3, respectively determine the axis of the positioning hole by two visual positioning devices; S3.

4. If the axes of the two visual positioning devices coincide with the axes of the two positioning holes in the height direction, it is judged that the distance between the two positioning pins is consistent with the current hole spacing; if the axes of the two visual positioning devices do not coincide with the axes of the two positioning holes in the height direction, it is judged that the distance between the two positioning pins is inconsistent with the current hole spacing.

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