A new energy vehicle power battery transfer system and transfer method

Abstract

The present invention provides a new energy vehicle power battery transfer system and transfer method. The transfer system 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. 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 piece is symmetrically arranged at both ends of the clamping bracket. The second clamping drive mechanism is respectively connected to the two clamping pieces for adjusting the distance between the two clamping pieces. The movable direction of the first clamping drive mechanism is perpendicular to the movable direction of the second clamping drive mechanism. The clamping piece can move along the length and width directions of the frame; thus, it can adapt to automobile power batteries of different models and sizes, and the sling has a wide range of applications.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicle battery assembly transplantation, and in particular to a new energy vehicle power battery transplantation system and method. Background Art

[0002] The new energy vehicle industry has experienced rapid growth in recent years, placing increasing demands on vehicle assembly. During the production process, new energy vehicle power batteries often need to be moved to different workstations. This is typically done by hoisting the batteries with a lifting device and then guiding them to the assembly station. This approach doesn't guarantee precise positioning of the batteries, and due to the varying clamping angles and lengths of different power battery models, the clamping angles vary. 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 parts 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 scope of application of the sling is wide.

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

[0005] The new energy vehicle power battery transfer system described in the present invention includes a robotic arm and a sling arranged on the robotic 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 arranged 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 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.

[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 supporting 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 supporting portion, and the other end of the supporting portion extends in a direction close to the frame.

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

[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, and 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 spacing 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 spacing. If so, proceed to S4; if not, proceed to S1 and repeat identifying 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 move closer to each other to clamp the vehicle power battery.

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

[0019] Preferably, identifying the hole spacing 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 directly above the positioning hole.

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

[0023] S3.4. If the axis centers of the two visual positioning devices coincide with the axis centers of the two positioning holes in the height direction, the distance between the two positioning pins is judged to be consistent with the current hole spacing; if the axis centers of the two visual positioning devices do not coincide with the axis centers of the two positioning holes in the height direction, the distance between the two positioning pins is judged to be 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 parts are driven to move by the second clamping drive mechanism, so that the clamping parts 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 sling has a wide range of applications.

[0025] Positioning the automotive power battery through the visual positioning mechanism and the mechanical positioning mechanism can improve the positioning accuracy; at the same time, after positioning through the visual positioning mechanism and the mechanical positioning mechanism, the clamping member can accurately clamp the automotive 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, different models of automotive power batteries can be visually positioned; 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, different models of automotive power batteries can be positioned.

[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 activated; 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 part, the supporting part and the bearing part extend along 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 sling clamping the automobile power battery.

[0029] A supporting rubber is also installed on the support part to increase the friction between the support part and the vehicle power battery while preventing wear on the vehicle power battery. A micro switch is set to detect whether the support part is in contact with the vehicle power battery, thereby improving the stability of the lifting device in clamping the vehicle power battery.

[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 spacing of the two positioning holes on the vehicle power battery is determined for the first time; then the hole spacing of the two positioning holes on the vehicle power battery is determined for the second time through the visual positioning structure, thereby improving the accuracy of visual positioning; when it is determined that the hole spacing of 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 pins can match the positioning holes, thereby avoiding the positioning pins damaging the vehicle power battery; after completing the mechanical positioning of the vehicle power battery, the clamping member is driven to clamp the vehicle power battery, thereby ensuring that the clamping member is clamped in place. At the same time, when identifying the hole spacing between the two positioning holes, the distance between the two visual positioning devices is preset to be consistent with the distance between the two positioning pins; by judging whether the axis centers of the two visual positioning devices coincide with the axis centers of the two positioning holes in the height direction, the distance between the two visual positioning devices, the distance between the two visual positioning pins, and the distance between the axis centers of the two positioning holes are judged to be consistent. The method is simple and has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts throughout the accompanying drawings, and the drawings are not drawn to scale with actual size. The emphasis is on illustrating the subject matter of the present invention.

[0032] Figure 1 Schematic diagram of the sling in the present invention.

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

[0034] Figure 3 Based Figure 2 A magnified view of center.

[0035] Figure 4 It is another perspective 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 Magnified view of B.

[0038] Figure 7 Schematic diagram of the connection between the robotic arm and the sling in the present invention.

[0039] Figure 8 Schematic diagram of the connection between the bottom plate 3 and the base in the present invention.

