A battery module automated assembly apparatus

Abstract

The application belongs to the technical field of automatic assembly, and specifically discloses a 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 the battery module to a specified position, the feeding mechanism is used for moving the battery module to a first platform, the second transmission frame is used for conveying a battery pack box to a specified position, and the moving mechanism is used for moving the battery module on the first platform into the battery pack box. The feeding mechanism is used for linkage of the first transmission frame and the second transmission frame, the PLC control box is used for obtaining control signals from different sensors and outputting control signals of the first transmission frame, the second transmission frame, the feeding mechanism and the moving mechanism, and accurate positioning in the battery module assembly process is realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic assembly, and particularly relates to a battery module automatic assembly equipment. BACKGROUND

[0002] With the rapid development of new energy storage and automobile markets, the importance of lithium ion and sodium ion batteries as power sources is increasingly prominent, and the assembly quality of the battery pack directly affects the safety and reliability of the battery pack. In the production process of the battery pack, the module into the box is a key process, which requires high precision and is difficult to meet the needs of efficient production through manual operation. At present, the positioning of the module into the box mainly relies on high-precision sensors to cooperate with mechanical arms to complete fine adjustment or relies on laser range finders to measure distance, and combines a preset algorithm to determine the final position. However, the existing module into the box 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 high. In addition, due to the use of a relatively complex structure and complex control logic, the requirements for the production environment are extremely harsh, and once there is a deviation, it is often difficult to correct in time, resulting in low production efficiency. SUMMARY

[0003] The purpose of the present application is to overcome the defects in the prior art and provide a battery module automatic assembly equipment.

[0004] The present application provides a battery module automatic assembly equipment, comprising a PLC control box and a first transmission frame, a second transmission frame and a feeding mechanism connected with the PLC control box respectively.

[0005] The two sides of the second transmission frame are provided with supports, the middle parts of the two supports are provided with first platforms, the top parts of the two supports are provided with second platforms, the first platforms are higher than the second transmission frame, and the second platforms are provided with moving mechanisms.

[0006] The first transmission frame is used for conveying the 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 the 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.

[0007] 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 based on a preset program logic according to external input signals or internal setting conditions, 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 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.

[0008] Further, the first transmission frame bottom is provided with a first sensor, the first transmission frame bottom is provided with a first positioning cylinder, the output end of the first positioning cylinder is provided with a top plate, and the first sensor and the first positioning cylinder are connected with the PLC control box respectively;

[0009] The first sensor is used to identify the position of the battery module on the first transmission frame, and a first control signal is sent 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 make the first transmission frame decelerate or stop, and make the first positioning cylinder extend within a set stroke and lift the battery module to a set height.

[0010] Further, the feeding mechanism includes a gantry, the top of the gantry is provided with a feeding screw, one end of the feeding screw is rotatably connected with one side of the gantry through a bearing, and the other end of the feeding screw penetrates through the other side of the gantry and is in transmission connection with a feeding motor;

[0011] A feeding slider is arranged on the feeding screw and is in threaded connection with the feeding screw, and a transmission clamp jaw is arranged at the bottom of the feeding slider and is used to clamp the battery module on the top plate and move the battery module to the first platform;

[0012] A fourth sensor is arranged on the first platform and is connected with the PLC control box and is used to judge whether the battery module reaches a specified position of the first platform.

[0013] Further, a second sensor and a third sensor are arranged on the gantry and are connected with the PLC control box respectively;

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

[0015] Further, the second transmission frame bottom is provided with a fifth sensor, and the second transmission frame bottom is further provided with two groups of second positioning cylinders, the output ends of the two groups of second positioning cylinders are provided with baffle plates and are used to fix the battery pack box;

[0016] The fifth sensor is used to identify the position of the battery pack box on the second transmission frame, a third control signal is sent 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 make the second transmission frame decelerate or stop, and the second positioning cylinder is elongated within a set stroke and fixes the battery pack box.

