Highly compatible reconfigurable island type module splicing workstation and process

Abstract

The application relates to the technical field of power battery manufacturing, in particular to a high-compatibility reconfigurable island type module splicing workstation and process. The module splicing workstation comprises a feeding unit, a feeding robot, a paper tearing and detecting unit, a secondary positioning mechanism, an installation robot, a module splicing unit and a system control unit. The feeding unit realizes non-stop feeding, the feeding robot transfers accessories between units, the paper tearing and detecting unit automatically tears off release paper and performs visual detection, the secondary positioning mechanism accurately positions the accessories, the module splicing unit bidirectionally pressurizes and splices the battery module on the AGV tray, the installation robot installs the accessories in the spliced module, and the system control unit automatically calls process parameters and executes closed-loop pressure control. The application has high compatibility and reconfigurability, and solves the technical problems of poor equipment compatibility, poor production line flexibility, low model changing efficiency, low process integration and insufficient splicing precision in the existing battery module splicing production.

Description

Technical Field

[0001] This invention relates to the field of power battery manufacturing technology, and in particular to a highly compatible and reconfigurable island module assembly workstation and process. Background Technology

[0002] Power battery modules are core components of passenger vehicles, commercial vehicles, and energy storage devices. The efficiency and precision of the module assembly process directly determine the assembly quality and production efficiency of the battery modules. Current technologies mostly employ linear production lines for module assembly. However, these lines are long and thin, occupying a large space with low space utilization. Furthermore, the products and process paths of a single line are fixed, resulting in poor line flexibility, limited compatibility with modifications, complex equipment changes and adjustments, long changeover times, and an inability to adapt to the production of modules with different cell sizes. Consequently, it is difficult to simultaneously meet the module production needs of passenger vehicles, commercial vehicles, and energy storage devices.

[0003] There are some attempts at island-type production lines in the existing technology (such as patent CN121583977A), but only the overall layout of the island-type production line is disclosed. The module assembly module is only functionally described, and the specific equipment structure, cooperation method, process details, core parameters, etc. of the module assembly link are not disclosed, so the specific technical problems of the module assembly link mentioned above cannot be solved.

[0004] Based on existing island production lines, this invention conducts in-depth research and development on the module assembly process, and develops a highly compatible and reconfigurable island module assembly workstation and process, which can achieve compatibility with multiple types of products, rapid changeover, process integration, and improve production efficiency and space utilization. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a highly compatible and reconfigurable island-type module assembly workstation and process, applicable to the production of battery modules for passenger cars, commercial vehicles, and energy storage equipment. It can effectively solve the technical problems of poor equipment compatibility, poor production line flexibility, low changeover efficiency, low process integration, and insufficient assembly accuracy in existing battery module assembly production.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: One technical solution of the present invention provides a highly compatible and reconfigurable island-type module assembly workstation, including a feeding unit, a feeding robot, a paper tearing and detection unit, a secondary positioning mechanism, an installation robot, a module assembly unit, and a system control unit; The feeding unit is used to store the components used for assembling battery modules; The loading robot is used to transfer parts between the feeding unit, the paper tearing and detection unit, and the secondary positioning mechanism; The paper tearing and inspection unit is used to tear off the release paper of the film on the accessories and to visually inspect the tearing effect and the appearance of the accessories. The secondary positioning mechanism is used to receive and position the parts; The installation robot is used to retrieve parts from the secondary positioning mechanism and then install them onto the battery modules in the module assembly unit. The module assembly unit is used to pressurize and assemble the battery modules on the AGV tray; The system control unit includes a PLC controller, which is connected to the feeding unit, the feeding robot, the paper tearing and detection unit, the secondary positioning mechanism, the installation robot, the module assembly unit, and the AGV.

[0007] In some possible implementations, the feeding unit includes at least two hopper groups, each hopper group including a hopper frame. The hopper frame has multiple drawer-type trays arranged vertically inside, and each drawer-type tray has multiple tray fixtures for storing accessories. Multiple sets of parallel rodless cylinders and a first linear guide pair are fixed on the hopper frame. A slider connecting plate is connected to each end of the drawer-type tray. The piston slide in the rodless cylinder is connected to the side of the slider connecting plate. The slider connecting plate is slidably connected to the hopper frame via the first linear guide pair. Driven by the rodless cylinders, the slider connecting plate drives the tray fixtures to reciprocate horizontally along the first linear guide pair. Through the spare hopper group, drawer-type trays, and tray fixtures in the feeding unit, material changing without stopping the machine and compatibility with multiple accessories can be achieved, improving feeding efficiency and flexibility.

[0008] In some possible implementations, the paper tearing and detection unit includes a paper tearing frame and a paper tearing mechanism and a vision detection mechanism disposed on the paper tearing frame; The paper tearing mechanism includes a mounting base fixed to the top of the paper tearing machine frame and a paper tearing cylinder fixed vertically on the mounting base. The upper movable end of the paper tearing cylinder is connected to a paper tearing head. Above the paper tearing head is a paper tearing clamp plate fixedly connected to the mounting base. The paper tearing cylinder drives the paper tearing head to move vertically and cooperate with the paper tearing clamp plate to tear off the release paper of the film on the accessory. The inside of the paper tearing machine frame is equipped with a waste bin. The visual inspection mechanism includes a camera and a light source located above the camera. The camera is fixed to the side of the paper tearing machine frame via a camera mounting plate. An ion fan is located at the top of the paper tearing machine frame near the paper tearing mechanism.

[0009] Using the above technical solution, the paper tearing and detection unit integrates a paper tearing mechanism and a vision detection mechanism, automatically tearing off the release paper and detecting the tearing effect and the appearance quality of the accessories. With the help of an ion fan for dust removal, it can ensure the cleanliness of the accessories and the quality of the mounting.

