A battery pack boxing apparatus and method

Abstract

This invention discloses a battery pack loading device and method. The loading device includes a carrying unit, a feeding device, and a loading unit. The feeding device includes a first conveying mechanism and a handling mechanism. The loading unit includes a conveying push-pull unit and a lifting unit. The lifting unit includes a first drive module, a second drive module, a first lifting plate, and a second lifting plate. The base of the conveying push-pull unit is hinged to the first lifting plate and the second lifting plate on both sides, respectively. The loading method includes: the handling mechanism moving the battery pack to the first conveying mechanism; the second conveying mechanism receiving the battery pack; the lifting unit adjusting its height; a vision camera detecting the tilt angle of the bracket; automatically adjusting the left and right tilt angles of the battery pack; and a pushing mechanism pushing the battery pack into the energy storage box. This invention achieves efficient, accurate, safe, and low-cost automated battery pack loading operations through adaptive attitude adjustment, parallel operation structure, compact pushing mechanism, and force control closed-loop design.

Description

Technical Field

[0001] This invention belongs to the field of energy storage box production technology, and in particular relates to a battery pack loading device and method. Background Technology

[0002] With the rapid development of energy storage technology, the production efficiency and automation level of energy storage boxes are receiving increasing attention. One of the key processes in assembling energy storage boxes is accurately and safely pushing the heavy battery packs onto the internal supports. Currently, some battery packaging box equipment exists in the prior art. For example, Chinese Utility Model Patent Publication No. CN223031405U discloses a battery packaging box device that uses a first conveying mechanism to transport the energy storage cabinet, a second conveying mechanism to transport the battery pack, and then a drive module to drive a pushing mechanism to pick up the battery pack and push it into the empty space in the energy storage cabinet. However, such existing equipment still has the following shortcomings in practical applications: (1) Its propulsion method is that the propulsion mechanism directly pushes the battery pack into the energy storage box from the rear. When there is tilt or height inconsistency caused by processing or installation of the brackets on the left and right sides inside the energy storage box, the equipment lacks the ability to actively adjust the angle of the battery pack entering the box, which can easily cause the battery pack to get stuck, scratched or even damaged during the pushing process. (2) The propulsion mechanism is installed at the end of the robot, which means that the robot must carry the heavy battery pack and move back and forth between the loading station and the packing station. Each cycle has an unavoidable empty return stroke. The three actions of loading, handling and packing are forced to be executed in sequence, making it difficult to work in parallel, which seriously restricts the overall efficiency. At the same time, in order to prevent the battery pack from slipping during high-speed movement, a large number of complex load-bearing, limiting and pulling components must be integrated into the end effector, which makes the structure bulky and costly. In addition, the inherent end-shaking and positioning error accumulation of the robot's serial structure further increases the risk of collision and scratching, and it is also difficult to achieve active tilting adjustment of the battery pack at a small angle. In summary, it is necessary to provide a battery pack loading device and method that can adaptively adjust the battery pack loading posture, has efficient loading capabilities, and has a more compact structure, in order to solve the above-mentioned technical problems.

[0003] Therefore, it is necessary to provide a battery pack loading device and method to solve the above-mentioned technical problems. Summary of the Invention

[0004] The main objective of this invention is to provide a battery pack loading device that achieves efficient, accurate, safe, and low-cost automated battery pack loading operations through adaptive attitude adjustment, parallel operation structure, compact pushing mechanism, and force control closed-loop design.

[0005] The above objective is achieved through the following technical solution: a battery pack loading device, comprising: Bearing unit; A feeding device is provided on one side of the bearing unit. The feeding device includes a bearing frame, a first conveying mechanism provided on one side of the bearing frame, and a handling mechanism provided above the first conveying mechanism. A box-entry device is disposed between the bearing unit and the feeding device. The box-entry device includes a conveying push-pull unit that docks with the first conveying mechanism and a lifting unit that drives the conveying push-pull unit to perform lifting and lowering actions. The lifting unit includes a frame, a first drive module and a second drive module disposed opposite to each other on the inner side of the frame, a first lifting plate connected to the movable end of the first drive module, and a second lifting plate connected to the movable end of the second drive module. The conveying push-pull unit includes a base that is hinged to the first lifting plate and the second lifting plate on the left and right sides, respectively, a first mounting frame that is movably disposed on the base, a second conveying mechanism disposed on the first mounting frame, a pushing mechanism disposed on the side of the second conveying mechanism, and a push-pull drive assembly that drives the pushing mechanism to reciprocate along a first direction. A vision camera is disposed at the front end of the first mounting frame.

