An automatic installation device for energy storage module CCS

Abstract

This invention relates to the field of automated production technology for square aluminum-cased lithium battery module PACKs for energy storage, and discloses an automated CCS installation device for energy storage modules. The device includes a enclosure, with a material-retrieving robot positioned in the center of the inner side of the enclosure. Inside the enclosure, on one side of the material-retrieving robot, are sequentially arranged a CCS-A hopper, a CCS-B hopper, and a CCS spacer foam hopper. Inside the enclosure, opposite the CCS-B hopper, is an assembly platform on which energy storage modules are placed. A secondary positioning platform is positioned inside the CCS-A hopper, between the CCS spacer foam hopper and the assembly platform. This invention, through a highly coordinated automated process, completely replaces the traditional manual identification, grasping, visual alignment, and pasting fixing operation mode. This not only stabilizes the installation cycle at a preset high-efficiency level, eliminating the speed bottleneck and instability of manual operation, but also directly reduces the manpower required for this workstation. This also achieves cost savings on auxiliary materials.

Description

Technical Field

[0001] This invention relates to the field of automated production technology for energy storage square aluminum-cased lithium battery modules (PACKs), specifically to an automated installation device for energy storage modules (CCS). Background Technology

[0002] The automated production line for pACK (packing) of square aluminum-cased lithium battery modules for energy storage is a highly integrated and complex system. Its production efficiency and cost control directly affect the market competitiveness of the final product. This production line typically includes multiple stations such as cell processing, stacking, CCS (Cell Contacting System) installation and welding, and final assembly. Among these, the CCS welding station is a key step, responsible for precisely installing the CCS components onto the top of the battery module and completing the laser welding of the busbars and cell terminals to achieve electrical connections and signal acquisition between the cells.

[0003] In existing industry processes, this step has a low degree of automation. The common approach is for carrier boards containing battery modules to be transferred to a manual workstation, where operators manually pick up the CCS (Cellular Cell Components) and visually align them with the positioning pin holes on the top of the module. To prevent CCS displacement during subsequent transfers or welding, manual application of tape and other materials is required to secure the CCS's plastic forming layer to the cell side. This manual operation mode has significant drawbacks: First, it requires a large workforce, leading to high direct labor costs; second, the manual operation cycle is unstable, resulting in significant efficiency bottlenecks and increased labor costs; third, consumable materials such as tape continuously generate costs; and finally, manual precision handling and alignment within the production line poses safety risks such as mechanical malfunctions or laser irradiation, and inconsistent work processes are difficult to guarantee, potentially affecting the final welding quality and product reliability.

[0004] Therefore, the industry urgently needs a technical solution that can achieve fully automated, high-precision, safe and reliable installation of CCS to solve the above-mentioned cost, efficiency, quality and safety issues, thereby improving the automation level and overall benefits of the energy storage module PACK production line. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic installation device for energy storage modules (CCS) to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic installation device for energy storage modules (CCS), comprising a enclosure, a material-picking robot disposed in the middle of the inner side of the enclosure, a CCS-A hopper, a CCS-B hopper, and a CCS spacer foam hopper disposed sequentially on the inner side of the enclosure and on one side of the material-picking robot, an assembly platform disposed on the inner side of the enclosure and on the opposite side of the CCS-B hopper, an energy storage module being placed on the assembly platform, and a secondary positioning platform disposed on the inner side of the CCS-A hopper and between the CCS spacer foam hopper and the assembly platform; The material handling robot includes a robotic arm, a carrier, a vision inspection component, a barcode scanning component, and a vacuum suction cup. The robotic arm is located in the middle of the inner side of the CCS-A hopper. The carrier is installed at the lower end of the robotic arm. Both ends of the carrier are fixedly installed with vision inspection components. A barcode scanning component is installed on a set of vision inspection components. Vacuum suction cups that are evenly distributed are installed on the outer side of the carrier through connectors. The assembly platform includes an assembly platform body, an infrared sensor, and an assembly positioning mechanism. The assembly platform body is located inside the CCS-A hopper. An infrared sensor is installed on one side of the upper part of the assembly platform body, and the assembly positioning mechanism is located on the inner side of the upper part of the assembly platform body.

[0007] Furthermore, the robotic arm includes a fixed base, a chassis, a turntable one, a straight arm one, a straight arm two, and a turntable two. The fixed base is provided on the inner side of the middle of the CCS-A hopper. The chassis is fixedly connected to the upper side of the fixed base. The turntable one is rotatably connected to the upper side of the chassis. The straight arm one is rotatably connected to the upper side of the turntable one. The straight arm two is rotatably connected to the upper side of the straight arm one. The turntable two is rotatably connected to the lower side of the straight arm two.

[0008] Furthermore, the load-bearing component includes a docking component and a mounting beam. The docking component is fixedly connected to the lower side of the turntable, and the mounting beam is fixedly connected to the lower side of the docking component. The vision inspection component includes a support plate, a protective cover, an industrial camera, and a light source. The upper two ends of the mounting beam are fixedly connected to the support plate, the industrial camera is fixedly connected to one side of the support plate, the protective cover is fixedly connected to the upper side of the support plate and the outside of the industrial camera, and the light source is fixedly installed at the lower part of the support plate, with the light source located directly below the industrial camera. The scanning component includes a mounting plate and a scanner. The mounting plate is fixedly connected to the outside of the support plate, and the scanner is fixedly mounted on the mounting plate.

[0009] Furthermore, the secondary positioning platform includes a positioning platform body, a positioning plate, a first stop block, a second stop block, and a positioning component. The positioning platform body is provided inside the CCS-A hopper. A positioning plate is fixedly connected to the upper side of the positioning platform body. A first stop block is installed on one side of the positioning plate. A second stop block is installed on the side of the positioning plate adjacent to the first stop block. A positioning component is provided on the positioning plate.

