Battery pack automatic tightening method and system, electronic equipment and storage medium

Abstract

The invention discloses an automatic tightening method and system for a battery pack, electronic equipment and a storage medium, the system comprises a tightening mechanism, a nail feeding mechanism, an upper shell pressurizing mechanism, an AGV (Automatic Guided Vehicle) skip positioning mechanism, a robot, an HMI (Human Machine Interface), a control cabinet and a PLC (Programmable Logic Controller) control system, and accurate conveying and tightening of the screws are ensured. And the upper shell pressurizing mechanism adopts a self-adaptive pressing design, so that the stability of the shell in the tightening process is ensured. The AGV skip positioning mechanism realizes accurate positioning of the battery pack transfer trolley. The PLC coordinates operation of all mechanism modules, records tightening parameters and uploads the tightening parameters to the MES, and data tracing and analysis are supported. Through cooperation of all the modules, full-process digitization and intelligentization of automatic control, automatic adjustment, data monitoring, data recording and data tracing in the whole process from screw conveying to tightening tracing are achieved, the production line operation efficiency and the product quality are improved, and the system is suitable for mixed-line production of multi-specification battery packs.

Description

Technical Field

[0001] The present invention belongs to the technical field of battery PACK production, and more specifically, relates to an automatic tightening method, system, electronic device and storage medium for a battery pack. Background Art

[0002] With the rapid development of new energy vehicles, the requirements for automation and intelligence in battery PACK production lines are getting higher and higher. The traditional manual tightening method is not only inefficient but also difficult to ensure the consistency of tightening quality. In recent years, automatic tightening technology has been gradually applied to the production of battery modules. For example, in the patent document with the application number CN202311170028.5, this invention patent discloses an automatic tightening method, system, device and medium for the screws of a battery module. The method includes: Step S1, the PLC controls the AGV cart to transplant the PACK box loaded with the battery module to the tightening station based on the conveying instruction sent by the PC; Step S2, after the PLC receives the in-place signal of the AGV cart, it positions and lifts the AGV cart through the lifting and positioning mechanism; Step S3, the PLC performs visual positioning on the screws on the battery module through the CCD camera to obtain the offset data of the screws; Step S4, the PLC controls the six-axis robot to clamp the servo tightening gun to automatically tighten the screws on the battery module based on the offset data; Step S5, the PLC controls the six-axis robot to move the marking cylinder to mark the screws with tightening failures based on the tightening state feedback by the servo tightening gun, improving the efficiency of tightening the screws of the battery module. However, this invention mainly aims at a single specification of battery module, cannot meet the requirements of mixed-flow production of multiple vehicle models, and does not have the functions of data monitoring, recording and traceability of tightening parameters. The data acquisition system has a low integration degree with the factory MES, affecting the optimization of the production process and quality control. Summary of the Invention

[0003] Aiming at the above defects or improvement requirements of the prior art, the present invention provides an automatic tightening system and method for a battery pack, which realizes the full-process automation from battery pack positioning, screw feeding to screw tightening through the efficient cooperation of each component. Each component has clear functions and cooperates with each other, significantly improving the efficiency and quality of battery pack assembly, and at the same time supporting the mixed-line production of multiple specifications of battery packs and the whole-process data traceability.

[0004] To achieve the object of the present invention, according to the first aspect of the present invention, an automatic tightening system for a battery pack is provided, including:

[0005] The tightening mechanism is used to complete the automatic tightening operation of the screws of the upper and lower shells of the battery pack, and includes a tightening gun, a vision system, a servo NC device and a tightening lifting device;

[0006] The screw feeding mechanism is used to realize the automatic classification of screws and convey the required specification of screws to the end of the tightening gun;

[0007] The upper shell pressing mechanism is used to press and fix the upper shell of the battery pack from top to bottom to prevent the shell from displacing during the tightening process, and it includes four groups of pressing devices;

[0008] The AGV material vehicle positioning mechanism realizes the precise positioning and fixing of the battery pack transfer vehicle, and it includes a guiding device, a material vehicle positioning and clamping device, a pin cylinder and a universal ball head;

[0009] The robot is used to complete the precise positioning, path correction and high-precision tightening of the screws;

[0010] The PLC control system is used to coordinate the operation of each mechanism, store a variety of tightening parameters and realize data recording and uploading;

[0011] The HMI is used for the operator to interact with the system, display the tightening parameters, monitoring status and alarm information;

[0012] The control cabinet includes a robot control cabinet, a tightening shaft control cabinet, a vision control cabinet and a regional control cabinet, and is integrated and connected with the PLC control system.

