Industrial robot for assembling lithium battery module

Abstract

The invention relates to the technical field of industrial robots, in particular to an industrial robot for assembling a lithium battery module, which comprises a hoisting track connected with a mechanical main body and a hoisting driver for driving the mechanical main body to slide on the hoisting track; the mechanical main body is connected with a clamping structure for clamping a battery module; and the bottom of the clamping structure is connected with an anti-falling structure for carrying and limiting the battery module. According to the battery module clamping device, the two sides of the battery module can be stably clamped through the clamping structures, the battery module can be controlled to move upwards through the clamping structures after clamping, the contact position of the clamping structures and the battery module is changed, and when the clamping structures control the battery module to move upwards, the battery module can be stably clamped through the clamping structures. The clamping structure controls the anti-falling structure to move to the position below the battery module in a synchronous transmission mode, so that the battery module is limited through the anti-falling structure, and the battery module is prevented from falling in the carrying process.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and more particularly to an industrial robot for assembling lithium battery modules. Background Art

[0002] With the rapid development of new energy vehicles, energy storage systems, and other fields, the market demand for lithium batteries has seen explosive growth. As a crucial component of lithium batteries, the assembly quality and efficiency of lithium battery modules directly impacts their performance and production efficiency. Industrial robots play a crucial role in the production of lithium battery modules, enabling efficient and precise assembly of modules and improving the level of production automation.

[0003] Currently, existing industrial robots have some shortcomings in the assembly process of lithium battery modules. Most existing industrial robots used for battery module assembly use traditional clamping methods to carry battery modules. However, battery modules are usually heavy and valuable. During the handling process, there is a risk of the battery module accidentally falling because the clamping structure may become loose, malfunction, or be interfered with by external factors. Once the battery module falls, it will not only cause damage to the battery module itself, increasing production costs, but may also cause varying degrees of damage to surrounding equipment, affecting the normal operation of the entire production line. More seriously, the fallen battery module may cause harm to on-site operators, posing a major safety hazard. Summary of the Invention

[0004] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] In order to at least partially solve the above problems, the present invention provides an industrial robot for assembling lithium battery modules, comprising: a lifting track, to which is connected a mechanical body and a lifting drive for driving the mechanical body to slide on the lifting track; a clamping structure for clamping the battery module is connected to the mechanical body; and an anti-fall structure for load-limiting the battery module is connected to the bottom of the clamping structure.

[0006] Furthermore, the hoisting track includes: a track bracket and a track column, the two track brackets are connected by two parallel track columns, and the mechanical body and the hoisting drive are both connected to the two track columns.

[0007] Furthermore, the mechanical body includes: a mechanical frame slidably mounted on two track columns, a cylinder shaft of a lifting cylinder connected to the mechanical frame is connected to a lifting frame located below the mechanical frame, and an anti-deflection shaft fixed to the lifting frame is slidably mounted on an anti-deflection longitudinal hole of the mechanical frame.

[0008] Furthermore, the hoisting drive includes: a hoisting motor connected to the mechanical body, a traveling worm gear fixed to the output shaft of the hoisting motor engaged with a spiral worm structure on the outer surface of a track column, and the track column is fixed between two track brackets.

[0009] Furthermore, the clamping structure includes: two guide shafts connected in parallel to the bottom of the mechanical body, two lifting slides sliding on the two guide shafts and connected one by one to the telescopic ends of the two clamping push rods fixed to the bottom of the mechanical body; the two lifting slides are connected one by one to two force-applying clamping arms for clamping the battery module; and more than two anti-fall structures are connected to the bottom of each force-applying clamping arm.

[0010] Furthermore, the force clamping arm includes: a force plate connected to the bottom of the lifting slide by bolts and nuts, and a plurality of clamping grooves with open bottoms are arranged in parallel on the force plate; the upper shaft rod and the lower shaft rod rotated side by side on the force plate are both passed through the plurality of clamping grooves, and the upper shaft rod and the lower shaft rod passed through the plurality of clamping grooves are fixed with rotating wheels on the shaft bodies, and the upper and lower rotating wheels located in the same clamping groove are connected by a clamping belt; the sprocket fixed on the upper shaft rod is connected to the sprocket fixed on the output end of the clamping motor by a chain, and the clamping motor is installed on the force plate.

[0011] Furthermore, a plurality of clamping ridges are fixedly connected around the outer surface of the clamping belt.