[0010] In some possible implementations, the secondary positioning mechanism includes a positioning platform 1 and a positioning platform 2. The positioning platform 1 includes a positioning frame 1 and a table surface 1 horizontally disposed on the top of the positioning frame 1. A reference baffle 1 and a reference baffle 2 are fixed on two adjacent sides of the table surface 1. A push plate 1 parallel to the reference baffle 1 and a push plate 2 parallel to the reference baffle 2 are disposed above the table surface 1. A push plate driving member 1 for driving the push plate 1 to reciprocate along the length direction of the reference baffle 2 and a push plate driving member 2 for driving the push plate 2 to reciprocate along the length direction of the reference baffle 1 are disposed below the table surface 1. The positioning platform 2 includes a positioning frame 2 and a platform 2 inclinedly disposed on the top of the positioning frame 2. The four sides of the platform 2 are provided with a bottom baffle, a push plate 3, a top push plate and a push plate 4 in sequence. The platform 2 is fixed with a push plate driving component 3 for driving the push plate 3 and the push plate 4 to open and close in opposite directions, and a push plate driving component 4 for driving the top push plate to reciprocate and open and close in opposite directions with the bottom baffle.

[0011] In the above technical solution, positioning platform one is used to place module accessories, such as limiting plates. Through the cooperation of push plate one, push plate two, reference baffle one and reference baffle two, the accessories can be uniformly positioned and adjusted, which makes it easy for the installation robot to accurately obtain accessories with uniform posture. Positioning platform two is used to place module accessories that are different from positioning platform one, such as end plates or end plate insulation covers. It can realize the posture adjustment of different accessories, save equipment floor space and simplify the process flow. Furthermore, through the cooperation of bottom baffle, push plate three, top push plate and push plate four, the accessories can be uniformly positioned and adjusted, which makes it easy for the installation robot to accurately obtain accessories with uniform posture.

[0012] In some possible implementations, the module assembly unit includes an assembly frame, two opposing module side clamping mechanisms disposed below the assembly frame, and two opposing side pressing mechanisms disposed above the module side clamping mechanisms. The module side clamping mechanism includes a bottom frame, a side clamping drive assembly fixed above the bottom frame, a sliding frame connected to the output end of the side clamping drive assembly, and a strip-shaped pressure block connected to the sliding frame. The bottom of the sliding frame is slidably connected to the bottom frame through a second linear guide pair. The side clamping drive assembly drives the sliding frame to move the strip-shaped pressure block back and forth along the second linear guide pair. The side pressurization mechanism includes a pressurization frame connected to the assembly frame, a pressurization servo motor fixed to the end of the pressurization frame, a screw drive assembly connected to the output end of the pressurization servo motor, and a pressure plate connected to the screw drive assembly. The screw drive assembly is connected to the bottom of the pressurization frame through a screw seat. The pressure plate is slidably connected to the bottom of the pressurization frame through a third linear guide pair. The length direction of the third linear guide pair is perpendicular to that of the second linear guide pair. The pressurization servo motor drives the pressure plate to reciprocate along the third linear guide pair through the screw drive assembly.

[0013] During operation, the two opposing module side clamping mechanisms simultaneously drive the strip pressure blocks on them to close and press against each other from both sides of the module. At the same time, the two opposing side pressing mechanisms drive the two pressure plates on them to close and press against the other two opposite sides of the battery module, thereby achieving controllable assembly of the module in two orthogonal directions and ensuring assembly accuracy and stability.

[0014] In some possible implementations, the top of the assembly frame is also provided with a clearance mechanism, which includes a lateral movement mechanism and a lifting mechanism. The clearance mechanism is configured to drive the side pressure mechanism to reciprocate in the horizontal direction through the lateral movement mechanism and to drive the side pressure mechanism to reciprocate in the vertical direction through the lifting mechanism, so as to adjust the position of the side pressure mechanism above the module, clear the space above the module, make room for the installation robot to operate, and avoid interference.

[0015] In some possible implementations, the transverse movement mechanism includes a transverse movement frame, a servo motor assembly vertically fixed in the middle of the transverse movement frame, and two sets of transverse movement shafts connected to both sides of the servo motor assembly. The two ends of the transverse movement frame are slidably connected to the top of the assembly frame through a set of fourth linear guide rail pairs, and the ends of the transverse movement shafts are connected to the assembly frame through a gear and rack assembly. The servo motor assembly drives the transverse movement shafts on both sides to rotate synchronously, and through the meshing transmission action of the gear and rack assembly, drives the transverse movement frame to reciprocate along the fourth linear guide rail pairs. The lifting mechanism includes two sets of lifting cylinders and two sets of slider supports that are vertically fixed on the transverse frame. Above the pressurizing frame, there are cylinder extension shafts and slide rail supports that are vertically fixed. The cylinder extension shafts are fixedly connected to the output end of the lifting cylinders. The slider supports and slide rail supports are slidably connected through a fifth linear guide pair. The two sets of lifting cylinders drive a side pressurizing mechanism to reciprocate in the vertical direction.

[0016] In some possible implementations, a pallet positioning mechanism and an AGV positioning mechanism are also provided below the assembly frame. The pallet positioning mechanism is used to position and fix the pallet carrying the battery module, and the AGV positioning mechanism is used to guide the AGV to transport the pallet carrying the battery module to the module assembly station below the assembly frame.

[0017] This invention also provides a highly compatible and reconfigurable island-type battery module assembly process, which uses the module assembly workstation described in any of the above technical solutions to perform the following steps: S1. Parts loading: The loading robot grabs parts from the feeding unit and transfers them to the paper tearing and inspection unit; S2, Release Paper Tear and Visual Inspection: The release paper tearing and inspection unit performs release paper tearing and visual inspection operations on the parts picked up by the feeding robot; S3. Secondary Positioning: The feeding robot transfers the qualified parts after the paper tearing test to the secondary positioning mechanism for precise positioning. S4. Module pressurization and assembly: The module assembly unit pressurizes and assembles the battery modules on the AGV tray; S5. Install accessories: The installation robot picks up the accessories from the secondary positioning mechanism and installs them onto the assembled battery module.

