Battery multi-shaft feeding and discharging device

Abstract

The invention discloses a multi-axis feeding and discharging device for batteries. The multi-axis feeding and discharging device comprises an X-axis linear module, a Y-axis movement mechanism and a feeding and discharging mechanism. The X-axis linear module is used for driving the Y-axis movement mechanism and the feeding and discharging mechanism to move in the X-axis direction, the Y-axis movement mechanism is used for driving the feeding and discharging mechanism to move in the Y-axis direction, and the feeding and discharging mechanism is used for feeding and discharging the batteries in the Z-axis direction. The Y-axis movement mechanism is designed on the X-axis movement connecting piece of the X-axis linear module, the feeding and discharging mechanism is designed on the feeding and discharging mechanism supporting plate of the Y-axis movement mechanism, movement of the feeding and discharging mechanism in the three-axis direction is achieved, and the problems that a traditional three-axis mechanical arm is complex in structure and large in occupied space are effectively solved; the device can be conveniently applied to battery production equipment, integration and layout design of the whole production line are facilitated, and the production cost is reduced; and automatic feeding and discharging of the battery in the three-axis direction are achieved, the feeding and discharging jig can be adjusted according to the specification of the battery, and the battery feeding and discharging efficiency and the equipment expansibility are remarkably improved.

Description

Technical Field

[0001] This patent belongs to the technical field of battery production and manufacturing equipment, and particularly relates to a battery multi-axis loading and unloading device. Background Art

[0002] With the rapid development of new energy battery technology, the application of batteries is becoming more and more extensive, and the requirement for reducing their production costs is also getting higher and higher. In the automated production process of power cylindrical lithium batteries, a three-axis manipulator is usually used for loading and unloading batteries. The traditional three-axis manipulator needs to use one or two side-by-side X-axis / Y-axis linear modules to drive the Y-axis / Z-axis linear module to move along the X-axis, and then the Y-axis / Z-axis linear module drives the Z-axis linear module to move along the Y-axis. Then, the Z-axis linear module drives the manipulator to move along the Z-axis. Finally, the manipulator realizes the loading and unloading of the battery in three-axis directions. However, there is a problem of complex structure. When applied to battery production equipment, it needs to occupy a large space, which is not conducive to the integration and layout design of the entire production line, and also correspondingly increases the production cost. Therefore, it is necessary to provide a new type of battery multi-axis loading and unloading device to overcome the above defects. Summary of the Invention

[0003] The purpose of this patent is to improve the problems of complex structure and large space occupation of the traditional three-axis manipulator, and provide a battery multi-axis loading and unloading device with a simple structure, which is convenient to be applied to battery production equipment, conducive to the integration and layout design of the entire production line, and correspondingly reduces the production cost.

[0004] To achieve the above purpose, this patent adopts the following technical solutions: A battery multi-axis loading and unloading device includes an X-axis linear module, a Y-axis motion mechanism, and a loading and unloading mechanism; the X-axis linear module is used to drive the Y-axis motion mechanism and the loading and unloading mechanism to move along the X-axis direction, the Y-axis motion mechanism is used to drive the loading and unloading mechanism to move along the Y-axis direction, and the loading and unloading mechanism is used to load and unload the battery along the Z-axis direction; the X-axis linear module includes a linear module frame body, a linear module driving mechanism, and a linear module output end drivingly connected to the linear module driving mechanism, and an X-axis motion connecting piece is arranged along a direction perpendicular to the linear module output end.

[0005] Specifically, in this technical solution, the Y-axis motion mechanism includes a Y-axis motion driving connecting piece, a Y-axis motion driving mechanism arranged on the upper side of the X-axis motion connecting piece, a Y-axis motion connecting piece arranged on the side surface of the X-axis motion connecting piece, and a slide rail arranged on the side surface of the X-axis motion connecting piece along the Y-axis direction; a slider slidably connected to the slide rail is arranged on the side surface of the Y-axis motion connecting piece, the Y-axis motion driving mechanism is drivingly connected to the Y-axis motion connecting piece through the Y-axis motion driving connecting piece, and the Y-axis motion connecting piece is driven by the Y-axis motion driving mechanism to move in the Y-axis direction along the slide rail. A loading and unloading mechanism support plate is arranged on the Y-axis motion connecting piece along a direction perpendicular to it; preferably, the Y-axis motion driving mechanism is driven by a cylinder.