[0010] Furthermore, the positioning component includes a cylinder, a push block, a connecting plate, a sliding block, and a guide rail. The cylinder is fixedly connected to the middle of the upper side of the positioning plate, and two sets of guide rails are fixedly connected to the lower side of the positioning plate. A sliding block is slidably connected to the outer side of the guide rail. A connecting plate is fixedly connected to the lower side of the sliding block. Evenly distributed push blocks are fixedly connected to the connecting plate. The positioning plate has a groove corresponding to the push block. The output end of the cylinder is fixedly connected to the middle push block.

[0011] The picking robot transfers the adsorbed CCS to the secondary positioning stage. The picking robot places the CCS on the positioning plate of the stage, then the vacuum suction cup is released, and the picking robot moves away. Next, the positioning mechanism of the secondary positioning stage is activated: its cylinder extends, pushing the connected central push block. All push blocks are connected as one unit via a bottom connecting plate, allowing the entire assembly to slide along two guide rails under the drive of the cylinder. The push blocks push the CCS from one side, causing its other side to press against pre-set stops one and two on the positioning plate. This mechanical pushing process eliminates any potential positional or angular deviations of the CCS in the plane that may occur during the robot's grasping and placement, ensuring that its edges are strictly aligned with the reference edge of the positioning plate, achieving extremely high repeatability.

[0012] Furthermore, the assembly positioning mechanism includes a side clamp, a sliding component, and a limiting component. The sliding component is fixedly connected to the inner side of the assembly platform. Two sets of energy storage modules are arranged on the upper side of the sliding component. A carrier plate is snapped onto the lower side of the two sets of energy storage modules. Two sets of side clamps are installed on the sliding component, and the side clamps correspond to the outer sides of the two sets of energy storage modules respectively. Two sets of limiting components are installed on the inner side of the assembly platform, and the two sets of limiting components correspond to the two sides of the sliding component.

[0013] Furthermore, the sliding assembly includes a working plate, rollers, and a track plate. Two sets of track plates are fixedly connected to the inner side of the assembly platform. A working plate is provided on the upper side of the two sets of track plates. Rollers are rotatably connected to all four ends of the working plate. The rollers slide on the inner side of the track plates. Two sets of crossbars are fixedly connected to the upper side of the working plate. The carrier plate is placed on the upper side of the working plate and is placed between the two sets of crossbars in close contact with the crossbars. The side clamping mechanism includes a clamping plate, a guide rod, a fixing block, and a spring; a clamping plate, a spring, a mounting base, and a guide rod. Two sets of fixing blocks are fixedly connected to the upper side of the working plate. Multiple sets of guide rods are fixedly connected to the side of the fixing blocks near the energy storage module. A clamping plate is slidably connected to the outer side of the guide rods. Evenly distributed springs are fixedly connected between the clamping plate and the fixing blocks. Mounting bases are provided on both sides of the fixing blocks. Guide rods are slidably connected to the inner side of the mounting bases. A clamping plate is fixedly connected to the end of the guide rod near the energy storage module. The clamping plate is fixedly connected to the clamping plate. A spring is sleeved on the outer side of the guide rod. The clamping plates are in close contact with the side of the energy storage module. The battery modules to be installed are loaded into the internal working area of ​​the device (defined by barriers) by an external conveyor line. The modules are then transported to the assembly table. Two sets of modules are placed on the work plate via carrier plates and positioned by crossbars on both sides of the work plate. Simultaneously, the external drive mechanism releases the side clamping mechanism, which then actuates: multiple springs fixed to the base push the clamping plate one to slide along the guide rod one towards the long side of the module; at the same time, the clamping plate two, fixedly connected to the clamping plate one, slides within the mounting base under the action of the spring two via the guide rod two, simultaneously clamping the module. The module is then firmly and precisely fixed in the preset installation position. The limiting component includes a fixed frame, a second cylinder, and a limiting head. Two sets of fixed frames are fixedly connected to the inner side of the assembly platform. A second cylinder is fixedly connected to the inner side of the fixed frame. A limiting head is fixedly connected to the output end of the second cylinder. A groove corresponding to the limiting head is provided on the work plate.

[0014] The limiting component on the assembly platform is activated, and cylinder two pushes the limiting head upward, causing it to engage with a groove on the work plate. After the work plate is secured, the vision inspection component fixed to the end of the picking robot begins operation. Specifically, the robotic arm moves above the secured module, and the industrial camera in the vision component, under illumination, takes pictures of specific features (such as holes and edges) on the plastic brackets one and two on both sides of the module. The image processing system identifies these features and generates high-precision position coordinates (Mark points), which are sent to the picking robot control system as a reference for subsequent CCS installation to compensate for positioning tolerances. Furthermore, the energy storage module includes a positioning pin one, a CCS, a plastic bracket one, a module, a positioning pin two, a plastic bracket two, and a CCS QR code. The module is snapped onto the upper side of the carrier plate. The upper side of the module is fixedly installed with evenly distributed positioning pins one and two. The CCS is pinned to the upper side of the module through positioning pins one and two. Plastic brackets one and two are respectively installed at both ends of the module. The module is snapped into the CCS. A CCS QR code is provided on the CCS.

[0015] Furthermore, the connector includes a fixing block, and the fixing blocks are evenly distributed and fixedly installed on the outer side of the mounting beam, while the vacuum suction cup is fixedly installed on the inner side of the fixing block.

[0016] Furthermore, the connecting component is a fine-tuning mechanism, which includes a Y-axis displacement component, an X-axis displacement component, and a connecting platform. The Y-axis displacement component is fixedly connected to the lower side of the mounting beam, the X-axis displacement component is fixedly connected to the lower output end of the Y-axis displacement component, the connecting platform is fixedly connected to the lower output end of the X-axis displacement component, and the vacuum suction cup is fixedly installed on the inner side of the connecting platform. The X-axis displacement component and the connecting platform are both precision linear drive assemblies. The precision linear drive assembly includes a body, a motor, a lead screw, a second guide rail, a second sliding block, a reading head, and a grating ruler. One end of the body is fixedly connected to the motor, and the output end of the motor is fixedly connected to the lead screw. Two sets of second guide rails are fixedly connected to the body. The second sliding block is slidably connected to the outer side of the second guide rail. The second sliding block is threadedly connected to the lead screw. A grating ruler is fixedly connected to the outer side of the body. A reading head is slidably connected to the grating ruler. The reading head is fixedly connected to the second sliding block.