[0018] In some possible implementations, in step S4, the module assembly unit performs multi-stage pressurization assembly according to the process parameters obtained by the PLC controller from the production execution system, and performs closed-loop pressure control through feedback from the pressure sensor; the process parameters include pressurization pressure, pressurization stroke, pressurization holding time, and installation position coordinates.

[0019] The beneficial effects of this invention are as follows: The module assembly workstation of this invention integrates the entire process of material feeding, paper tearing, visual inspection, secondary positioning, pressure assembly, and accessory installation. Each unit adopts an island-style modular design, resulting in high flexibility of the entire line construction and low reconstruction cost. It supports various module assembly forms such as single row, double row, triple row, and single / double / triple layer PACK. It can quickly install various accessories such as end plates, insulating covers, and limiting plates, adapting to mixed-line production of multiple types of battery module products. It significantly improves the automation, flexibility, and intelligence level of battery module assembly, reduces changeover time and labor costs, improves production efficiency and space utilization, and ensures product quality. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0021] Figure 1 This is a three-dimensional structural diagram of the highly compatible and reconfigurable island module assembly workstation of the present invention; Figure 2 This is a three-dimensional structural diagram of the hopper group in the feeding unit of the present invention; Figure 3 This is a schematic diagram of the connection structure between the silo frame and the drawer-type pallet in this invention; Figure 4 This is a three-dimensional structural diagram of the paper tearing and detection unit in this invention; Figure 5 for Figure 4 A magnified view of the area marked "A" in the image. Figure 6 This is a three-dimensional structural diagram of the secondary positioning mechanism in this invention; Figure 7 This is a side view of the secondary positioning mechanism in this invention; Figure 8 This is a three-dimensional structural diagram of the module assembly unit in this invention; Figure 9 This is a front view of the module assembly unit in this invention; Figure 10 This is a side view of the module assembly unit in this invention; Figure 11 This is a three-dimensional structural diagram of the module side clamping mechanism in this invention; Figure 12 This is a three-dimensional structural diagram of the side pressurization mechanism in this invention; Figure 13 This is a schematic diagram of the connection structure between the avoidance mechanism and the assembly frame in this invention; Figure 14 This is a three-dimensional structural diagram of the feeding gripper in this invention; Figure 15 This is a three-dimensional structural diagram of the gripper installation in this invention; Figure 16 This is a schematic diagram showing the location of the double-row battery modules loaded on the AGV tray.

[0022] Explanation of the labels in the diagram: 1. Feeding unit; 11. Hopper frame; 12. Drawer-type tray; 13. Material tray fixture; 131. Accessory slot; 14. Rodless cylinder; 15. First linear guide pair; 16. Slider connecting plate; 17. Photoelectric switch; 18. Feeding port; 2. Feeding robot; 21. Robotic arm body 1; 22. Feeding gripper; 221. Connecting flange 1; 222. Cylinder connecting plate; 223. Finger gripper cylinder 1; 224. Horizontal clamping plate; 225. Slanted clamping plate; 226. Rubber-coated pad; 227. Laser rangefinder; 3. Paper tearing and detection unit; 31. Paper tearing machine frame; 32. Paper tearing mechanism; 321. Mounting base; 322. Paper tearing cylinder; 323. Paper tearing head; 324. Paper tearing clamp; 33. Vision inspection mechanism; 331. Camera; 332. Light source lamp; 333. Camera mounting plate; 34. Waste bin; 35. Ionizing fan; 4. Secondary positioning mechanism; 41. Positioning table one; 411. Positioning frame one; 412. Table surface one; 413. Reference baffle one; 414. Reference baffle two; 415. Push plate one; 416. Push plate two; 417. Push plate drive component one; 418. Push plate drive component two; 42. Positioning table two; 421. Positioning frame two; 422. Table surface two; 423. Bottom baffle; 424. Push plate three; 425. Top push plate; 426. Push plate four; 427. Push plate drive component three; 428. Push plate drive component four; 5. Install the robot; 51. Robotic arm body two; 52. Install the gripper; 521. Connecting flange two; 522. Finger gripper cylinder two; 523. Finger gripper connecting plate; 524. Finger gripper; 525. Gasket; 526. Slotted photoelectric switch; 6. Module assembly unit; 61. Assembly frame; 62. Module side clamping mechanism; 621. Bottom frame; 622. Side clamping drive assembly; 623. Sliding frame; 624. Strip pressure block; 625. Second linear guide pair; 63. Side pressing mechanism; 631. Pressing frame; 632. Pressing servo motor; 633. Screw drive assembly; 634. Pressure plate; 635. Screw seat; 636. Third linear guide pair; 637. Barcode scanner; 6 4. Avoidance mechanism; 641. Lateral movement mechanism; 6411. Lateral movement frame; 6412. Servo motor assembly; 6413. Lateral movement axis; 6414. Fourth linear guide pair; 6415. Gear and rack assembly; 642. Lifting mechanism; 6421. Lifting cylinder; 6422. Slider support; 6423. Cylinder extension shaft; 6424. Slide rail bracket; 6425. Fifth linear guide pair; 65. Pallet positioning mechanism; 66. AGV positioning mechanism; 100. Accessories; 200. Battery modules; 300. AGV pallets. Detailed Implementation

[0023] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention will be presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0024] In the description of this embodiment, it should be noted that the terms "upper," "lower," "left," "right," "inner," "outer," "top," "bottom," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to has a specific orientation, or is constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the invention. The terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0026] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0027] refer to Figure 1 One embodiment of the present invention provides a highly compatible and reconfigurable island-type module assembly workstation, including a feeding unit 1, a feeding robot 2, a paper tearing and detection unit 3, a secondary positioning mechanism 4, an installation robot 5, a module assembly unit 6, and a system control unit.

