Automatic assembling equipment for battery module

Abstract

The invention belongs to the technical field of automatic assembly, and particularly discloses battery module automatic assembly equipment which comprises a PLC control box, a first transmission frame, a second transmission frame and a feeding mechanism. The first transmission frame is used for conveying a battery module to a designated position, the feeding mechanism is used for moving the battery module to the first platform, the second transmission frame is used for conveying a battery pack box to a designated position, and the moving mechanism is used for moving the battery module on the first platform into the battery pack box. Linkage of the first transmission frame and the second transmission frame is achieved through the feeding mechanism, control signals from different sensors are obtained through the PLC control box, control signals of the first transmission frame, the second transmission frame, the feeding mechanism and the moving mechanism are output, and accurate positioning in the battery module assembling process is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated assembly, and particularly relates to an automated assembly device for battery modules. Background Art

[0002] With the rapid development of the new energy storage and automotive markets, the importance of lithium-ion and sodium-ion batteries as power sources has become increasingly prominent, and the assembly quality of battery packs directly affects the safety and reliability of battery packs. In the production process of battery packs, module boxing is a key process with high precision requirements, and manual operation is difficult to meet the needs of high-efficiency production. Currently, for the positioning of module boxing, it mainly relies on high-precision sensors to cooperate with robotic arms to complete fine adjustment or relies on laser rangefinders to measure distances and combines preset algorithms to determine the final position. However, the existing module boxing positioning technology mainly relies on high-end sensing equipment, which is not only expensive but also has a high failure rate, and the maintenance cost is not low; in addition, due to the use of relatively complex structures and complex control logics, the requirements for the production environment are extremely harsh, and once a deviation occurs, it is often difficult to correct it in a timely manner, resulting in low production efficiency. Summary of the Invention

[0003] The purpose of the present invention is to overcome the defects existing in the prior art and provide an automated assembly device for battery modules.

[0004] The present invention provides an automated assembly device for battery modules, including a PLC control box, a first transmission frame, a second transmission frame, and a feeding mechanism, which are respectively connected to the PLC control box;

[0005] Brackets are arranged on both sides of the second transmission frame, a first platform is arranged in the middle of the two brackets, a second platform is arranged on the top of the two brackets, the first platform is higher than the second transmission frame, and a moving mechanism is arranged on the second platform;

[0006] The first transmission frame is used to convey battery modules to a specified position, the feeding mechanism is used to move the battery modules to the first platform, the second transmission frame is used to convey battery pack boxes to a specified position, and the moving mechanism is used to move the battery modules on the first platform into the battery pack boxes;

[0007] Based on a preset program logic, the PLC control box coordinates the action sequence and time of the first transmission frame, the second transmission frame, the feeding mechanism, and the moving mechanism according to external input signals or internal setting conditions, and the PLC control box controls the start and stop of the first transmission frame and the second transmission frame based on external input signals or internal setting conditions, and the PLC control box controls the positions of the feeding mechanism and the moving mechanism based on external input signals or internal setting conditions to complete the clamping or releasing of the battery modules.

[0008] A further solution is that a first sensor is provided at the bottom of the first transmission frame, a first positioning cylinder is provided at the bottom of the first transmission frame, a top plate is provided at the output end of the first positioning cylinder, and the first sensor and the first positioning cylinder are respectively connected to the PLC control box;

[0009] The first sensor is used to identify the position of the battery module on the first transmission frame, and send a first control signal to the PLC control box based on the relative distance between the battery module and the first sensor. The PLC control box outputs a first control instruction based on the first control signal to slow down or stop the first transmission frame, and to extend the first positioning cylinder within a set stroke and lift the battery module to a set height.

[0010] A further solution is that the feeding mechanism includes a gantry, a feeding screw is arranged on the top of the gantry, one end of the feeding screw is rotatably connected to one side of the gantry through a bearing, and the other end of the feeding screw passes through the other side of the gantry and is transmission-connected to the feeding motor;

[0011] A feeding slider is arranged on the feeding screw, the feeding slider is threadedly connected to the feeding screw, and a transmission clamp is arranged at the bottom of the feeding slider for clamping the battery module on the top plate and moving the battery module to the first platform;

[0012] A fourth sensor is disposed on the first platform, and the fourth sensor is connected to the PLC control box and is used to determine whether the battery module reaches a designated position of the first platform.

[0013] A further solution is that a second sensor and a third sensor are provided on the gantry, and the second sensor and the third sensor are respectively connected to the PLC control box;

[0014] The second sensor is used to limit the starting position of the loading slider so that the position of the transmission clamp is adapted to the position of the top plate; the third sensor is used to limit the end position of the loading slider so that the position of the transmission clamp is adapted to the first platform; the second sensor and the third sensor send a second control signal to the PLC control box based on the relative position of the loading slider, and the PLC control box outputs a second control instruction based on the second control signal to control the start, stop and forward and reverse rotation of the loading motor.