[0006] Specifically, in this technical solution, the loading and unloading mechanism includes a first cylinder and a linear bearing arranged on the loading and unloading mechanism support plate, a first lifting plate drivingly connected to the first cylinder, and a guide shaft passing through the linear bearing; the guide shaft is connected to the first lifting plate, a lifting plate spacer is arranged on the lower side of the first lifting plate, the first lifting plate is connected with a loading and unloading jig through the lifting plate spacer, and the loading and unloading jig has a number of through holes; a second cylinder mounting plate is arranged on the side surface of the first lifting plate, a second cylinder is arranged on the side surface of the second cylinder mounting plate, the second cylinder drivingly connects a second lifting plate, the second lifting plate is located between the first lifting plate and the loading and unloading jig, a number of loading and unloading parts are arranged on the lower side of the second lifting plate, and the loading and unloading parts pass through the through holes of the loading and unloading jig; the first cylinder drives the first lifting plate to drive the loading and unloading jig and the second cylinder to move in the Z-axis direction along the guide shaft, and the second cylinder drives the second lifting plate to drive the loading and unloading parts to move along the through holes of the loading and unloading jig. Thus, the Y-axis motion mechanism is designed on the X-axis motion connecting piece of the X-axis linear module, and the loading and unloading mechanism is designed on the loading and unloading mechanism support plate of the Y-axis motion mechanism, realizing the three-axis motion of the loading and unloading mechanism, effectively improving the problems of complex structure and large occupied space existing in the traditional three-axis manipulator, without the need to additionally increase the X-axis / Y-axis linear module arranged side by side with the X-axis linear module, as well as the Y-axis / Z-axis linear module and the Z-axis linear module. This technical solution has a simple structure, is convenient to be applied to battery production equipment, is beneficial to the integration and layout design of the entire production line, and correspondingly reduces the production cost.

[0007] Further, a U-shaped photoelectric switch is provided on the linear module frame body, and an induction piece corresponding to the U-shaped photoelectric switch is provided on the output end of the linear module; preferably in this embodiment, the U-shaped photoelectric switch is connected to a programmable controller (not shown in the figure). There are U-shaped photoelectric switches provided on the linear module frame body. By being used in conjunction with the induction piece, it is used to identify and define the position and stroke of the output end of the linear module moving along the X-axis direction. When the induction piece on the output end of the linear module moves to the U-shaped part of the U-shaped photoelectric switch, it is its limit position. The U-shaped photoelectric switch sends a signal to the programmable controller to control the linear module driving mechanism to stop driving, so as to ensure the safety and accuracy of the X-axis linear module operation.

[0008] Further, in this technical solution, the linear module driving mechanism drives the output end of the linear module to move along the X-axis direction by any one of the transmission methods of motor driving screw nut transmission, motor driving gear rack transmission, motor driving synchronous pulley synchronous belt transmission, and linear motor stator rotor transmission.

[0009] Further, a limit mounting plate is provided on the end face of the X-axis movement connecting piece in this technical solution, and a buffer is provided on the limit mounting plate along the Y-axis direction; the buffer is used to buffer the movement collision of the Y-axis movement driving mechanism driving the Y-axis movement connecting piece to move along the slide rail in the Y-axis direction.

[0010] Further, a limiting piece is provided on the limit mounting plate along the Y-axis direction in this technical solution; the limiting piece is used to limit the movement of the Y-axis movement driving mechanism driving the Y-axis movement connecting piece to move along the slide rail in the Y-axis direction.

[0011] Further, a detection sensor is provided on the loading and unloading jig in this technical solution; the detection sensor is used to detect the loading and unloading situation of the battery, effectively improving the intelligent level of the equipment; optionally, the detection sensor is at least one of a photoelectric sensor, a through-beam sensor, and a proximity switch.