[0013] Furthermore, the tightening mechanism is carried at the end of the robot. The vision system of the tightening mechanism takes pictures of the screw holes and extracts the center coordinates of the screw holes through the edge detection algorithm, calculates the deviations in the X, Y, and Z directions, and feeds them back to the robot to correct the pose of the tightening gun in real time. The servo NC device of the tightening mechanism adjusts the horizontal spacing of the tightening gun according to the battery pack specifications.

[0014] Furthermore, each layer of the multi-layer vibrating disk in the screw feeding mechanism corresponds to different specifications of screws. The PLC control system identifies and releases the required screws, and the air flow transports the screws to the end of the tightening gun.

[0015] Furthermore, each group of pressing devices of the upper shell pressing mechanism includes a cylinder, a POM pressing block, an adjustable pressure spring and a pressure sensor. The adjustable pressure spring adaptively adjusts the pressing force according to the thickness of the battery pack, and the pressure sensor monitors and adjusts the air pressure of the cylinder in real time.

[0016] Furthermore, the pin cylinder in the AGV material vehicle positioning mechanism inserts the telescopic pin into the hole position at the bottom of the material vehicle to complete the precise positioning of ±0.5mm. The universal ball head bears the radial pressure of the material vehicle to prevent positioning deviation.

[0017] Furthermore, the PLC control system stores a variety of tightening parameters, and each parameter corresponds to a battery pack of a certain specification. During the tightening process, the screw number, torque, angle and tightening result are recorded in real time, and the data is uploaded through the MES system.

[0018] According to another aspect of the present invention, the present invention provides a method for automatically tightening a battery pack, including the following specific steps:

[0019] S100: The AGV material vehicle loads the battery pack, and the AGV material vehicle positioning mechanism guides the battery pack to be transported in place and locks the battery pack;

[0020] S200: The PLC control system sends an instruction, and the cylinders of the four pressing devices of the upper housing pressurizing mechanism drive the POM pressing block to press down synchronously. The adjustable pressure spring automatically adjusts the compression amount according to the preset pressure; the pressure sensor feeds back data in real time, and the PLC control system adjusts the air pressure of the cylinder to the set value to fix the battery pack from top to bottom;

[0021] S300: The PLC control system sends an instruction to start the robot to reach the visual photography position. The visual system takes a photo and calculates the deviation values in the X, Y, and Z directions. The robot corrects the pose of the tightening gun in real time according to the deviation data;

[0022] S400: The PLC control system issues an instruction, and the robot sends a signal to nail to the nail feeder system. The nail feeder automatically sends the screws of the required specification to the gun head of the robot tightening gun. The robot starts high-precision tightening. After automatically tightening a set of screws, the robot repeats the process of asking for nails until two robots tighten all the screws;

[0023] S500: The PLC control system and the HMI record the tightening parameters. At the same time, the HMI displays the tightening state of the screws. After the data recording is completed, the PLC control system is connected to the MES, and all screw parameters are uploaded to the MES system to generate a record, completing the automatic tightening of the battery pack;

[0024] S600: The upper housing pressurizing mechanism and the AGV material vehicle positioning mechanism are loosened, the AGV material vehicle leaves the system, and the automatic tightening ends.

[0025] Further, in the step S500, the tightening parameters include screw number, torque, angle, and tightening result. For the screw tightening state, the OK state is displayed by a green light, and the NG state is displayed by a yellow light.

[0026] As yet another aspect of the present invention, the present invention further provides an electronic device, including:

[0027] At least one memory for storing a computer program;

[0028] At least one processor for implementing the steps of the above-mentioned method for automatically tightening a battery pack when executing the computer program.

