Battery mounting device and control method

Abstract

The invention discloses battery carrying equipment and a control method, and relates to the technical field of vehicle production, the battery carrying equipment comprises a conveying platform, a conveying sliding table, a carrying device and a controller, the conveying platform is used for conveying a vehicle; the conveying sliding table is arranged on one side of the conveying platform and used for conveying batteries, and the carrying device comprises a frame body, a mechanical arm, a shooting camera, a sliding rod arranged on the frame body in a sliding mode in the first direction and a first driving piece for driving the sliding rod to slide; the shooting camera is arranged on the manipulator and is used for acquiring real-time image information of the battery or the vehicle; and the controller is used for acquiring the real-time image information and controlling the manipulator to operate according to the real-time image information so as to clamp the battery and carry the battery into a battery pack box body of the vehicle. According to the technical scheme provided by the invention, the technical problems that the working efficiency is low and the labor intensity of operators is high when the battery is carried to the vehicle can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle production, and particularly to a battery loading device and a control method therefor. Background Art

[0002] With the rapid development of science and technology, vehicles, as means of transportation in modern life, have become an indispensable part of people's daily lives. During the vehicle production process, it is necessary to load the battery into the battery pack box of the vehicle to complete the installation of the battery. However, when the battery is loaded onto the vehicle, there are technical problems such as low operation efficiency and high labor intensity of the operator.

[0003] Therefore, it is necessary to provide a new battery loading device and a control method to solve the above technical problems. Summary of the Invention

[0004] The main object of the present invention is to provide a battery loading device and a control method therefor, aiming to solve the technical problems of low operation efficiency and high labor intensity of the operator when the battery is loaded onto the vehicle.

[0005] To achieve the above object, a battery loading device proposed by the present invention includes:

[0006] A conveying platform for conveying vehicles;

[0007] A conveying slide disposed on one side of the conveying platform and used for conveying the battery;

[0008] A loading device including a frame, a manipulator, a camera, a slide bar slidably disposed on the frame in a first direction, and a first driving member for driving the slide bar to slide. The manipulator includes a mounting seat, a robotic arm, and a clamping assembly connected in sequence. The mounting seat is slidably disposed on the slide bar in a second direction, and the clamping assembly is used for clamping the battery; the camera is disposed on the clamping assembly and used for acquiring real-time image information of the battery or the vehicle;

[0009] A synchronization device disposed below the conveying platform, the synchronization device including a synchronous pulley and an incremental encoder, the synchronous pulley being in contact with the conveying platform, and the incremental encoder being coaxially connected to the synchronous pulley;

[0010] A controller, which is used to obtain the real-time image information and the output signal of the pulse encoder. The controller can control the operation of the manipulator according to the real-time image information to clamp the battery and carry the battery into the battery pack box of the vehicle. And the controller can also control the running speed of the sliding rod through the first driving member according to the output signal of the pulse encoder, so that the manipulator runs synchronously with the vehicle on the conveying platform.

[0011] In an embodiment, the frame is provided with a first rack, the sliding rod is provided with a first gear and a second rack, the mounting seat is provided with a second gear and a second driving member. The first gear meshes with the first rack, the second gear meshes with the second rack, and the first gear is connected to the output end of the first driving member, and the second gear is connected to the output end of the second driving member.

[0012] In an embodiment, the tooth surfaces of both the first rack and the second rack are provided with tungsten wires for lubrication.

[0013] In an embodiment, a position sensor is provided on the frame, and the position sensor is used to detect the real-time position of the manipulator.

[0014] In an embodiment, two first limit switches are spaced on the frame, and two second limit switches are spaced on the sliding rod. Each first limit switch can abut against the sliding rod, and each second limit switch can abut against the mounting seat; and / or,

[0015] Two first limit blocks are spaced on the frame, and two second limit blocks are spaced on the sliding rod. Each first limit block can abut against the sliding rod, and each second limit block can abut against the mounting seat.

[0016] In an embodiment, the clamping assembly includes a connecting block, a bidirectional driving cylinder and two clamping jaws arranged on the bidirectional driving cylinder. The connecting block is connected to the robotic arm through a connecting flange. The bidirectional driving cylinder can drive the two clamping jaws to move towards each other to clamp the battery, and can drive the two clamping jaws to move away from each other to release the battery. The camera is arranged on the connecting block.

[0017] In an embodiment, buffer pads are arranged on one side of the two clamping jaws facing each other.