[0012] Further, the lower end of the loading and unloading part in this technical solution is provided with a magnet. Specifically, in this technical solution, the working principle and process of the loading and unloading mechanism for loading and unloading the battery are as follows: In the initial state, the magnet at the lower end of the loading and unloading part is flush with the lower end of the loading and unloading fixture. First, the first air cylinder drives the first lifting plate to drive the loading and unloading fixture, the second air cylinder together with the second lifting plate and the loading and unloading part to move downward along the Z-axis direction along the guide shaft to the position of the battery to be loaded, and the battery is adsorbed by the magnet at the lower end of the loading and unloading part; then the first air cylinder drives the first lifting plate to drive the loading and unloading fixture, the second air cylinder together with the second lifting plate and the loading and unloading part to move upward along the Z-axis direction along the guide shaft. At the same time, the Y-axis moving mechanism drives the loading and unloading mechanism to move along the Y-axis direction, and the X-axis linear module drives the Y-axis moving mechanism and the loading and unloading mechanism to move along the X-axis direction; when moving above the position where the battery is to be unloaded, then the first air cylinder drives the first lifting plate to drive the loading and unloading fixture, the second air cylinder together with the second lifting plate and the loading and unloading part to move downward along the Z-axis direction along the guide shaft to the position where the battery is to be unloaded. At the same time, the second air cylinder drives the second lifting plate to drive the loading and unloading part to move upward along the through hole of the loading and unloading fixture. Due to the blockage of the loading and unloading fixture, the battery stays at the position to be unloaded. Thus, the automatic loading and unloading of the battery in three-axis directions is realized. The loading and unloading fixture can be adjusted according to the battery specifications, significantly improving the efficiency of battery loading and unloading and the scalability of the equipment.

[0013] Further, the lower end of the loading and unloading fixture in this technical solution is provided with a magnet; specifically, in this technical solution, the working principle and process of the loading and unloading mechanism for loading and unloading the battery are as follows: In the initial state, the lower end of the loading and unloading part is flush with or above the magnet at the lower end of the loading and unloading fixture. First, the first air cylinder drives the first lifting plate to drive the loading and unloading fixture, the second air cylinder together with the second lifting plate and the loading and unloading part to move downward along the Z-axis direction along the guide shaft to the position of the battery to be loaded, and the battery is adsorbed by the magnet at the lower end of the loading and unloading fixture; then the first air cylinder drives the first lifting plate to drive the loading and unloading fixture, the second air cylinder together with the second lifting plate and the loading and unloading part to move upward along the Z-axis direction along the guide shaft. At the same time, the Y-axis moving mechanism drives the loading and unloading mechanism to move along the Y-axis direction, and the X-axis linear module drives the Y-axis moving mechanism and the loading and unloading mechanism to move along the X-axis direction; when moving above the position where the battery is to be unloaded, then the first air cylinder drives the first lifting plate to drive the loading and unloading fixture, the second air cylinder together with the second lifting plate and the loading and unloading part to move downward along the Z-axis direction along the guide shaft to above the position where the battery is to be unloaded. At the same time, the second air cylinder drives the second lifting plate to drive the loading and unloading part to move downward along the through hole of the loading and unloading fixture. By the downward movement of the loading and unloading part, the battery adsorbed by the loading and unloading fixture is pushed and unloaded to the position to be unloaded. Thus, the automatic loading and unloading of the battery in three-axis directions is realized. The loading and unloading fixture can be adjusted according to the battery specifications, significantly improving the efficiency of battery loading and unloading and the scalability of the equipment.

[0014] A battery multi-axis loading and unloading device disclosed in this patent has the following beneficial effects: The Y-axis motion mechanism is designed on the X-axis motion connecting piece of the X-axis linear module, and the loading and unloading mechanism is designed on the loading and unloading mechanism support plate of the Y-axis motion mechanism, realizing the motion of the loading and unloading mechanism in three-axis directions. This effectively improves the problems of complex structure and large occupied space existing in traditional three-axis manipulators. There is no need to additionally increase the X-axis / linear module, Y-axis / linear module, and Z-axis / linear module arranged side by side with the X-axis linear module. At the same time, the technical solution of this patent has a simple structure, is convenient to be applied to battery production equipment, is conducive to the integration and layout design of the entire production line, and correspondingly reduces the production cost. In addition, the automatic loading and unloading of the battery in three-axis directions is realized, and the loading and unloading fixture can be adjusted according to the battery specifications, significantly improving the battery loading and unloading efficiency and the scalability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of this patent, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of this patent. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings, where:

[0016] Figure 1 It is a schematic structural diagram of a battery multi-axis loading and unloading device disclosed in an embodiment of this patent.