[0012] Furthermore, the force clamping arm also includes: a transverse supporting plate fixed in the transverse hole of the force plate, and a force rotating tube is rotatably provided on the plate body of the transverse supporting plate passing through multiple clamping grooves, each force rotating tube is screwed with a fixed stud, and the inner end of each fixed stud is connected to a reinforcing top plate for abutting and fitting on the inner side of the clamping belt, and two sliding side plates fixed on the reinforcing top plate are relatively slidably arranged on the upper and lower sides of the transverse supporting plate; a force worm gear is fixed on each force rotating tube, and multiple force worm gears are engaged with the force worm screw rotatably provided on the transverse supporting plate; the force worm screw is connected to the top pressure motor fixed on the side of the force plate.

[0013] Furthermore, the anti-fall structure includes: an anti-fall support plate that slides horizontally in the cross sliding groove at the bottom of the force plate, the cross sliding groove is open below, and the lower surface of the anti-fall support plate is coplanar with the lower surface of the force plate; a horizontal push plate is slid in the horizontal sliding groove on the outside of the anti-fall support plate, and the horizontal push plate is inserted into the plate body in the horizontal sliding groove and fixed with a limiting block, and the limiting block is slid in the limiting groove of the anti-fall support plate; a slow-entry compression spring is provided between the horizontal push plate and the inner side surface of the horizontal sliding groove, and a vertical push plate fixed to one end of the horizontal push plate away from the slow-entry compression spring is threadedly connected to a push screw transferred to the force plate, and a push worm gear fixed on the push screw is engaged with a spiral worm structure provided on the lower shaft.

[0014] Furthermore, it also includes: multiple limiting mechanisms connected to the force plate, and the multiple limiting mechanisms cooperate with the multiple anti-fall structures one by one; the limiting mechanisms include: a limiting strip plate that is laterally slid into the horizontal hole on the side of the force plate, and one end of the limiting strip plate inserted into the cross sliding mouth is provided with a limiting inclined surface for resisting and cooperating with the anti-loosening inclined surface on the inner side of the anti-fall support plate, and an anti-loosening tension spring is fixed between the side stop block fixed to the other end of the limiting strip plate and the side surface of the force plate.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects:

[0016] In an industrial robot for assembling lithium battery modules of the present invention, the two sides of the battery module can be firmly clamped by the clamping structure, and after clamping, the battery module can be controlled to move upward by the clamping structure to change the contact position between the clamping structure and the battery module. While the clamping structure controls the battery module to move upward, the clamping structure synchronously drives and controls the anti-falling structure to move to the bottom of the battery module, thereby limiting the battery module by the anti-falling structure to prevent the battery module from falling during transportation; after moving into position, the battery module can be controlled to move downward to its original position by the clamping structure, and at this time, the clamping structure synchronously drives and controls the anti-falling structure to disengage from the bottom of the battery module, thereby not affecting the unloading of the battery module, effectively avoiding the risk of the battery module falling during transportation, and greatly improving the safety of operation.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 The overall schematic diagram of the industrial robot provided by the embodiment of the present invention Figure 1 ;

[0020] Figure 2The overall schematic diagram of the industrial robot provided by the embodiment of the present invention Figure 2 ;

[0021] Figure 3 The overall schematic diagram of the industrial robot provided by the embodiment of the present invention Figure 3 ;

[0022] Figure 4 A schematic diagram of a hoisting track provided in an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of a mechanical body provided by an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of a lifting drive provided in an embodiment of the present invention;

[0025] Figure 7 A partial schematic diagram provided for an embodiment of the present invention;

[0026] Figure 8 A schematic diagram of a clamping structure provided by an embodiment of the present invention;

[0027] Figure 9 Schematic diagram of the anti-fall structure provided by the embodiment of the present invention Figure 1 ;

[0028] Figure 10 Schematic diagram of the anti-fall structure provided by the embodiment of the present invention Figure 2 ;

[0029] Figure 11 A schematic diagram of a restriction mechanism and an anti-fall support plate provided in an embodiment of the present invention;

[0030] Figure 12 A schematic diagram of a restriction mechanism provided in an embodiment of the present invention;

[0031] Figure 13 A schematic diagram of a force-applying clamping arm provided in an embodiment of the present invention;

[0032] Figure 14 A partial schematic diagram of a force-applying clamp arm provided in an embodiment of the present invention Figure 1 ;

[0033] Figure 15 A partial schematic diagram of a force-applying clamp arm provided in an embodiment of the present invention Figure 2 .

