An industrial robot for lithium battery cell module assembly

Abstract

The present application relates to the technical field of industrial robots, more particularly to an industrial robot for lithium battery module assembly, comprising: a hoisting track, a mechanical body and a hoisting drive for driving the mechanical body to slide on the hoisting track are connected on the hoisting track; the mechanical body is connected with a clamping structure for clamping the battery module; the bottom of the clamping structure is connected with an anti-falling structure for bearing and limiting the battery module. In the present application, the two sides of the battery module can be firmly clamped by the clamping structure, and after clamping, the clamping structure can control the upward movement of the battery module, change the contact position of the clamping structure and the battery module, and at the same time when the clamping structure controls the upward movement of the battery module, the clamping structure synchronously drives the anti-falling structure to move below the battery module, so that the battery module is limited by the anti-falling structure, preventing the battery module from falling during the carrying process.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and more specifically, to an industrial robot for assembling lithium battery modules. Background Technology

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

[0003] Currently, existing industrial robots used in lithium battery module assembly have some shortcomings. Most existing industrial robots for battery module assembly use traditional clamping methods to handle battery modules. However, battery modules are typically heavy and valuable, and during handling, there is a risk of accidental drops due to potential loosening, malfunction, or interference from external factors in the clamping structure. Once a battery module falls, it not only damages the 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, a falling battery module may injure on-site operators, posing a significant safety hazard. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially solve the above problems, the present invention provides an industrial robot for assembling lithium battery modules, comprising: a hoisting track, a mechanical body connected to the hoisting track and a hoisting drive for driving the mechanical body to slide on the hoisting track; a clamping structure for clamping battery modules connected to the mechanical body; and a fall-prevention structure for bearing and limiting the battery modules connected to the bottom of the clamping structure.

[0006] Furthermore, the hoisting track includes: track supports and track columns, with two track supports connected by two parallel track columns, and the mechanical body and hoisting drive both connected to the two track columns.

[0007] Furthermore, the main body of the machine includes: a machine frame that slides on two track columns, a cylinder shaft of a hoisting cylinder connected to the machine frame that is connected to a hoisting frame located below the machine frame, and an anti-deviation shaft fixed on the hoisting frame that slides in the anti-deviation longitudinal hole of the machine frame.

[0008] Furthermore, the hoisting drive includes: a hoisting motor mounted on the main body of the machine, a traveling worm gear fixed to the output shaft of the hoisting motor meshing with a spiral worm structure on the outer surface of a track column, the track column being fixed between two track supports.

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

[0010] Furthermore, the force-applying clamping arm includes: a force-applying plate connected to the lower part of the lifting slide by bolts and nuts, with multiple open-bottom clamping slots arranged side by side on the force-applying plate; an upper shaft and a lower shaft mounted side by side on the force-applying plate, both passing through the multiple clamping slots, with rotating wheels fixedly connected to the shafts of the upper shaft and the lower shaft passing through the multiple clamping slots, and the upper and lower rotating wheels located in the same clamping slot being connected by a clamping belt; a sprocket fixed to the upper shaft and a sprocket fixed to the output end of the clamping motor are connected by a chain, and the clamping motor is mounted on the force-applying plate.

[0011] Furthermore, multiple clamping protrusions are fixedly attached around the outer surface of the clamping strap.

[0012] Furthermore, the force-applying clamping arm also includes: a horizontal bearing plate fixedly connected to the transverse hole of the force-applying plate; a force-applying rotating tube is rotated on the plate body passing through multiple clamping grooves of the horizontal bearing plate; a fixed stud is screwed into each force-applying rotating tube; the inner end of each fixed stud is connected to a reinforcing top plate for abutting and engaging with the inner side of the clamping band; two sliding side plates fixedly connected to the reinforcing top plate slide relative to each other on the upper and lower sides of the horizontal bearing plate; a force-applying worm gear is fixedly connected to each force-applying rotating tube; multiple force-applying worm gears mesh with a force-applying worm gear rotated on the horizontal bearing plate; the force-applying worm gear is connected to a top pressure motor fixedly connected to the side of the force-applying plate.