[0015] A further solution is that a fifth sensor is provided at the bottom of the second transmission frame, and two sets of second positioning cylinders are also provided at the bottom of the second transmission frame, and baffles are provided at the output ends of the two sets of the second positioning cylinders for fixing the battery pack box;

[0016] The fifth sensor is used to identify the position of the battery pack box on the second transmission rack, and send a third control signal to the PLC control box based on the relative distance between the battery pack box and the fifth sensor. The PLC control box outputs a third control instruction based on the third control signal to decelerate or stop the second transmission rack, and to extend the second positioning cylinder within a set stroke and fix the battery pack box.

[0017] A further solution is that the moving mechanism includes a longitudinal moving mechanism and a transverse moving mechanism;

[0018] The longitudinal moving mechanism is located at the bottom of the second platform, the transverse moving mechanism is located at the bottom of the longitudinal moving mechanism, and a positioning and assembly component is further provided at the bottom of the transverse moving mechanism;

[0019] The longitudinal moving mechanism is used to drive the transverse moving mechanism to slide in the first direction, and the transverse moving mechanism is used to drive the positioning and assembly component to slide in the second direction, where the first direction and the second direction are perpendicular;

[0020] A CCD vision detection module is further provided on the transverse moving mechanism, and the CCD vision detection module includes a first acquisition lens and a second acquisition lens;

[0021] The first acquisition lens is used to monitor in real time the positional relationship between the positioning and assembly component and the battery module located on the first platform; the second acquisition lens is used to monitor in real time the positional relationship between the battery module and the battery pack box;

[0022] The CCD vision detection module is connected to the PLC control box, and sends a fourth control signal to the PLC control box based on the positional relationship between the positioning and assembly component and the battery module located on the first platform. The PLC control box outputs a fourth control instruction based on the fourth control signal to drive the longitudinal moving mechanism and the transverse moving mechanism to make the positioning and assembly component reach the specified position; and sends a fifth control signal based on the positional relationship between the battery module and the battery pack box. The PLC control box outputs a fifth control instruction based on the fifth control signal to drive the longitudinal moving mechanism, the transverse moving mechanism and the positioning and assembly component to make the battery module reach the specified position inside the battery pack box.

[0023] A further solution is that the positioning and assembling component includes an inverted lifting cylinder. The base of the lifting cylinder is slidably connected to the lateral moving mechanism. The output end of the lifting cylinder is provided with a lifting plate. Clamping and adjusting mechanisms are arranged on both sides of the lifting plate. Fine adjustment guide rails are arranged on both sides of the bottom of the lifting plate. Clamping sliders are slidably arranged on the fine adjustment guide rails. Positioning jaws are arranged at the bottoms of the clamping sliders. The clamping and adjusting mechanism is used to drive the positioning jaws to slide along the fine adjustment guide rails to clamp the battery module.

[0024] A further solution is that the CCD vision detection module includes a model construction unit and a three-coordinate construction unit;

[0025] The model construction unit constructs a three-dimensional scene based on the image information of the first acquisition lens and the second acquisition lens, constructs a three-dimensional model based on the specifications of a single battery module, the parameters of the battery pack box, and the distances between the battery module and the battery pack box in the front, back, left, and right directions, constructs an assembled model based on the three-dimensional model, and places both the three-dimensional model and the assembled model in the three-dimensional scene to form a visual monitoring main body;

[0026] The three-coordinate construction unit constructs a three-dimensional coordinate system based on the three-dimensional model, designs the initial coordinates of the longitudinal moving mechanism, the lateral moving mechanism, and the lifting cylinder based on the three-dimensional scene, selects a first feature point on the battery module, and constructs a first vector of the first feature point based on the longitudinal moving mechanism, a second vector of the first feature point based on the lateral moving mechanism, and a third vector of the first feature point based on the lifting cylinder respectively based on the coordinates of the first feature point; the PLC control box outputs control signals based on the first vector, the second vector, and the third vector to drive the longitudinal moving mechanism, the lateral moving mechanism, and the lifting cylinder to reach the specified positions to realize the clamping of the battery module;

[0027] The three-coordinate construction unit is further used to determine a second feature point on the battery module of the assembled model, and constructs a reference vector based on the three-dimensional connection line between the second feature point and the first feature point; the PLC control box drives the longitudinal moving mechanism, the lateral moving mechanism, and the lifting cylinder based on the reference vector to realize the positioning of the battery module.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] The present invention realizes the linkage of the first transmission frame and the second transmission frame through the feeding mechanism, achieving the full-automatic assembly of the battery module. The PLC control box obtains the control signals from different sensors and outputs the control signals for the first transmission frame, the second transmission frame, the feeding mechanism, and the moving mechanism, realizing the precise positioning during the assembly process of the battery module. The entire device adopts a simple mechanical transmission mechanism combined with an intelligent control strategy, effectively overcoming many drawbacks existing in the traditional methods. By reasonably arranging the relative position relationships among various actuators, it realizes the efficient and stable module positioning function, greatly reducing the cost of module positioning in the box, simplifying the system structure, enhancing the usability and maintenance convenience of the system, ensuring high stability and continuity during the production process, and contributing to improving the production capacity utilization rate of the entire lithium battery production line.