[0018] In one embodiment, the synchronization device further includes a base, a fixing block, an elastic member, a connecting rod, and a mounting block. The mounting block is rotatably disposed on the base, and the synchronization pulley is rotatably disposed at one end of the mounting block. The fixing block is disposed on the base. The connecting rod sequentially passes through the elastic member and the fixing block and is connected to the end of the mounting block away from the synchronization pulley. The elastic member drives the synchronization pulley to abut against the conveying platform.

[0019] In one embodiment, the battery loading device further includes a safety protection device. The safety protection device includes a sliding seat and a scanner slidably disposed on the sliding seat. The scanner is used to detect whether there is an operator in the working area of the manipulator. The manipulator has a low-speed operation state and a high-speed operation state.

[0020] When the scanner detects that there is an operator in the working area of the manipulator, the controller obtains the detection signal of the scanner and switches the manipulator to the low-speed operation state. When the scanner detects that there is no operator in the working area of the manipulator, the controller obtains the detection signal of the scanner and switches the manipulator to the high-speed operation state.

[0021] The present invention also provides a control method applied to the battery loading device as described above. The control method includes:

[0022] Controlling the first driving member and the second driving member to operate so that the manipulator moves from a preset position above the conveying slide, and controlling the manipulator to clamp the battery according to the real-time image information of the battery obtained by the shooting camera.

[0023] When the vehicle is conveyed to the battery loading device, controlling the first driving member and the second driving member to operate so that the manipulator moves from above the conveying slide to the vehicle, and controlling the manipulator to load the battery onto the battery pack box of the vehicle according to the real-time image information of the vehicle obtained by the shooting camera.

[0024] After the battery loading is completed, controlling the first driving member and the second driving member to operate so that the manipulator moves to the preset position.

[0025] The technical solution of the present invention is to set a manipulator for clamping the battery, and the manipulator is slidably arranged on the sliding rod along the second direction, and the sliding rod is slidably arranged on the frame along the first direction, so that the battery on the conveying slide can be carried into the battery pack box of the vehicle on the conveying platform by using the manipulator, and the battery carrying operation can be completed; it can improve the operation efficiency of battery carrying, and there is no need for manual participation in the carrying operation, which can reduce the labor intensity of the operator. In this embodiment, the manipulator is composed of a mounting seat, a robotic arm and a clamping assembly, wherein the clamping assembly is used for clamping the battery. By slidably arranging the manipulator on the sliding rod along the second direction and slidably arranging the sliding rod on the frame along the first direction, the manipulator can be driven to move in the first direction and the second direction, and then transfer the battery between the conveying platform and the conveying slide. The camera is used to obtain the real-time image information of the battery and the vehicle. The controller is used to obtain the real-time image information and control the operation of the manipulator according to the real-time image information to clamp the battery and complete the battery carrying operation. Specifically, when the device is started or the controller receives a start instruction, the controller controls the manipulator to move from a preset position to above the conveying slide, and controls the manipulator to clamp the battery according to the real-time image information of the battery obtained by the camera; after the vehicle is transported to the battery carrying device, the controller controls the manipulator to move to above the vehicle according to the real-time image information of the vehicle obtained by the camera, and controls the manipulator to carry the battery into the battery pack box of the vehicle; after the battery carrying is completed, the controller controls the manipulator to move to the preset position. This battery carrying device uses a machine to replace manual labor to complete the battery carrying operation, which can improve the operation efficiency and reduce the labor intensity of the operator. This battery carrying device is applied to the technical fields of vehicle production or other production where parts need to be carried. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0027] Figure 1 It is a schematic diagram of the overall structure of the battery carrying device in an embodiment provided by the present invention;

[0028] Figure 2 It is a schematic diagram of the overall structure of the carrying device in an embodiment provided by the present invention;

[0029] Figure 3 It is the three views of the clamping assembly in an embodiment provided by the present invention;

[0030] Figure 4Schematic structural diagram of the synchronization device in an embodiment provided by the present invention;

[0031] Figure 5 Schematic structural diagram of the safety protection device in an embodiment provided by the present invention;

[0032] Figure 6 Schematic flow chart of the control method in an embodiment provided by the present invention.