[0013] Furthermore, the fall protection structure includes: a fall protection support plate that slides laterally within a cross-shaped sliding opening at the bottom of the force application plate, with an open lower section below the cross-shaped sliding opening, and the lower surface of the fall protection support plate being coplanar with the lower surface of the force application plate; a horizontal push plate that slides within a horizontal sliding groove on the outer side of the fall protection support plate, the horizontal push plate being inserted into a plate body within the horizontal sliding groove and a limiting block being fixedly connected, the limiting block being slidably positioned within a limiting groove of the fall protection support plate; a slow-entry pressure spring being provided between the horizontal push plate and the inner side of the horizontal sliding groove, a vertical push plate fixedly connected to the end of the horizontal push plate away from the slow-entry pressure spring and a push screw threadedly connected to the force application plate, and a push worm gear fixedly connected to the push screw meshing with a spiral worm gear structure provided on the lower shaft.

[0014] Furthermore, it also includes: multiple limiting mechanisms connected to the force-applying plate, each limiting mechanism cooperating with multiple fall protection structures; the limiting mechanism includes: a limiting strip plate that slides laterally in the transverse hole of the side of the force-applying plate, one end of the limiting strip plate inserted into the cross slide is provided with a limiting inclined surface for abutting against the anti-loosening inclined surface on the inner side of the fall protection support plate, and a side stop block fixed to the other end of the limiting strip plate is fixedly connected to the side of the force-applying plate with an anti-loosening tension spring.

[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 according to the present invention, a clamping structure can securely hold both sides of the battery module. After clamping, the clamping structure can control the battery module to move upward, changing the contact position between the clamping structure and the battery module. While the clamping structure controls the upward movement of the battery module, it synchronously drives the anti-fall structure to move below the battery module, thereby limiting the battery module and preventing it from falling during handling. After moving to the correct position, the clamping structure can control the battery module to move downward back to its original position. At this time, the clamping structure synchronously drives the anti-fall structure to disengage from below the battery module, thus not affecting the unloading of the battery module. This effectively avoids the risk of the battery module falling during handling and greatly improves operational safety.

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 An overall schematic diagram of the industrial robot provided in the embodiments of the present invention. Figure 1 ;

[0020] Figure 2An overall schematic diagram of the industrial robot provided in the embodiments of the present invention. Figure 2 ;

[0021] Figure 3 An overall schematic diagram of the industrial robot provided in the embodiments 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 the mechanical body provided in an embodiment of the present invention;

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

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

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

[0027] Figure 9 A schematic diagram of the fall protection structure provided in an embodiment of the present invention. Figure 1 ;

[0028] Figure 10 A schematic diagram of the fall protection structure provided in an embodiment of the present invention. Figure 2 ;

[0029] Figure 11 A schematic diagram of the limiting mechanism and fall arrestor plate provided in an embodiment of the present invention;

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

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

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

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

[0034] Icons: Lifting rail 100; Rail support 101; Rail column 102; Main body of the machine 200; Machine frame 201; Lifting cylinder 202; Lifting frame 203; Anti-deviation shaft 204; Lifting drive 300; Lifting motor 301; Traveling worm gear 302; Clamping structure 400; Guide shaft 401; Lifting slide 402; Clamping push rod 403; Force-applying clamp arm 404; Force-applying plate 405; Clamping groove 406; Upper shaft 407; Lower shaft 408; Rotating wheel 409; Clamping belt 4 10; Clamping protrusion 411; Horizontal bearing plate 412; Force-applying rotary tube 413; Fixed stud 414; Reinforcing top plate 415; Sliding side plate 416; Force-applying worm gear 417; Force-applying worm 418; Anti-fall structure 500; Anti-fall support plate 501; Horizontal push plate 502; Limiting block 503; Slow-entry pressure spring 504; Vertical push plate 505; Push screw 506; Push worm gear 507; Limiting mechanism 600; Limiting strip 601; Limiting inclined surface 602; Side stop block 603; Anti-loosening tension spring 604. Detailed Implementation

[0035] To enable those skilled in the art to 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 described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

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

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

[0038] The following is in conjunction with the appendix Figure 1-15 The present invention will be described in further detail below.