[0028] The feeding unit 1 is used to store battery module assembly accessories with adhesive and release paper already applied, such as end plates, end plate insulating covers, and / or limiting plates; the loading robot 2 is used to transfer accessories between the feeding unit 1, the paper tearing and detection unit 3, and the secondary positioning mechanism 4; the paper tearing and detection unit 3 is used to tear off the release paper from the adhesive film on the accessories and to visually inspect the tearing effect and the appearance of the accessories; the secondary positioning mechanism 4 is used to receive the accessories and position them; the installation robot 5 is used to install the accessories from the secondary positioning mechanism 4 onto the battery modules in the module assembly unit 6; the module assembly unit 6 is used to assemble the battery modules 200 (reference) on the AGV tray 300. Figure 16 (The parts are then pressurized and assembled.)

[0029] The module assembly unit 6 is configured to: assemble at least two short modules into a single-row module, and / or assemble at least two single modules into a double-row module, a triple-row module, a single-layer PACK, a double-layer PACK, or a triple-layer PACK.

[0030] The system control unit includes a PLC controller, which is connected to the feeding unit 1, the feeding robot 2, the paper tearing and detection unit 3, the secondary positioning mechanism 4, the installation robot 5, the module assembly unit 6, and the AGV.

[0031] The PLC controller is configured as follows: 1) Read the material status of feeding unit 1, and automatically switch to the standby silo when the material in the main silo is below the threshold. 2) Send material picking instructions, paper tearing instructions, visual inspection instructions, and placement instructions to the feeding robot 2; 3) Control the secondary positioning mechanism 4 to remove the release paper of the adhesive film attached to the accessory, and perform visual inspection on the result; 4) Control the secondary positioning mechanism 4 to accurately position the parts and send a parts ready signal to the installation robot 5; 5) After receiving the AGV arrival signal, the control module assembly unit 6 positions and fixes the AGV pallet. 6) The control module assembly unit 6 performs phased pressurization assembly and performs closed-loop pressure control based on feedback from the pressure sensor; 7) Send installation instructions to the installation robot 5 to install the accessories onto the module, and receive the action completion signal returned by the installation robot.

[0032] The PLC controller communicates with the host MES system. The PLC controller automatically retrieves the corresponding process parameters based on the product model issued by the host MES system. The process parameters include pressurization pressure, pressurization stroke, pressurization holding time, and installation position coordinates.

[0033] In some embodiments, reference Figure 2 and Figure 3 The feeding unit 1 includes at least two hopper groups, employing an alternating feeding method (one in standby, one in use) or a synchronous feeding method. This allows for material change without stopping the machine and compatibility with multiple components, improving feeding efficiency and flexibility. Each hopper group includes a hopper frame 11, the interior of which is oriented vertically (see reference). Figure 2 In the middle direction (c), multiple drawer-type trays 12 are provided, and multiple tray fixtures 13 for storing accessories 100 are provided on the drawer-type trays 12. Multiple sets of parallel rodless cylinders 14 and first linear guide pairs 15 are fixed on the hopper frame 11. A slider connecting plate 16 is connected to each end of the drawer-type tray 12. The piston slide of the driving component in the rodless cylinder 14 is connected to the slider connecting plate 16. The side of the slider connecting plate 16 is also connected to the first linear guide pair 15, thus slidingly connecting with the hopper frame 11. Under the drive of the rodless cylinder 14, the slider connecting plate 16 drives the tray fixtures 13 to move horizontally along the first linear guide pair 15 (refer to...). Figure 2 a) Reciprocating motion in the middle direction.

[0034] The material tray fixture 13 has several accessory slots 131 for securing and fixing accessories 100. The internal shape of the accessory slots 131 matches the external shape of the accessories 100. Photoelectric switches 17 are installed on the hopper frame 11 near both ends of each set of first linear guide pairs 15 to monitor the movement position of the slider connecting plate 16 in real time. (Reference) Figure 1 and Figure 3 The hopper frame 11 has multiple replenishment ports 18 on the side away from the loading robot 2, corresponding to the positions of the drawer-type pallets 12. The hopper assembly can be replenished with accessories 100 manually or by automated handling equipment. The system control unit can switch the feeding of the drawer-type pallets 12 in a timely manner according to the remaining material in each layer of the tray tooling 13. The rodless cylinder 14 drives the drawer-type pallet 12 that is short of material in that layer to move backward to the replenishment port 18 to replenish the material. The position information of the other drawer-type pallet 12 that will continue to feed material is fed back to the loading robot 2 to adjust the picking position, so as to achieve uninterrupted material supply.

[0035] refer to Figure 4In some embodiments, the paper tearing and detection unit 3 includes a paper tearing frame 31 and a paper tearing mechanism 32 and a vision detection mechanism 33 disposed on the paper tearing frame 31. (See reference...) Figure 4 and Figure 5 The paper-tearing mechanism 32 includes a mounting base 321 fixed to the top of the paper-tearing frame 31 and a paper-tearing cylinder 322 vertically fixed to the mounting base 321. A paper-tearing head 323 is connected to the upper movable end of the paper-tearing cylinder 322. A paper-tearing clamp 324, fixedly connected to the mounting base 321, is provided above the paper-tearing head 323. The paper-tearing cylinder 322 drives the paper-tearing head 323 to move vertically and cooperate with the paper-tearing clamp 324 to tear off the release paper of the adhesive film attached to the accessory 100. A waste bin 34 is provided inside the paper-tearing frame 31, located directly below the paper-tearing mechanism 32, for collecting the torn release paper. An ion fan 35 is provided at the top of the paper-tearing frame 31 near the paper-tearing mechanism 32 for dust removal and static electricity elimination, ensuring the cleanliness of the accessory and the quality of the mounting. (Reference) Figure 4 The visual inspection mechanism 33 includes a camera 331 and a light source 332 located above the camera 331. The camera 331 is fixed to the side of the paper tearing machine frame 31 by a camera mounting plate 333. Preferably, two paper tearing cylinders 322 are provided on the top of the paper tearing machine frame 31.