[0017] Further, 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, and the transverse moving mechanism is located at the bottom of the longitudinal moving mechanism, and a positioning assembly is further arranged at the bottom of the transverse moving mechanism.

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

[0020] A CCD visual detection module is further arranged on the transverse moving mechanism, and the CCD visual detection module includes a first acquisition lens and a second acquisition lens.

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

[0022] The CCD visual detection module is connected with the PLC control box, a fourth control signal is sent to the PLC control box based on the positional relationship between the positioning assembly and the battery module 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 assembly reach a specified position, and a fifth control signal is sent based on the positional relationship between the battery module and the battery pack box, and 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 assembly to make the battery module reach a specified position in the battery pack box.

[0023] Further, the positioning assembly comprises an inverted lifting cylinder, the base of the lifting cylinder is slidably connected with the transverse moving mechanism, the output end of the lifting cylinder is provided with a lifting plate, the two sides of the lifting plate are provided with clamping adjusting mechanisms, the two sides of the bottom of the lifting plate are provided with fine adjustment guide rails, clamping sliding blocks are slidably arranged on the fine adjustment guide rails, the bottom of each clamping sliding block is provided with a positioning clamping jaw, and the clamping adjusting mechanisms are used to drive the positioning clamping jaws to slide along the fine adjustment guide rails, so that the battery module is clamped.

[0024] Further, the CCD visual detection module comprises a model construction unit and a three-coordinate construction unit.

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

[0026] The three-coordinate construction unit constructs a three-dimensional coordinate system based on the three-dimensional model, designs initial coordinates of the longitudinal moving mechanism, the transverse moving mechanism and the lifting cylinder based on the three-dimensional scene, selects a first feature point on the battery module, 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 transverse moving mechanism and a third vector of the first feature point based on the lifting cylinder based on the coordinates of the first feature point, and 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 transverse moving mechanism and the lifting cylinder to reach the specified position, so that the battery module is clamped and picked up.

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

[0028] Compared with the prior art, the present application has the following beneficial effects:

[0029] The application realizes linkage of the first transmission frame and the second transmission frame through the feeding mechanism, realizes full-automatic assembly of the battery module, acquires control signals from different sensors through the PLC control box, and outputs control signals of the first transmission frame, the second transmission frame, the feeding mechanism and the moving mechanism, so that accurate positioning in the battery module assembly process is realized. The whole device adopts a simple mechanical transmission mechanism combined with an intelligent control strategy, effectively overcomes many drawbacks existing in the traditional method. Through reasonable layout of the relative position relationship between each execution element, efficient and stable module positioning function is realized, the cost of module box positioning is greatly reduced, the system structure is simplified, the usability and maintenance convenience of the system are improved, the high stability and continuity in the production process are ensured, and the production capacity utilization rate of the whole lithium battery production line is improved.

[0030] The application sets the first sensor at a specified position of the first transmission frame to sense the position of the battery module, when the battery module reaches the specified position, the PLC control box controls the first transmission frame to decelerate or stop, the battery module is lifted by the first positioning cylinder to realize handover with the feeding structure, and finally the battery module is moved to the specified position of the first platform, full-automatic flow construction is realized, and the assembly progress of the battery module is improved. When the battery module reaches the first platform, the PLC control box controls the longitudinal moving mechanism, the transverse moving mechanism and the positioning assembly to move and clamp the battery module on the first platform, the moving stroke of each moving part is accurately determined through the CCD visual detection module, the battery module is ensured to reach the specified position of the battery pack box, and accurate assembly is realized.