[0030] The present invention senses the position of the battery module by setting a first sensor at a specified position on the first transmission frame. When the battery module reaches the specified position, the PLC control box controls the first transmission frame to decelerate or stop, and the first positioning cylinder jacks up the battery module to achieve the handover with the feeding structure, and finally moves the battery module to the specified position on the first platform, realizing the full-automatic flow construction and improving the assembly progress of the battery module. When the battery module reaches the first platform, the PLC control box controls the longitudinal moving mechanism, the transverse moving mechanism, and the positioning and assembling component to move and clamp the battery module on the first platform, and accurately determines the moving strokes of the respective moving components through the CCD vision detection module to ensure that the battery module reaches the specified position of the battery pack box, realizing the precise assembly.

[0031] When the PLC control box outputs the instructions for controlling the longitudinal moving mechanism, the transverse moving mechanism, and the lifting cylinder, it constructs a visual monitoring body through the CCD vision detection module to real-time monitor the position states of the longitudinal moving mechanism, the transverse moving mechanism, and the lifting cylinder, and determines the driving strokes and paths of the longitudinal moving mechanism, the transverse moving mechanism, and the lifting cylinder through the three-dimensional coordinate system constructed by the CCD vision detection module, avoiding position deviations during the assembly process and improving the safety and stability of the battery pack. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The following drawings only schematically illustrate and explain the present invention and are not used to limit the scope of the present invention, where:

[0033] Figure 1 : Front view of the connection structure of the present invention;

[0034] Figure 2 : Side view of the connection structure of the present invention;

[0035] Figure 3 : Principle block diagram of the PLC control box;

[0036] Figure 4 : Block diagram of the control principle of the CCD vision detection module;

[0037] In the figure: 1. First transmission frame; 2. First positioning cylinder; 3. Top plate; 4. Transmission gripper; 5. Feeding slider; 6. Feeding lead screw; 7. Gantry; 8. Feeding motor; 9. Second transmission frame; 10. Second positioning cylinder; 11. Battery pack box; 12. Bracket; 13. First platform; 14. Longitudinal movement mechanism; 15. Transverse movement mechanism; 16. Lifting cylinder; 17. Lifting plate; 18. Fine-tuning guide rail; 19. Clamping slider; 20. Clamping adjustment mechanism; 21. Positioning gripper; 22. Second platform; 23. PLC control box; 24. Control panel; 25. CCD vision detection module; 26. First sensor; 27. Second sensor; 28. Third sensor; 29. Fourth sensor; 30. Fifth sensor; 31. First acquisition lens; 32. Second acquisition lens; 33. Model construction unit; 34. Three-coordinate construction unit. Specific implementation manner

[0038] In order to make the purpose, technical solution, design method and advantages of the present invention clearer, the present invention will be further described in detail below through specific embodiments with reference to the accompanying drawings. 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.

[0039] As Figure 1 and Figure 2 shown, the present invention provides an automatic battery module assembly device, including a PLC control box 23 and a control panel 24, a first transmission frame 1, a second transmission frame 9, and a feeding mechanism respectively connected to the PLC control box 23; wherein, brackets 12 are arranged on both sides of the second transmission frame 9, a first platform 13 is arranged in the middle of the two brackets 12, a second platform 22 is arranged on the top of the two brackets 12, the first platform 13 is higher than the second transmission frame 9, a moving mechanism is arranged on the second platform 22, and the control panel 24 is arranged on the top of the second platform 22;

[0040] The first transfer rack 1 is used to convey the battery module to a specified position, the loading mechanism is used to move the battery module to the first platform 13, the second transfer rack 9 is used to convey the battery pack box 11 to a specified position, and the moving mechanism is used to move the battery module on the first platform 13 into the battery pack box 11; The control panel 24 is provided with a start-stop switch and an operation screen. The start-stop switch is used to control the power on and off of the assembly equipment, and the operation screen is used to input the parameters of the battery module and the battery pack box; Based on the preset program logic, the PLC control box 23 coordinates the action sequence and time of the first transfer rack 1, the second transfer rack 9, the loading mechanism, and the moving mechanism according to external input signals or internal set conditions, and controls the start and stop of the first transfer rack 1 and the second transfer rack 9, and controls the positions of the loading mechanism and the moving mechanism to complete the clamping or releasing of the battery module.