[0033] Explanation of the reference numerals in the drawings:

[0034] 100, conveying platform; 200, conveying slide; 300, carrying device; 310, frame; 311, first limit block; 320, manipulator; 321, mounting seat; 322, robotic arm; 323, clamping assembly; 3231, connecting block; 3232, bidirectional driving cylinder; 3233, jaw; 3234, connecting flange; 3235, buffer pad; 330, shooting camera; 340, slide bar; 341, second limit block; 400, synchronization device; 410, synchronous pulley; 420, pulse encoder; 430, base; 440, fixing block; 450, elastic member; 460, connecting rod; 470, mounting block; 500, safety protection device; 510, slide seat; 520, scanner.

[0035] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0038] In addition, if the embodiments of the present invention involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, scenario B, or the scenario where both A and B are satisfied simultaneously.

[0039] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] During the vehicle production process, it is necessary to install the battery into the battery pack box of the vehicle to complete the battery installation. In the actual production process, the researchers found that the operation of installing the battery into the battery pack box of the vehicle mainly involves the operator moving the battery at the conveying slide to the vehicle on the conveying platform, which will affect the operation efficiency of battery installation; moreover, when the operator installs the battery, they need to move back and forth between the conveying platform of the conveying vehicle and the conveying slide for the battery, which will increase the labor intensity of the operator. Long-term operation is likely to cause physical fatigue and lumbar strain, which is not beneficial to physical and mental health.

[0041] The present invention provides a battery installation device and a control method, aiming to solve the technical problems of low operation efficiency and high labor intensity of the operator when installing the battery into the vehicle.

[0042] Please refer to Figures 1 to 4, in an embodiment of the present invention, the battery carrying device includes a conveying platform 100, a conveying slide 200, a carrying device 300, a synchronization device 400 and a controller. The conveying platform 100 is used for conveying vehicles; the conveying slide 200 is arranged on one side of the conveying platform 100 and is used for conveying batteries. The carrying device 300 includes a frame 310, a manipulator 320, a camera 330, a slide bar 340 slidably arranged on the frame 310 in a first direction and a first driving member for driving the slide bar 340 to slide. The manipulator 320 includes a mounting seat 321, a robotic arm 322 and a clamping assembly 323 connected in sequence. The mounting seat 321 is slidably arranged on the slide bar 340 in a second direction, and the clamping assembly 323 is used for clamping the battery; the camera 330 is arranged on the clamping assembly 323 and is used for acquiring real-time image information of the battery or the vehicle. The synchronization device 400 is arranged below the conveying platform 100. The synchronization device 400 includes a synchronous pulley 410 and an incremental encoder 420. The synchronous pulley 410 abuts against the conveying platform 100, and the incremental encoder 420 is coaxially connected to the synchronous pulley 410. The controller is used for acquiring the real-time image information and the output signal of the incremental encoder 420. The controller can control the operation of the manipulator 320 according to the real-time image information to clamp the battery and carry the battery into the battery pack box of the vehicle; and the controller can also control the running speed of the slide bar 340 through the first driving member according to the output signal of the incremental encoder 420, so that the manipulator 320 runs synchronously with the vehicle on the conveying platform 100. Wherein, the first direction is the direction indicated by X in Figure 1 , and the second direction is the direction indicated by Y in Figure 1 ; in a specific embodiment, the first direction and the second direction are perpendicular, and the first direction is the length direction of the frame 310, and the second direction is the width direction of the frame 310.

[0043] The technical solution of the present invention is to provide a manipulator 320 for clamping a battery, slidably arrange the manipulator 320 along a second direction on a slide bar 340, and slidably arrange the slide bar 340 along a first direction on a frame 310, so that the battery on the conveying slide 200 can be carried into the battery pack box of the vehicle on the conveying platform 100 by using the manipulator 320, completing the battery carrying operation; it can improve the operation efficiency of battery carrying, and there is no need for manual participation in the carrying operation, which can reduce the labor intensity of the operator. In this embodiment, the manipulator 320 is composed of a mounting base 321, a robotic arm 322 and a clamping assembly 323, wherein the clamping assembly 323 is used for clamping the battery. By slidably arranging the manipulator 320 along the second direction on the slide bar 340 and slidably arranging the slide bar 340 along the first direction on the frame 310, the manipulator 320 can be driven to move in the first direction and the second direction, and then transfer the battery between the conveying platform 100 and the conveying slide 200. The camera 330 is used to obtain the real-time image information of the battery and the vehicle. The controller is used to obtain the real-time image information and control the operation of the manipulator 320 according to the real-time image information to clamp the battery and complete the battery carrying operation. Specifically, when the device is started or the controller receives a start command, the controller controls the manipulator 320 to move from a preset position to above the conveying slide 200, and controls the manipulator 320 to clamp the battery according to the real-time image information of the battery obtained by the camera 330; after the vehicle is conveyed to the battery carrying device, the controller controls the manipulator 320 to move to above the vehicle according to the real-time image information of the vehicle obtained by the camera 330, and controls the manipulator 320 to carry the battery into the battery pack box of the vehicle; after the battery carrying is completed, the manipulator 320 is controlled to move to the preset position. This battery carrying device uses a machine to replace manual labor to complete the battery carrying operation, which can improve the operation efficiency and reduce the labor intensity of the operator. This battery carrying device is applied to the technical fields of vehicle production or other production fields that need to carry parts.