[0017] When the connector is a fine-tuning mechanism, when the picking robot uses a vacuum suction cup to pick up the CCS and dock it with the module, the controller of the fine-tuning mechanism receives deviation instructions from the vision system. This mechanism mainly consists of a Y-axis displacement component, an X-axis displacement component, and a connecting platform connected in series, forming a two-dimensional precision motion platform. If Y-axis deviation needs to be corrected, the controller sends a pulse sequence to the motor of the Y-axis displacement component.

[0018] If X-axis deviation needs to be corrected, the command is sent to the motor of the X-axis displacement component.

[0019] The displacement components of both axes are identical in structure, both being precision linear drive assemblies capable of independent or synchronous operation to synthesize horizontal displacement in any direction; a motor drives a lead screw to rotate. The rotation of the lead screw causes the second sliding block to move linearly, and a high-resolution grating ruler is fixed to the machine body along the direction of movement. A reading head is fixed to the second sliding block and moves with it. The controller instantaneously compares the actual position value fed back by the reading head with the target position value commanded by the vision system. Once an error is detected (e.g., tracking lag due to inertia or friction), the controller immediately uses PID control algorithms to dynamically adjust the current or pulses output to the motor, driving the second sliding block to accelerate or decelerate until the error between the actual and target positions approaches zero. This process continues throughout the entire displacement, ensuring the final positioning point is highly accurate.

[0020] Compared with the prior art, the present invention provides an automatic installation device for energy storage modules (CCS), which has the following advantages: 1. This invention completely replaces the traditional manual identification, grasping, visual alignment, and adhesive fixing operation mode by designing a highly collaborative automated process (such as robotic automatic material picking, transfer, visual positioning, secondary mechanical precision positioning, and installation). This not only stabilizes the installation cycle at a preset high-efficiency level (e.g., achieving 12ppm), eliminating the speed bottleneck and instability of manual operation, but also directly reduces the manpower configuration of this workstation (saving 2 people per shift). At the same time, by eliminating auxiliary materials such as tape used for temporary fixing, it achieves cost savings on auxiliary materials (approximately 2.5 yuan / day). The entire process is completed automatically by the equipment, with a long material feeding cycle (≥0.5h), reducing frequent interruptions in material feeding, thereby achieving a comprehensive cost reduction in three dimensions: efficiency, manpower, and material consumption.

[0021] 2. This invention systematically overcomes the limitations of incoming material tolerances, robot repeatability errors, and module placement deviations by constructing a multi-level precision positioning system consisting of "fixed contact block or fine-tuning mechanism gripping, secondary positioning stage mechanical hard limit calibration, module visual coordinate compensation, and precise execution by robot / fine-tuning mechanism." Especially when equipped with a closed-loop feedback fine-tuning mechanism, real-time dynamic sub-millimeter-level compensation is possible, ensuring precise and stress-free fit between the CCS mounting holes and module positioning pins. This provides a perfect foundation for subsequent laser welding and greatly improves the consistency and reliability of product assembly quality. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the material handling robot of the present invention; Figure 3 This is a three-dimensional structural diagram of the material handling robot of the present invention from another angle; Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle; Figure 5 This is a three-dimensional structural diagram of the CCS-B silo of the present invention; Figure 6 This is a three-dimensional structural diagram of the CCS-B silo of the present invention from another angle; Figure 7 This is a three-dimensional structural diagram of the CCS-A silo of the present invention; Figure 8 This is a three-dimensional structural diagram of the assembly platform of the present invention; Figure 9 For the present invention Figure 8 Enlarged view of point B in the middle; Figure 10For the present invention Figure 8 Enlarged view of point C in the middle; Figure 11 This is a three-dimensional structural diagram of the CCS spacer foam hopper of the present invention; Figure 12 This is a three-dimensional structural diagram of the secondary positioning stage of the present invention; Figure 13 This is a three-dimensional structural diagram of the secondary positioning stage of the present invention from another angle; Figure 14 For the present invention Figure 13 Enlarged view of point D in the middle; Figure 15 This is a three-dimensional structural diagram of the fine-tuning mechanism of the present invention; Figure 16 This is a three-dimensional structural diagram of the fine-tuning mechanism of the present invention from another angle; Figure 17 For the present invention Figure 16 Enlarged view of point E in the middle; Figure 18 This is a three-dimensional structural diagram of the vacuum suction cup of the present invention; Figure 19 This is a three-dimensional structural schematic diagram of the precision linear drive component of the present invention; Figure 20 This is a top view schematic diagram of the energy storage module of the present invention; Figure 21 This is a frontal planar structural diagram of the energy storage module of the present invention.

[0023] In the diagram: 1. CCS-A hopper; 2. CCS-B hopper; 3. CCS spacer foam hopper; 4. Picking robot; 41. Fixed base; 42. Chassis; 43. Turntable 1; 44. Straight arm 1; 45. Straight arm 2; 46. Turntable 2; 47. Load-bearing component; 471. Connecting component; 472. Mounting beam; 48. Vision inspection assembly; 481. Support plate; 482. Protective cover; 483. Industrial camera; 484. Light source; 49. Barcode scanning component; 491. Mounting plate; 492. Scanner; 410. Vacuum suction cup; 5. Secondary positioning stage; 51. Positioning stage body; 52. Positioning plate; 53. Stop block one; 54. Stop block two; 55. Positioning component; 551. Cylinder one; 552. Push block; 553. Connecting plate; 554. Sliding block one; 555. Guide rail one; 6. Energy storage module; 61. Positioning pin one; 62. CCS; 63. Plastic bracket one; 64. Module; 65. Positioning pin II; 66. Plastic bracket II; 67. CCS QR code; 7. Assembly table; 71. Assembly table body; 72. Infrared sensor; 73. Side clamp I; 731. Clamping plate I; 732. Guide rod I; 733. Fixing block; 734. Spring I; 735. Clamping plate II; 736. Spring II; 737. Mounting base; 738. Guide rod II; 74. Sliding assembly; 741. Working plate; 742. Roller; 743. Track plate; 75. Limiting component; 751. Fixing frame; 752. Cylinder II; 753. Limiting head; 8. Enclosure; 9. Fine-tuning mechanism; 91. Y-axis displacement component; 92. X-axis displacement component; 93. Connecting platform; 10. Precision linear drive component; 101. Machine body; 102. Motor; 103. Lead screw; 104. Guide rail II; 105. Sliding block II; 106. Reading head; 107. Grating ruler. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Example