[0006] Furthermore, the support frame is provided in one or more stacked positions; the conveying mechanism includes a gantry frame above the support frame, a loading drive module on the gantry frame, and a second mounting frame connected to the movable end of the loading drive module. The second mounting frame is provided with a first conveying unit and a second conveying unit. A proximity switch is provided at the bottom of the second mounting frame, and a first detection optical fiber is provided on the first conveying unit.

[0007] Furthermore, the first conveying mechanism includes a conveying line and a correction unit arranged on the conveying line, and a second detection optical fiber and a detection camera are provided on the conveying line.

[0008] Furthermore, one side of the base is hinged to the first lifting plate via a first hinge module, and the other side of the base is hinged to the second lifting plate via a second hinge module. The first hinge module includes a first hinge seat with one end connected to the first lifting plate, a second hinge seat with one end connected to one side of the base, and a first support shaft connecting the first hinge seat and the second hinge seat together. The second hinge module includes a third hinge seat with one end connected to the second lifting plate, a fourth hinge seat with one end connected to one side of the base, a connecting rod, a second support shaft connecting one end of the connecting rod to the third hinge seat, and a third support shaft connecting the other end of the connecting rod to the fourth hinge seat.

[0009] Furthermore, the second conveying mechanism has a conveying surface along a first direction, and a conveying area is formed above the conveying surface; the pushing mechanism includes a pushing member disposed on the side of the second conveying mechanism and a third driving module that drives the pushing member to reciprocate between an initial position and a pushing position, wherein the pushing member is located outside the conveying area when it is in the initial position.

[0010] Furthermore, the push-pull drive assembly includes a first drive motor and a first transmission screw connected to the output end of the first drive motor; the third drive module includes a first mounting base disposed on the first transmission screw, a fourth support shaft horizontally disposed on the first mounting base, a swing seat rotatably disposed on the fourth support shaft at one end, a fifth support shaft horizontally disposed in the middle of the swing seat, a moving rod rotatably disposed on the fifth support shaft at one end, and a drive member connected to the other end of the moving rod and driving the moving rod to move in a second direction, the other end of the drive member being hinged to the first mounting base.

[0011] Furthermore, each of the first mounting bases is provided with a mounting bracket, and a pull rod is detachably provided on the mounting bracket. The pull rod extends along a second direction and is provided with a pulling member extending along a first direction. The mounting bracket is provided with a slot. A force sensor is connected to the first mounting base, and the other end of the force sensor is connected to a second mounting base. The second mounting base is connected to the first transmission screw.

[0012] Furthermore, the second conveying mechanism includes a first conveying module and a second conveying module that are opposite each other on the left and right sides. The first conveying module and / or the second conveying module are driven by the fourth driving module to move along the second direction. The left and right outer sides of the second conveying mechanism are provided with guide wheels that extend along the first direction. The second conveying mechanism is provided with a blocking component and a through-beam optical fiber.

[0013] Furthermore, the box-in device also includes a box-in drive module, which includes an X-axis drive motor disposed at the bottom of the frame and a ground rail that matches the output end of the X-axis drive motor.