[0041] A first sensor 26 is provided at the bottom of the first transfer rack 1, and a first positioning cylinder 2 is provided at the bottom of the first transfer rack 1. A top plate 3 is provided at the output end of the first positioning cylinder 2. The first sensor 26 and the first positioning cylinder 2 are respectively connected to the PLC control box 23; The installation position of the first sensor 26 can be determined according to the loading mechanism to ensure that when the battery module reaches the position of the first sensor 26, the loading mechanism can successfully grab the battery module; In this embodiment, the first sensor 26 is used to identify the position of the battery module on the first transfer rack 1, and sends a first control signal to the PLC control box 23 based on the relative distance between the battery module and the first sensor 26. The PLC control box 23 outputs a first control instruction based on the first control signal to make the first transfer rack 1 decelerate or stop, and make the first positioning cylinder 2 extend within a set stroke and lift the battery module to a set height.

[0042] In this embodiment, the loading mechanism includes a gantry 7. A loading lead screw 6 is provided at the top of the gantry 7. One end of the loading lead screw 6 is rotatably connected to one side of the gantry 7 through a bearing, and the other end of the loading lead screw 6 penetrates through the other side of the gantry 7 and is in transmission connection with a loading motor 8. A loading slider 5 is arranged on the loading lead screw 6. The loading slider 5 is threadedly connected to the loading lead screw 6. A transmission gripper 4 is arranged at the bottom of the loading slider 5 for gripping the battery module on the top plate 3 and moving the battery module to the first platform 13. A fourth inductor 29 is arranged on the first platform 13. The fourth inductor 29 is connected to the PLC control box 23 and is used to judge whether the battery module reaches the designated position on the first platform 13. A second inductor 27 and a third inductor 28 are arranged on the gantry 7. The second inductor 27 and the third inductor 28 are respectively connected to the PLC control box 23. Among them, when arranging the second inductor 27 and the third inductor 28, the position of the second inductor 27 is adapted to the first transmission rack 1 to ensure that when the transmission gripper 4 moves to the position of the second inductor 27, the battery module can be grabbed. The position of the third inductor 28 should be adapted to the first platform 13 to ensure that when the transmission gripper 4 moves to the position of the third inductor 28, the battery module can be smoothly placed at the designated position on the first platform 13. It should be noted that when the first positioning cylinder 2 extends within the set stroke and jacks up the battery module to the set height, it should be the same as the height of the first platform 13. In the above, the second inductor 27 is used to define the starting position of the loading slider 5 so that the position of the transmission gripper 4 is adapted to the position of the top plate 3. The third inductor 28 is used to define the end position of the loading slider 5 so that the position of the transmission gripper 4 is adapted to the first platform 13. The second inductor 27 and the third inductor 28 send a second control signal to the PLC control box 23 based on the relative position of the loading slider 5. The PLC control box 23 outputs a second control instruction based on the second control signal to control the start, stop, forward and reverse rotation of the loading motor 8.

[0043] In order to ensure the accurate positioning of the battery pack box 11, a fifth inductor 30 is provided at the bottom of the second transmission frame 9. Two groups of second positioning cylinders 10 are also provided at the bottom of the second transmission frame 9. A baffle is provided at the output end of the two groups of second positioning cylinders 10 for fixing the battery pack box 11. When setting the fifth inductor 30, the position of the fifth inductor 30 should be adapted to the position of the moving mechanism, so as to ensure that when the battery pack box 11 reaches the position of the fifth inductor 30, the moving mechanism can smoothly place the battery module inside the battery pack box 11. In this embodiment, the fifth inductor 30 is used to identify the position of the battery pack box 11 on the second transmission frame 9, and send a third control signal to the PLC control box 23 based on the relative distance between the battery pack box 11 and the fifth inductor 30. The PLC control box 23 outputs a third control instruction based on the third control signal to make the second transmission frame 9 decelerate or stop, and make the second positioning cylinder 10 extend and fix the battery pack box 11 within a set stroke. In this embodiment, the first inductor 26 to the fifth inductor 30 can all adopt proximity switches.