[0017] Figure 2 It is a schematic structural diagram of another perspective of a battery multi-axis loading and unloading device disclosed in an embodiment of this patent.

[0018] 1. X-axis linear module; 101. Linear module frame body; 102. Linear module driving mechanism; 103. Linear module output end; 104. X-axis motion connecting piece; 105. Inductive sheet; 106. U-shaped photoelectric switch; 2. Y-axis motion mechanism; 201. Y-axis motion driving mechanism; 202. Y-axis motion driving connecting piece; 203. Y-axis motion connecting piece; 204. Slide block; 205. Slide rail; 206. Loading and unloading mechanism support plate; 207. Limit mounting plate; 208. Limiting part; 209. Buffer part; 3. Loading and unloading mechanism; 301. First cylinder; 302. Linear bearing; 303. Guide shaft; 304. First lifting plate; 305. Lifting plate spacer; 306. Loading and unloading fixture; 307. Second cylinder; 308. Second cylinder mounting plate; 309. Second lifting plate; 310. Loading and unloading part; 311. Detection sensor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] Next, the technical solutions in the embodiments of the present patent will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present patent. Obviously, the described embodiments are only a part of the embodiments of the present patent, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present patent without creative efforts shall fall within the protection scope of the present patent.

[0020] Referring to Figure 1-2 , an embodiment of the present patent discloses a battery multi-axis loading and unloading device, including an X-axis linear module 1, a Y-axis motion mechanism 2, and a loading and unloading mechanism 3; the X-axis linear module 1 is used to drive the Y-axis motion mechanism 2 and the loading and unloading mechanism 3 to move along the X-axis direction, the Y-axis motion mechanism 2 is used to drive the loading and unloading mechanism 3 to move along the Y-axis direction, and the loading and unloading mechanism 3 is used to load and unload the battery along the Z-axis direction; the X-axis linear module 1 includes a linear module frame body 101, a linear module driving mechanism 102, and a linear module output end 103 drivingly connected to the linear module driving mechanism 102. An X-axis motion connecting member 104 is arranged along a direction perpendicular to it on the linear module output end 103.

[0021] Specifically, referring to Figure 1-2 , in this embodiment, the Y-axis motion mechanism 2 includes a Y-axis motion driving connecting member 202, a Y-axis motion driving mechanism 201 arranged on the upper side of the X-axis motion connecting member 104, a Y-axis motion connecting member 203 arranged on the side of the X-axis motion connecting member 104, and a slide rail 205 arranged on the side of the X-axis motion connecting member 104 along the Y-axis direction; a slider 204 slidably connected to the slide rail 205 is arranged on the side of the Y-axis motion connecting member 203. The Y-axis motion driving mechanism 201 is drivingly connected to the Y-axis motion connecting member 203 through the Y-axis motion driving connecting member 202. By driving the Y-axis motion driving mechanism 201, the Y-axis motion connecting member 203 moves along the slide rail 205 in the Y-axis direction. A loading and unloading mechanism support plate 206 is arranged along a direction perpendicular to it on the Y-axis motion connecting member 203; preferably, the Y-axis motion driving mechanism 201 is driven by a cylinder.