[0014] Another object of the present invention is to provide a battery pack loading method, which is based on the above-mentioned battery pack loading device and includes the following steps: Step S1: The energy storage box is delivered to the designated location, and the support frame containing the battery pack moves below the movement path of the transport mechanism; Step S2: The transport mechanism transports the battery pack on the support frame to the first conveying mechanism; Step S3: The first mounting bracket moves backward along the first direction, so that the second conveying mechanism docks with the first conveying mechanism, and the battery pack on the first conveying mechanism is conveyed to the second conveying mechanism; Step S4: The first drive module and the second drive module simultaneously drive the base to move up and down, so that the battery pack matches the position of the bracket to be installed inside the energy storage box. Step S5: The vision camera takes a picture of the bracket inside the energy storage box to be installed with the battery pack, and determines the tilt angle of the brackets on both sides. The first drive module and the second drive module automatically adjust the tilt angle of the left and right sides of the battery pack according to the tilt angle, so that the left and right tilt angle of the battery pack is consistent with the tilt angle of the left and right brackets. After the tilt angle of the battery pack is adjusted, the second conveying mechanism sends the battery pack to the output end. Step S6: The first mounting frame moves forward along the first direction, so that the second conveying mechanism docks with the energy storage box; Step S7: The pushing mechanism moves from the side of the second conveying mechanism to the rear end of the battery pack and acts on the rear end of the battery pack. The push-pull drive assembly drives the pushing mechanism to move forward, thereby accurately pushing the battery pack into the support of the energy storage box.

[0015] Compared with the prior art, the beneficial effects of the battery pack loading device and method of the present invention are as follows: 1. It has the ability to adaptively adjust the loading posture to avoid jamming and scratching: By independently controlling the lifting of the left and right sides of the base through the lifting unit, and combined with the real-time detection of the bracket tilt angle by the vision camera, it can actively adjust the loading posture of the battery pack to accurately match the height and tilt of the bracket, effectively avoiding jamming, scratching or damage during the pushing process, and improving the reliability and safety of loading. 2. Parallel operation of feeding, handling and packing significantly improves overall efficiency: The handling mechanism is only responsible for moving the battery pack a short distance to the first conveyor mechanism without the need for heavy-duty reciprocating motion; the packing device connects to the feeding end and the energy storage box through the movable second conveyor mechanism to realize parallel flow operation, eliminate the empty return journey, greatly shorten the packing cycle time and improve production efficiency. 3. Compact structure, low cost, and simplified end effector: The pushing mechanism is integrated on the side of the second conveying mechanism, and the handling mechanism only undertakes light load picking and placing of materials. The end structure is simple and has fewer parts, which reduces the equipment manufacturing cost and maintenance difficulty, while also reducing the footprint. The pushing mechanism can rotate to cut in and out, realizing interference-free conveying and efficient pushing. It not only ensures smooth conveying path, but also enables direct pushing after the material is in place, shortening the length of the second conveying mechanism and simplifying the operation process. 4. Features push-pull bidirectional function and integrates force sensor to achieve closed-loop control: The detachable pull rod design supports the smooth pull out of abnormal battery packs and shares the same drive component with normal push; the force sensor is connected in series on the main force path to detect the push and pull force in real time and form a closed-loop control. When the limit is exceeded, it automatically decelerates or stops to prevent overload damage and improve safety and intelligence. 5. High versatility and flexible adaptation to different battery pack sizes and various workstation layouts: The width of the second conveyor mechanism is adjustable, the left and right heights of the lifting unit can be adjusted independently, and the spacing of the clamping hooks is adjustable to adapt to different battery pack sizes and bracket inclinations; it also supports multiple layouts such as single workstation, multi-workstation, and front and rear dual workstations, with strong production line adaptability and expansion capabilities. 6. Optimized loading process for precise, efficient and safe automated operation: The entire process is automated through steps such as energy storage box positioning, automatic feeding and conveying, visual inspection and posture adaptive adjustment, precise docking and side pushing. This method eliminates redundant actions and, combined with visual guidance and safety feedback mechanisms, ensures loading accuracy, efficiency and reliability. Attached Figure Description