[0036] refer to Figure 6 and Figure 7In some embodiments, the secondary positioning mechanism 4 includes a positioning platform 41 and a positioning platform 42. The positioning platform 41 includes a positioning frame 411 and a table 412 horizontally disposed on the top of the positioning frame 411. A reference baffle 413 and a reference baffle 414 are fixed on two adjacent sides of the table 412. A push plate 415 parallel to the reference baffle 413 and a push plate 416 parallel to the reference baffle 414 are disposed above the table 412. A push plate drive member 417 for driving the push plate 415 to reciprocate along the length direction of the reference baffle 414 is disposed below the table 412. A push plate drive member 418 for driving the push plate 416 to reciprocate along the length direction of the reference baffle 413 is also disposed below the table 412. Positioning platform 2 42 includes positioning frame 2 421 and a platform 2 422 inclined on top of positioning frame 2 421. The angle between the top surface of platform 2 422 and the horizontal plane is 0~90 degrees, preferably 30~70 degrees. The four sides of platform 2 422 are provided with bottom baffle 423, push plate 3 424, top push plate 425 and push plate 426 in sequence. Push plate driving component 3 427 for driving push plate 3 424 and push plate 426 to open and close in opposite directions, and push plate driving component 428 for driving top push plate 425 to reciprocate and open and close in opposite directions with bottom baffle 423 are fixed on platform 2 422. Platform 1 412 is used to place module accessories. Through the cooperation of push plate 1 415, push plate 2 416, reference baffle 1 413 and reference baffle 2 414, the accessories can be uniformly adjusted and positioned, which is convenient for the installation robot 5 to accurately obtain accessories with uniform posture. Tabletop 2 422 is used to place module accessories that are different from those on tabletop 1 412. It can adjust the posture of different accessories, save equipment floor space and simplify the process. With the cooperation of bottom baffle 423, push plate 3 424, top push plate 425 and push plate 426, the accessories can be uniformly adjusted and positioned, which makes it easy for the installation robot 5 to accurately obtain accessories with uniform posture.

[0037] refer to Figures 8 to 10 In some embodiments, the module assembly unit 6 includes an assembly frame 61, two opposing module side clamping mechanisms 62 disposed below the assembly frame 61, and two opposing side pressing mechanisms 63 disposed above the module side clamping mechanisms 62.

[0038] refer to Figure 1 and Figure 11 The module side clamping mechanism 62 includes a bottom frame 621, a side clamping drive assembly 622 fixed above the bottom frame 621, a sliding frame 623 connected to the output end of the side clamping drive assembly 622, and a strip-shaped pressure block 624 connected to the sliding frame 623. The bottom of the sliding frame 623 is connected to a second linear guide pair 625 (along...). Figure 1The horizontally set direction (a) is slidably connected to the bottom frame 621, and the side clamp drive assembly 622 drives the sliding frame 623 to move the strip pressure block 624 back and forth along the second linear guide pair 625.

[0039] refer to Figure 1 and Figure 12 The side pressurization mechanism 63 includes a pressurization frame 631 connected to the assembly frame 61, a pressurization servo motor 632 fixed to the end of the pressurization frame 631, a lead screw drive assembly 633 connected to the output end of the pressurization servo motor 632, and a pressure plate 634 connected to the lead screw drive assembly 633. The lead screw drive assembly 633 is connected to the bottom of the pressurization frame 631 via a lead screw seat 635, and the pressure plate 634 is connected to the bottom of the pressurization frame 631 via a third linear guide pair 636 (along...). Figure 1 (Direction b, horizontal setting) Sliding connection, the third linear guide pair 636 is perpendicular to the length direction of the second linear guide pair 625, and the pressurizing servo motor 632 drives the pressure plate 634 to reciprocate along the third linear guide pair 636 through the lead screw transmission assembly 633. A barcode scanner 637 is provided at the bottom of the pressurizing frame 631 and on the opposite side of the two pressure plates 634. Since the module assembly unit 6 can simultaneously assemble multiple short modules or single modules, each independent module has a QR code affixed. By scanning the barcode scanner 637 from multiple directions simultaneously, the identity information of all modules to be assembled can be collected and verified before a single pressurizing and assembling action.

[0040] During operation, the two opposing module side clamping mechanisms 62 simultaneously drive the strip pressure blocks 624 on them to move towards each other, thereby applying pressure to the opposite side of the module to assemble the multiple rows of modules on the module tray along direction a; at the same time, the two opposing side pressing mechanisms 63 simultaneously drive the pressing plates 634 on them to move towards each other, applying pressure to the opposite side of the battery module to assemble the multiple rows of modules on the module tray along direction b, thereby achieving controllable assembly of the modules in two orthogonal directions, ensuring assembly accuracy and stability.

[0041] refer to Figure 1 and Figure 13 In some embodiments, the top of the assembly frame 61 is also provided with a clearance mechanism 64. The clearance mechanism 64 includes a lateral movement mechanism 641 and a lifting mechanism 642. The clearance mechanism 64 is configured to drive the side pressure mechanism 63 to reciprocate in the horizontal direction through the lateral movement mechanism 641 and to drive the side pressure mechanism 63 to reciprocate in the vertical direction through the lifting mechanism 642, so as to adjust the position of the side pressure mechanism 63 above the module, clear the space above the module, make room for the installation robot to operate, and avoid interference.