[0022] Specifically, referring to Figure 1-2, in this embodiment, the loading and unloading mechanism 3 includes a first cylinder 301 and a linear bearing 302 disposed on the loading and unloading mechanism support plate 206, a first lifting plate 304 drivingly connected to the first cylinder 301, and a guide shaft 303 passing through the linear bearing 302; the guide shaft 303 is connected to the first lifting plate 304, a lifting plate spacer 305 is disposed on the lower side of the first lifting plate 304, the first lifting plate 304 is connected with a loading and unloading jig 306 through the lifting plate spacer 305, and the loading and unloading jig 306 has a plurality of through holes; a second cylinder mounting plate 308 is disposed on the side of the first lifting plate 304, a second cylinder 307 is disposed on the side of the second cylinder mounting plate 308, the second cylinder 307 drives a connecting member with a second lifting plate 309, the second lifting plate 309 is located between the first lifting plate 304 and the loading and unloading jig 306, and a plurality of loading and unloading members 310 are disposed on the lower side of the second lifting plate 309, and the loading and unloading members 310 pass through the through holes of the loading and unloading jig 306; the first cylinder 301 drives the first lifting plate 304 to drive the loading and unloading jig 306 and the second cylinder 307 to move along the Z-axis direction along the guide shaft 303, and the second cylinder 307 drives the second lifting plate 309 to drive the loading and unloading members 310 to move along the through holes of the loading and unloading jig 306. Thus, the Y-axis motion mechanism 2 is designed on the X-axis motion connecting member 104 of the X-axis linear module 1, and the loading and unloading mechanism 3 is designed on the loading and unloading mechanism support plate 206 of the Y-axis motion mechanism 2, realizing the three-axis direction motion of the loading and unloading mechanism 3, effectively improving the problems of complex structure and large occupied space existing in the traditional three-axis manipulator, without the need to additionally increase the X-axis / linear module arranged side by side with the X-axis linear module 1, as well as the Y-axis / linear module and the Z-axis / linear module. The technical solution of the present invention has a simple structure, is convenient to be applied to battery production equipment, is beneficial to the integration and layout design of the entire production line, and correspondingly reduces the production cost.

[0023] Further, referring to Figure 1 , in this embodiment, a U-shaped photoelectric switch 106 is disposed on the linear module frame 101, and an induction piece 105 corresponding to the U-shaped photoelectric switch 106 is disposed on the linear module output end 103; preferably in this embodiment, the U-shaped photoelectric switch 106 is connected to a programmable controller (not shown in the figure), two U-shaped photoelectric switches 106 are disposed on the linear module frame 101, and by being used in conjunction with the induction piece 105, it is used to identify and limit the position and stroke of the linear module output end 103 moving along the X-axis direction. When the induction piece 105 on the linear module output end 103 moves to the U-shaped portion of the U-shaped photoelectric switch 106, it is its limit position, and the U-shaped photoelectric switch 106 sends a signal to the programmable controller to control the linear module driving mechanism 102 to stop driving, thereby ensuring the safety and accuracy of the operation of the X-axis linear module 1.

[0024] Further, referring to Figure 1-2, in this embodiment, the linear module driving mechanism 102 adopts any one of the following driving methods: motor-driven lead screw and nut transmission, motor-driven gear and rack transmission, motor-driven synchronous pulley and synchronous belt transmission, and linear motor stator and rotor transmission to drive the output end 103 of the linear module to move in the X-axis direction.

[0025] Furthermore, referring to Figure 1 , in this embodiment, a limit mounting plate 207 is provided on the end face of the X-axis movement connecting member 104, and a buffer member 209 is provided on the limit mounting plate 207 in the Y-axis direction; the buffer member 209 is used to buffer the movement collision of the Y-axis movement driving mechanism 201 driving the Y-axis movement connecting member 203 along the slide rail 205 in the Y-axis direction.

[0026] Furthermore, referring to Figure 1 , in this embodiment, a limiting member 208 is provided on the limit mounting plate 207 in the Y-axis direction; the limiting member 208 is used to limit the movement of the Y-axis movement driving mechanism 201 driving the Y-axis movement connecting member 203 along the slide rail 205 in the Y-axis direction.

[0027] Furthermore, referring to Figure 1-2 , in this embodiment, a detection sensor 311 is provided on the loading and unloading jig 306; the detection sensor 311 is used to detect the loading and unloading condition of the battery, effectively improving the intelligent level of the equipment; optionally, the detection sensor is at least one of a photoelectric sensor, a transmissive sensor, and a proximity switch.