[0016] Figure 1 This is a top view of the battery pack loading device according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the feeding device according to Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the structure of the first conveying mechanism according to Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the support frame structure according to Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the transport mechanism according to Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the structure of the conveying mechanism in Embodiment 1 of the present invention, after concealing the loading drive module and the gantry frame. Figure 7 This is a schematic diagram of the box-loading device according to Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the lifting unit and the conveying push-pull unit according to Embodiment 1 of the present invention; Figure 9 This is a schematic diagram of the structure of the lifting unit and conveying push-pull unit hidden behind the frame, the first drive module, and the second drive module in Embodiment 1 of the present invention. Figure 10 This is a schematic diagram of the conveying push-pull unit, the first lifting plate, and the second lifting plate according to Embodiment 1 of the present invention; Figure 11 This is a schematic diagram of the pusher, third drive module, mounting bracket, second mounting base, and force sensor according to Embodiment 1 of the present invention. Figure 12 This is a schematic diagram of the battery pack loading device with front and rear dual workstations according to Embodiment 3 of the present invention; The numbers in the image represent: Battery pack loading device-100; Energy storage box-200; Battery pack-300; Loading device-20; Feeding device-1; Bearing frame-11; Bearing plate-111; Support positioning component-112; Positioning pin-1122; Positioning block-113; Clearance notch-114; First conveying mechanism-12; Conveyor line-121; Roller-1211; Drive motor-1212; Protective sleeve-1213; Alignment unit-122; First alignment module-1221; Alignment mounting bracket-12211; Alignment component-12212; Second alignment module-1222; Alignment drive component-1223; Second detection fiber optic cable-123; Detection camera-124; Handling mechanism-13; Feeding drive module-131; X-axis drive component -1311, Moving plate -1312, Z-axis drive unit -1313, Lifting column -1314, Second mounting bracket -132, First transport unit -133, First clamping hook -1331, Second clamping hook -1332, First drive assembly -1333, Fourth drive motor -13331, Coupling -13332, Third transmission screw -13333, First moving block -1334, First protective layer -1335, Second transport unit -134, First clamping arm -1341, Second clamping arm -1342, Second drive assembly -1343, Lifting motor -13431, Lifting frame -13432, Clamping drive unit -13433, Second moving block -1344, Second protective layer -1345, Gantry Frame-135, Proximity switch-136, First detection fiber optic cable-137; Lifting unit-2, Frame-21, Slide rail-211, Slider-212, First drive module-22, Second drive module-23, Third drive motor-231, Second transmission screw-232, First lifting plate-24, Second lifting plate-25, First hinge module-27, First hinge seat-271, Second hinge seat-272, First support shaft-273, Second hinge module-28, Third hinge seat-281, Fourth hinge seat-282, Connecting rod-283, Second support shaft-284, Third support shaft-285; Conveying push-pull unit-3, First mounting bracket-31, Vision camera-311, Second conveying mechanism-32, First Conveying module-321, second conveying module-322, fourth drive module-323, blocking assembly-324, guide wheel-325, through-beam fiber-optic cable-326, pusher-33, third drive module-34, first mounting base-341, fourth support shaft-342, swing seat-343, fifth support shaft-344, moving rod-345, drive component-346, mounting bracket-347, slot-348, second mounting base-349, force sensor-3410, pull rod-35, push-pull drive assembly-36, first drive motor-361, first transmission screw-362, second drive motor-37, base-38; box-entry drive module-5, X-axis drive motor-52, ground rail-53, bearing unit-6. Detailed Implementation

[0017] Example 1: Please refer to Figures 1-11 This embodiment is a battery pack boxing device 100, which includes: The supporting unit 6 is used to support or transport the energy storage box 200; The feeding device 1 is located on one side of the carrying unit 6 and is used to realize the feeding action of the battery pack 300. The feeding device 1 includes a carrying frame 11 for carrying the battery pack 300, a first conveying mechanism 12 located on one side of the carrying frame 11, and a conveying mechanism 13 located above the first conveying mechanism 12 and for moving the battery pack 300 on the carrying frame 11 to the first conveying mechanism 12. The battery pack 20 is positioned between the carrying unit 6 and the feeding device 1. The battery pack 20 receives the battery pack 300 from the feeding device 1 and pushes it into the energy storage box 200. The battery pack 20 includes a conveying push-pull unit 3 connected to the first conveying mechanism 12 and a lifting unit 2 that drives the conveying push-pull unit 3 to perform lifting actions. The lifting unit 2 includes a frame 21, a first drive module 22 and a second drive module 23 located opposite each other inside the frame 21, a first lifting plate 24 connected to the movable end of the first drive module 22, and a lifting plate 24 connected to... The second lifting plate 25 at the active end of the second drive module 23; the conveying push-pull unit 3 includes a base 38 hinged to the first lifting plate 24 and the second lifting plate 25 on the left and right sides respectively, a first mounting frame 31 movably disposed on the base 38, a second conveying mechanism 32 disposed on the first mounting frame 31, a pushing mechanism disposed on the side of the second conveying mechanism 32, a pull rod 35 detachably disposed above the second conveying mechanism 32, and a push-pull drive assembly 36 that drives the pushing mechanism or the pull rod 35 to reciprocate along a first direction, and a vision camera 311 disposed at the front end of the first mounting frame 31.