[0042] refer to Figure 13The traverse mechanism 641 includes a traverse frame 6411, a servo motor assembly 6412 vertically fixed to the middle of the traverse frame 6411, and two sets of traverse shafts 6413 connected to both sides of the servo motor assembly 6412. Both ends of the traverse frame 6411 are respectively connected by a set of fourth linear guide pairs 6414 (along...). Figure 1 The horizontal axis 6413 (set horizontally in direction a) is slidably connected to the top of the assembly frame 61, and the end of the horizontal axis 6413 is connected to the assembly frame 61 via a gear and rack assembly 6415. The servo motor assembly 6412 drives the horizontal axis 6413 on both sides to rotate synchronously, and through the meshing transmission of the gear and rack assembly 6415, drives the horizontal frame 6411 to reciprocate along the fourth linear guide pair 6414, thereby preventing the side pressure mechanism 63 below the horizontal horizontal movement in direction a from colliding with the installation robot of the installation accessories at the module assembly station.

[0043] refer to Figure 12 and Figure 13 The lifting mechanism 642 includes two sets of lifting cylinders 6421 and two sets of slider supports 6422, which are vertically fixed on the transverse frame 6411. A cylinder extension shaft 6423 and a slide rail bracket 6424 are vertically fixed above the press frame 631. The cylinder extension shaft 6423 is fixedly connected to the output end of the lifting cylinder 6421. The slider support 6422 and the slide rail bracket 6424 are connected by a fifth linear guide pair 6425 (along...). Figure 1 (Vertical setting in direction c) Sliding connection. Two sets of lifting cylinders 6421 respectively drive a side pressurizing mechanism 63 to reciprocate in the vertical direction, thereby adjusting the position of the side pressurizing mechanism 63 in direction c to avoid collision with the installation robot of the installation accessories at the module assembly station.

[0044] refer to Figure 1 , Figure 11 and Figure 16 In some embodiments, a pallet positioning mechanism 65 and an AGV positioning mechanism 66 are also provided below the assembly frame 61. The pallet positioning mechanism 65 is used to position and fix the AGV pallet 300 carrying the battery module, and the AGV positioning mechanism 66 is used to guide the AGV to transport the AGV pallet 300 carrying the battery module 200 to the module assembly station below the assembly frame 61.

[0045] refer to Figure 1 and Figure 14In some embodiments, the loading robot 2 includes a robotic arm body 21 and a loading gripper 22. The loading gripper 22 includes a connecting flange 221 connected to the end of the robotic arm body 21, a cylinder connecting plate 222 connected to the connecting flange 221, and a finger gripper cylinder 223 located below the cylinder connecting plate 222. The actuating end of the finger gripper cylinder 223 is sequentially connected to a horizontal clamping plate 224 and an inclined clamping plate 225. The two inclined clamping plates 225 connected to the same finger gripper cylinder 223 are arranged in parallel in the same direction. Each of the two inclined clamping plates 225 has a rubber-coated pad 226 on its opposite side to protect the parts from wear during gripping.

[0046] Laser rangefinders 227 are also installed above both ends of the cylinder connecting plate 222. The laser rangefinders 227 continuously measure the minimum distance between the feeding gripper 22 and the surrounding equipment. When the detected distance is lower than the preset safety threshold, the PLC controller immediately issues an emergency stop signal to pause the movement of the feeding robot 2, so as to avoid the gripper from colliding with the equipment or personnel and to ensure the safety of the equipment and operators. In the feeding unit 1, as the accessories on the drawer-type tray 12 are removed one by one, the position and depth of the remaining accessories in the tray fixture 13 change, or the position changes to different drawers. When the pallet 12 feeds materials, the material picking height changes. The laser rangefinder 227 can measure the actual distance between the gripper and the surface of the accessory before each picking. The PLC controller dynamically adjusts the stroke of the loading robot 2 according to the measurement value to ensure that the gripping center of the finger cylinder 223 is always aligned with the optimal gripping position of the accessory, preventing gripping failure or damage to the accessory due to position deviation. When the loading robot 2 transfers the accessory to the paper tearing and detection unit 3 or the secondary positioning mechanism 4, the laser rangefinder 227 can also measure the distance between the gripper and the station reference surface to accurately determine whether the accessory is placed in place.

[0047] Preferably, two sets of finger-clamp cylinders 223 are fixedly connected to the lower part of the cylinder connecting plate 222, and the connecting flange 221 is connected to the middle part of the cylinder connecting plate 222. The two sets of finger-clamp cylinders 223 are respectively located at both ends of the cylinder connecting plate 222 to maintain weight balance and structural stability. During operation, the two sets of finger-clamp cylinders 223 simultaneously drive the inclined clamping plate 225 to move towards each other to close and clamp the battery module assembly accessories.

[0048] refer to Figure 1 and Figure 15In some embodiments, the installation robot 5 includes a robotic arm body 51 and an installation gripper 52. The installation gripper 52 includes a connecting flange 521 connected to the end of the robotic arm body 51 and two finger-gripping cylinders 522 fixedly connected to the connecting flange 521. The actuating end of the finger-gripping cylinders 522 is sequentially connected to a finger-gripping connecting plate 523 and a finger 524. Each of the two fingers 524 has a gasket 525 on its opposite side to protect the parts from wear during gripping. Each finger-gripping connecting plate 523 is also provided with a slotted photoelectric switch 526 above it. The slotted photoelectric switch 526 detects the movement distance of the fingers 524 when they open and close to determine in real time whether the parts have been successfully gripped and are in place. If no obstruction or abnormal distance is detected, a gripping failure signal is fed back to prevent the installation robot from grabbing empty or dropping the parts. At the same time, it can identify differences in the thickness of the parts to achieve error prevention and adaptive gripping. During operation, two sets of finger-clamping cylinders 522 simultaneously drive the clamping fingers 524 to close and hold the battery module assembly parts, and then attach and install the parts into the battery module.