[0031] When the PLC control box outputs the instructions of the longitudinal moving mechanism, the transverse moving mechanism and the lifting cylinder, the CCD visual detection module is used to construct a visual monitoring subject to realize real-time monitoring of the position state of the longitudinal moving mechanism, the transverse moving mechanism and the lifting cylinder, and the three-dimensional coordinate system constructed by the CCD visual detection module is used to determine the driving stroke and path of the longitudinal moving mechanism, the transverse moving mechanism and the lifting cylinder, so that position deviation is avoided in the assembly process, and the safety and stability of the battery pack are improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] The following drawings only schematically illustrate and explain the application, and are not used to limit the scope of the application, in which:

[0033] Figure 1 : main view of the connecting structure of the application;

[0034] Figure 2 : side view of the connecting structure of the application;

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

[0036] Figure 4 : Control principle block diagram of CCD visual detection module;

[0037] In the figure: 1, the first transmission frame; 2, the first positioning cylinder; 3, the top plate; 4, the transmission clamp jaw; 5, the feeding slider; 6, the feeding screw; 7, the gantry frame; 8, the feeding motor; 9, the second transmission frame; 10, the second positioning cylinder; 11, the battery pack box; 12, the support; 13, the first platform; 14, the longitudinal movement mechanism; 15, the transverse movement mechanism; 16, the lifting cylinder; 17, the lifting plate; 18, the fine adjustment guide rail; 19, the clamping slider; 20, the clamping adjustment mechanism; 21, the positioning clamp jaw; 22, the second platform; 23, the PLC control box; 24, the control panel; 25, the CCD visual detection module; 26, the first inductor; 27, the second inductor; 28, the third inductor; 29, the fourth inductor; 30, the fifth inductor; 31, the first collection lens; 32, the second collection lens; 33, the model construction unit; 34, the three-coordinate construction unit. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme, design method and advantages of the present application more clear, the present application is further described in detail below with specific examples combined with the drawings. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0039] As shown in Figure 1 and Figure 2 , the present application provides a battery module automatic assembly equipment, comprising a PLC control box 23 and a control panel 24, a first transmission frame 1, a second transmission frame 9 and a feeding mechanism connected with the PLC control box 23 respectively; wherein the two sides of the second transmission frame 9 are provided with supports 12, the middle parts of the two supports 12 are provided with a first platform 13, the top parts of the two supports 12 are provided with a second platform 22, the first platform 13 is higher than the second transmission frame 9, the second platform 22 is provided with a movement mechanism, and the control panel 24 is arranged on the top of the second platform 22.

[0040] The first transmission frame 1 is used to transport the battery module to the designated position, the feeding mechanism is used to move the battery module to the first platform 13, the second transmission frame 9 is used to transport the battery pack box 11 to the designated position, and the moving mechanism is used to move the battery module on the first platform 13 to the inside of 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 power-off of the assembly equipment, and the operation screen is used to input the parameters of the battery module and the battery pack box; the PLC control box 23 coordinates the action sequence and time of the first transmission frame 1, the second transmission frame 9, the feeding mechanism and the moving mechanism, controls the start and stop of the first transmission frame 1 and the second transmission frame 9, and controls the position of the feeding mechanism and the moving mechanism based on the preset program logic and according to the external input signal or the internal setting condition, so as to complete the clamping or releasing of the battery module.

[0041] The first sensor 26 is arranged at the bottom of the first transmission frame 1, the first positioning cylinder 2 is arranged at the bottom of the first transmission frame 1, the output end of the first positioning cylinder 2 is provided with the top plate 3, and the first sensor 26 and the first positioning cylinder 2 are connected with the PLC control box 23 respectively; the arrangement position of the first sensor 26 can be determined according to the feeding mechanism, so as to ensure that the feeding mechanism can smoothly complete the grabbing of the battery module when the battery module reaches the position of the first sensor 26; in this embodiment, the first sensor 26 is used to identify the position of the battery module on the first transmission frame 1, a first control signal is sent 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 frame 1 slow down or stop, and make the first positioning cylinder 2 extend within the set stroke and lift the battery module to the set height.