[0034] Icons: Lifting track 100; track bracket 101; track column 102; mechanical body 200; mechanical frame 201; lifting cylinder 202; lifting frame 203; anti-deflection axis 204; lifting drive 300; lifting motor 301; travel worm gear 302; clamping structure 400; guide shaft 401; lifting slide 402; clamping push rod 403; force clamping arm 404; force plate 405; clamping groove 406; upper shaft 407; lower shaft 408; rotating wheel 409; clamping belt 4 10; clamping ridge 411; horizontal bearing plate 412; force-applying rotating tube 413; fixed stud 414; reinforcing top plate 415; sliding side plate 416; force-applying worm gear 417; force-applying worm 418; anti-falling structure 500; anti-falling supporting plate 501; horizontal push plate 502; limiting block 503; slow-entry compression spring 504; vertical push plate 505; pushing screw 506; pushing worm gear 507; limiting mechanism 600; limiting strip plate 601; limiting inclined surface 602; side block 603; anti-loosening tension spring 604. DETAILED DESCRIPTION

[0035] In order to help those skilled in the art better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of this application.

[0036] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0037] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0038] The following is combined with Figure 1-15 The present invention is described in further detail.

[0039] Example 1:

[0040] like Figures 1-15 As shown, an industrial robot for assembling lithium battery modules includes: a lifting track 100, to which is connected a mechanical body 200 and a lifting drive 300 for driving the mechanical body 200 to slide on the lifting track 100; the mechanical body 200 is connected to a clamping structure 400 for clamping the battery module; and the bottom of the clamping structure 400 is connected to an anti-fall structure 500 for load-bearing and limiting the battery module.

[0041] The working principle and technical effects of the above scheme are as follows:

[0042] In an industrial robot for assembling lithium battery modules of the present invention, the lifting track 100 provides a motion path for the mechanical body 200, and the lifting drive 300 can drive the mechanical body 200 to slide on the lifting track 100, so that the industrial robot has a wide range of activities in the working area of ​​lithium battery module assembly, and can flexibly move the battery module to different positions according to actual assembly requirements. The clamping structure 400 is connected to the mechanical body 200 and can firmly clamp both sides of the battery module, which is suitable for lithium battery modules of different specifications and sizes. The clamping structure 400 can achieve firm clamping by adjusting the clamping force and method, and the anti-fall structure 5 00 is connected to the bottom of the clamping structure 400. After the two sides of the battery module are firmly clamped by the clamping structure 400, the battery module can also be controlled to move upward by the clamping structure 400. When the clamping structure 400 controls the battery module to move upward, a certain space will be freed up under the battery module, creating conditions for the anti-fall structure 500 to move to the bottom of the battery module. If the contact position between the clamping structure and the battery module is not changed, the anti-fall structure may not be able to reach the specified position smoothly, thereby affecting the realization of its load-bearing limit function. By lifting the battery module upward, the anti-fall structure can move quickly and accurately to the bottom of the battery module without being blocked by the battery module, and After the battery module moves into place, the clamping structure 400 controls the battery module to move upward, and the anti-falling structure 500 is synchronously driven to control the anti-falling structure 500 to move to the bottom of the battery module. When the battery module is being transported, if the clamping structure 400 becomes loose or other abnormal conditions occur, the anti-falling structure 500 can limit the load on the battery module in time to prevent the battery module from falling, thereby reducing the economic losses caused by the falling battery module and preventing the falling battery module from causing damage to the surrounding equipment, thereby ensuring the normal operation of the entire production line. After the battery module moves into place, the clamping structure 400 controls the battery module to move upward, and the anti-falling structure 500 is synchronously driven to control the anti-falling structure 500 to move to the bottom of the battery module. The robot moves downward to its original position, and at the same time, the clamping structure 400 synchronously drives and controls the anti-falling structure 500 to separate from the bottom of the battery module, which not only ensures the effective protection of the battery module during transportation, but also does not affect the normal unloading of the battery module, realizes the full process guarantee of safe operation, and provides a safer working environment for the operator; the synchronous transmission linkage design between the clamping structure 400 and the anti-falling structure 500 enables the robot to automatically cooperate with the action of the clamping structure 400 during the process of clamping, transporting and unloading the battery module, without the need for additional manual intervention or complicated control steps, thereby simplifying the operation process, reducing the workload of the operator, and improving work efficiency.