[0029] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned automatic tightening method for a battery pack are implemented.

[0030] Generally speaking, compared with the prior art by the above technical solutions conceived by the present invention, the following beneficial effects can be achieved:

[0031] 1. The automatic tightening mechanism and method for a battery pack of the present invention uses a PLC as the core controller, integrates a robot, a nail feeder, a vision system, an HMI interface, etc. The nail feeder system supplies nails quickly and accurately, the robot performs precise tightening operations, the HMI displays tightening parameters (torque, angle, screw number) and alarm status in real time, and the industrial computer stores the whole process data and uploads it to the MES system, realizing full-process automatic control, automatic adjustment, data monitoring, data recording, and data traceability from screw conveying to tightening, and the full-process digitization of data traceability, improving the overall intelligent level of the production line and being applicable to large-scale automated production.

[0032] 2. The automatic tightening mechanism and method for a battery pack of the present invention adopts an AGV positioning system combined with a vision system. The vision system takes pictures of the screw holes, extracts the center coordinates of the screw holes through an edge detection algorithm, calculates the deviation values in the X, Y, and Z directions, and transmits the deviation data to the robot controller through a bus to automatically correct the pose of the tightening gun in real time, ensuring that each screw can accurately align with the hole and vertically insert into the screw hole, realizing high-precision positioning and deviation correction, improving the accuracy and reliability of screw tightening, reducing the tightening failure rate caused by positioning deviation, and improving production quality.

[0033] 3. The automatic tightening mechanism and method for a battery pack of the present invention preset multiple groups of tightening parameters (screw spacing, tightening torque, etc.) corresponding to different specifications of battery packs, and cooperate with a servo NC device to dynamically adjust the horizontal spacing of the tightening gun, solving the problems that a single production line cannot be compatible with multiple specifications of battery packs and the switching takes a long time. By pressing a button on the HMI to switch parameters, the system quickly completes parameter loading and equipment adjustment, adapts to the mixed-line production of battery packs with different battery life specifications, reduces the investment in special tooling, improves the flexibility and adaptability of the production line, and can meet the production requirements of different battery life mileage and vehicle models.

[0034] 4. The automatic tightening mechanism and method for a battery pack of the present invention monitors tightening parameters (such as torque, angle, screw number, tightening result, etc.) through devices such as a PLC, a touch screen, and an industrial computer, and records them in real time. Connecting with the MES system, uploading all screw parameters, generating a detailed record, supporting data traceability and analysis, solving the problems of scattered quality data and difficult traceability, supporting the full life cycle management from tightening parameters to process optimization, improving the first-pass tightening qualification rate, and providing data support for process iteration, forming a quality closed-loop of "production - monitoring - optimization". Brief Description of the Drawings

[0035] Figure 1 It is a schematic plan layout diagram of an automatic tightening system for a battery pack according to an embodiment of the present invention;

[0036] Figure 2 It is a schematic three-dimensional structure diagram of an automatic tightening system for a battery pack according to an embodiment of the present invention;

[0037] Figure 3 It is a schematic structural diagram of an upper shell pressurizing mechanism of an automatic tightening system for a battery pack according to an embodiment of the present invention;

[0038] Figure 4 It is a schematic structural diagram of an AGV material vehicle positioning mechanism of an automatic tightening system for a battery pack according to an embodiment of the present invention;

[0039] Figure 5 It is a schematic structural diagram of a tightening mechanism of an automatic tightening system for a battery pack according to an embodiment of the present invention;

[0040] Figure 6 It is a topological diagram of tightening parameters of an automatic tightening system for a battery pack according to an embodiment of the present invention;

[0041] Figure 7 It is a PLC control flow chart of an automatic tightening system for a battery pack according to an embodiment of the present invention;

[0042] Figure 8 It is a flow chart of a vision system of an automatic tightening system for a battery pack according to an embodiment of the present invention;

[0043] Figure 9 It is a flow chart of a nail feeding mechanism of an automatic tightening system for a battery pack according to an embodiment of the present invention;

[0044] Figure 10 It is a flow chart of a method for automatically tightening a battery pack according to an embodiment of the present invention;

[0045] Figure 11 It is a schematic structural diagram of an electronic device of a method for automatically tightening a battery pack according to an embodiment of the present invention.