[0042] In the embodiment, the feeding mechanism comprises a gantry 7, the top of which is provided with a feeding screw 6, one end of which is rotatably connected to one side of the gantry 7 through a bearing, and the other end of which penetrates the other side of the gantry 7 and is drivingly connected with a feeding motor 8; a feeding slide block 5 is arranged on the feeding screw 6 and is threadedly connected with the feeding screw 6, and a transmission clamp jaw 4 is arranged at the bottom of the feeding slide block 5, for clamping the battery module on the top plate 3 and moving the battery module to the first platform 13; the first platform 13 is provided with a fourth sensor 29, which is connected with the PLC control box 23, for judging whether the battery module reaches the specified position of the first platform 13. A second sensor 27 and a third sensor 28 are arranged on the gantry 7 and are respectively connected with the PLC control box 23, wherein, when the second sensor 27 and the third sensor 28 are arranged, the position of the second sensor 27 is adapted to the first transmission frame 1, so as to ensure that the battery module is clamped when the transmission clamp jaw 4 moves to the position of the second sensor 27, and the position of the third sensor 28 should be adapted to the first platform 13, so as to ensure that the battery module can be smoothly placed at the specified position of the first platform 13 when the transmission clamp jaw 4 moves to the position of the third sensor 28, and it should be noted that the first positioning cylinder 2 should have the same height as the first platform 13 when it is elongated and lifts the battery module to the set height. In the above, the second sensor 27 is used to limit the starting position of the feeding slide block 5, so that the position of the transmission clamp jaw 4 is adapted to the position of the top plate 3; the third sensor 28 is used to limit the end position of the feeding slide block 5, so that the position of the transmission clamp jaw 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 feeding slide block 5, and the PLC control box 23 outputs a second control instruction based on the second control signal to control the start and stop and forward and reverse rotation of the feeding motor 8.

[0043] In order to ensure the accurate positioning of the battery pack box 11, a fifth sensor 30 is arranged at the bottom of the second transmission frame 9, and two groups of second positioning cylinders 10 are also arranged 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; when the fifth sensor 30 is arranged, the position of the fifth sensor 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 sensor 30, the moving mechanism can smoothly place the battery module inside the battery pack box 11; in this embodiment, the fifth sensor 30 is used to identify the position of the battery pack box 11 on the second transmission frame 9, and a third control signal is sent 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 make the second transmission frame 9 slow down or stop, and make the second positioning cylinder 10 extend within the set stroke and fix the battery pack box 11, in this embodiment, the first sensor 26 to the fifth sensor 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; wherein 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 assembly is also arranged 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 a first direction, the transverse moving mechanism 15 is used to drive the positioning assembly to slide in a second direction, and the first direction and the second direction are perpendicular; in this embodiment, the longitudinal moving mechanism 14 and the transverse moving mechanism 15 have the same structure, both of which 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, and after the motor of the transverse moving mechanism 15 drives the lead screw to rotate, the positioning assembly moves along the lead screw of the transverse moving mechanism 15. A CCD visual detection module 25 is also arranged on the transverse moving mechanism 15, like Figure 4As shown, the CCD visual detection module 25 includes a first collection lens 31 and a second collection lens 32; the first collection lens 31 is used to monitor the positional relationship between the positioning assembly and the battery module on the first platform 13 in real time; the second collection lens 32 is used to monitor the positional relationship between the battery module and the battery pack box 11 in real time; the CCD visual detection module 25 is connected with the PLC control box 23, sends a fourth control signal to the PLC control box 23 based on the positional relationship between the positioning assembly and the battery module 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 moving mechanism 14 and the transverse moving mechanism 15 so that the positioning assembly 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 moving mechanism 14, the transverse moving mechanism 15 and the positioning assembly so that the battery module reaches the specified position in the battery pack box 11.