[0044] It should be noted that the above preset position refers to the position where the manipulator 320 is located when the device is started. This preset position is a manually set position, and it is required that when the manipulator 320 is in the preset position, the manipulator 320 will not interfere with the conveyed vehicles and batteries. In this embodiment, the synchronization device 400 is used to realize the synchronous operation of the conveying platform 100 and the manipulator 320; by making the conveying platform 100 and the manipulator 320 run synchronously, the vehicle on the conveying platform 100 and the manipulator 320 can be relatively stationary. Thus, the manipulator 320 can complete the battery loading operation during the vehicle conveying process, improving the operation efficiency. Specifically, the controller can also obtain the output signal of the pulse encoder 420, and based on the above output signal, calculate the running speed of the conveying platform 100, and then control the running speed of the slide bar 340 through the first driving member, so that the manipulator 320 and the vehicle on the conveying platform 100 run synchronously. Among them, the pulse encoder 420 is a sensor that converts mechanical rotation into an output signal. It usually consists of a coded disk with scales and a detection element. The coded disk is coaxially connected to the synchronous wheel 410; when the coded disk rotates, the detection element can generate an output signal according to the scales on the coded disk.

[0045] In an embodiment of the present invention, the frame 310 is provided with a first rack, the slide bar 340 is provided with a first gear and a second rack, the mounting seat 321 is provided with a second gear and a second driving member. The first gear meshes with the first rack, the second gear meshes with the second rack, and the first gear is connected to the output end of the first driving member, and the second gear is connected to the output end of the second driving member. In this embodiment, the transmission between the slide bar 340 and the frame 310, and between the mounting seat 321 of the manipulator 320 and the slide bar 340 both adopt the gear-rack matching method. The gear-rack transmission has the characteristics of high precision and high transmission efficiency, which can improve the operation efficiency and the position accuracy when the manipulator 320 moves in the first direction and the second direction. The driving member is used to drive the corresponding gear to rotate, and then drive the manipulator 320 to move in the first direction or the second direction. In a specific embodiment, both the first driving member and the second driving member can be driving motors. To improve the stability of the manipulator 320 when moving in the first direction and the second direction, mutually cooperating slide rails and sliders can be provided between the slide bar 340 and the frame 310, and between the mounting seat 321 and the slide bar 340; specifically, the frame 310 is provided with a first slide rail, the slide bar 340 is provided with a first slider and a second slide rail, the mounting seat 321 is provided with a second slider, the first slider is slidably connected to the first slide rail, and the second slider is slidably connected to the second slide rail. And, to prevent the gear from disengaging from the output end of the driving member, a top cover for preventing the gear from falling off can be provided at the output end of the driving member.

[0046] In a specific embodiment of the present invention, tungsten wires for lubrication are provided on the tooth surfaces of both the first rack and the second rack. In this embodiment, tungsten wires are used for lubrication between the gear and the rack, which can reduce the wear between the rack and the gear, extend the service life, and also reduce the use of lubricating oil and the difficulty of later maintenance. Specifically, during use, the tungsten wires are attached to the tooth surface of the rack. When the gear rolls over the tungsten wires, the tungsten wires can form a protective film on the tooth surface of the rack, thereby avoiding direct contact between the gear and the rack, reducing the wear between the rack and the gear, and extending the service life. In a specific embodiment, the gap between the gear and the rack is 30 ± 2 decimils.