[0039] Example 1:

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

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

[0042] In an industrial robot for assembling lithium battery modules according to the present invention, a hoisting track 100 provides a movement path for the mechanical body 200, and a hoisting drive 300 drives the mechanical body 200 to slide on the hoisting track 100, allowing the industrial robot to have a wide range of movement within the working area for lithium battery module assembly. It can flexibly transport battery modules to different positions according to actual assembly needs. A clamping structure 400 is connected to the mechanical body 200 and can stably clamp both sides of the battery module. It is suitable for lithium battery modules of different specifications and sizes. The clamping structure 400 can achieve stable clamping by adjusting the clamping force and method. A fall prevention structure 5 is also included. The 00 is connected to the bottom of the clamping structure 400. After the clamping structure 400 securely holds both sides of the battery module, it can also control the upward movement of the battery module. When the clamping structure 400 controls the upward movement of the battery module, it creates a certain space below the battery module, providing conditions for the fall arrestor 500 to move to the area below the battery module. If the contact position between the clamping structure and the battery module is not changed, the fall arrestor may not be able to reach the designated position smoothly, thus affecting its load-bearing and limiting function. By lifting the battery module upward, the fall arrestor can move quickly and accurately to the area below the battery module without being obstructed by it. The clamping structure 400 plays a crucial role in preventing falls. By changing the contact position between the clamping structure 400 and the battery module, when the clamping structure 400 controls the battery module to move upwards, it synchronously controls the fall-prevention structure 500 to move below the battery module. During transport, if the clamping structure 400 becomes loose or experiences other abnormalities, the fall-prevention structure 500 can promptly limit the load on the battery module, preventing it from falling and reducing economic losses caused by a falling battery module. It also prevents damage to surrounding equipment from a falling battery module, ensuring the normal operation of the entire production line. After the battery module reaches its designated position, the clamping structure 400 controls the battery module to move downwards... The robot moves back to its original position, while the clamping structure 400 synchronously drives the anti-fall structure 500 to detach from under the battery module. This ensures effective protection of the battery module during handling without affecting its normal removal, achieving full-process safety assurance and providing a safer working environment for operators. The synchronous transmission and linkage design between the clamping structure 400 and the anti-fall structure 500 allows the anti-fall structure 500 to automatically coordinate with the clamping structure 400 during the clamping, handling, and unloading of the battery module, without the need for additional manual intervention or complex control steps. This simplifies the operation process, reduces the workload of operators, and improves work efficiency.

[0043] Example 2:

[0044] like Figures 1-15As shown, the hoisting track 100 includes: track supports 101 and track posts 102. The two track supports 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. An anti-deviation shaft 204 fixed on the hoisting frame 203 is slidably mounted in the anti-deviation longitudinal hole of the mechanical frame 201. The hoisting drive 300 includes: a hoisting motor 301 mounted on the mechanical body 200. The hoisting motor 301 is mounted on the mechanical frame 201. A traveling worm gear 302 fixed to the output shaft of the hoisting motor 301 meshes with a spiral worm structure on the outer surface of a track post 102. The track post 102 is fixed between the two track supports 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 according to the present invention, after the hoisting motor 301 is started, it can drive the traveling worm gear 302 to rotate. Since the traveling worm gear 302 meshes 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 bottom clamping structure 400 of the hoisting frame 203; after the hoisting cylinder 202 is started, it can drive the hoisting frame 203 to perform longitudinal displacement movement. The hoisting frame 203 drives the anti-deviation shaft 204 to slide in the anti-deviation longitudinal hole of the mechanical frame 201. The anti-deviation shaft 204 plays a guiding and limiting role.

[0047] Example 3:

[0048] like Figures 1-15 As shown, the clamping structure 400 includes: two parallel guide shafts 401 mounted on the bottom of the mechanical body 200; two lifting slides 402 sliding on the two guide shafts 401 and the telescopic ends of two clamping push rods 403 fixed to the bottom of the mechanical body 200; the two lifting slides 402 and two force-applying clamping arms 404 for clamping battery modules; and two or more anti-fall structures 500 connected to the bottom of each force-applying clamping arm 404.