[0044] In the above, the moving mechanism includes a longitudinal moving mechanism 14 and a transverse moving mechanism 15. Among them, the longitudinal moving mechanism 14 is located at the bottom of the second platform 22, and the transverse moving mechanism 15 is located at the bottom of the longitudinal moving mechanism 14. A positioning and assembly component is also provided at the bottom of the transverse moving mechanism 15. The longitudinal moving mechanism 14 is used to drive the transverse moving mechanism 15 to slide in the first direction, and the transverse moving mechanism 15 is used to drive the positioning and assembly component to slide in the second direction. The first direction and the second direction are perpendicular. In this embodiment, the structures of the longitudinal moving mechanism 14 and the transverse moving mechanism 15 are the same, and both are composed of a motor and a lead screw. That is, the motor of the longitudinal moving mechanism 14 drives the lead screw to rotate, so that the transverse moving mechanism 15 moves along the lead screw of the longitudinal moving mechanism 14. After the motor of the transverse moving mechanism 15 drives the lead screw to rotate, the positioning and assembly component moves along the lead screw of the transverse moving mechanism 15. A CCD vision detection module 25 is also provided on the transverse moving mechanism 15, such as Figure 4As shown in the figure, the CCD vision detection module 25 includes a first acquisition lens 31 and a second acquisition lens 32. The first acquisition lens 31 is used to monitor in real time the positional relationship between the positioning and assembly component and the battery module located on the first platform 13. The second acquisition lens 32 is used to monitor in real time the positional relationship between the battery module and the battery pack box 11. The CCD vision detection module 25 is connected to the PLC control box 23, and sends a fourth control signal to the PLC control box 23 based on the positional relationship between the positioning and assembly component and the battery module located on the first platform 13. The PLC control box 23 outputs a fourth control instruction based on the fourth control signal to drive the longitudinal movement mechanism 14 and the lateral movement mechanism 15 so that the positioning and assembly component reaches the specified position. And based on the positional relationship between the battery module and the battery pack box 11, a fifth control signal is sent, and the PLC control box 23 outputs a fifth control instruction based on the fifth control signal to drive the longitudinal movement mechanism 14, the lateral movement mechanism 15 and the positioning and assembly component so that the battery module reaches the specified position inside the battery pack box 11.

[0045] In the above, the positioning and assembly component includes an inverted lifting cylinder 16. The base of the lifting cylinder 16 is slidably connected to the lateral movement mechanism 15. A lifting plate 17 is provided at the output end of the lifting cylinder 16. Clamping adjustment mechanisms 20 are provided on both sides of the lifting plate 17. Fine adjustment guide rails 18 are provided at both sides of the bottom of the lifting plate 17. Clamping sliders 19 are slidably arranged on the fine adjustment guide rails 18. A positioning jaw 21 is provided at the bottom of the clamping slider 19. The clamping adjustment mechanism 20 is used to drive the positioning jaw 21 to slide along the fine adjustment guide rail 18 to realize the clamping of the battery module. In this embodiment, the clamping adjustment mechanism 20 also adopts a motor screw structure. The motor drives the screw to rotate, and then drives the clamping slider 19 to slide on the fine adjustment guide rail 18 to realize the adjustment of the positioning jaw 21. In order to further improve the precise control of the clamping force of the positioning jaw 21, in this embodiment, a pressure sensor is also provided on the inner side surface of the positioning jaw 21 to detect the clamping force of the positioning jaw, so as to avoid damage to the battery module caused by too large clamping force while ensuring that the battery module is clamped. Furthermore, a flexible material such as rubber can also be provided on the inner side surface of the positioning jaw 21.

[0046] As Figure 4 shown, the CCD vision detection module 25 further includes a model construction unit 33 and a three-coordinate construction unit 34.

[0047] The model construction unit 33 constructs a three-dimensional scene based on the image information of the first acquisition lens 31 and the second acquisition lens 32, constructs a three-dimensional model based on the specifications of a single battery module, the parameters of the battery pack box 11, and the distances between the battery module and the battery pack box 11 in the front, back, left, and right directions, constructs an assembled model based on the three-dimensional model, and places both the three-dimensional model and the assembled model in the three-dimensional scene to form a visual monitoring entity;

[0048] The three-dimensional coordinate construction unit 34 constructs a three-dimensional coordinate system based on the three-dimensional model, designs the initial coordinates of the longitudinal movement mechanism 14, the transverse movement mechanism 15, and the lifting cylinder 16 based on the three-dimensional scene, selects a first feature point on the battery module, and constructs a first vector of the first feature point based on the longitudinal movement mechanism 14, a second vector of the first feature point based on the transverse movement mechanism 15, and a third vector of the first feature point based on the lifting cylinder 16 respectively based on the coordinates of the first feature point; the PLC control box 23 outputs a control signal based on the first vector, the second vector, and the third vector to drive the longitudinal movement mechanism 14, the transverse movement mechanism 15, and the lifting cylinder 16 to reach the specified positions to realize the clamping of the battery module; the three-dimensional coordinate construction unit 34 is further used to determine a second feature point on the battery module of the assembled model, and constructs a reference vector based on the three-dimensional connection line between the second feature point and the first feature point; the PLC control box 23 drives the longitudinal movement mechanism 14, the transverse movement mechanism 15, and the lifting cylinder 16 based on the reference vector to realize the positioning of the battery module.