[0045] In the above, the positioning assembly includes an inverted lifting cylinder 16, the base of the lifting cylinder 16 is slidingly connected with the transverse moving mechanism 15, the output end of the lifting cylinder 16 is provided with a lifting plate 17, both sides of the lifting plate 17 are provided with a clamping adjusting mechanism 20, both sides of the bottom of the lifting plate 17 are provided with a fine adjustment guide rail 18, a clamping sliding block 19 is slidingly arranged on the fine adjustment guide rail 18, a positioning clamping jaw 21 is arranged at the bottom of the clamping sliding block 19, the clamping adjusting mechanism 20 is used to drive the positioning clamping jaw 21 to slide along the fine adjustment guide rail 18 to realize clamping of the battery module, in this embodiment, the clamping adjusting mechanism 20 also adopts a motor lead screw structure, the motor drives the lead screw to rotate, and then drives the clamping sliding block 19 to slide on the fine adjustment guide rail 18 to realize adjustment of the positioning clamping jaw 21. In order to further improve the accurate control of the clamping force of the positioning clamping jaw 21, in this embodiment, a pressure sensor is arranged on the inner side surface of the positioning clamping jaw 21, which is used to detect the clamping force of the positioning clamping jaw, so as to avoid damage to the battery module due to too large clamping force while ensuring that the battery module is clamped. Further, a flexible material such as rubber can also be arranged on the inner side surface of the positioning clamping jaw 21.

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

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

[0048] The three-coordinate constructing unit 34 constructs a three-dimensional coordinate system based on the three-dimensional model, designs the initial coordinates of the longitudinal moving mechanism 14, the transverse moving mechanism 15 and the lifting cylinder 16 based on the three-dimensional scene, selects a first feature point on the battery module, constructs 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 based on the coordinates of the first feature point, and the PLC control box 23 outputs control signals to drive the longitudinal moving mechanism 14, the transverse moving mechanism 15 and the lifting cylinder 16 to the designated positions based on the first, second and third vectors to realize the clamping of the battery module. The three-coordinate constructing unit 34 is also 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 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.

[0049] The application can be controlled in two parts during assembly, namely, battery pack displacement control and battery pack case control. When the battery pack displacement control is performed, the start-stop switch of the control panel 24 is started, the first transmission frame 1 is started, and the battery module is moved. When the first sensor 26 monitors 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 loading motor 8 drives the loading lead screw 6 to rotate, so that the transmission clamp jaw 4 moves to the second sensor 27 to complete the grabbing of the battery module. The loading motor 8 drives the loading lead screw 6 to rotate again, so that the transmission clamp jaw 4 moves to the third sensor 28, and the battery module is placed on the first platform 13. In this process, the second transmission frame 9 drives the battery pack case 11 to move. When the fifth sensor 30 monitors that the battery pack case 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 case 11. Thus, the battery pack displacement control is completed. When the battery module reaches the first platform 13, the fourth sensor 29 obtains the sensing signal and sends it to the PLC control box 23. The CCD vision detection module 25 is started, and the positional relationship between the positioning assembly and the battery module on the first platform 13 and the positional relationship between the battery module and the battery pack case 11 are collected by two collection lenses respectively. The model construction unit 33 constructs a three-dimensional scene based on the image information of the first collection lens 31 and the second collection lens 32, constructs a three-dimensional model based on the specifications of a single battery module, the parameters of the battery pack case 11, the distances between the battery module and the battery pack case 11 in front and back and left and right, and constructs an assembled model based on the three-dimensional model. The three-dimensional model and the assembled model are placed in the three-dimensional scene to form a visual monitoring subject. The three-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, 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 based on the first feature point coordinates. The PLC control box 23 outputs control signals 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, so as to realize the grabbing of the battery module. Specifically, after the PLC control box 23 obtains the vector information, the vector information is converted into driving signals of the longitudinal movement mechanism 14, the transverse movement mechanism 15 and the lifting cylinder 16 according to the preset program logic.For example, the first vector contains the direction and distance information of the movement of the longitudinal movement mechanism 14, which is parsed by the PLC control box 23 as the control instruction of the motor-screw combination, to drive the motor to rotate and make the screw drive the related components to move in the longitudinal direction by a corresponding distance, so as to finally realize the movement of the machine to the determined point. The parsing process of the PLC control box 23 is that 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 with 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 or direction of the vector, 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 of each movement mechanism is calculated. The PLC control box 23 controls the pulse number or running time of the motor to make each mechanism accurately move to the specified position. The three-coordinate construction unit 34 is also used to determine a second feature point on the assembled model battery module, and a reference vector is constructed based on the three-dimensional connection line of 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 accurate positioning of the battery module. Among them, the three vectors are constructed in the same coordinate system, and when the vector needs to be converted to control the movement of the movement mechanism, the coordinate system provides a unified reference standard for the conversion. In this embodiment, when the battery module is clamped, 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 the coordinate difference. After determining the second feature point on the assembled model battery module, a reference vector is constructed based on the three-dimensional connection line of the second feature point and the first feature point, which is also calculated in the unified coordinate system, and then the longitudinal movement mechanism 14, the transverse movement mechanism 15 and the lifting cylinder 16 are driven to realize the positioning of the battery module, so as to ensure the accuracy and coordination of the movement of the movement mechanism in the whole assembly process.