[0018] Specifically, one or more carrier frames 11 are stacked vertically. The handling mechanism 13 includes a gantry frame 135 mounted above the carrier frame 11, a loading drive module 131 mounted on the gantry frame 135, and a second mounting frame 132 connected to the movable end of the loading drive module 131. The second mounting frame 132 is equipped with a first handling unit 133 and a second handling unit 134. The gantry frame 135 spans across the carrier frame 11 and the first conveying mechanism 12. Multiple carrier frames 11 are stacked vertically, with each carrier frame 11 holding a battery pack. The stacked carrier frames 11 hold a total of multiple battery packs. The AGV trolley carries the bottom of the carrier frame 11 to transport the battery packs. In this way, the AGV trolley can transport multiple battery packs (300 per trip), improving the handling efficiency. Since the support frames 11 are stacked vertically, when the battery pack 300 is being loaded, after the battery pack 300 on the upper layer of support frame 11 is removed by the first handling unit 133, the support frame 11 of that layer needs to be removed before the battery pack 300 on the next layer of support frame 11 can be moved. Therefore, a first handling unit 133 for handling battery packs and a second handling unit 134 for handling support frames 11 are provided. Moreover, the first handling unit 133 and the second handling unit 134 are jointly mounted on a second mounting frame 132 and moved by the loading drive module 131. On the one hand, this can reduce costs and increase efficiency by eliminating a separate drive system and reducing equipment costs; on the other hand, it makes the structure of the handling mechanism 13 compact, the equipment occupies little space, and the collaborative operation is smooth, which can effectively improve the handling cycle time.

[0019] The support frame 11 includes a support plate 111 and vertically extending support positioning members 112 disposed at the four corners of the support plate 111. Several positioning blocks 113 are provided around the perimeter of the upper surface of the support plate 111. These positioning blocks 113 together form a positioning area for the battery pack 300, which matches the size of the battery pack 300. The positioning blocks 113 are detachably mounted and locked with fasteners (screws, pins, bolts, etc.) for easy replacement and maintenance. Different sized positioning blocks 113 can be replaced, or the positioning blocks 113 can be positioned at different locations on the support plate 111 to form positioning areas of different sizes to accommodate battery packs 300 of different sizes, thus improving versatility. Clearance notches 114 are provided on opposite sides of the support plate 111 to allow the first conveying unit 133 to extend into the clearance notches 114 to grasp the battery pack. The bottom of the support positioning component 112 is provided with a positioning hole and the top is provided with a positioning pin 1122. When the support frame 11 is stacked together, the positioning hole at the bottom of the upper layer support positioning component 112 is positioned on the positioning pin 1122 of the lower layer support positioning component 112, so as to realize the stacking of the upper and lower adjacent support frames 11.