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

[0050] In an industrial robot for assembling lithium battery modules according to the present invention, the clamping push rod 403 can be an electric push rod, an electric telescopic rod, or a hydraulic push rod, used to control two lifting slides 402 to slide on two guide shafts 401, thereby driving two force-applying clamping arms 404 to clamp or unload battery modules through the two lifting slides 402. Each force-applying clamping arm 404 has two or more anti-fall structures 500 connected to its bottom, 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-applying clamping arm 404 includes: a force-applying plate 405 connected to the lower part of the lifting slide 402 by bolts and nuts; multiple open-bottom clamping grooves 406 are arranged side by side on the force-applying plate 405; an upper shaft 407 and a lower shaft 408, which are mounted side by side on the force-applying plate 405, both pass through the multiple clamping grooves 406; rotating wheels 409 are fixedly connected to the shafts of the upper shaft 407 and the lower shaft 408 passing through the multiple clamping grooves 406; two upper and lower rotating wheels 409 located in the same clamping groove 406 are connected by a clamping belt 410; a sprocket fixed to the upper shaft 407 is connected to a sprocket fixed to the output end of the clamping motor by a chain; the clamping motor is mounted on the force-applying plate 405. Multiple clamping protrusions 411 are fixedly attached around 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 according to the present invention, the force-applying clamping arms 404 are detachable for easy inspection and maintenance. Rubber pads are adhered to the adjacent surfaces of the two force-applying plates 405 of the two force-applying arms 404 for stable clamping of the battery module. After clamping the battery module on both sides using the two force-applying plates 405 of the two force-applying arms 404, the clamping motor can be started. The sprocket at the output end of the clamping motor drives the sprocket on the upper shaft 407 to rotate via a chain, thereby controlling the rotation of the upper shaft 407. When the upper shaft 407 rotates, it drives the lower shaft 408 to rotate through the cooperation of two rotating wheels 409 and the clamping belt 410, thereby achieving stable rotation of the clamping belt 410. When the clamping belt 410 rotates, it can control the battery module to... The clamping structure 400 moves upwards or downwards. When clamping and transporting the battery module, it controls the upward movement of the battery module. During the initial clamping, there may be uneven force at the contact position between the clamping structure 400 and the battery module. By controlling the upward movement of the battery module through the clamping structure 400, the contact position between the two can be changed, which can adjust the distribution of clamping force and make the force exerted by the clamping structure 400 on the battery module more uniform. This helps to prevent damage to the battery module due to excessive local force, and also avoids clamping loosening due to uneven force. This further improves the stability of clamping and ensures that the battery module will not easily shake or fall off during transportation and assembly. Multiple clamping protrusions 411 are fixed around the outer surface of the clamping strap 410, which can improve the stability of the movement of the battery module driven by the clamping strap 410.

[0055] Example 5:

[0056] like Figures 1-15 As shown, the force-applying clamping arm 404 further includes: a horizontal bearing plate 412 fixedly connected in the transverse hole of the force-applying plate 405; a force-applying rotating tube 413 is rotated on the plate body of the horizontal bearing plate 412 passing through multiple clamping grooves 406; a fixed stud 414 is screwed into each force-applying rotating tube 413; the inner end of each fixed stud 414 is connected to a reinforcing top plate 415 for abutting and engaging with the inner side of the clamping band 410; two sliding side plates 416 fixedly connected to the reinforcing top plate 415 are slidably disposed on the upper and lower sides of the horizontal bearing plate 412; a force-applying worm gear 417 is fixedly connected to each force-applying rotating tube 413; multiple force-applying worm gears 417 mesh with a force-applying worm 418 rotated on the horizontal bearing plate 412; and the force-applying worm 418 is connected to a top pressure motor fixedly connected to the side of the force-applying 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 according to the present invention, in order to improve the stability of the upward or downward movement of the battery module when the clamping belt 410 rotates, and to improve the contact effect between the clamping belt 410 and the battery module, the above-mentioned structure is designed. When it is necessary to control the movement of the battery module through the clamping belt 410, the top pressure motor is started. After the top pressure motor is started, it can control the rotation of the force-applying worm gear 418. When the force-applying worm gear 418 rotates, it engages multiple force-applying worm wheels 417 to rotate. When the multiple force-applying worm wheels 417 rotate, they drive multiple force-applying rotating tubes 413 to rotate synchronously. When the multiple force-applying rotating tubes 413 rotate, they change the contact position between their inner threaded surfaces and the fixed studs 414. Meanwhile, the two sliding side plates 416 fixed on the reinforcing top plate 415 are slidably mounted on the horizontal bearing plate 412. On the upper and lower sides, when the contact position between the force-applying rotary tube 413 and the fixed stud 414 changes, the two sliding side plates 416 slide relative to each other on the upper and lower sides of the horizontal bearing plate 412, thereby controlling the change in the distance between the reinforcing top plate 415 and the horizontal bearing plate 412, thus realizing the movement of the reinforcing top plate 415, so that the reinforcing top plate 415 fits against the inner side of the clamping belt 410. When controlling the lifting and lowering movement of the battery module through the clamping belt 410, the reinforcing top plate 415 pressing against the clamping belt 410 can improve the control effect of the clamping belt 410 on the battery module, thereby improving the stability of the lifting and lowering movement. Furthermore, after the lifting is completed, controlling the reinforcing top plate 415 to press against the clamping belt 410, and making the clamping belt 410 press against the outer wall of the battery module, can improve the stability of the battery module during hoisting.