[0046] In all the drawings, the same reference numerals denote the same technical features, specifically: 1 - tightening mechanism, 11 - tightening gun, 12 - vision system, 13 - servo NC device, 14 - tightening lifting device, 2 - nail feeding mechanism, 3 - upper shell pressurizing mechanism, 31 - pressing device, 4 - AGV material vehicle positioning mechanism, 41 - guiding device, 42 - material vehicle positioning and clamping device, 43 - pin cylinder, 44 - universal ball head, 5 - robot, 6 - HMI, 7 - control cabinet. Detailed Embodiments

[0047] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0048] It should be noted that the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions conflicts with each other 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.

[0049] In the present invention, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "comprising..." do not exclude the presence of additional identical elements in the process, method, article or device comprising the said elements.

[0050] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0051] Embodiment 1

[0052] The present invention provides an automatic tightening system for a battery pack, as Figure 1 and Figure 2 shown, which are the plan layout diagram and the three-dimensional layout diagram of the automatic tightening system for the battery pack according to the embodiment of the present invention, and includes a tightening mechanism 1, a nail feeding mechanism 2, an upper housing pressurizing mechanism 3, an AGV cart positioning mechanism 4, a robot 5, an HMI 6, a control cabinet 7 and a PLC control system. Among them,

[0053] The tightening mechanism 1 is used to complete the automatic tightening of the screws of the upper and lower housings of the battery pack to ensure that the torque and angle of the screws meet the process requirements, as Figure 5Schematic diagram of the tightening mechanism according to an embodiment of the present invention, which includes a tightening gun 11, a vision system 12, a servo NC device 13, and a tightening lifting device 14. Among them, the tightening gun is driven by a servo motor, integrated with a torque sensor and an encoder, with a torque control accuracy of ±2%, and supports stepless adjustment of the rotation speed from 0 to 3000 r / min; the vision system is used for high-precision positioning and deviation calculation of the screw holes, integrated with an industrial camera, a ring light source, and an image processing module. After taking the image of the screw hole, the center coordinates of the screw hole are extracted through an edge detection algorithm to calculate the deviations in the X, Y, and Z directions, and the deviations are fed back to the robot for deviation correction; the servo NC device adjusts the horizontal distance of the tightening gun through a servo motor to adapt to different specifications of battery packs.

[0054] A screw feeding mechanism 2, which is used to realize the automatic classification of screws and convey the required specification of screws to the end of the tightening gun. It adopts a multi-layer vibrating disk design, and each layer of vibrating disk corresponds to different specifications of screws. For example, when the robot sends a signal to require a specific specification of screws, the control system will identify the corresponding vibrating disk layer, the screw separator releases the screws, and the airflow conveys the screws to the end of the tightening gun 11 of the tightening mechanism 1. After the photoelectric sensor detects that the screws are in place, the tightening action is triggered. As Figure 9 Is the working flow chart of the screw feeding mechanism.

[0055] The upper shell pressing mechanism 3, which is used to press and fix the upper shell of the battery pack from top to bottom to prevent the displacement of the shell during the tightening process. As Figure 3 Schematic diagram of the upper shell pressing mechanism according to an embodiment of the present invention. It includes four groups of pressing devices, and each group of devices includes a cylinder, a POM pressing block, an adjustable pressure spring, and a pressure sensor; the PLC sends a signal to start the cylinder, the cylinder drives the POM pressing block to press down and contact the upper shell, the spring can adaptively adjust the pressing force according to the thickness of different battery packs, and the pressure sensor monitors and adjusts the air pressure of the cylinder in real time, so as to realize the adaptability to different battery packs.