[0026] Please see Figures 1-21An automatic installation device for energy storage modules (CCS) includes a enclosure 8. A material-picking robot 4 is arranged in the middle of the inner side of the enclosure 8. A CCS-A hopper 1, a CCS-B hopper 2, and a CCS spacer foam hopper 3 are arranged sequentially on the inner side of the enclosure 8 and on one side of the material-picking robot 4. An assembly platform 7 is arranged on the inner side of the enclosure 8 and on the opposite side of the CCS-B hopper 2. An energy storage module 6 is placed on the assembly platform 7. A secondary positioning platform 5 is arranged on the inner side of the CCS-A hopper 1 and between the CCS spacer foam hopper 3 and the assembly platform 7. The material handling robot 4 includes a robotic arm, a carrier 47, a vision inspection component 48, a barcode scanning component 49, and a vacuum suction cup 410. The robotic arm is located in the middle of the inner side of the CCS-A hopper 1. The carrier 47 is installed at the lower end of the robotic arm. Both ends of the carrier 47 are fixedly installed with vision inspection components 48. A barcode scanning component 49 is installed on a set of vision inspection components 48. Vacuum suction cups 410 are evenly distributed on the outer side of the carrier 47 through connectors. Assembly table 7 includes assembly table body 71, infrared sensor 72, and assembly positioning mechanism. The assembly table body 71 is located inside the CCS-A hopper 1. The infrared sensor 72 is installed on the upper side of the assembly table body 71, and the assembly positioning mechanism is located on the upper inner side of the assembly table body 71.

[0027] Furthermore, the robotic arm includes a fixed base 41, a chassis 42, a turntable 43, a straight arm 44, a straight arm 45, and a turntable 46. The fixed base 41 is located on the inner side of the middle of the CCS-A hopper 1. The chassis 42 is fixedly connected to the upper side of the fixed base 41. The turntable 43 is rotatably connected to the upper side of the chassis 42. The straight arm 44 is rotatably connected to the upper side of the turntable 43. The straight arm 45 is rotatably connected to the upper side of the straight arm 44. The turntable 46 is rotatably connected to the lower side of the straight arm 45.

[0028] Furthermore, the load-bearing component 47 includes a docking component 471 and a mounting beam 472. The docking component 471 is fixedly connected to the lower side of the turntable 46, and the mounting beam 472 is fixedly connected to the lower side of the docking component 471. The vision inspection assembly 48 includes a support plate 481, a protective cover 482, an industrial camera 483, and a light source 484. The support plate 481 is fixedly connected to both ends of the upper side of the mounting beam 472. The industrial camera 483 is fixedly connected to one side of the support plate 481. The protective cover 482 is fixedly connected to the upper side of the support plate 481 and to the outside of the industrial camera 483. The light source 484 is fixedly installed on the lower part of the support plate 481 and is located directly below the industrial camera 483. The barcode scanning component 49 includes a mounting plate 491 and a scanner 492. The mounting plate 491 is fixedly connected to the outside of the support plate 481, and the scanner 492 is fixedly mounted on the mounting plate 491.

[0029] Furthermore, the secondary positioning platform 5 includes a positioning platform body 51, a positioning plate 52, a first stop 53, a second stop 54, and a positioning element 55. The positioning platform body 51 is provided inside the CCS-A hopper 1. The positioning plate 52 is fixedly connected to the upper side of the positioning platform body 51. The first stop 53 is evenly distributed on one side of the positioning plate 52. The second stop 54 is evenly distributed on the side of the positioning plate 52 adjacent to the first stop 53. The positioning element 55 is provided on the positioning plate 52.

[0030] Furthermore, the positioning component 55 includes a cylinder 551, a push block 552, a connecting plate 553, a sliding block 554, and a guide rail 555. The cylinder 551 is fixedly connected to the upper middle part of the positioning plate 52, and two sets of guide rails 555 are fixedly connected to the lower side of the positioning plate 52. The sliding block 554 is slidably connected to the outer side of the guide rail 555, and the connecting plate 553 is fixedly connected to the lower side of the sliding block 554. The push blocks 552 are evenly distributed and fixedly connected to the connecting plate 553. The positioning plate 52 has a groove corresponding to the push block 552. The output end of the cylinder 551 is fixedly connected to the middle push block 552.

[0031] The picking robot 4 transfers the adsorbed CCS62 to the secondary positioning stage 5. The picking robot 4 places the CCS62 on the positioning plate 52 of the positioning stage 5, then the vacuum suction cup 410 is released, and the picking robot 4 moves away. Next, the positioning mechanism 55 of the secondary positioning stage 5 is activated: its cylinder 551 extends, pushing the connected central push block 552. All push blocks 552 are connected as one unit via the bottom connecting plate 553, thus sliding along the two guide rails 555 under the drive of the cylinder 551. The push block 552 pushes the CCS62 from one side, causing its other side to be close to the pre-set stop blocks 53 and 54 on the positioning plate 52. Through this mechanical pushing process, the potential positional and angular deviations of the CCS in the plane during robot gripping and placement are eliminated, ensuring that its edge is strictly aligned with the reference edge of the positioning plate 52, achieving extremely high repeatability.