[0059] In this invention, the force-applying clamping arm 404, by reinforcing the top plate 415 against the clamping band 410, increases the friction between the clamping band 410 and the battery module, enabling more reliable lifting and lowering of the battery module. During the lifting or lowering of the battery module, even under external interference or load changes, the relative slippage between the clamping band 410 and the battery module is reduced, ensuring the stability and accuracy of the movement. Because the threaded transmission between the force-applying rotary tube 413 and the fixed stud 414 allows for precise position adjustment, the pressure exerted by the reinforcing top plate 415 on the clamping band 410 can be adjusted in real time according to the actual situation of the battery module by controlling the rotation of the top pressure motor. If instability or vibration is detected during the lifting or lowering of the battery module, the position of the reinforcing top plate 415 can be adjusted in a timely manner to increase or decrease the pressure on the clamping strap 410, ensuring the stability of the battery module's lifting movement. After lifting is complete, the reinforcing top plate 415 is controlled to continue pressing against the clamping strap 410, ensuring that the clamping strap 410 is tightly pressed against the outer wall of the battery module. This maintains the stability of the battery module during hoisting, preventing it from shaking or falling. Especially when the mechanical body 200 slides on the hoisting track 100, it may generate certain inertial forces and vibrations. The tight cooperation between the reinforcing top plate 415 and the clamping strap 410 can effectively resist these external forces, ensuring 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 reinforcing top plate 415, the clamping strap 410 can better adapt to the characteristics of various battery modules, improving the industrial robot's versatility and adaptability to different battery modules.

[0060] Example 6:

[0061] like Figures 1-15 As shown, the fall protection structure 500 includes: a fall protection support plate 501 that is horizontally slidably installed in the cross-shaped sliding opening at the bottom of the force application plate 405, with an open lower part below the cross-shaped sliding opening, and the lower surface of the fall protection support plate 501 being coplanar with the lower surface of the force application plate 405; a horizontal push plate 502 that is slidably installed in the horizontal sliding groove on the outer side of the fall protection support plate 501, and a limiting block 503 that is fixedly connected to the plate body inserted into the horizontal sliding groove, and the limiting block 503 that is slidably installed in the limiting groove of the fall protection support plate 501; a slow-entry compression spring 504 is provided between the horizontal push plate 502 and the inner side of the horizontal sliding groove, and a vertical push plate 505 fixedly connected to the end of the horizontal push plate 502 away from the slow-entry compression spring 504 is threadedly connected to a push screw 506 that is transferred to the force application plate 405, and a push worm gear 507 fixedly connected to the push screw 506 meshes with a spiral worm gear 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 according to the present invention, when the upper shaft 407 rotates, the lower shaft 408 rotates through the cooperation of two rotating wheels 409 and the clamping belt 410. Thus, when the clamping belt 410 rotates to control the upward movement of the battery module, the anti-fall support plate 501 can be simultaneously controlled to move inward within the cross-shaped sliding opening at the bottom of the force application plate 405, i.e., downward towards the battery module. Specifically, when the lower shaft 408 rotates, it engages with the worm gear structure on it to push the worm wheel 507 to rotate, thus pushing... When the worm gear 507 rotates, it drives the push screw 506 to rotate. The rotation of the push screw 506 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 groove on the outside of the fall arrestor plate 501. The horizontal push plate 502, through the slow-entry compression spring 504, drives the fall arrestor plate 501 to slide in the cross-shaped sliding opening at the bottom of the force application plate 405. When the battery module has not moved upward to the preset position, the battery module is blocked inside the fall arrestor plate 501. At this time, the horizontal push plate 502 is on the outside of the fall arrestor plate 501. The sliding within the transverse groove compresses the slow-entry spring 504, which acts as a buffer to slow the entry, preventing the fall arrestor plate 501 from jamming and affecting the rotation of the lower shaft 408. When the battery module moves upward and disengages from the inner side of the fall arrestor plate 501, the fall arrestor plate 501 moves under the elastic force of the slow-entry spring 504 to effectively support the battery module. Conversely, when it is necessary to lower the battery module, the upper shaft 407 and the lower shaft 408 rotate in opposite directions, thereby controlling the fall arrestor plate 501 to slide outward. When the battery module is disengaged, it should be noted that even if the battery module moves downward to its original position and the anti-fall support plate 501 is not retracted in time, the force plates 405 of the two force-applying clamping arms 404 can be controlled to move away from each other by the two clamping push rods 403, thereby relaxing the clamping force on the battery module. At this time, when the upper shaft rod 407 and the lower shaft rod 408 are rotated to drive the clamping belt 410 to rotate, the battery module will not be moved. The anti-fall support plate 501 is controlled only by the lower shaft rod 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 further includes: multiple limiting mechanisms 600 connected to the force application plate 405, and the multiple limiting mechanisms 600 cooperate with multiple anti-fall structures 500 one by one; the limiting mechanism 600 includes: a limiting strip 601 that slides laterally in the side transverse hole of the force application plate 405, one end of the limiting strip 601 inserted into the cross slide is provided with a limiting inclined surface 602 for abutting against the anti-loosening inclined surface on the inner side of the anti-fall support plate 501, and an anti-loosening tension spring 604 fixed between the side stop block 603 fixed to the other end of the limiting strip 601 and the side of the force application 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 according to the present invention, under normal conditions, the limiting slope 602 of the limiting strip 601 abuts against the anti-loosening slope on the inner side of the anti-fall support plate 501, which can effectively prevent the anti-fall support plate 501 from accidentally moving under the battery module without control. During the daily operation of the industrial robot, it may be affected by various external factors, such as mechanical vibration and slight collisions. Without the constraint of the limiting mechanism 600, the anti-fall 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-fall support plate 501 will only move when it is properly controlled, improving the reliability and stability of robot operation. When it is necessary to control the anti-fall support plate 501 to move inward to under the battery module, the anti-loosening slope of the anti-fall support plate 501 will press against the limiting slope 602 of the limiting strip 601. Since the limiting strip 601 slides laterally on the force plate Within the side transverse hole of 405, the pressing action causes the limiting strip 601 to slide outwards, and drives the side stop 603 to stretch the anti-loosening spring 604. This allows the limiting mechanism 600 to automatically adapt to the movement of the fall arrestor plate 501 without hindering its normal movement. During the movement of the fall arrestor plate 501, the limiting mechanism 600 can adjust itself to provide the necessary space and cooperation, ensuring that the fall arrestor plate 501 can smoothly reach the designated position. The anti-loosening spring 604 is engaged with the limiting strip 601 as it slides outwards. When the device slides, it is stretched, storing elastic potential energy. 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 spring 604 will cause the limiting plate 601 to return to its original position. Its limiting inclined surface 602 will then abut against the anti-loosening inclined surface of the anti-fall support plate 501 again, re-limiting the anti-fall support plate 501. This ensures that the limiting mechanism 600 can continue to function effectively, allowing the anti-fall support plate 501 to be accurately limited to its initial position after each movement, preparing it for the next operation. The limiting mechanism 600 and the anti-fall structure 500 work together to form a dual safety protection mechanism. The anti-fall structure 500 itself prevents the battery module from falling during transportation, while the limiting mechanism 600 further ensures the normal working condition of the anti-fall structure 500. By limiting the accidental movement of the anti-fall support plate 501, the safety risks caused by the malfunction of the anti-fall structure are reduced. Throughout the assembly and transportation of the battery module, the safety of personnel and equipment is effectively protected, reducing the probability of accidents.