[0056] The AGV car positioning mechanism 4 realizes the precise positioning and fixation of the battery pack transfer car to ensure that the battery pack accurately enters the tightening station. As Figure 4 Schematic diagram of the AGV car positioning mechanism according to an embodiment of the present invention, which includes: a guiding device 41, which guides the AGV car into the station; a car positioning and clamping device 42, with two groups of cylinders at the front and back. After the car arrives, the four cylinders at the front and back clamp both sides of the AGV car to achieve rough positioning; a pin cylinder 43, which inserts a telescopic pin into the hole at the bottom of the car to complete precise positioning (accuracy ±0.5 mm); a universal ball head 44, which bears the radial pressure of the car to prevent positioning deviation. After the AGV carrying the battery pack enters the station, the guiding device guides it to the preset position. After the PLC receives the in-place signal, it triggers the cylinders of the car positioning device to clamp, and then the pin cylinder inserts into the positioning hole. The universal ball head absorbs the radial force brought by the inertia of the AGV to ensure the positioning stability of the AGV car.

[0057] A robot 5 is used to complete the precise positioning, path correction, and high-precision tightening of screws. The system is configured with two robots, and a tightening mechanism is mounted at the end. The robot moves to the visual photography position, and the camera captures the image of the screw hole. The center coordinates of the screw hole are extracted through an edge detection algorithm, and the deviation values in the X, Y, and Z directions are calculated. The deviation data is transmitted to the robot controller through the bus to correct the pose of the tightening gun in real time, ensuring that the screw is vertically inserted into the screw hole. As Figure 8 It is the flowchart of the visual system for deviation correction.

[0058] A PLC control system is used to coordinate the operation of modules such as robots, tightening mechanisms, screw feeding mechanisms, and visual systems, and control the automated process of the entire system. Multiple tightening parameters (such as screw spacing, tightening torque, etc.) are stored internally, and each parameter corresponds to a battery pack of a specific specification. After receiving the signals from various sensors, the PLC controls the operation of the robot and the screw feeder according to the preset logic. As Figure 7 As shown, it is the flowchart of the PLC-controlled automatic tightening, which completes the control logic from screw feeding to tightening completion.

[0059] An HMI (touch screen) 6 is used for the operator to interact with the system, display tightening parameters, monitoring status, alarm information, etc., including a touch screen display, operation interface, etc. The operator can input and edit tightening parameters through the touch screen according to the process requirements to adapt to battery packs with different endurance specifications. During the tightening process, data such as torque and angle can be viewed in real time. The alarm information is distinguished by green and yellow lights according to the OK / NG status of the screw tightening.

[0060] The control cabinet 7 includes a robot control cabinet, a tightening axis control cabinet, a visual control cabinet, and a regional control cabinet, which are integrated and connected with the PLC to achieve precise control and monitoring of each device.

[0061] Embodiment 2

[0062] As Figure 10 shown, using the above system, an embodiment of the present invention provides a method for automatically tightening a battery pack, including the following specific steps:

[0063] S100: The AGV material vehicle loads the battery pack, and is guided and transported to the designated position and locked through the AGV material vehicle positioning mechanism.

[0064] Specifically, the AGV material vehicle loads the battery pack and is transported to the designated position under the guidance of the guiding device of the AGV material vehicle positioning mechanism. The PLC control system receives the AGV material vehicle in-place detection signal, confirms that the material vehicle has reached the preset position, and the front and rear groups of cylinders of the material vehicle positioning device clamp both sides of the AGV material vehicle to achieve rough positioning. The telescopic pin of the pin cylinder is inserted into the hole at the bottom of the material vehicle to complete fine positioning (accuracy ±0.5 mm). The universal ball head bears the radial pressure of the material vehicle to lock the AGV material vehicle.

[0065] S200: The upper shell pressing mechanism fixes the battery pack from top to bottom.

[0066] Specifically, the PLC control system sends instructions, and the cylinders of the four groups of clamping devices of the upper shell pressurizing mechanism synchronously drive the POM pressure block to press down; after the POM pressure block contacts the upper shell, the spring module automatically adjusts the compression amount according to the preset pressure; the pressure sensor feeds back data in real time, and the PLC control system adjusts the cylinder air pressure to the set value to fix the battery pack from top to bottom;

[0067] S300: After the PLC control system detects that the battery pack is clamped, it sends a command to start the robot to reach the visual photography position. The visual system takes a photo, extracts the center coordinates of the screw hole through the edge detection algorithm, and calculates the deviation values ​​in the X, Y, and Z directions. The robot corrects the position of the tightening gun in real time according to the deviation data to automatically compensate for the deviation.