[0032] Furthermore, the assembly positioning mechanism includes side clamps 73, sliding components 74, and limiting components 75. The sliding component 74 is fixedly connected to the inner side of the assembly platform 71. Two sets of energy storage modules 6 are arranged on the upper side of the sliding component 74, and a carrier plate is snapped onto the lower side of the two sets of energy storage modules 6. Two sets of side clamps 73 are installed on the sliding component 74, and the side clamps 73 correspond to the outer sides of the two sets of energy storage modules 6 respectively. Two sets of limiting components 75 are installed on the inner side of the assembly platform 71, and the two sets of limiting components 75 correspond to the two sides of the sliding component 74.

[0033] Furthermore, the sliding assembly 74 includes a working plate 741, rollers 742, and track plates 743. Two sets of track plates 743 are fixedly connected to the inner side of the assembly platform 71. The working plate 741 is provided on the upper side of the two sets of track plates 743. Rollers 742 are rotatably connected to all four ends of the working plate 741. The rollers 742 slide on the inner side of the track plates 743. Two sets of crossbars are fixedly connected to the upper side of the working plate 741. The carrier plate is placed on the upper side of the working plate 741 and is placed between the two sets of crossbars in close contact with the crossbars. Side clamping 73 includes clamping plate 731, guide rod 732, fixing block 733, spring 734, clamping plate 735, spring 736, mounting base 737, and guide rod 738. Two sets of fixing blocks 733 are fixedly connected to the upper side of the working plate 741. Multiple sets of guide rods 732 are fixedly connected to the side of the fixing blocks 733 closest to the energy storage module 6. Clamping plate 731 is slidably connected to the outer side of the guide rods 732. The clamping plate 731 and the fixing block 733... A uniformly distributed spring 734 is fixedly connected between the fixed blocks 733 and the energy storage module 6. Mounting seats 737 are provided on both sides of the fixing block 733. A guide rod 738 is slidably connected to the inner side of the mounting seat 737. A clamping plate 735 is fixedly connected to the end of the guide rod 738 near the energy storage module 6. The clamping plate 735 is fixedly connected to the clamping plate 731. A spring 736 is sleeved on the outer side of the guide rod 738. The clamping plate 731 and the clamping plate 735 are in close contact with the side of the energy storage module 6. The battery module 6 to be installed is loaded into the internal working area of ​​the device by an external conveyor line, which is defined by a barrier 8. The module 64 is transported to the assembly table 7. Two sets of modules 64 are placed on the work plate 741 by a carrier plate and positioned by crossbars on both sides of the work plate 741. At the same time, the external drive mechanism releases the side clamping mechanism 73, and the side clamping mechanism 73 is activated: multiple sets of springs 734 fixed on the base 733 push the clamping plate 731 to slide along the guide rod 732 towards the long side of the module 64; at the same time, the clamping plate 735 fixedly connected to the clamping plate 731 slides in the mounting base 737 under the action of spring 736 through the guide rod 738, and simultaneously clamps the module 64. The module 64 is firmly and accurately fixed in the preset installation position. The limiting component 75 includes a fixed frame 751, a second cylinder 752, and a limiting head 753. Two sets of fixed frames 751 are fixedly connected to the inner side of the assembly platform 71. The second cylinder 752 is fixedly connected to the inner side of the fixed frame 751. The limiting head 753 is fixedly connected to the output end of the second cylinder 752. A groove corresponding to the limiting head 753 is opened on the work plate 741.

[0034] The limiting component 75 on the assembly platform 71 is activated, and cylinder 752 pushes the limiting head 753 upward, causing the limiting head 753 to engage in the groove on the work plate 741. After the work plate 741 is fixed, the vision inspection component 48 fixed to the end of the picking robot 4 begins to work. Specifically, the robotic arm 4 moves above the fixed module 64, and the industrial camera 483 in the vision component, under the illumination of the light source 484, takes pictures of specific features such as holes and edges on the plastic brackets 63 and 66 on both sides of the module 64. The image processing system identifies these features and generates high-precision position coordinates (Mark points), which are sent to the control system of the picking robot 4 as a reference for the subsequent installation of the CCS 62 to compensate for positioning tolerances. Furthermore, the energy storage module 6 includes a positioning pin 61, a CCS 62, a plastic bracket 63, a module 64, a positioning pin 65, a plastic bracket 66, and a CCS QR code 67. The module 64 is snapped onto the upper side of the carrier plate. The upper side of the module 64 is fixedly equipped with evenly distributed positioning pins 61 and 65. The CCS 62 is pinned to the upper side of the module 64 through positioning pins 61 and 65. Plastic brackets 63 and 66 are respectively installed at both ends of the module 64. The module 64 is snapped into the CCS 62. A CCS QR code 67 is provided on the CCS 62.

[0035] Furthermore, the connector includes a fixing block, with evenly distributed fixing blocks fixedly installed on the outer side of the mounting beam 472, and the vacuum suction cup 410 fixedly installed on the inner side of the fixing block.

[0036] Furthermore, the connecting component is a fine-tuning mechanism 9, which includes a Y-axis displacement component 91, an X-axis displacement component 92, and a connecting platform 93. The Y-axis displacement component 91 is fixedly connected to the lower side of the mounting beam 472, the X-axis displacement component 92 is fixedly connected to the lower output end of the Y-axis displacement component 91, and the connecting platform 93 is fixedly connected to the lower output end of the X-axis displacement component 92. The vacuum suction cup 410 is fixedly installed on the inner side of the connecting platform 93. The X-axis displacement component 92 and the connecting platform 93 are both precision linear drive components 10. The precision linear drive component 10 includes a body 101, a motor 102, a lead screw 103, a second guide rail 104, a second sliding block 105, a reading head 106, and a grating ruler 107. One end of the body 101 is fixedly connected to the motor 102, and the output end of the motor 102 is fixedly connected to the lead screw 103. Two sets of second guide rails 104 are fixedly connected to the body 101. The second sliding block 105 is slidably connected to the outer side of the second guide rail 104. The second sliding block 105 and the lead screw 103 are threadedly connected. The grating ruler 107 is fixedly connected to the outer side of the body 101. The reading head 106 is slidably connected to the grating ruler 107. The reading head 106 is fixedly connected to the second sliding block 105.