[0043] Example 2:

[0044] like Figures 1-15As shown, the hoisting track 100 includes a track bracket 101 and a track post 102. The two track brackets 101 are connected by two parallel track posts 102. The mechanical body 200 and the hoisting drive 300 are both connected to the two track posts 102. The mechanical body 200 includes a mechanical frame 201 slidably mounted on the two track posts 102. The cylinder shaft of the hoisting cylinder 202 connected to the mechanical frame 201 is connected to the hoisting frame 203 located below the mechanical frame 201. The anti-deflection shaft 204 fixed to the hoisting frame 203 is slidably mounted in the anti-deflection longitudinal hole of the mechanical frame 201. The hoisting drive 300 includes a hoisting motor 301 connected to the mechanical frame 200. The hoisting motor 301 is installed on the mechanical frame 201. The traveling worm gear 302 fixed to the output shaft of the hoisting motor 301 meshes with the spiral worm structure on the outer surface of a track post 102. The track post 102 is fixed between the two track brackets 101.

[0045] The working principle and technical effects of the above scheme are as follows:

[0046] In an industrial robot for assembling lithium battery modules of the present invention, the lifting motor 301 can drive the traveling worm gear 302 to rotate after it is started. Since the traveling worm gear 302 is engaged with the spiral worm structure on the outer surface of a track column 102, the traveling worm gear 302 can change the contact position of the track column 102 connected to it when it rotates, thereby driving the mechanical frame 201 to slide on two parallel track columns 102, and finally realizing the lateral displacement adjustment of the clamping structure 400 at the bottom of the lifting frame 203; after the lifting cylinder 202 is started, it can drive the lifting frame 203 to perform longitudinal displacement movement, and the lifting frame 203 drives the anti-deflection shaft 204 to slide in the anti-deflection longitudinal hole of the mechanical frame 201, and the anti-deflection shaft 204 plays the role of guiding and limiting.

[0047] Example 3:

[0048] like Figures 1-15 As shown, the clamping structure 400 includes: two guide shafts 401 connected in parallel to the bottom of the mechanical body 200, two lifting slides 402 sliding on the two guide shafts 401 are connected one by one with the telescopic ends of the two clamping push rods 403 fixed to the bottom of the mechanical body 200; the two lifting slides 402 are connected one by one with two force clamping arms 404 for clamping the battery module; and the bottom of each force clamping arm 404 is connected to more than two anti-falling structures 500.

[0049] The working principle and technical effects of the above scheme are as follows:

[0050] In an industrial robot for assembling lithium battery modules of the present invention, the clamping push rod 403 can adopt an electric push rod or an electric telescopic rod or a hydraulic push rod, which is used to control the two lifting slides 402 to slide on the two guide shafts 401, thereby driving the two force-applying clamping arms 404 to clamp or unload the battery module through the two lifting slides 402. The bottom of each force-applying clamping arm 404 is connected to more than two anti-fall structures 500, which can effectively prevent the battery module from falling during the lifting process.

[0051] Example 4:

[0052] like Figures 1-15 As shown, the force clamp arm 404 includes a force plate 405 connected to the bottom of the lifting slide 402 by bolts and nuts. The force plate 405 has multiple open-bottomed entrainment grooves 406 arranged in parallel. An upper shaft 407 and a lower shaft 408 are rotated side by side on the force plate 405 and are both inserted into the multiple entrainment grooves 406. The upper and lower shafts 407 and 408 are fixedly connected to the shaft bodies inserted into the multiple entrainment grooves 406. The upper and lower rotating wheels 409 located in the same entrainment groove 406 are connected by a clamping belt 410. The sprocket fixed to the upper shaft 407 is connected to the sprocket fixed to the output end of the clamping motor by a chain. The clamping motor is mounted on the force plate 405. Multiple clamping ridges 411 are fixedly connected to the outer surface of the clamping belt 410.