[0047] In an embodiment of the present invention, a position sensor is provided on the frame 310, and the position sensor is used to detect the real-time position of the manipulator 320. In this embodiment, the position sensor is used to detect the real-time position of the manipulator 320; the controller can obtain the real-time position information of the manipulator 320 detected by the position sensor, and calculate the running speed of the manipulator 320 based on the position change of the manipulator 320 within a period of time, and then compare it with the running speed of the conveying platform 100 to confirm whether the conveying platform 100 and the manipulator 320 are running synchronously. In a specific embodiment, a linear encoder is also provided on the conveying platform 100 of the transport vehicle, and the controller can also obtain the output signal of the linear encoder and calculate the running speed of the conveying platform 100 based on the output signal of the linear encoder; by comparing the running speeds of the conveying platform 100 calculated based on the pulse encoder 420 and the linear encoder, the controller can confirm whether the running speed of the conveying platform 100 calculated by the pulse encoder 420 is accurate; moreover, when one of the encoders is damaged, the controller can still obtain the signal of the other encoder, calculate the running speed of the conveying platform 100, and control the running speed of the sliding rod 340 through the first driving member to make the manipulator 320 run synchronously with the vehicle on the conveying platform 100.

[0048] Please refer to Figure 2, in an embodiment of the present invention, two first limit switches are spaced apart on the frame 310, and two second limit switches are spaced apart on the sliding rod 340. Each first limit switch can abut against the sliding rod 340, and each second limit switch can abut against the mounting base 321; in this embodiment, the first limit switch is used to limit the sliding range of the sliding rod 340 to prevent the sliding rod 340 from sliding off the frame 310; the second limit switch is used to limit the sliding range of the manipulator 320 to prevent the manipulator 320 from sliding off the sliding rod 340. In another embodiment of the present invention, two first limit blocks 311 are spaced apart on the frame 310, and two second limit blocks 341 are spaced apart on the sliding rod 340. Each first limit block 311 can abut against the sliding rod 340, and each second limit block 341 can abut against the mounting base 321. The first limit block 311 is used to limit the sliding range of the sliding rod 340 to prevent the sliding rod 340 from sliding off the frame 310; the second limit block 341 is used to limit the sliding range of the manipulator 320 to prevent the manipulator 320 from sliding off the sliding rod 340. Correspondingly, during manufacturing, the limit switches and limit blocks can be installed according to actual requirements; it should be noted that during installation, the distance between the two limit blocks should be greater than the distance between the two limit switches, and the two limit switches are both located between the two limit blocks; that is to say, when both the limit switches and limit blocks are installed, the limit blocks should be used as the outermost hard limit.

[0049] Please refer to Figure 3 , in an embodiment of the present invention, the clamping assembly 323 includes a connecting block 3231, a bidirectional driving cylinder 3232, and two clamping jaws 3233 provided on the bidirectional driving cylinder 3232. The connecting block 3231 is connected to the robotic arm 322 through a connecting flange 3234; the bidirectional driving cylinder 3232 can drive the two clamping jaws 3233 to move towards each other to clamp the battery, and can drive the two clamping jaws 3233 to move away from each other to release the battery. The camera 330 is arranged on the connecting block 3231. In this embodiment, by driving the two clamping jaws 3233 to move towards each other or away from each other through the bidirectional driving cylinder 3232 to clamp or release the battery, the structure of the battery carrying device can be simplified and the manufacturing difficulty can be reduced. Specifically, the bidirectional driving cylinder 3232 can drive the two clamping jaws 3233 to move towards each other to clamp the battery; and the bidirectional driving cylinder 3232 can drive the two clamping jaws 3233 to move away from each other to release the battery. It should be noted that in this embodiment, the camera 330 is installed on the connecting block 3231, and during manufacturing, the camera 330 can be installed on other components such as the robotic arm 322, the sliding rod 340, or the frame 310 according to actual requirements (such as reducing the installation difficulty of the camera 330, avoiding structural interference, etc.).

[0050] Please refer to Figure 3, in a specific embodiment of the present invention, buffer pads 3235 are provided on the sides of the two clamping jaws 3233 facing each other. In this embodiment, by providing buffer pads 3235 on the sides of the two clamping jaws 3233 facing each other, buffering can be provided when the two clamping jaws 3233 clamp the battery, thereby reducing the possibility of damage to the battery when it is clamped. In a specific embodiment, the buffer pad 3235 can be a rubber pad, a sponge pad, etc.