[0049] The embodiments of the present invention also provide a highly compatible and reconfigurable island-type battery module assembly process, which uses the module assembly workstation in any of the above embodiments to perform the following steps: S1. Parts loading: The loading robot 2 grabs parts from the feeding unit 1 and transfers them to the paper tearing and detection unit 3; S2, Release Paper Tear and Visual Inspection: The paper tearing and inspection unit 3 performs release paper tearing and visual inspection operations on the parts gripped by the feeding robot 2; S3. Secondary Positioning: The feeding robot 2 transfers the qualified paper-tearing parts to the secondary positioning mechanism 4 for precise positioning. S4, Module pressurization and assembly: The module assembly unit 6 pressurizes and assembles the battery modules on the AGV tray. For example, it can assemble at least two short modules into a single row module, and / or assemble at least two single modules into a double row module, a triple row module, a single-layer PACK, a double-layer PACK, or a triple-layer PACK. S5. Install accessories: The installation robot 5 picks up the accessories from the secondary positioning mechanism 4 and installs them onto the assembled battery module.

[0050] Further, in step S4, the module assembly unit 6 performs multi-stage pressurization assembly according to the process parameters obtained by the PLC controller from the upper-level MES system, and performs closed-loop pressure control through feedback from the pressure sensor; the process parameters include pressurization pressure, pressurization stroke, pressurization holding time, and installation position coordinates.

[0051] Although the preferred embodiments of the present invention have been disclosed above, they are not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A highly compatible and reconfigurable island-type module assembly workstation, characterized in that, It includes a feeding unit (1), a feeding robot (2), a paper tearing and detection unit (3), a secondary positioning mechanism (4), an installation robot (5), a module assembly unit (6), and a system control unit; The feeding unit (1) is used to store the accessories for assembling the battery module; The loading robot (2) is used to transfer parts between the feeding unit (1), the paper tearing and detection unit (3) and the secondary positioning mechanism (4); The paper tearing and detection unit (3) is used to tear off the release paper of the film on the accessory and to visually inspect the tearing effect and the appearance of the accessory. The secondary positioning mechanism (4) is used to receive the accessories and perform positioning. The installation robot (5) is used to obtain the accessories from the secondary positioning mechanism (4) and install them on the battery module in the module assembly unit (6); The module assembly unit (6) is used to pressurize and assemble the battery modules on the AGV tray; The system control unit includes a PLC controller, which is connected to the feeding unit (1), the loading robot (2), the paper tearing and detection unit (3), the secondary positioning mechanism (4), the installation robot (5), the module assembly unit (6), and the AGV.

2. The highly compatible and reconfigurable island-type module assembly workstation according to claim 1, characterized in that, The feeding unit (1) includes at least two hopper groups, each hopper group including a hopper frame (11). The hopper frame (11) has multiple drawer-type trays (12) arranged vertically inside. The drawer-type trays (12) are provided with multiple material tray fixtures (13) for storing accessories. The hopper frame (11) is fixed with multiple sets of parallel rodless cylinders (14) and a first linear guide pair (15). The two ends of the drawer-type trays (12) are respectively connected to a slider connecting plate (16). The piston slide in the rodless cylinder (14) is connected to the side of the slider connecting plate (16). The slider connecting plate (16) is slidably connected to the hopper frame (11) through the first linear guide pair (15). Under the drive of the rodless cylinder (14), the slider connecting plate (16) drives the material tray fixtures (13) to reciprocate in the horizontal direction along the first linear guide pair (15).

3. The highly compatible and reconfigurable island-type module assembly workstation according to claim 1, characterized in that, The paper tearing and detection unit (3) includes a paper tearing frame (31) and a paper tearing mechanism (32) and a visual inspection mechanism (33) disposed on the paper tearing frame (31). The paper tearing mechanism (32) includes a mounting base (321) fixed to the top of the paper tearing machine frame (31) and a paper tearing cylinder (322) fixed vertically on the mounting base (321). The upper movable end of the paper tearing cylinder (322) is connected to a paper tearing head (323). Above the paper tearing head (323) is a paper tearing clamp (324) fixedly connected to the mounting base (321). The paper tearing cylinder (322) drives the paper tearing head (323) to move vertically and cooperate with the paper tearing clamp (324) to tear off the release paper of the film on the accessory. The inside of the paper tearing machine frame (31) is provided with a waste bin (34). The visual inspection mechanism (33) includes a camera (331) and a light source (332) located above the camera (331). The camera (331) is fixed to the side of the paper tearing machine frame (31) by a camera mounting plate (333). An ion fan (35) is provided on the top of the paper tearing machine frame (31) near the paper tearing mechanism (32).

4. The highly compatible and reconfigurable island-type module assembly workstation according to claim 1, characterized in that, The secondary positioning mechanism (4) includes a positioning platform one (41) and a positioning platform two (42). The positioning platform one (41) includes a positioning frame one (411) and a platform one (412) horizontally disposed on the top of the positioning frame one (411). A reference baffle one (413) and a reference baffle two (414) are fixed on two adjacent sides of the platform one (412). A push plate one (415) parallel to the reference baffle one (413) and a push plate two (416) parallel to the reference baffle two (414) are provided above the platform one (412). A push plate driving component one (417) for driving the push plate one (415) to reciprocate along the length direction of the reference baffle two (414) and a push plate driving component two (418) for driving the push plate two (416) to reciprocate along the length direction of the reference baffle one (413) are provided below the platform one (412). The positioning platform 2 (42) includes a positioning frame 2 (421) and a platform 2 (422) inclined on the top of the positioning frame 2 (421). The platform 2 (422) is provided with a bottom baffle (423), a push plate 3 (424), a top push plate (425) and a push plate 4 (426) in sequence on its four sides. The platform 2 (422) is fixed with a push plate driving component 3 (427) for driving the push plate 3 (424) and the push plate 4 (426) to open and close in opposite directions, and a push plate driving component 4 (428) for driving the top push plate (425) to reciprocate and open and close in opposite directions with the bottom baffle (423).