[0053] The working principle and technical effects of the above scheme are as follows:

[0054] In an industrial robot for assembling lithium battery modules of the present invention, the force clamping arm 404 can be disassembled as a whole to facilitate inspection and maintenance, and rubber pads are bonded to the adjacent surfaces of the two force plates 405 of the two force clamping arms 404 for stably clamping the battery module; after the two sides of the battery module are clamped by the two force plates 405 of the two force clamping arms 404, the clamping motor can be controlled to start, and the sprocket at the output end of the clamping motor drives the sprocket on the upper shaft rod 407 to rotate through the chain, thereby controlling the upper rotation of the upper shaft rod 407, and when the upper shaft rod 407 rotates, the cooperation of the two rotating wheels 409 and the clamping belt 410 drives the lower shaft rod 408 to rotate, thereby realizing the stable rotation of the clamping belt 410, and when the clamping belt 410 rotates, the battery module can be controlled to rotate. Move up or down. When clamping and transporting the battery module, the battery module is controlled to move upward. During the initial clamping, there may be an uneven force situation in the contact position between the clamping structure 400 and the battery module. By controlling the battery module to move upward through the clamping structure 400 to change the contact position of the two, the distribution of the clamping force can be adjusted, so that the force of the clamping structure 400 on the battery module is more uniform, which helps to prevent damage to the battery module due to excessive local force. At the same time, it can also avoid loose clamping due to uneven force, further improving the stability of the clamping, and ensuring that the battery module will not shake or fall off easily during transportation and assembly. A plurality of clamping ridges 411 are fixedly connected to the outer surface of the clamping belt 410, which can improve the stability of the battery module driven by the clamping belt 410.

[0055] Example 5:

[0056] like Figures 1-15 As shown, the force clamping arm 404 also includes: a horizontal load-bearing plate 412 fixed in the horizontal hole of the force-bearing plate 405, and a force rotating tube 413 is rotated on the plate body of the horizontal load-bearing plate 412 passing through multiple clamping grooves 406, and each force rotating tube 413 is screwed with a fixed stud 414, and the inner end of each fixed stud 414 is connected to a reinforcing top plate 415 for abutting and fitting on the inner side of the clamping belt 410, and two sliding side plates 416 fixed on the reinforcing top plate 415 are relatively slidably arranged on the upper and lower sides of the horizontal load-bearing plate 412; a force worm gear 417 is fixed on each force rotating tube 413, and multiple force worm gears 417 are engaged with the force worm 418 rotated on the horizontal load-bearing plate 412; the force worm 418 is connected to the top pressure motor fixed on the side of the force plate 405.

[0057] The working principle and technical effects of the above scheme are as follows:

[0058] In an industrial robot for assembling lithium battery modules of the present invention, in order to improve the stability effect of the clamping belt 410 when rotating to control the battery module to move upward or downward, and to improve the contact effect between the clamping belt 410 and the battery module, the above structure is specially designed. When it is necessary to control the movement of the battery module by the clamping belt 410, the top pressure motor is started. After the top pressure motor is started, the force worm 418 can be controlled to rotate. When the force worm 418 rotates, it engages with multiple force worm gears 417 to rotate. When the multiple force worm gears 417 rotate, they drive multiple force rotating tubes 413 to rotate synchronously. When the multiple force rotating tubes 413 rotate, the contact position of their inner inner threaded surfaces and the fixed stud 414 is changed, and the two sliding side plates 416 fixed to the reinforcing top plate 415 are relatively slidably arranged on the horizontal load-bearing plate 412 The upper and lower sides make the contact position of the force-applying rotating tube 413 and the fixed stud 414 change, and the two sliding side plates 416 slide relative to each other on the upper and lower sides of the horizontal load-bearing plate 412, thereby controlling the distance between the reinforced top plate 415 and the horizontal load-bearing plate 412 to change, thereby realizing the movement of the reinforced top plate 415, so that the reinforced top plate 415 fits the inner side of the clamping belt 410. When the battery module is controlled to lift and lower by the clamping belt 410, the control effect of the clamping belt 410 on the battery module can be improved by pressing the reinforced top plate 415 against the clamping belt 410, thereby improving the stability of the lifting movement. Moreover, after the lifting is completed, the reinforced top plate 415 is controlled to press against the clamping belt 410, and the clamping belt 410 presses against the outer wall of the battery module, which can improve the stability of the battery module during lifting.