[0028] Furthermore, referring to Figure 1-2, in this embodiment, the lower end of the loading and unloading part 310 is provided with a magnet. Specifically, in this embodiment, the working principle and implementation process of the loading and unloading mechanism 3 for loading and unloading the battery are as follows: In the initial state, the magnet at the lower end of the loading and unloading part 310 is flush with the lower end of the loading and unloading fixture 306. First, the first cylinder 301 drives the first lifting plate 304 to drive the loading and unloading fixture 306, the second cylinder 307, together with the second lifting plate 309 and the loading and unloading part 310 to move downward along the Z-axis direction along the guide shaft 303 to the position of the battery to be loaded, and the battery is adsorbed by the magnet at the lower end of the loading and unloading part 310; then the first cylinder 301 drives the first lifting plate 304 to drive the loading and unloading fixture 306, the second cylinder 307, together with the second lifting plate 309 and the loading and unloading part 310 to move upward along the Z-axis direction along the guide shaft 303. At the same time, the Y-axis movement mechanism 2 drives the loading and unloading mechanism 3 to move along the Y-axis direction, and the X-axis linear module 1 drives the Y-axis movement mechanism 2 and the loading and unloading mechanism 3 to move along the X-axis direction; when moving to the position above the position where the battery is to be unloaded, then the first cylinder 301 drives the first lifting plate 304 to drive the loading and unloading fixture 306, the second cylinder 307, together with the second lifting plate 309 and the loading and unloading part 310 to move downward along the Z-axis direction along the guide shaft 303 to the position where the battery is to be unloaded. At the same time, the second cylinder 307 drives the second lifting plate 309 to drive the loading and unloading part 310 to move upward along the through hole of the loading and unloading fixture 306. Due to the blockage of the loading and unloading fixture 306, the battery stays at the position to be unloaded, thereby realizing the automatic loading and unloading of the battery in three-axis directions. The loading and unloading fixture can be adjusted according to the battery specifications, significantly improving the loading and unloading efficiency of the battery and the scalability of the equipment.

[0029] Further, referring to Figure 1-2, in this embodiment, the lower end of the loading and unloading jig 306 is provided with a magnet; specifically, in this embodiment, the working principle and implementation process of the loading and unloading mechanism 3 for loading and unloading the battery are as follows: In the initial state, the lower end of the loading and unloading member 310 is flush with or above the magnet at the lower end of the loading and unloading jig 306. First, the first cylinder 301 drives the first lifting plate 304 to drive the loading and unloading jig 306, the second cylinder 307, together with the second lifting plate 309 and the loading and unloading member 310 to move downward along the Z-axis direction along the guide shaft 303 to the position of the battery to be loaded, and the battery is adsorbed by the magnet at the lower end of the loading and unloading jig 306; then the first cylinder 301 drives the first lifting plate 304 to drive the loading and unloading jig 306, the second cylinder 307, together with the second lifting plate 309 and the loading and unloading member 310 to move upward along the Z-axis direction along the guide shaft 303. At the same time, the Y-axis movement mechanism 2 drives the loading and unloading mechanism 3 to move along the Y-axis direction, and the X-axis linear module 1 drives the Y-axis movement mechanism 2 and the loading and unloading mechanism 3 to move along the X-axis direction; when moving above the position where the battery is to be unloaded, then the first cylinder 301 drives the first lifting plate 304 to drive the loading and unloading jig 306, the second cylinder 307, together with the second lifting plate 309 and the loading and unloading member 310 to move downward along the Z-axis direction along the guide shaft 303 to above the position where the battery is to be unloaded. At the same time, the second cylinder 307 drives the second lifting plate 309 to drive the loading and unloading member 310 to move downward along the through hole of the loading and unloading jig 306, and the battery adsorbed by the loading and unloading jig 306 is pushed and unloaded to the position where it is to be unloaded by the downward movement of the loading and unloading member 310, thereby realizing the automatic loading and unloading of the battery in three-axis directions. The loading and unloading jig can be adjusted according to the battery specifications, significantly improving the efficiency of battery loading and unloading and the scalability of the equipment.

[0030] The above is only the implementation mode of this patent, and does not limit the patent scope of this patent accordingly. Any equivalent structure or equivalent process transformation made by using the content of this patent specification and drawings, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of this patent.