5. The highly compatible and reconfigurable island-type module assembly workstation according to claim 1, characterized in that, The module assembly unit (6) includes an assembly frame (61), two opposing module side clamping mechanisms (62) located below the assembly frame (61), and two opposing side pressing mechanisms (63) located above the module side clamping mechanisms (62). The module side clamping mechanism (62) includes a bottom frame (621), a side clamping drive assembly (622) fixed above the bottom frame (621), a sliding frame (623) connected to the output end of the side clamping drive assembly (622), and a strip-shaped pressure block (624) connected to the sliding frame (623). The bottom of the sliding frame (623) is slidably connected to the bottom frame (621) through a second linear guide pair (625). The side clamping drive assembly (622) drives the sliding frame (623) to move the strip-shaped pressure block (624) back and forth along the second linear guide pair (625). The side pressurizing mechanism (63) includes a pressurizing frame (631) connected to the assembly frame (61), a pressurizing servo motor (632) fixed to the end of the pressurizing frame (631), a screw drive assembly (633) connected to the output end of the pressurizing servo motor (632), and a pressurizing plate (634) connected to the screw drive assembly (633). The screw drive assembly (633) is connected to the bottom of the pressurizing frame (631) through a screw seat (635). The pressurizing plate (634) is slidably connected to the bottom of the pressurizing frame (631) through a third linear guide pair (636). The length direction of the third linear guide pair (636) is perpendicular to that of the second linear guide pair (625). The pressurizing servo motor (632) drives the pressurizing plate (634) to reciprocate along the third linear guide pair (636) through the screw drive assembly (633).

6. The highly compatible and reconfigurable island-type module assembly workstation according to claim 5, characterized in that, The top of the assembly frame (61) is also provided with a clearance mechanism (64). The clearance mechanism (64) includes a transverse movement mechanism (641) and a lifting mechanism (642). The clearance mechanism (64) is configured to drive the side pressure mechanism (63) to reciprocate in the horizontal direction through the transverse movement mechanism (641) and to drive the side pressure mechanism (63) to reciprocate in the vertical direction through the lifting mechanism (642).

7. The highly compatible and reconfigurable island-type module assembly workstation according to claim 6, characterized in that, The transverse mechanism (641) includes a transverse frame (6411), a servo motor assembly (6412) vertically fixed in the middle of the transverse frame (6411), and two sets of transverse shafts (6413) connected to both sides of the servo motor assembly (6412). The two ends of the transverse frame (6411) are slidably connected to the top of the assembly frame (61) through a set of fourth linear guide pairs (6414). The ends of the transverse shafts (6413) are connected to the assembly frame (61) through a gear and rack assembly (6415). The servo motor assembly (6412) drives the transverse shafts (6413) on both sides to rotate synchronously, and through the meshing transmission of the gear and rack assembly (6415), drives the transverse frame (6411) to move back and forth along the fourth linear guide pairs (6414). The lifting mechanism (642) includes two sets of lifting cylinders (6421) and two sets of slider supports (6422) fixed vertically on the transverse frame (6411). A cylinder extension shaft (6423) and a slide rail bracket (6424) are fixed vertically above the pressurizing frame (631). The cylinder extension shaft (6423) is fixedly connected to the output end of the lifting cylinder (6421). The slider support (6422) and the slide rail bracket (6424) are slidably connected through a fifth linear guide pair (6425). The two sets of lifting cylinders (6421) respectively drive a side pressurizing mechanism (63) to reciprocate in the vertical direction.

8. The highly compatible and reconfigurable island-type module assembly workstation according to claim 5, characterized in that, The assembly frame (61) is also provided with a pallet positioning mechanism (65) and an AGV positioning mechanism (66) below it. The pallet positioning mechanism (65) is used to position and fix the pallet carrying the battery module. The AGV positioning mechanism (66) is used to guide the AGV to transport the pallet carrying the battery module to the module assembly station below the assembly frame (61).

9. A highly compatible and reconfigurable island-type battery module assembly process, characterized in that, Using the module assembly workstation according to any one of claims 1 to 8, the following steps are performed: S1. Parts loading: The loading robot (2) grabs the parts from the feeding unit (1) and transfers them to the tearing and detection unit (3). S2, release paper tearing and visual inspection: The paper tearing and inspection unit (3) performs release paper tearing and visual inspection operations on the parts gripped by the feeding robot (2); S3, Secondary Positioning: The feeding robot (2) transfers the qualified paper-tearing parts to the secondary positioning mechanism (4) for precise positioning; S4, Module pressurization and assembly: The module assembly unit (6) pressurizes and assembles the battery modules on the AGV tray; S5. Install accessories: The installation robot (5) grabs the accessories from the secondary positioning mechanism (4) and installs them on the assembled battery module.

10. The highly compatible reconfigurable island-type battery module assembly process according to claim 9, characterized in that, In step S4, the module assembly unit (6) performs multi-stage pressurization assembly according to the process parameters obtained from the production execution system by the PLC controller, and performs closed-loop pressure control through feedback from the pressure sensor; the process parameters include pressurization pressure, pressurization stroke, pressurization holding time and installation position coordinates.

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