[0049] When the present invention is assembled, it can be controlled in two parts, namely: battery pack shifting control and battery pack into-box control. When performing battery pack movement control, the start-stop switch of the control panel 24 is activated, and the first transmission frame 1 starts to drive the battery module to move. When the first sensor 26 detects that the battery module reaches the specified position, the PLC control box 23 controls the first transmission frame 1 to stop and controls the first positioning cylinder 2 to lift the battery module to the same height as the first platform 13. The feeding motor 8 drives the feeding lead screw 6 to rotate, so that the transmission gripper 4 moves to the second sensor 27 to complete the grasping of the battery module. The feeding motor 8 drives the feeding lead screw 6 to rotate again, so that the transmission gripper 4 moves to the third sensor 28 and places the battery module on the first platform 13. During this process, the second transmission frame 9 drives the battery pack box 11 to move. When the fifth sensor 30 detects that the battery pack box 11 reaches the specified position, the PLC control box 23 controls the second transmission frame 9 to stop and controls the second positioning cylinder 10 to fix the battery pack box 11. Thus, the battery pack shifting control is completed. When the battery module reaches the first platform 13, the fourth sensor 29 obtains the induction signal and sends it to the PLC control box 23. The CCD vision detection module 25 is activated and respectively acquires the positional relationship between the positioning and assembling components and the battery module located on the first platform 13 and the positional relationship between the battery module and the battery pack box 11 through two acquisition lenses. The model construction unit 33 constructs a three-dimensional scene based on the image information of the first acquisition lens 31 and the second acquisition lens 32, and constructs a three-dimensional model based on the specifications of a single battery module, the parameters of the battery pack box 11, and the distances between the battery module and the battery pack box 11 in the front, back, left, and right directions, and constructs an assembled model based on the three-dimensional model. The three-dimensional model and the assembled model are both placed in the three-dimensional scene to form a visual monitoring entity; the three-coordinate construction unit 34 constructs a three-dimensional coordinate system based on the three-dimensional model and designs the initial coordinates of the longitudinal movement mechanism 14, the transverse movement mechanism 15, and the lifting cylinder 16 based on the three-dimensional scene. A first feature point is selected on the battery module, and a first vector of the first feature point based on the longitudinal movement mechanism 14, a second vector of the first feature point based on the transverse movement mechanism 15, and a third vector of the first feature point based on the lifting cylinder 16 are respectively constructed based on the coordinates of the first feature point; the PLC control box 23 outputs a control signal based on the first vector, the second vector, and the third vector to drive the longitudinal movement mechanism 14, the transverse movement mechanism 15, and the lifting cylinder 16 to reach the specified position to realize the clamping of the battery module; specifically, after the PLC control box 23 obtains the vector information, according to the preset program logic, the vector information is converted into drive signals for controlling the longitudinal movement mechanism 14, the transverse movement mechanism 15, and the lifting cylinder 16.For example, the first vector contains the direction and distance information of the movement of the longitudinal movement mechanism 14. The PLC control box 23 analyzes it into the control instructions of the motor-screw combination, drives the motor of the longitudinal movement mechanism 14 to rotate, makes the screw drive the relevant components to move a corresponding distance in the longitudinal direction, and finally realizes the movement of the machine to a determined point. The analysis process of the PLC control box 23 is as follows: The PLC control box 23 receives the data information of the first vector, the second vector and the third vector from the three-coordinate construction unit 34 through the communication interface, and maps the received vector information to the actual physical coordinates of the longitudinal movement mechanism 14, the transverse movement mechanism 15 and the lifting cylinder 16. In this embodiment, the first vector corresponds to the longitudinal movement mechanism 14, the second vector corresponds to the transverse movement mechanism 15, and the third vector corresponds to the lifting cylinder 16. According to the positive or negative of the vector or the direction identifier, the movement direction of each movement mechanism is determined. According to the requirements of the assembly task and the performance of the equipment, a suitable movement speed is set for each movement mechanism. According to the distance information of the vector, the total displacement amount that each movement mechanism needs to move is calculated. The PLC control box 23 makes each mechanism accurately move to the specified position by controlling the pulse number or running time of the motor. The three-coordinate construction unit 34 is also used to determine the second feature point on the battery module of the assembled model, and construct a reference vector based on the three-dimensional connection line between the second feature point and the first feature point; the PLC control box 23 drives the longitudinal movement mechanism 14, the transverse movement mechanism 15 and the lifting cylinder 16 based on the reference vector to realize the precise positioning of the battery module. Among them, the three vectors are constructed in the same coordinate system. In this three-dimensional coordinate system, when vector conversion is required to control the movement of the movement mechanism, the coordinate system provides a unified reference standard for the conversion. In this embodiment, when clamping the battery module, the coordinate information of the three vectors is integrated and calculated in the same coordinate system, and the PLC control box 23 determines the movement direction and distance of each movement mechanism according to these coordinate differences. After determining the second feature point on the battery module of the assembled model, constructing a reference vector based on the three-dimensional connection line between the second feature point and the first feature point is also calculated in the unified coordinate system, and then drives the longitudinal movement mechanism 14, the transverse movement mechanism 15 and the lifting cylinder 16 to realize the positioning of the battery module, ensuring the accuracy and coordination of the movement of the movement mechanism during the entire assembly process.