[0020] The first handling unit 133 includes a first clamping hook 1331 and a second clamping hook 1332 arranged opposite each other. The first clamping hook 1331 and the second clamping hook 1332 are driven by a first driving component 1333 to move closer or further apart. The first clamping hook 1331 and the second clamping hook 1332 respectively cooperate with the left and right edges of the battery pack, so as to hook and clamp the bottom edges of the left and right sides of the battery pack under the drive of the first driving component 1333. The first clamping hook 1331 and the second clamping hook 1332 both extend into the clearance notch 114 to clamp the battery pack. The first clamping hook 1331 and the second clamping hook 1332 both extend vertically. The top of the first clamping hook 1331 and the second clamping hook 1332 are connected to the first moving block 1334. The first moving block 1334 is set at the bottom of the second mounting bracket 132 through the cooperation of a slide rail and a slider. The first drive assembly 1333 includes a fourth drive motor 13331, a coupling 13332 connected to the bottom of the fourth drive motor 13331, and a third transmission screw 13333 connected to the coupling 13332. Both ends of the third transmission screw 13333 are connected to first moving blocks 1334. The first drive assembly 1333 simultaneously drives the first moving blocks 1334 on both sides to move closer or further apart. The fourth drive motor 13331 can also adapt to battery packs of different sizes. In other embodiments, the first clamping hook 1331 and the second clamping hook 1332 are each driven by a first drive assembly 1333 to move. In this embodiment, two first transport units 133 and two first drive assemblies 1333 are provided. Since the battery pack 300 is relatively heavy, providing two first transport units 133 can ensure clamping stability. In other embodiments, the number of first transport units 133 can be set according to actual conditions, and is not limited here. Therefore, the number of first transport units 133, the number of first drive components 1333, the number of first clamping hooks 1331, and the number of second clamping hooks 1332 can be set according to actual conditions, and are not limited here.

[0021] A proximity switch 136 is provided at the bottom of the second mounting bracket 132. When the proximity switch 136 descends and senses the battery pack 300, the first handling unit 133 begins to handle the battery pack 300. The first handling unit 133 is provided with a first detection optical fiber 137. Specifically, the first detection optical fiber 137 is located at the bottom of the first clamping hook 1331 and the second clamping hook 1332, and can detect whether the first clamping hook 1331 and the second clamping hook 1332 accurately clamp the bottom sides of the battery pack 300.

[0022] The second handling unit 134 includes a first clamping arm 1341 and a second clamping arm 1342 arranged opposite each other. Each clamping arm 1341 and the second clamping arm 1342 is driven by a second driving assembly 1343 to move closer or further apart. The first clamping arm 1341 and the second clamping arm 1342 respectively engage with the front and rear edges of the support frame 11 to clamp the front and rear sides of the support frame 11 under the drive of the second driving assembly 1343. Both the first clamping arm 1341 and the second clamping arm 1342 extend vertically, and their tops are connected to the second moving block 1344. The second drive assembly 1343 includes a lifting motor 13431 mounted on the second mounting bracket 132, a lifting frame 13432 driven by the lifting motor 13431 to perform lifting movements, and a clamping drive component 13433 mounted on the lifting frame 13432. A second moving block 1344 is connected to the movable end of the clamping drive component 13433. The clamping drive component 13433 can be a motor, electric cylinder, or pneumatic cylinder, depending on the actual situation, and is not limited here. The second moving block 1344 is mounted at the bottom of the lifting frame 13432 through the cooperation of a slide rail and a slider. By arranging the first clamping hook 1331 and the second clamping hook 1332 left and right opposite each other on the second mounting bracket 132, and arranging the first clamping arm 1341 and the second clamping arm 1342 front and back opposite each other on the second mounting bracket 132, mutual interference between the clamping hooks and clamping arms during movement can be avoided, and the compactness of the structure can also be ensured. The first clamping hook 1331 and the second clamping hook 1332 are each provided with a first protective layer 1335 on their relatively inner clamping surfaces. The first protective layer 1335 can prevent the battery pack 300 from being scratched. The first clamping arm 1341 and the second clamping arm 1342 are each provided with a second protective layer 1345 on their relatively inner clamping surfaces. The second protective layer 1345 can prevent the carrier frame 11 from being scratched.