[0037] When the connecting component is the fine-tuning mechanism 9, when the picking robot 4 picks up the CCS62 via the vacuum suction cup 410 and docks with the module 64, the controller of the fine-tuning mechanism 9 receives deviation instructions from the vision system. This mechanism mainly consists of a Y-axis displacement component 91, an X-axis displacement component 92, and a connecting platform 93 connected in series, forming a two-dimensional precision motion platform. If it is necessary to correct the Y-axis deviation, the controller sends a pulse sequence to the motor 102 of the Y-axis displacement component 91.

[0038] If X-axis deviation needs to be corrected, the command is sent to motor 102 of X-axis displacement component 92.

[0039] The displacement components of the two axes are identical in structure, both being precision linear drive components 10, capable of independent or synchronous operation to synthesize horizontal displacement in any direction; motor 102 drives lead screw 103 to rotate. The rotational motion of lead screw 103 drives sliding block 105 to move linearly, and a high-resolution grating ruler 107 is fixed to the machine body 101 along the direction of motion. A reading head 106 is fixed to sliding block 105 and moves with it. The controller instantaneously compares the actual position value fed back by reading head 106 with the target position value commanded by the vision system. Once an error is detected, such as tracking lag due to inertia or friction, the controller immediately uses PID control algorithms to dynamically adjust the current or pulse output to motor 102, driving sliding block 105 to accelerate or decelerate until the error between the actual position and the target position approaches zero. This process continues throughout the displacement, ensuring the final positioning point's height accuracy.

[0040] The specific usage and function of this embodiment are as follows: The battery module 6 to be installed is loaded into the internal working area of ​​the device by an external conveyor line, which is defined by a barrier 8. The module 64 is transported to the assembly table 7. Two sets of modules 64 are placed on the work plate 741 by a carrier plate and positioned by crossbars on both sides of the work plate 741. At the same time, the external drive mechanism releases the side clamping mechanism 73, and the side clamping mechanism 73 is activated: multiple sets of springs 734 fixed on the base 733 push the clamping plate 731 to slide along the guide rod 732 towards the long side of the module 64; at the same time, the clamping plate 735 fixedly connected to the clamping plate 731 slides in the mounting base 737 under the action of spring 736 through the guide rod 738, and simultaneously clamps the module 64. The module 64 is firmly and accurately fixed in the preset installation position. Then, the external drive mechanism pushes the work plate 741, which slides on the track plate 743 via rollers 742, moving to the preset working area; the infrared sensor 72 can detect the incoming material movement. The limiting component 75 on the assembly platform 71 is activated, and cylinder 752 pushes the limiting head 753 upward, causing the limiting head 753 to engage in the groove on the work plate 741. After the work plate 741 is fixed, the vision inspection component 48 fixed to the end of the picking robot 4 begins to work. Specifically, the robotic arm 4 moves above the fixed module 64, and the industrial camera 483 in the vision component, under the illumination of the light source 484, takes pictures of specific features such as holes and edges on the plastic brackets 63 and 66 on both sides of the module 64. The image processing system identifies these features and generates high-precision position coordinate Mark points, which are sent to the control system of the picking robot 4 as a reference for the subsequent installation of the CCS 62 to compensate for positioning tolerances.

[0041] Subsequently, the picking robot 4 moves to the top of the corresponding CCS-A hopper 1 according to the production instructions. The vision inspection component 48 again performs feature recognition on the surface characters of the CCS62 stacked in the CCS-A hopper 1 to confirm that the CCS62 type required by module 64 is consistent. After confirmation, the picking robot 4 performs the picking action: its robotic arm is coordinated by the joints of the fixed base 41, chassis 42, turntable one 43, straight arm one 44, straight arm two 45, and turntable two 46, all of which are equipped with external power drive mechanisms to position the end effector above the CCS62. The support component 47 of the end effector descends. When the connector is a fixed block, the lower surface of the mounting beam 472 is connected to a row of vacuum suction cups 410 fixed by the fixed block, which are then subjected to negative pressure and firmly adsorb the upper surface of the CCS62.

[0042] The picking robot 4 transfers the adsorbed CCS62 to the secondary positioning stage 5. The picking robot 4 places the CCS62 on the positioning plate 52 of the positioning stage 5, then the vacuum suction cup 410 is released, and the picking robot 4 moves away. Next, the positioning mechanism 55 of the secondary positioning stage 5 is activated: its cylinder 551 extends, pushing the connected central push block 552. All push blocks 552 are connected as one unit via the bottom connecting plate 553, thus sliding along the two guide rails 555 under the drive of the cylinder 551. The push block 552 pushes the CCS62 from one side, causing its other side to be close to the pre-set stop blocks 53 and 54 on the positioning plate 52. Through this mechanical pushing process, the potential positional and angular deviations of the CCS in the plane during robot gripping and placement are eliminated, ensuring that its edge is strictly aligned with the reference edge of the positioning plate 52, achieving extremely high repeatability.

[0043] The picking robot 4 moves again to the secondary positioning stage 5 and picks up the precisely positioned CCS62 using the vacuum suction cup 410. Then, the picking robot 4 carries the CCS62 to the assembly stage 7, directly above the module 64. The picking robot 4's control system integrates the acquired visual positioning coordinates of the module 64 and performs real-time compensation for the target placement point of the picking robot 4. Guided by the vision system, the picking robot 4 precisely lowers the CCS62. During this process, the pre-drilled mounting holes on the CCS62 cooperate with the positioning pins 61 and 65 already installed on the module 64 to achieve final guidance and precise positioning, ensuring that the busbar on the CCS62 is completely aligned with the battery cell terminal. At the same time, the barcode scanning component 49 works, and the scanner 492 scans the QR code 67 on the CCS62, binding the material information with the information of the module 64 at the current workstation, completing data traceability.