[0050] The embodiments of the present invention have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, the actual application or the improvement of the technology in the market, or to enable other ordinary skill in the art in the technical field to understand the disclosed embodiments.

Claims

1. An automated assembly device for a battery module, characterized in that, It includes a PLC control box (23), a first transmission rack (1), a second transmission rack (9), and a feeding mechanism, which are respectively connected to the PLC control box (23). On both sides of the second transmission rack (9), there are brackets (12). In the middle of the two brackets (12), there is a first platform (13). At the top of the two brackets (12), there is a second platform (22). The first platform (13) is higher than the second transmission rack (9). A moving mechanism is arranged on the second platform (22). The first transmission rack (1) is used to convey the battery module to a specified position. The feeding mechanism is used to move the battery module to the first platform (13). The second transmission rack (9) is used to convey the battery pack box (11) to a specified position. The moving mechanism is used to move the battery module on the first platform (13) into the battery pack box (11). Based on a preset program logic, according to external input signals or internal setting conditions, the PLC control box (23) coordinates the action sequence and time of the first transmission rack (1), the second transmission rack (9), the feeding mechanism, and the moving mechanism. And the PLC control box (23) controls the start and stop of the first transmission rack (1) and the second transmission rack (9) based on external input signals or internal setting conditions. Also, the PLC control box (23) controls the positions of the feeding mechanism and the moving mechanism based on external input signals or internal setting conditions to complete the clamping or releasing of the battery module.

2. The automated assembly device for a battery module according to claim 1, wherein, At the bottom of the first transmission rack (1), there is a first sensor (26). At the bottom of the first transmission rack (1), there is a first positioning cylinder (2). The output end of the first positioning cylinder (2) is provided with a top plate (3). The first sensor (26) and the first positioning cylinder (2) are respectively connected to the PLC control box (23). The first sensor (26) is used to identify the position of the battery module on the first transmission rack (1), and send a first control signal to the PLC control box (23) based on the relative distance between the battery module and the first sensor (26). The PLC control box (23) outputs a first control instruction based on the first control signal to make the first transmission rack (1) decelerate or stop, and make the first positioning cylinder (2) extend within a set stroke and lift the battery module to a set height.

3. An automated assembly device for a battery module according to claim 2, wherein, The feeding mechanism includes a gantry (7). At the top of the gantry (7), there is a feeding lead screw (6). One end of the feeding lead screw (6) is rotatably connected to one side of the gantry (7) through a bearing. The other end of the feeding lead screw (6) penetrates through the other side of the gantry (7) and is in transmission connection with a feeding motor (8). On the feeding lead screw (6), there is a feeding slider (5). The feeding slider (5) is threadedly connected to the feeding lead screw (6). At the bottom of the feeding slider (5), there is a transmission gripper (4), which is used to grip the battery module on the top plate (3) and move the battery module to the first platform (13). A fourth sensor (29) is provided on the first platform (13), and the fourth sensor (29) is connected to the PLC control box (23) for determining whether the battery module reaches a specified position on the first platform (13).

4. The automated assembly device for a battery module according to claim 3, wherein, A second sensor (27) and a third sensor (28) are provided on the gantry (7), and the second sensor (27) and the third sensor (28) are respectively connected to the PLC control box (23); The second sensor (27) is used to define the starting position of the loading slider (5) so that the position of the transmission gripper (4) is adapted to the position of the top plate (3); the third sensor (28) is used to define the end position of the loading slider (5) so that the position of the transmission gripper (4) is adapted to the first platform (13); the second sensor (27) and the third sensor (28) send a second control signal to the PLC control box (23) based on the relative position of the loading slider (5), and the PLC control box (23) outputs a second control instruction based on the second control signal to control the start, stop, forward and reverse rotation of the loading motor (8).