[0059] In the present invention, the force-applying clamp arm 404 is reinforced with a top plate 415 that presses against the clamping belt 410, thereby increasing the friction between the clamping belt 410 and the battery module, and more reliably driving the battery module to move up and down. During the ascent or descent of the battery module, even if subject to external interference or load changes, the relative slip between the clamping belt 410 and the battery module is reduced, ensuring the stability and accuracy of the movement. The threaded transmission between the force-applying rotating tube 413 and the fixed stud 414 allows for precise position adjustment. By controlling the rotation of the top-pressing motor, the pressure exerted by the reinforced top plate 415 on the clamping belt 410 can be adjusted in real time according to the actual situation of the battery module. During the rising or falling process of the battery module, if it is found that the movement is unstable or shaking occurs, the position of the reinforced top plate 415 can be adjusted in time to increase or decrease the pressure on the clamping belt 410 to ensure the stability of the lifting movement of the battery module; after the lifting is completed, the reinforced top plate 415 is controlled to continue to press against the clamping belt 410, and the clamping belt 410 is tightly pressed against the outer wall of the battery module, which can always maintain the stability of the battery module during the lifting process and prevent the battery module from shaking or falling during the lifting process. In particular, when the mechanical body 200 slides on the lifting track 100, a certain inertia force and vibration may be generated. The close fit between the reinforced top plate 415 and the clamping belt 410 can effectively resist these external forces and ensure that the battery module safely reaches the designated position; in addition, different lithium battery modules may have different shapes, sizes and weights. By adjusting the position and pressure of the reinforced top plate 415, the clamping belt 410 can better adapt to the characteristics of various battery modules, thereby improving the versatility and adaptability of the industrial robot to different battery modules.

[0060] Example 6:

[0061] like Figures 1-15 As shown, the anti-fall structure 500 includes: an anti-fall support plate 501 that is horizontally slidable in the cross sliding groove at the bottom of the force plate 405, the cross sliding groove is open below, and the lower surface of the anti-fall support plate 501 is coplanar with the lower surface of the force plate 405; a horizontal push plate 502 is slid in the horizontal sliding groove on the outside of the anti-fall support plate 501, and the horizontal push plate 502 is inserted into the plate body in the horizontal sliding groove and fixed with a limiting block 503, and the limiting block 503 is slid in the limiting groove of the anti-fall support plate 501; a slow-entry compression spring 504 is provided between the horizontal push plate 502 and the inner side surface of the horizontal sliding groove, and the vertical push plate 505 fixed to one end of the horizontal push plate 502 away from the slow-entry compression spring 504 is threadedly connected to the push screw 506 connected to the force plate 405, and the push worm gear 507 fixed on the push screw 506 is engaged with the spiral worm structure provided on the lower shaft 408.

[0062] The working principle and technical effects of the above scheme are as follows:

[0063] In an industrial robot for assembling lithium battery modules of the present invention, when the upper shaft 407 rotates, the two rotating wheels 409 and the clamping belt 410 cooperate to drive the lower shaft 408 to rotate, so that when the clamping belt 410 rotates to control the battery module upward, the anti-fall support plate 501 can be synchronously controlled to move inward in the cross slide at the bottom of the force plate 405, that is, to move below the battery module. The specific operation is as follows: when the lower shaft 408 rotates, the spiral worm structure on it engages to push the worm wheel 507 to rotate, pushing When the worm gear 507 rotates, it drives the push screw 506 to rotate. When the push screw 506 rotates, it changes its contact position with the vertical push plate 505. The vertical push plate 505 drives the horizontal push plate 502 to slide in the horizontal sliding groove on the outside of the anti-fall support plate 501. The horizontal push plate 502 drives the anti-fall support plate 501 to slide in the cross sliding mouth at the bottom of the force plate 405 through the slow-entry compression spring 504. When the battery module does not move upward to the preset position, the battery module is blocked on the inside of the anti-fall support plate 501. At this time, the horizontal push plate 502 is on the outside of the anti-fall support plate 501. The sliding in the horizontal sliding groove compresses the slow-entry compression spring 504, which plays a role of buffering slow entry through the slow-entry compression spring 504, so that the anti-fall support plate 501 will not get stuck and affect the rotation of the lower shaft rod 408. When the battery module moves upward and breaks away from the contact with the inner side of the anti-fall support plate 501, the anti-fall support plate 501 moves to the bottom of the battery module under the elastic force of the slow-entry compression spring 504, effectively supporting it. On the contrary, when the battery module needs to be lowered, the upper shaft rod 407 and the lower shaft rod 408 rotate in opposite directions, thereby controlling the anti-fall support plate 501 to slide outward. It should be noted that even when the battery module moves downward to its original position and the anti-fall support plate 501 is not retracted in time, the two clamping push rods 403 can be used to control the force plates 405 of the two force clamping arms 404 to move away from each other, thereby relaxing the clamping force on the battery module. At this time, controlling the upper shaft 407 and the lower shaft 408 to rotate and drive the clamping belt 410 to rotate will not drive the battery module to move. The anti-fall support plate 501 is controlled only by the lower shaft 408, which facilitates the retraction of the anti-fall support plate 501.