[0068] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0069] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0070] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An industrial robot for lithium battery cell module assembly, characterized by, The utility model relates to a battery module lifting device, including: The hoisting track is connected with the mechanical main body and the hoisting drive for driving the mechanical main body to slide on the hoisting track; The mechanical main body is connected with the clamping structure for clamping the battery module; the bottom of the clamping structure is connected with the anti-falling structure for bearing and limiting the battery module; The clamping structure includes: two parallel guide shafts connected to the bottom of the mechanical main body, two lifting slides sliding on the two guide shafts and the extension end of the two clamping push rods fixed to the bottom of the mechanical main body; the two lifting slides are connected with the two force clamping arms for clamping the battery module; the bottom of each force clamping arm is connected with two or more anti-falling structures; The force clamping arm includes: a force plate connected to the bottom of the lifting slide through a bolt and a nut, a plurality of open-bottom clamping belt grooves provided side by side on the force plate, an upper shaft and a lower shaft provided side by side on the force plate and penetrating the plurality of clamping belt grooves, a rotating wheel fixed to the shaft body penetrating the plurality of clamping belt grooves, the upper and lower rotating wheels in the same clamping belt groove being connected through a clamping belt, a sprocket fixed to the upper shaft being connected with a sprocket fixed to the output end of the clamping motor through a chain, and the clamping motor being installed on the force plate; The force clamping arm further includes: a transverse bearing plate fixed in the transverse hole of the force plate, a force rotating tube provided on the plate body penetrating the plurality of clamping belt grooves, a fixing stud screwed in each force rotating tube, a reinforcing top plate connected with the inner end of each fixing stud for abutting and fitting on the inner side of the clamping belt, two sliding side plates fixed to the reinforcing top plate sliding on the upper and lower sides of the transverse bearing plate, a force worm wheel fixed to each force rotating tube, a plurality of force worm wheels meshing with a force worm provided on the transverse bearing plate, and a top pressing motor connected with the force worm wheel and fixed to the side of the force plate; The anti-falling structure includes: an anti-falling support plate sliding transversely in the cross-shaped sliding opening at the bottom of the force plate, the cross-shaped sliding opening being open at the bottom, the lower surface of the anti-falling support plate being coplanar with the lower surface of the force plate, a horizontal sliding groove being provided on the outer side of the anti-falling support plate, a horizontal push plate sliding in the horizontal sliding groove, a limiting block being fixed to the plate body inserted into the horizontal sliding groove, the limiting block sliding in the limiting groove of the anti-falling support plate, a slow-entry compression spring being provided between the horizontal push plate and the inner side of the horizontal sliding groove, a vertical push plate fixed to the end of the horizontal push plate away from the slow-entry compression spring being threadedly connected with a push screw rotating on the force plate, a push worm wheel fixed to the push screw meshing with a helical worm structure provided on the lower shaft; Further including: a plurality of limiting mechanisms connected to the force plate, the plurality of limiting mechanisms being matched with the plurality of anti-falling structures one by one; the limiting mechanism includes: a limiting strip plate sliding transversely in the side hole of the force plate, the end of the limiting strip plate inserted into the cross-shaped sliding opening being provided with a limiting slope for abutting and fitting on the anti-falling support plate, and a side stopper fixed to the other end of the limiting strip plate being fixed with a loose-tight spring between the side of the force plate.

2. An industrial robot for lithium battery cell module assembly according to claim 1, characterized in that, The hoisting track includes: a track support and a track column, the two track supports being connected through two parallel track columns, and the mechanical main body and the hoisting drive being connected to the two track columns.

3. An industrial robot for lithium battery cell module assembly according to claim 2, characterized in that, The mechanical body comprises a mechanical frame sliding on two track columns, a lifting cylinder shaft connected to the mechanical frame and a lifting frame below the mechanical frame, and a bias-preventing shaft sliding on the bias-preventing longitudinal hole of the mechanical frame.

4. An industrial robot for lithium battery cell module assembly according to claim 2, characterized in that, The lifting drive comprises a lifting motor connected to the mechanical body, a traveling worm wheel fixed to the output shaft of the lifting motor and engaged with the screw worm structure on the outer surface of a track column fixed between two track supports.

5. An industrial robot for lithium battery cell module assembly according to claim 1, characterized in that, A plurality of clamping convex edges are fixed around the outer side of the clamping belt.

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