5. An automated battery module assembly device according to claim 1, characterized in that, A fifth sensor (30) is provided at the bottom of the second transmission frame (9), and two groups of second positioning cylinders (10) are also provided at the bottom of the second transmission frame (9). The output ends of the two groups of second positioning cylinders (10) are provided with baffles for fixing the battery pack box (11); The fifth sensor (30) is used to identify the position of the battery pack box (11) on the second transmission frame (9), and sends a third control signal to the PLC control box (23) based on the relative distance between the battery pack box (11) and the fifth sensor (30). The PLC control box (23) outputs a third control instruction based on the third control signal to decelerate or stop the second transmission frame (9), and to extend the second positioning cylinder (10) within a set stroke and fix the battery pack box (11).

6. The automated assembly equipment for a battery module according to claim 5, characterized in that, The moving mechanism includes a longitudinal moving mechanism (14) and a transverse moving mechanism (15); The longitudinal moving mechanism (14) is located at the bottom of the second platform (22), the transverse moving mechanism (15) is located at the bottom of the longitudinal moving mechanism (14), and a positioning and assembling component is further provided at the bottom of the transverse moving mechanism (15); The longitudinal moving mechanism (14) is used to drive the transverse moving mechanism (15) to slide in the first direction, and the transverse moving mechanism (15) is used to drive the positioning and assembling component to slide in the second direction, and the first direction and the second direction are perpendicular; A CCD vision detection module (25) is further provided on the transverse moving mechanism (15), and the CCD vision detection module (25) includes a first acquisition lens (31) and a second acquisition lens (32); The first acquisition lens (31) is used to monitor in real time the positional relationship between the positioning and assembly component and the battery module located on the first platform (13); the second acquisition lens (32) is used to monitor in real time the positional relationship between the battery module and the battery pack box (11). The CCD vision detection module (25) is connected to the PLC control box (23), and sends a fourth control signal to the PLC control box (23) based on the positional relationship between the positioning and assembly component and the battery module located on the first platform (13). The PLC control box (23) outputs a fourth control instruction based on the fourth control signal to drive the longitudinal movement mechanism (14) and the lateral movement mechanism (15) so that the positioning and assembly component reaches the specified position; and sends a fifth control signal based on the positional relationship between the battery module and the battery pack box (11). The PLC control box (23) outputs a fifth control instruction based on the fifth control signal to drive the longitudinal movement mechanism (14), the lateral movement mechanism (15) and the positioning and assembly component so that the battery module reaches the specified position inside the battery pack box (11).

7. An automated assembly device for a battery module according to claim 6, wherein, The positioning and assembly component includes an inverted lifting cylinder (16). The base of the lifting cylinder (16) is slidably connected to the lateral movement mechanism (15). A lifting plate (17) is provided at the output end of the lifting cylinder (16). Clamping and adjusting mechanisms (20) are provided on both sides of the lifting plate (17). Fine adjustment guide rails (18) are provided at both sides of the bottom of the lifting plate (17). Clamping sliders (19) are slidably arranged on the fine adjustment guide rails (18). A positioning jaw (21) is provided at the bottom of the clamping slider (19). The clamping and adjusting mechanism (20) is used to drive the positioning jaw (21) to slide along the fine adjustment guide rail (18) to clamp the battery module.

8. An automated assembly device for a battery module according to claim 7, characterized in that, The CCD vision detection module (25) includes a model construction unit (33) and a three-coordinate construction unit (34). The model construction unit (33) constructs a three-dimensional scene based on the image information of the first acquisition lens (31) and the second acquisition lens (32), constructs a three-dimensional model based on the specifications of a single battery module, the parameters of the battery pack box (11), and the distances between the battery module and the battery pack box (11) in the front, back, left and right directions, constructs an assembled model based on the three-dimensional model, and places both the three-dimensional model and the assembled model in the three-dimensional scene to form a visual monitoring entity. The three - coordinate construction unit (34) constructs a three - dimensional coordinate system based on a three - dimensional model, and based on the three - dimensional scene, designs the initial coordinates of the longitudinal moving mechanism (14), the transverse moving mechanism (15), and the lifting cylinder (16). Select a first feature point on the battery module, and respectively construct a first vector of the first feature point based on the longitudinal moving mechanism (14), a second vector of the first feature point based on the transverse moving mechanism (15), and a third vector of the first feature point based on the lifting cylinder (16); the PLC control box (23) outputs a control signal based on the first vector, the second vector, and the third vector to drive the longitudinal moving mechanism (14), the transverse moving mechanism (15), and the lifting cylinder (16) to reach the specified position, realizing the clamping of the battery module. The three - coordinate construction unit (34) is further configured to determine a second feature point on the battery module of the assembled model, and construct a reference vector based on the three - dimensional connection line between the second feature point and the first feature point; the PLC control box (23) drives the longitudinal moving mechanism (14), the transverse moving mechanism (15), and the lifting cylinder (16) based on the reference vector to realize the positioning of the battery module.

Images