[0064] Example 7:

[0065] like Figures 1-15 As shown, the industrial robot for assembling lithium battery modules also includes: a plurality of limiting mechanisms 600 connected to the force plate 405, and the plurality of limiting mechanisms 600 cooperate with the plurality of anti-fall structures 500 one by one; the limiting mechanism 600 includes: a limiting strip plate 601 which is laterally slid into the side horizontal hole of the force plate 405, and one end of the limiting strip plate 601 inserted into the cross sliding mouth is provided with a limiting inclined surface 602 for resisting and cooperating with the anti-loosening inclined surface on the inner side of the anti-fall support plate 501, and an anti-loosening tension spring 604 is fixed between the side stop block 603 fixed to the other end of the limiting strip plate 601 and the side surface of the force plate 405.

[0066] The working principle and technical effects of the above scheme are as follows:

[0067] In an industrial robot for assembling lithium battery modules of the present invention, under normal conditions, the limiting inclined surface 602 of the limiting strip 601 is in contact with the anti-loosening inclined surface on the inner side of the anti-falling support plate 501, which can effectively prevent the anti-falling support plate 501 from accidentally moving to the bottom of the battery module without control; during the daily operation of the industrial robot, it may be disturbed by various external factors, such as mechanical vibration, slight collision, etc. If there is no constraint of the limiting mechanism 600, the anti-falling support plate 501 may move on its own due to these factors, causing it to appear under the battery module when not needed, affecting the normal clamping, handling and assembly process. The existence of the limiting mechanism 600 ensures that the anti-falling support plate 501 will only move when it is correctly controlled, thereby improving the reliability and stability of the robot operation; when it is necessary to control the anti-falling support plate 501 to move inward to the bottom of the battery module, the anti-loosening inclined surface of the anti-falling support plate 501 will press the limiting inclined surface 602 of the limiting strip 601. Since the limiting strip 601 is laterally slidable on the force application plate The top pressure in the side horizontal hole 405 will cause the limiting strip 601 to slide outward, and drive the side block 603 to stretch the anti-loosening tension spring 604, so that the limiting mechanism 600 can automatically adapt to the movement of the anti-falling support plate 501, and will not hinder its normal movement. During the movement of the anti-falling support plate 501, the limiting mechanism 600 can provide the necessary space and cooperation for it through its own adjustment, ensuring that the anti-falling support plate 501 can smoothly reach the specified position; the anti-loosening tension spring 604 moves outward when the limiting strip 601 moves outward When the anti-fall support plate 501 is stretched during sliding, elastic potential energy is stored. When the anti-fall support plate 501 completes its movement and needs to return to its initial position, the elastic restoring force of the anti-loosening tension spring 604 causes the limiting strip 601 to return to its original position. Its limiting inclined surface 602 again contacts the anti-loosening inclined surface of the anti-fall support plate 501, re-constraining the anti-fall support plate 501, ensuring that the limiting mechanism 600 can continue to function effectively, so that the anti-fall support plate 501 can be accurately restrained in its initial position after each movement, ready for the next operation. The limiting mechanism 600 cooperates with the anti-fall structure 500 to form a dual safety guarantee mechanism. The anti-fall structure 500 itself is used to prevent the battery module from falling during transportation, while the limiting mechanism 600 further ensures the normal working state of the anti-fall structure 500. By limiting the accidental movement of the anti-fall support plate 501, the safety risk caused by the malfunction of the anti-fall structure is reduced. During the entire assembly and transportation process of the battery module, the safety of personnel and equipment is effectively protected, and the probability of accidents is reduced.

[0068] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0069] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0070] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An industrial robot for assembling lithium battery modules, characterized in that: include: A lifting track is connected to the lifting track, and a mechanical body and a lifting drive for driving the mechanical body to slide on the lifting track are connected to the lifting track; a clamping structure for clamping the battery module is connected to the mechanical body; and an anti-fall structure for limiting the load on the battery module is connected to the bottom of the clamping structure.

2. An industrial robot for assembling lithium battery modules according to claim 1, characterized in that: The hoisting track includes: a track bracket and a track column. The two track brackets are connected by two parallel track columns. The mechanical body and the hoisting drive are both connected to the two track columns.