[0050] The above has described the embodiments of the present application, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art 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, practical applications or technical improvements in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A battery module automated assembly apparatus, characterized by, The application relates to a battery module pack loading device, which comprises a PLC control box (23) and a first transmission frame (1), a second transmission frame (9) and a feeding mechanism which are connected with the PLC control box (23) respectively. Two sides of the second transmission frame (9) are provided with supports (12), the middle parts of the two supports (12) are provided with first platforms (13), the top parts of the two supports (12) are provided with second platforms (22), the first platforms (13) are higher than the second transmission frame (9), and the second platforms (22) are provided with moving mechanisms. The first transmission frame (1) 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 (13), the second transmission frame (9) is used for conveying a battery pack box (11) to a designated position, and the moving mechanism is used for moving the battery module on the first platform (13) into the battery pack box (11). The PLC control box (23) is based on preset program logic, coordinates the action sequence and time of the first transmission frame (1), the second transmission frame (9), the feeding mechanism and the moving mechanism according to external input signals or internal setting conditions, controls the start and stop of the first transmission frame (1) and the second transmission frame (9) based on external input signals or internal setting conditions, and 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. The moving mechanism comprises 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 assembly is further arranged at the bottom of the transverse moving mechanism (15). The longitudinal moving mechanism (14) is used for driving the transverse moving mechanism (15) to slide in a first direction, the transverse moving mechanism (15) is used for driving the positioning assembly to slide in a second direction, and the first direction and the second direction are perpendicular. A CCD visual detection module (25) is further arranged on the transverse moving mechanism (15), and the CCD visual detection module (25) comprises a first collecting lens (31) and a second collecting lens (32). The first collecting lens (31) is used for monitoring the positional relationship between the positioning assembly and a battery module on the first platform (13) in real time, and the second collecting lens (32) is used for monitoring the positional relationship between the battery module and the battery pack box (11) in real time. The CCD visual detection module (25) is connected with the PLC control box (23), sends a fourth control signal to the PLC control box (23) based on the positional relationship between the positioning and assembling assembly 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 moving mechanism (14) and the transverse moving mechanism (15) so that the positioning and assembling assembly reaches a 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 moving mechanism (14), the transverse moving mechanism (15) and the positioning and assembling assembly so that the battery module reaches a specified position in the battery pack box (11); The positioning and assembling assembly comprises an inverted lifting cylinder (16), the base of the lifting cylinder (16) is slidingly connected with the transverse moving mechanism (15), the output end of the lifting cylinder (16) is provided with a lifting plate (17), the two sides of the lifting plate (17) are provided with clamping adjusting mechanisms (20), the two sides of the bottom of the lifting plate (17) are provided with fine adjustment guide rails (18), the clamping sliding blocks (19) are slidingly arranged on the fine adjustment guide rails (18), the bottom of the clamping sliding blocks (19) is provided with positioning clamping jaws (21), and the clamping adjusting mechanisms (20) are used to drive the positioning clamping jaws (21) to slide along the fine adjustment guide rails (18) to clamp the battery module; The CCD visual detection module (25) comprises 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), the distances between the battery module and the battery pack box (11) in front, back, left and right, and constructs an assembled model based on the three-dimensional model, and places the three-dimensional model and the assembled model in the three-dimensional scene to form a visual monitoring subject; The three-coordinate construction unit (34) constructs a three-dimensional coordinate system based on the three-dimensional model, designs the initial coordinates of the longitudinal moving mechanism (14), the transverse moving mechanism (15) and the lifting cylinder (16) based on the three-dimensional scene, selects a first feature point on the battery module, constructs 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) based on the coordinates of the first feature point, and 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 a specified position, so that the battery module is clamped. The three-coordinate construction unit (34) is further configured to determine a second feature point on the assembled battery module, and construct a reference vector based on a three-dimensional connection line of the first feature point and the second 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 positioning of the battery module.