Claims

1. A battery multi-axis loading and unloading device, comprising an X-axis linear module (1), a Y-axis motion mechanism (2) and a loading and unloading mechanism (3); the X-axis linear module (1) is used to drive the Y-axis motion mechanism (2) and the loading and unloading mechanism (3) to move along the X-axis direction, the Y-axis motion mechanism (2) is used to drive the loading and unloading mechanism (3) to move along the Y-axis direction, and the loading and unloading mechanism (3) is used to load and unload the battery along the Z-axis direction; the X-axis linear module (1) comprises a linear module frame (101), a linear module driving mechanism (102) and a linear module output end (103) drivingly connected to the linear module driving mechanism (102), and the linear module output end (103) is provided with an X-axis motion connecting member (104) in a direction perpendicular to the linear module output end (103); characterized in that: The Y-axis motion mechanism (2) comprises a Y-axis motion drive connecting member (202), a Y-axis motion drive mechanism (201) arranged on the upper side of the X-axis motion connecting member (104), a Y-axis motion connecting member (203) arranged on the side of the X-axis motion connecting member (104), and a slide rail (205) arranged on the side of the X-axis motion connecting member (104) along the Y-axis direction; a slider (204) slidably connected to the slide rail (205) is arranged on the side of the Y-axis motion connecting member (203); the Y-axis motion drive mechanism (201) is drivingly connected to the Y-axis motion connecting member (203) through the Y-axis motion drive connecting member (202); the Y-axis motion connecting member (203) is driven by the Y-axis motion drive mechanism (201) to move along the slide rail (205) in the Y-axis direction; and the Y-axis motion connecting member (203) is provided with a loading and unloading mechanism support plate (206) in a direction perpendicular to the Y-axis motion connecting member (203); The loading and unloading mechanism (3) comprises a first cylinder (301) and a linear bearing (302) arranged on a loading and unloading mechanism support plate (206), a first lifting plate (304) drivingly connected to the first cylinder (301), and a guide shaft (303) passing through the linear bearing (302); the guide shaft (303) is connected to the first lifting plate (304), a lifting plate spacer (305) is arranged on the lower side of the first lifting plate (304), the first lifting plate (304) is connected to a loading and unloading fixture (306) through the lifting plate spacer (305), and the loading and unloading fixture (306) has a plurality of through holes; a second cylinder mounting plate (308) is arranged on the side of the first lifting plate (304), and the second cylinder mounting plate (308) ) is provided with a second cylinder (307) on the side, the second cylinder (307) drives the connecting member to have a second lifting plate (309), the second lifting plate (309) is located between the first lifting plate (304) and the loading and unloading fixture (306), a plurality of loading and unloading parts (310) are provided on the lower side of the second lifting plate (309), and the loading and unloading parts (310) are penetrated in the through hole of the loading and unloading fixture (306); the first lifting plate (304) is driven by the first cylinder (301) to drive the loading and unloading fixture (306) and the second cylinder (307) to move along the Z-axis direction along the guide shaft (303), and the second lifting plate (309) is driven by the second cylinder (307) to drive the loading and unloading parts (310) to move along the through hole of the loading and unloading fixture (306).

2. A battery multi-axis loading and unloading device according to claim 1, characterized in that: A U-shaped photoelectric switch (106) is arranged on the linear module frame (101), and a sensing sheet (105) corresponding to the U-shaped photoelectric switch (106) is arranged on the linear module output end (103).

3. A battery multi-axis loading and unloading device according to claim 1, characterized in that: The linear module drive mechanism (102) drives the linear module output end (103) to move along the X-axis direction by using any one of the following transmission modes: motor-driven lead screw and nut transmission, motor-driven gear rack transmission, motor-driven synchronous wheel and synchronous belt transmission, and linear motor stator and mover transmission.

4. A battery multi-axis loading and unloading device according to claim 1, characterized in that: A limit mounting plate (207) is provided on the end surface of the X-axis motion connecting member (104), and a buffer member (209) is provided on the limit mounting plate (207) along the Y-axis direction.

5. A battery multi-axis loading and unloading device according to claim 4, characterized in that: A limiting member (208) is arranged on the limiting mounting plate (207) along the Y-axis direction.

6. A battery multi-axis loading and unloading device according to claim 1, characterized in that: The loading and unloading jig (306) is provided with a detection sensor (311).

7. The multi-axis battery loading and unloading device according to claim 1, characterized in that: The lower ends of the upper and lower material pieces (310) are provided with magnets.

8. The multi-axis battery loading and unloading device according to claim 1, characterized in that: The lower end of the loading and unloading fixture (306) is provided with a magnet.

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