[0051] Please refer to Figure 4 , in a specific embodiment of the present invention, the synchronization device 400 further includes a base 430, a fixing block 440, an elastic member 450, a connecting rod 460, and a mounting block 470. The mounting block 470 is rotatably provided on the base 430, the synchronization pulley 410 is rotatably provided at one end of the mounting block 470, and the fixing block 440 is provided on the base 430; the connecting rod 460 sequentially passes through the elastic member 450 and the fixing block 440 and is connected to the end of the mounting block 470 away from the synchronization pulley 410. The elastic member 450 drives the synchronization pulley 410 to abut against the conveying platform 100. In this embodiment, the elastic member 450 can drive the mounting block 470 to rotate, so that the synchronization pulley 410 always abuts against the conveying platform 100. Specifically, please refer to Figure 4 , the elastic member 450 can drive the mounting block 470 to rotate counterclockwise, so that the outer circumferential surface of the synchronization pulley 410 always abuts against the conveying platform 100.

[0052] Please refer to Figure 5, in a specific embodiment of the present invention, the battery carrying device further includes a safety protection device 500. The safety protection device 500 includes a sliding seat 510 and a scanner 520 slidably disposed on the sliding seat 510. The scanner 520 is used to detect whether there is an operator in the working area of the manipulator 320. The manipulator 320 has a low-speed operation state and a high-speed operation state. In this embodiment, the scanner 520 is used to detect whether there is an operator in the working area of the manipulator 320, and the controller can obtain the detection signal of the scanner 520, timely switch the operation state of the manipulator 320, ensure the safety of the operator, and realize the coexistence of humans and machines. Specifically, when the scanner 520 detects that there is an operator in the working area of the manipulator 320, the controller obtains the detection signal of the scanner 520 and switches the manipulator 320 to the low-speed operation state to reduce the operation speed of the manipulator 320, thereby better protecting the operator; when the scanner 520 detects that there is no operator in the working area of the manipulator 320, the controller obtains the detection signal of the scanner 520 and switches the manipulator 320 to the high-speed operation state to increase the operation speed of the manipulator 320 and improve the operation efficiency. In this embodiment, the sliding of the scanner 520 is driven by a third driving member, and the controller can control the running speed of the scanner 520 through the third driving member, so that the scanner 520 runs synchronously with the manipulator 320, and further enables the scanner 520 to always detect whether there is an operator in the working area of the manipulator 320; wherein, the third driving member can be a driving motor.

[0053] Please refer to Figure 6 , Figure 6 is a schematic flow chart of the control method in an embodiment provided by the present invention. The present invention also proposes a control method, which is applied to the above-mentioned battery carrying device. The control method includes:

[0054] S100. Control the first driving member and the second driving member to run, so that the manipulator 320 moves from a preset position above the conveying slide 200, and control the manipulator 320 to clamp the battery according to the real-time image information of the battery obtained by the shooting camera 330;

[0055] S200. Wait for the vehicle to be transported to the battery carrying device, control the first driving member and the second driving member to run according to the real-time image information of the vehicle obtained by the shooting camera 330, so that the manipulator 320 moves from above the conveying slide 200 to the vehicle, and control the manipulator 320 to carry the battery to the battery pack box of the vehicle;

[0056] S300. Wait for the battery to be carried, and control the first driving member and the second driving member to run, so that the manipulator 320 moves to the preset position.

[0057] Specifically, when the device is started or the controller receives a start instruction, the controller controls the manipulator 320 to move from a preset position above the conveying slide 200 through the first driving member and the second driving member, and controls the manipulator 320 to pick up the battery according to the real-time image information of the battery obtained by the camera 330; when the vehicle is conveyed to the battery loading device, the controller controls the manipulator 320 to move above the vehicle according to the real-time image information of the vehicle obtained by the camera 330, and controls the manipulator 320 to load the battery into the battery pack box of the vehicle; after the battery loading is completed, the controller controls the manipulator 320 to move to the preset position through the first driving member and the second driving member. It should be noted that the preset position refers to the position where the manipulator 320 is located when the device is started, and this preset position is a manually set position, which needs to satisfy that when the manipulator 320 is in the preset position, the manipulator 320 will not interfere with the conveyed vehicle and battery.