[0044] Repeat the above steps to work on the CCS62 in the CCS-B hopper 2 and connect it to another module 64. Meanwhile, after the CCS62 is removed, the material handling robot 4 transports the spacer foam to the CCS spacer foam hopper 3 for collection. When the connecting component is the fine-tuning mechanism 9, when the picking robot 4 picks up the CCS62 via the vacuum suction cup 410 and docks with the module 64, the controller of the fine-tuning mechanism 9 receives deviation instructions from the vision system. This mechanism mainly consists of a Y-axis displacement component 91, an X-axis displacement component 92, and a connecting platform 93 connected in series, forming a two-dimensional precision motion platform. If it is necessary to correct the Y-axis deviation, the controller sends a pulse sequence to the motor 102 of the Y-axis displacement component 91.

[0045] If X-axis deviation needs to be corrected, the command is sent to motor 102 of X-axis displacement component 92.

[0046] The displacement components of the two axes are identical in structure, both being precision linear drive components 10, capable of independent or synchronous operation to synthesize horizontal displacement in any direction; motor 102 drives lead screw 103 to rotate. The rotational motion of lead screw 103 drives sliding block 105 to move linearly, and a high-resolution grating ruler 107 is fixed to the machine body 101 along the direction of motion. A reading head 106 is fixed to sliding block 105 and moves with it. The controller instantaneously compares the actual position value fed back by reading head 106 with the target position value commanded by the vision system. Once an error is detected, such as tracking lag due to inertia or friction, the controller immediately uses PID control algorithms to dynamically adjust the current or pulse output to motor 102, driving sliding block 105 to accelerate or decelerate until the error between the actual position and the target position approaches zero. This process continues throughout the displacement, ensuring the final positioning point's height accuracy.

[0047] The assembled battery module 6 is moved to the next welding process via an external production line.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic installation device for energy storage modules (CCS), comprising a enclosure (8), characterized in that: A material-picking robot (4) is provided in the middle of the inner side of the enclosure (8). A CCS-A hopper (1), a CCS-B hopper (2), and a CCS spacer foam hopper (3) are arranged sequentially on the inner side of the enclosure (8) and on one side of the material-picking robot (4). An assembly platform (7) is provided on the inner side of the enclosure (8) and on the opposite side of the CCS-B hopper (2). An energy storage module (6) is placed on the assembly platform (7). A secondary positioning platform (5) is provided on the inner side of the CCS-A hopper (1) and between the CCS spacer foam hopper (3) and the assembly platform (7). The material handling robot (4) includes a robotic arm, a carrier (47), a vision inspection component (48), a barcode scanning component (49), and a vacuum suction cup (410). The robotic arm is located in the middle of the inner side of the CCS-A hopper (1). The lower end of the robotic arm is equipped with a carrier (47). Both ends of the carrier (47) are fixedly equipped with vision inspection components (48). A set of vision inspection components (48) is equipped with a barcode scanning component (49). Vacuum suction cups (410) are evenly distributed on the outer side of the carrier (47) through a connector. The assembly platform (7) includes an assembly platform body (71), an infrared sensor (72), and an assembly positioning mechanism. The assembly platform body (71) is provided on the inner side of the CCS-A hopper (1). An infrared sensor (72) is installed on the upper side of the assembly platform body (71), and an assembly positioning mechanism is provided on the upper inner side of the assembly platform body (71).

2. The automatic installation device for an energy storage module CCS according to claim 1, characterized in that: The robotic arm includes a fixed base (41), a chassis (42), a turntable (43), a straight arm (44), a straight arm (45), and a turntable (46). The fixed base (41) is provided on the inner side of the middle part of the CCS-A hopper (1). The chassis (42) is fixedly connected to the upper side of the fixed base (41). The turntable (43) is rotatably connected to the upper side of the chassis (42). The straight arm (44) is rotatably connected to the upper side of the turntable (43). The straight arm (45) is rotatably connected to the upper side of the straight arm (44). The turntable (46) is rotatably connected to the lower side of the straight arm (45).

3. The automatic installation device for an energy storage module CCS according to claim 2, characterized in that: The bearing component (47) includes a docking component (471) and a mounting beam (472). The lower side of the turntable (46) is fixedly connected to the docking component (471), and the lower side of the docking component (471) is fixedly connected to the mounting beam (472). The vision inspection component (48) includes a support plate (481), a protective cover (482), an industrial camera (483), and a light source (484). The upper two ends of the mounting beam (472) are fixedly connected to the support plate (481). The industrial camera (483) is fixedly connected to one side of the support plate (481). The protective cover (482) is fixedly connected to the upper side of the support plate (481) and to the outside of the industrial camera (483). The light source (484) is fixedly installed on the lower part of the support plate (481). The light source (484) is located directly below the industrial camera (483). The scanning component (49) includes a mounting plate (491) and a scanner (492). The mounting plate (491) is fixedly connected to the outside of the support plate (481), and the scanner (492) is fixedly mounted on the mounting plate (491).

4. The automatic installation device for an energy storage module CCS according to claim 3, characterized in that: The secondary positioning platform (5) includes a positioning platform body (51), a positioning plate (52), a first stop (53), a second stop (54), and a positioning component (55). The positioning platform body (51) is provided on the inner side of the CCS-A silo (1). The positioning plate (52) is fixedly connected to the upper side of the positioning platform body (51). A first stop (53) with even distribution is installed on one side of the positioning plate (52). A second stop (54) with even distribution is installed on the side of the positioning plate (52) adjacent to the first stop (53). The positioning component (55) is provided on the positioning plate (52).