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

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

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

[0043] Description of the drawings: Robotic 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; automobile 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 given do not limit the present invention. In this embodiment, it should be understood that the directions or positional relationships indicated by terms such as "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", and "outside" are based on the directions 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 direction, be constructed and operated in a specific direction, 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. The terms "mounted," "one end," "the other end," and similar expressions used in this 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 robotic arm 1 and a sling 2 arranged on the robotic arm 1; the robotic arm 1 is a six-axis robotic arm 1, and the robotic arm 1 is a prior art and 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, and 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 has a wide range of applications.

[0048] The clamping member 26 includes a support portion 261, a connecting portion 262, and a supporting portion 263. One end of the support portion 261 is connected to the second clamping drive mechanism 25, the other end of the support portion 261 extends away from the frame 21 and is connected to the connecting portion 262, the other end of the connecting portion 262 extends vertically along the frame 21 and is connected to the supporting portion 263, and the other end of the supporting portion 263 extends toward the frame 21. In the clamping member 26, the support portion 261 and the supporting portion 263 extend horizontally along the frame 21. Extending the distance between the connecting portion 262 and the frame 21 increases the space for accommodating the vehicle power battery. The supporting portion 263 supports the vehicle power battery, thereby improving the stability of the sling 2 in clamping the vehicle power battery.

[0049] In a preferred embodiment, a supporting rubber 264 and a microswitch 265 are provided on the supporting portion 263. The supporting rubber 264 increases friction between the supporting portion 263 and the vehicle's power battery while preventing wear on the battery. The microswitch 265 detects contact between the supporting portion 263 and the vehicle's power battery, thereby enhancing the stability of the sling 2 gripping the battery.

[0050] The first clamping drive mechanism 22 includes a first clamping transmission device 221 and a second clamping transmission device 222. 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 rail is further connected between the clamping bracket 24 and the frame 21 . The first linear guide rail is arranged along the length direction of the first clamping transmission device 221 and the second clamping transmission device 222 . The first linear guide rail 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. 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 rail is further connected between the clamping member 26 and the clamping bracket 24 . The second linear guide rail is arranged along the length direction of the third clamping transmission device 251 and the fourth clamping transmission device 252 . The second linear guide rail includes a slide rail and a slider.

[0054] The sling 2 is equipped 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 vehicle's power battery, while the mechanical positioning mechanisms 28 are used to mechanically position the vehicle's power battery. Positioning the vehicle's power battery using these two mechanisms improves positioning accuracy. Furthermore, after positioning using these two mechanisms, the clamping member 26 can accurately hold the vehicle's power battery.

[0055] Each set of visual positioning mechanisms 27 includes two or more visual positioning devices 271. In a preferred embodiment, the two visual positioning devices 271 in one set of visual positioning mechanisms 27 are arranged diagonally on the frame. The distance between the two visual positioning devices 271 in one set of visual positioning mechanisms 27 is different from the distance between the two visual positioning devices 271 in another set of visual positioning mechanisms 27. The visual positioning devices 271 are cameras. There are two or more sets of visual positioning mechanisms 27, and the distance between the two visual positioning devices 271 in each set of visual positioning mechanisms 27 is different. This allows for visual positioning of different models of automotive power batteries.

[0056] Each set of mechanical positioning mechanisms 28 includes two or more mechanical positioning devices 281. In a preferred embodiment, the two mechanical positioning devices 281 in one set of mechanical positioning mechanisms 28 are positioned 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 two or more 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. This allows for accurate positioning of different vehicle power battery models.

[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 disposed on the frame 21 and connected to the positioning bracket 283. The positioning pin 284 is disposed on the positioning bracket 283. The positioning drive device 282 drives the positioning pin 284 to extend for mechanical positioning of the vehicle 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 by the positioning drive device 282 to move. When positioning is performed using the positioning pin 284, after the model of the current vehicle power battery is determined, the mechanical positioning mechanism 28 corresponding to that model is activated. 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 do 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 automobile power battery 5, the positioning pin 284 retracts to prevent the positioning pin 284 from damaging the automobile 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 automotive power batteries 5 are placed on the base plate 3; the base plate 3 is provided with a shelf 31, and the automotive power batteries 5 are placed on the shelf 31; the bottom of the base plate 3 is supported by the base 4; before transplanting the automotive power batteries, it is necessary to first receive the automotive power batteries on the conveyor line through an AGV (not shown in the figure); specifically, the base plate 3 carrying the automotive power batteries is first transferred to the base 4 through the AGV; and then the automotive power batteries on the shelf 31 are transplanted to another workstation through the sling 2.