[0068] S400: The PLC control system issues a command, and the robot sends a signal to the nail feeder system. The nail feeder automatically delivers the screws of the required specifications to the robot's tightening gun through the delivery pipe. After the gun head detects that the screw is in place, the robot starts to call up the tightening mechanism program parameters for high-precision tightening. The parameter adjustment is as follows: Figure 6 As shown, after automatically tightening a set of screws, the robot repeats the nailing process until the left and right robots tighten all the screws;

[0069] S500: The PLC control system and HMI record and display the tightening parameters, and the HMI displays the screw tightening status. After the data recording is completed, the PLC is connected to the MES, and all screw parameters are uploaded to the MES system to generate records for data traceability and analysis. At this point, the automatic tightening of the battery pack is completed.

[0070] The tightening parameters include screw number, torque, angle, tightening result, etc. The screw tightening status is displayed with a green light when it is OK, and with a yellow light when it is NG, which is convenient for operators to make intuitive judgments.

[0071] S600: The upper shell pressurizing mechanism and the AGV trolley positioning mechanism are released, the AGV trolley leaves the system, and the automatic tightening is completed.

[0072] Specifically, the cylinder drives the POM pressure block to lift up, releasing the upper shell, the pin cylinder retracts, releasing the precise positioning, and the front and rear sets of cylinders are released to release the AGV trolley.

[0073] According to the above examples, the present application also provides an electronic device, including: a memory, a processor, and a program or instruction stored in the memory and executable on the processor. When the processor executes the program or instruction, the data device of the present invention may further include a communication interface and a bus. Figure 11As shown in the figure, it is a schematic structural diagram of an electronic device provided by the present invention, including: at least one processor 100, at least one memory 101, a communication interface 102, and a bus 103.

[0074] Among them, the processor 100, the memory 101, and the communication interface 102 complete mutual communication through the bus 103. The communication interface 102 is used for information transmission between the data device and the database device; the memory 101 stores programs or instructions that can run on the processor 100. When the processor 100 executes the program or instructions, the steps of the above-mentioned automatic tightening method for a battery pack are implemented.

[0075] In a possible implementation manner, the memory 101 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function, etc.; the data storage area may store data created during use.

[0076] In addition, the memory 101 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device or other volatile solid-state storage devices.

[0077] The communication interface 102 may be an interface of a communication module for connecting to other devices or systems.

[0078] Of course, it should be noted that Figure 11 the structure shown does not constitute a limitation to the electronic device in the embodiments of the present application. In practical applications, the electronic device may include more or fewer components than Figure 11 those shown, or combine some components.

[0079] An embodiment of the present invention also provides a computer-readable storage medium according to the above-mentioned examples. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the automatic tightening method for a battery pack described in the above-mentioned embodiments are implemented.

[0080] The computer-readable storage medium may include: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0081] Those skilled in the art can easily understand that the above is only a preferred embodiment of the present invention and is not used to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A battery pack automatic tightening system, characterized in that: include: The tightening mechanism (1) is used to automatically tighten the screws of the upper and lower shells of the battery pack, and comprises a tightening gun (11), a visual system (12), a servo NC device (13) and a tightening lifting device (14); The nail feeding mechanism (2) is used to realize automatic classification of screws and to deliver screws of required specifications to the end of the tightening gun (11); The upper shell pressing mechanism (3) is used to press and fix the upper shell of the battery pack from top to bottom to prevent displacement of the shell during tightening, and comprises four sets of pressing devices (31); The AGV trolley positioning mechanism (4) realizes the precise positioning and fixation of the battery pack transfer trolley, and comprises a guide device (41), a trolley positioning clamping device (42), a pin cylinder (43) and a universal ball head (44); The robot (5) is used to complete the precise positioning, path correction and high-precision tightening of the screws; PLC control system, used to coordinate the operation of various mechanisms, store various tightening parameters and realize data recording and uploading; HMI (6), used for operator interaction with the system, displaying tightening parameters, monitoring status and alarm information; The control cabinet (7) comprises a robot control cabinet, a tightening axis control cabinet, a vision control cabinet and an area control cabinet, and is integrated and connected with the PLC control system.