3. The industrial robot for assembling lithium battery modules according to claim 2, characterized in that: The mechanical body includes: a mechanical frame slidably mounted on two track columns, a cylinder shaft of a lifting cylinder connected to the mechanical frame is connected to a lifting frame located below the mechanical frame, and an anti-deflection shaft fixed to the lifting frame is slidably mounted on an anti-deflection longitudinal hole of the mechanical frame.

4. The industrial robot for assembling lithium battery modules according to claim 2, characterized in that: The hoisting drive includes: a hoisting motor connected to the mechanical body, a traveling worm gear fixed to the output shaft of the hoisting motor, and meshing with a spiral worm structure on the outer surface of a track column, and the track column is fixed between two track brackets.

5. The industrial robot for assembling lithium battery modules according to claim 1, characterized in that: The clamping structure includes: two guide shafts connected in parallel to the bottom of the mechanical body, two lifting slides sliding on the two guide shafts and connected one by one to the telescopic ends of the two clamping push rods fixed to the bottom of the mechanical body; the two lifting slides are connected one by one to two force-applying clamping arms for clamping battery modules; and more than two anti-fall structures are connected to the bottom of each force-applying clamping arm.

6. The industrial robot for assembling lithium battery modules according to claim 5, characterized in that: The force clamping arm includes: a force plate connected to the bottom of the lifting slide by bolts and nuts, and a plurality of clamping grooves with open bottoms are arranged in parallel on the force plate; the upper shaft rod and the lower shaft rod rotated side by side on the force plate are both passed through the plurality of clamping grooves, and the upper shaft rod and the lower shaft rod passing through the plurality of clamping grooves are fixedly connected to the shaft bodies with rotating wheels, and the upper and lower rotating wheels located in the same clamping groove are connected by a clamping belt; the sprocket fixed on the upper shaft rod is connected to the sprocket fixed on the output end of the clamping motor through a chain, and the clamping motor is installed on the force plate.

7. An industrial robot for assembling lithium battery modules according to claim 6, characterized in that: A plurality of clamping ridges are fixedly connected around the outer side of the clamping belt.

8. The industrial robot for assembling lithium battery modules according to claim 6, characterized in that: The force clamping arm also includes: a transverse bearing plate fixedly connected to the transverse hole of the force plate, and a force rotating tube is rotatably provided on the plate body of the transverse bearing plate passing through multiple clamping grooves, each force rotating tube is screwed with a fixed stud, and the inner end of each fixed stud is connected to a reinforcing top plate for abutting and fitting on the inner side of the clamping belt, and two sliding side plates fixed on the reinforcing top plate are relatively slidably arranged on the upper and lower sides of the transverse bearing plate; a force worm gear is fixed to each force rotating tube, and multiple force worm gears are engaged with the force worm screw rotatably provided on the transverse bearing plate; the force worm screw is connected to the top pressure motor fixed to the side of the force plate.

9. The industrial robot for assembling lithium battery modules according to claim 8, characterized in that: The anti-fall structure includes: an anti-fall support plate that slides horizontally in the cross sliding mouth at the bottom of the force plate, the cross sliding mouth is open, and the lower surface of the anti-fall support plate is coplanar with the lower surface of the force plate; a horizontal push plate is slid in the horizontal sliding groove on the outside of the anti-fall support plate, and the horizontal push plate is inserted into the plate body in the horizontal sliding groove and fixed with a limiting block, and the limiting block is slid in the limiting groove of the anti-fall support plate; a slow-entry compression spring is provided between the horizontal push plate and the inner side surface of the horizontal sliding groove, and a vertical push plate fixed to one end of the horizontal push plate away from the slow-entry compression spring is threadedly connected to a push screw transferred to the force plate, and a push worm gear fixed on the push screw is engaged with a spiral worm structure provided on the lower shaft.

10. An industrial robot for assembling lithium battery modules according to claim 9, characterized in that: Also includes: Multiple limiting mechanisms are connected to the force plate, and the multiple limiting mechanisms cooperate with the multiple anti-fall structures one by one; the limiting mechanisms include: a limiting strip plate that is laterally slid into the horizontal hole on the side of the force plate, and one end of the limiting strip plate inserted into the cross sliding mouth is provided with a limiting inclined surface for contacting and cooperating with the anti-loosening inclined surface on the inner side of the anti-fall supporting plate, and an anti-loosening tension spring is fixed between the side stopper fixed to the other end of the limiting strip plate and the side surface of the force plate.

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