[0058] The above is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A battery-carrying device, characterized in that: include: A conveying platform, wherein the conveying platform is used to convey vehicles; A conveying slide, which is arranged on one side of the conveying platform and is used to convey batteries; A carrying device, the carrying device comprises a frame, a manipulator, a camera, a slide bar slidably arranged on the frame along a first direction, and a first driving member driving the slide bar to slide, the manipulator comprises a mounting seat, a manipulator arm and a clamping assembly connected in sequence, the mounting seat is slidably arranged on the slide bar along a second direction, and the clamping assembly is used to clamp the battery; the camera is arranged on the clamping assembly and is used to obtain real-time image information of the battery or the vehicle; A synchronization device, the synchronization device is arranged below the conveying platform, the synchronization device comprises a synchronization wheel and a pulse encoder, the synchronization wheel abuts against the conveying platform, and the pulse encoder is coaxially connected with the synchronization wheel; A controller, wherein the controller is used to obtain the real-time image information and the output signal of the pulse encoder, and the controller can control the operation of the manipulator according to the real-time image information to clamp the battery and load the battery into the battery pack box of the vehicle; and the controller can also control the operating speed of the slide bar through the first drive member according to the output signal of the pulse encoder, so that the manipulator and the vehicle on the conveying platform can operate synchronously.

2. The battery-mounted device according to claim 1, wherein: The frame is provided with a first rack, the sliding rod is provided with a first gear and a second rack, the mounting seat is provided with a second gear and a second driving member, the first gear is meshed with the first rack, the second gear is meshed with the second rack, and the first gear is connected to the output end of the first driving member, and the second gear is connected to the output end of the second driving member.

3. The battery-mounted device according to claim 2, wherein: Tungsten wires for lubrication are provided on the tooth surfaces of both the first rack and the second rack.

4. The battery-mounted device according to claim 1, wherein: A position sensor is arranged on the frame, and the position sensor is used to detect the real-time position of the manipulator.

5. The battery-mounted device according to claim 1, wherein: The frame is provided with two first limit switches at intervals, the slide bar is provided with two second limit switches at intervals, each of the first limit switches can abut against the slide bar, and each of the second limit switches can abut against the mounting seat; and / or, The frame body is provided with two first limit blocks at intervals, and the slide bar is provided with two second limit blocks at intervals. Each of the first limit blocks can abut against the slide bar, and each of the second limit blocks can abut against the mounting seat.

6. The battery-mounted device according to claim 1, wherein: The clamping assembly includes a connecting block, a two-way driving cylinder and two clamping jaws arranged on the two-way driving cylinder. The connecting block is connected to the robotic arm through a connecting flange. The two-way driving cylinder can drive the two clamping jaws to move in directions approaching each other to clamp the battery, and can drive the two clamping jaws to move in directions away from each other to release the battery. The shooting camera is arranged on the connecting block.

7. The battery-mounted device according to claim 6, wherein: A buffer pad is arranged on the sides of the two clamping jaws facing each other.

8. The battery-mounted device according to claim 1, wherein: The synchronization device also includes a base, a fixed block, an elastic member, a connecting rod and a mounting block. The mounting block is rotatably arranged on the base, the synchronous wheel is rotatably arranged on one end of the mounting block, and the fixed block is arranged on the base; the connecting rod passes through the elastic member and the fixed block in sequence, and is connected to one end of the mounting block away from the synchronous wheel, and the elastic member drives the synchronous wheel to abut against the conveying platform.

9. The battery-mounted device according to any one of claims 1 to 8, characterized in that: The battery-carrying device further includes a safety device, the safety device including a slide and a scanner slidably disposed on the slide, the scanner being used to detect whether there is an operator in the working area of ​​the manipulator; the manipulator has a low-speed working state and a high-speed working state; When the scanner detects that there is an operator in the working area of ​​the manipulator, the controller obtains a detection signal from the scanner and switches the manipulator to the low-speed working state; When the scanner detects that there is no operator in the working area of ​​the robot, the controller obtains a detection signal from the scanner and switches the robot to the high-speed working state.

10. A control method, applied to the battery-mounted device according to any one of claims 1 to 9, characterized in that: The control method comprises: Controlling the first driving member and the second driving member to operate so that the manipulator moves from a preset position to above the conveying slide, and controlling the manipulator to clamp the battery according to the real-time image information of the battery acquired by the shooting camera; When the vehicle is transported to the battery loading device, the first driving member and the second driving member are controlled to operate according to the real-time image information of the vehicle acquired by the shooting camera, so that the manipulator moves from the top of the conveying slide to the vehicle, and controls the manipulator to load the battery into the battery pack box of the vehicle; After the battery loading is completed, the first driving member and the second driving member are controlled to operate so that the manipulator moves to a preset position.

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