2. The battery module automated assembly apparatus of claim 1, wherein, The first transmission frame (1) is provided with a first sensor (26) at the bottom, and a first positioning cylinder (2) is arranged at the bottom of the first transmission frame (1), and the output end of the first positioning cylinder (2) is provided with a top plate (3), and the first sensor (26) and the first positioning cylinder (2) are connected with the PLC control box (23) respectively; The first sensor (26) is used to identify the position of the battery module on the first transmission frame (1), and a first control signal is sent to the PLC control box (23) based on the relative distance between the battery module and the first sensor (26), and the PLC control box (23) outputs a first control instruction to make the first transmission frame (1) slow down or stop, and make the first positioning cylinder (2) extend within a set stroke and lift the battery module to a set height.

3. The battery module automated assembly apparatus of claim 2, wherein, The feeding mechanism comprises a portal frame (7), and the portal frame (7) is provided with a feeding screw (6) at the top, one end of the feeding screw (6) is rotatably connected with one side of the portal frame (7) through a bearing, and the other end of the feeding screw (6) penetrates through the other side of the portal frame (7) and is in transmission connection with a feeding motor (8); A feeding slider (5) is arranged on the feeding screw (6), the feeding slider (5) is in threaded connection with the feeding screw (6), and a transmission clamp jaw (4) is arranged at the bottom of the feeding slider (5) and used for clamping the battery module on the top plate (3) and moving the battery module to the first platform (13); A fourth sensor (29) is arranged on the first platform (13) and connected with the PLC control box (23) and used for judging whether the battery module reaches a specified position of the first platform (13).

4. The battery module automated assembly apparatus of claim 3, wherein, Second and third sensors (27) and (28) are arranged on the portal frame (7) and connected with the PLC control box (23) respectively; The second sensor (27) is used to define the starting position of the feeding slider (5) so that the position of the transmission clamp jaw (4) is adapted to the position of the top plate (3); the third sensor (28) is used to define the end position of the feeding slider (5) so that the position of the transmission clamp jaw (4) is adapted to the first platform (13); the second and third sensors (27) and (28) send a second control signal to the PLC control box (23) based on the relative position of the feeding slider (5), and the PLC control box (23) outputs a second control instruction based on the second control signal to control the start and stop and forward and reverse rotation of the feeding motor (8).

5. The battery module automated assembly apparatus of claim 1, wherein, The bottom of the second transmission frame (9) is provided with a fifth sensor (30), and the bottom of the second transmission frame (9) is further provided with two groups of second positioning air cylinders (10), the output ends of the two groups of second positioning air cylinders (10) are provided with baffles, and the baffles are used for fixing the battery pack box (11); The fifth sensor (30) is used for identifying the position of the battery pack box (11) on the second transmission frame (9), a third control signal is sent 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 make the second transmission frame (9) decelerate or stop, and make the second positioning air cylinder (10) extend within a set stroke and fix the battery pack box (11).

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