5. The automatic installation device for an energy storage module CCS according to claim 4, characterized in that: The positioning component (55) includes a cylinder (551), a push block (552), a connecting plate (553), a sliding block (554), and a guide rail (555). The cylinder (551) is fixedly connected to the upper middle part of the positioning plate (52). Two sets of guide rails (555) are fixedly connected to the lower side of the positioning plate (52). The sliding block (554) is slidably connected to the outer side of the guide rail (555). The connecting plate (553) is fixedly connected to the lower side of the sliding block (554). The push blocks (552) are evenly distributed and fixedly connected to the connecting plate (553). The positioning plate (52) has a groove corresponding to the push block (552). The output end of the cylinder (551) is fixedly connected to the middle push block (552).

6. The automatic installation device for an energy storage module CCS according to claim 5, characterized in that: The assembly positioning mechanism includes a side clamp (73), a sliding component (74), and a limiting component (75). The sliding component (74) is fixedly connected to the inner side of the assembly platform (71). Two sets of energy storage modules (6) are provided on the upper side of the sliding component (74). A carrier plate is snapped onto the lower side of the two sets of energy storage modules (6). Two sets of side clamps (73) are installed on the sliding component (74). The side clamps (73) correspond to the outer sides of the two sets of energy storage modules (6). Two sets of limiting components (75) are installed on the inner side of the assembly platform (71). The two sets of limiting components (75) correspond to the two sides of the sliding component (74).

7. The automatic installation device for an energy storage module CCS according to claim 6, characterized in that: The sliding assembly (74) includes a working plate (741), rollers (742), and track plates (743). Two sets of track plates (743) are fixedly connected to the inner side of the assembly platform (71). A working plate (741) is provided on the upper side of the two sets of track plates (743). Rollers (742) are rotatably connected to all four ends of the working plate (741). The rollers (742) slide on the inner side of the track plates (743). Two sets of crossbars are fixedly connected to the upper side of the working plate (741). The carrier plate is placed on the upper side of the working plate (741) and is placed between the two sets of crossbars in close contact with the crossbars. The side clamping unit 1 (73) includes clamping plate 1 (731), guide rod 1 (732), fixing block (733), spring 1 (734), clamping plate 2 (735), spring 2 (736), mounting base (737), and guide rod 2 (738). Two sets of fixing blocks (733) are fixedly connected to the upper side of the working plate (741). Multiple sets of guide rod 1 (732) are fixedly connected to the side of the fixing block (733) near the energy storage module (6). The clamping plate 1 (731) is slidably connected to the outer side of the guide rod 1 (732). The clamping plate 1 (731) and the fixing block (733) are connected to each other. A uniformly distributed spring 1 (734) is fixedly connected between the fixed blocks (733). Mounting seats (737) are provided on both sides of the fixed blocks (733). A guide rod 2 (738) is slidably connected to the inner side of the mounting seats (737). A clamping plate 2 (735) is fixedly connected to one end of the guide rod 2 (738) near the energy storage module (6). The clamping plate 2 (735) is fixedly connected to the clamping plate 1 (731). A spring 2 (736) is sleeved on the outer side of the guide rod 2 (738). The clamping plate 1 (731) and the clamping plate 2 (735) are in close contact with the side of the energy storage module (6). The limiting component (75) includes a fixed frame (751), a second cylinder (752), and a limiting head (753). Two sets of fixed frames (751) are fixedly connected to the inner side of the assembly platform (71). A second cylinder (752) is fixedly connected to the inner side of the fixed frame (751). A limiting head (753) is fixedly connected to the output end of the second cylinder (752). A groove corresponding to the limiting head (753) is provided on the working plate (741).

8. The automatic installation device for an energy storage module CCS according to claim 7, characterized in that: The energy storage module (6) includes a positioning pin 1 (61), a CCS (62), a plastic bracket 1 (63), a module (64), a positioning pin 2 (65), a plastic bracket 2 (66), and a CCS QR code (67). The module (64) is snapped onto the upper side of the carrier plate. The upper side of the module (64) is fixedly installed with evenly distributed positioning pins 1 (61) and positioning pin 2 (65). The CCS (62) is pinned to the upper side of the module (64) through positioning pins 1 (61) and positioning pin 2 (65). The two ends of the module (64) are respectively installed with plastic bracket 1 (63) and plastic bracket 2 (66). The module (64) is snapped onto the CCS (62). The CCS (62) is provided with a CCS QR code (67).

9. The automatic installation device for an energy storage module CCS according to claim 3, characterized in that: The connector includes a fixed block, and the fixed blocks are evenly distributed and fixedly installed on the outer side of the mounting beam (472). The vacuum suction cup (410) is fixedly installed on the inner side of the fixed block.

10. The automatic installation device for an energy storage module CCS according to claim 3, characterized in that: The connector is a fine-tuning mechanism (9), which includes a Y-axis displacement component (91), an X-axis displacement component (92), and a connecting platform (93). The lower side of the mounting beam (472) is fixedly connected to the Y-axis displacement component (91), the lower output end of the Y-axis displacement component (91) is fixedly connected to the X-axis displacement component (92), the lower output end of the X-axis displacement component (92) is fixedly connected to the connecting platform (93), and the vacuum suction cup (410) is fixedly installed on the inner side of the connecting platform (93). The X-axis displacement component (92) and the connecting platform (93) are both precision linear drive assemblies (10). The precision linear drive assembly (10) includes a body (101), a motor (102), a lead screw (103), a second guide rail (104), a second sliding block (105), a reading head (106), and a grating ruler (107). One end of the body (101) is fixedly connected to the motor (102), and the output end of the motor (102) is fixedly connected to the lead screw (107). 3) Two sets of guide rails (104) are fixedly connected to the body (101). A sliding block (105) is slidably connected to the outer side of the guide rail (104). The sliding block (105) is threadedly connected to the lead screw (103). A grating ruler (107) is fixedly connected to the outer side of the body (101). A reading head (106) is slidably connected to the grating ruler (107). The reading head (106) is fixedly connected to the sliding block (105).

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