[0061] A raised portion 41 is provided on the top of the base 4; a recessed portion 32 is provided on the wall of the bottom plate 3 close to the base 4; the recessed portion 32 is used to accommodate the raised portion 41; the raised portion 41 cooperates with the recessed portion 32 to achieve the positioning of the shelf 31 on the base 4, ensuring the stability of the vehicle power battery placed on the shelf 31.

[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 and the second clamping drive mechanism 25 are activated; the two clamping arms 23 are separated, and the clamping member 26 moves to a preset position.

[0065] S3, identify the hole spacing of the two positioning holes on the automotive power battery to be transplanted; and determine whether the distance between the two positioning pins 284 is consistent with the current hole spacing. 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 robotic 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 moves 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 locate the automobile power battery; when identifying the model of the automobile power battery, the hole spacing of the two positioning holes on the automobile power battery is determined for the first time; then the hole spacing of 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 spacing of 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 distance between the 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 directly above the positioning hole.

[0073] S3.3. Determine the axis of the positioning hole respectively through the 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 axis centers of the two visual positioning devices 271 coincide with the axis centers of the two positioning holes in the height direction, the distance between the two visual positioning devices 271, the distance between the two visual positioning pins 284, and the distance between the axis centers of the two positioning holes are judged to be consistent. The method is simple and has high accuracy.

[0076] In this specification, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it can mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower 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" 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 expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of 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 by: The invention comprises a mechanical arm and a sling arranged on the mechanical arm; the sling comprises a frame, a first clamping drive mechanism and a clamping arm, the clamping arms are symmetrically arranged on both sides of the frame, 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 comprises a clamping bracket, a second clamping drive mechanism and a clamping member; the clamping members are symmetrically arranged at both ends of the clamping bracket, the second clamping drive mechanism is respectively connected to the two clamping members for adjusting the distance between the two clamping members; the movable direction of the first clamping drive mechanism is arranged perpendicular to the movable direction of the second clamping drive mechanism; The sling is provided with one or more visual positioning mechanisms and one or more mechanical positioning mechanisms; the visual positioning mechanisms are used for visual positioning of the vehicle power battery; the mechanical positioning mechanisms are used for mechanical positioning of the vehicle power battery; Each group of visual positioning mechanisms includes two or more 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; Each set of mechanical positioning mechanisms includes two or more mechanical positioning devices, and the distance between the two mechanical positioning devices in one set of mechanical positioning mechanisms is different from the distance between the two mechanical positioning devices in another set of mechanical positioning mechanisms; 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.

2. The new energy vehicle power battery transfer system according to claim 1, characterized in that: The clamping member includes a supporting portion, a connecting portion and a supporting 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 supporting portion, and the other end of the supporting portion extends in a direction close to the frame.

3. The new energy vehicle power battery transfer system according to claim 2 is characterized in that: A supporting rubber and a micro switch are provided on the supporting part.

4. A method for transferring a power battery of a new energy vehicle, which uses the power battery transfer system of any one of claims 1 to 3 to transfer the power battery of the vehicle, characterized in that: The method for transferring a power battery of a new energy vehicle comprises the following steps: S1. Identify the model of the automotive power battery to be transplanted; S2: The first clamping drive mechanism and the second clamping drive mechanism are actuated; the two clamping arms are separated, and the clamping member moves to a preset position; S3, identifying the hole spacing 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 spacing. If so, proceed to S4; if not, proceed to S1 and repeat identifying the model of the automotive power battery to be transplanted; 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; S5. The first clamping drive mechanism drives the two clamping arms to move closer to each other to clamp the vehicle power battery; S6. The robotic arm moves the car's power battery to the next station.

5. The method for transferring a power battery for a new energy vehicle according to claim 4, characterized in that: Identifying the distance between two positioning holes on the automotive power battery to be transplanted in S3 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. Determine the axis of the positioning hole using two visual positioning devices; S3.

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

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