2. The automatic tightening system for battery pack according to claim 1, characterized in that: The tightening mechanism (1) is mounted at the end of the robot (5). The screw hole image is captured by the visual system (12) of the tightening mechanism (1), and the center coordinates of the screw hole are extracted by an edge detection algorithm. The deviations in the X, Y, and Z directions are calculated and fed back to the robot (5) to correct the position of the tightening gun (11) in real time. The servo NC device (13) of the tightening mechanism (1) adjusts the horizontal spacing of the tightening guns according to the specifications of the battery pack.

3. The automatic tightening system for battery pack according to claim 2, characterized in that: Each layer of the multi-layer vibration disk in the nail feeding mechanism (2) corresponds to screws of different specifications. The required screws are identified and released through the PLC control system, and the airflow transports the screws to the end of the tightening gun (11).

4. The automatic tightening system for battery pack according to claim 3, characterized in that: Each group of clamping devices (31) of the upper shell pressurizing mechanism (3) comprises a cylinder, a POM pressure block, an adjustable pressure spring and a pressure sensor. The adjustable pressure spring adaptively adjusts the clamping force according to the thickness of the battery pack, and the pressure sensor monitors and adjusts the cylinder air pressure in real time.

5. The automatic tightening system for battery pack according to claim 4, characterized in that: The pin cylinder (43) in the AGV trolley positioning mechanism (4) is inserted into the hole at the bottom of the trolley through a telescopic pin to complete ±0.5mm precise positioning, and the universal ball head (44) bears the radial pressure of the trolley to prevent positioning deviation.

6. The automatic tightening system for battery pack according to claim 5, characterized in that: The PLC control system stores a variety of tightening parameters, each parameter corresponds to a specification of battery pack, and records the screw number, torque, angle and tightening result in real time during the tightening process, and uploads the data through the MES system.

7. A battery pack automatic tightening method according to any one of claims 1 to 6, characterized in that: The specific steps include: S100: The AGV cart loads the battery pack, and the AGV cart positioning mechanism guides the battery pack to be transported to the right position and locks the battery pack; S200: The PLC control system sends a command, and the cylinders of the four groups of clamping devices of the upper shell pressurizing mechanism synchronously drive the POM pressure block to press down. The adjustable pressure spring automatically adjusts the compression amount according to the preset pressure; the pressure sensor feeds back data in real time, and the PLC control system adjusts the cylinder air pressure to the set value to fix the battery pack from top to bottom; S300: The PLC control system sends a command to start the robot to reach the visual photography position. The visual system takes pictures and calculates the deviation values ​​in the X, Y, and Z directions. The robot corrects the position of the tightening gun in real time based on the deviation data. S400: The PLC control system issues a command, and the robot sends a nail request signal to the nail feeder system. The nail feeder automatically sends screws of the required specifications to the robot's tightening gun head. The robot starts high-precision tightening. After automatically tightening a set of screws, the robot repeats the nail request process until both robots tighten all the screws. S500: The PLC control system and HMI record the tightening parameters, and the HMI displays the screw tightening status. After the data recording is completed, the PLC control system is connected to the MES, and all screw parameters are uploaded to the MES system to generate records, and the battery pack is automatically tightened; S600: The PLC control system sends a command, the upper shell pressurizing mechanism and the AGV trolley positioning mechanism are released, the AGV trolley leaves the system, and the automatic tightening is completed.

8. The automatic tightening method for a battery pack according to claim 7, characterized in that: In the step S500, the tightening parameters include the screw number, torque, angle, tightening result, and the screw tightening status, the OK status is displayed with a green light, and the NG status is displayed with a yellow light.

9. An electronic device, characterized in that: include at least one memory for storing a computer program; At least one processor is used to implement the steps of the battery pack automatic tightening method described in claim 7 or 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the automatic tightening method of the battery pack described in claim 7 or 8 are implemented.

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