[0023] In this embodiment, the loading drive module 131 is an XZ-axis drive module, which includes an X-axis drive component 1311 mounted on the gantry 135, a movable plate 1312 connected to the movable end of the X-axis drive component 1311 and slidably mounted on the gantry 135 along the X-axis, a Z-axis drive component 1313 mounted on the movable plate 1312, and a lifting column 1314 mounted at the movable end of the Z-axis drive component 1313. A second mounting bracket 132 is mounted at the bottom of the lifting column 1314. In other embodiments, the loading drive module 131 is a YZ-axis drive module or an XYZ-axis drive module. The YZ-axis drive module or the XYZ-axis drive module is prior art and can be set according to actual conditions, and is not limited here.

[0024] The first conveying mechanism 12 includes a conveyor line 121 and a correction unit 122 arranged on the conveyor line 121. In this embodiment, the conveyor line 121 conveys a battery pack 300. Since the battery pack is relatively heavy, the conveyor line 121 is set as a roller conveyor line, which includes a roller 1211 and a drive motor 1212 that drives the roller 1211. Protective sleeves 1213 are provided at both ends of the roller 1211. The protective sleeves 1213 are made of soft materials, such as rubber or other soft materials, which are not limited here. Protective sleeves 1213 are fitted at both ends of the roller 1211, which has the following advantages: (1) Increase friction and prevent slippage: The surface friction coefficient of soft materials such as rubber is relatively large, which can effectively increase the contact resistance with the bottom of the battery pack, making the conveying more stable and preventing the battery pack from slipping due to inertia when starting, stopping or tilting; (2) Reduce noise: The soft protective sleeves 1213 can absorb the hard collision sound generated when the battery pack contacts the surface of the roller 1211, playing a role in buffering and noise reduction, and improving the working environment; (3) Compensate for height difference and achieve smooth transition: At the joint of the two ends of the roller 1211, the slightly convex protective sleeves can form a flexible transition, reducing the vibration or jamming caused by height difference or gap. A second detection optical fiber 123 is also provided on the conveyor line 121 to detect whether a battery pack is placed on the conveyor line 121. A detection camera 124 is provided on the conveyor line 121. Specifically, the detection camera 124 is at the output end of the conveyor line 121 to detect whether the appearance of the battery pack is abnormal. The alignment unit 122 includes a first alignment module 1221 disposed on one side of the conveyor line 121 and a second alignment module 1222 disposed on the other side of the conveyor line 121. The first alignment module 1221 and the second alignment module 1222 are close to and in contact with both sides of the battery pack to achieve alignment of the battery pack. Specifically, the first alignment module 1221 and / or the second alignment module 1222 are driven by alignment drive members 1223 to move linearly. There are one or two alignment drive members 1223, and the number of alignment drive members 1223 is set according to the actual situation. The first alignment module 1221 and the second alignment module 1222 have the same or similar structure, and both include an alignment mounting bracket 12211 and a plurality of alignment members 12212 arranged along the conveying direction of the conveyor line 121.

[0025] In this embodiment, a relatively heavy battery pack is being transported. For intelligent production, the feeding device 1 also includes an AGV trolley with a transport support frame 11. The transport path of the AGV trolley is flexible and adjustable, facilitating production line reconfiguration. In other embodiments, other materials can be transported, and other transfer tools, such as trailers or forklifts, can also be used. There are no restrictions here, and adjustments can be made according to the actual situation.

[0026] The detailed feeding process of the feeding device 1 is as follows: a battery pack is placed on each carrier frame 11, and then the carrier frames 11 with battery packs are stacked together. Then, the AGV trolley transports the stacked battery packs 300 together with the carrier frames 11 to the area below the gantry 135. The area below the gantry 135 is a first area A for placing battery packs and carrier frames 11, and a second area B for placing empty carrier frames 11. During feeding, the AGV trolley transports the battery packs and carrier frames 11 together to the first area A. The feeding drive module 131 drives the second mounting frame 132 to move horizontally to directly above the battery packs 300. The feeding drive module 131 drives the second mounting frame 132 to descend. When the proximity switch 136 descends... When the battery pack 300 is detected, the first conveying unit 133 starts working. The first drive assembly 1333 drives the first clamping hook 1331 and the second clamping hook 1332 to approach each other and extend into the bottom left and right sides of the battery pack until the first clamping hook 1331 and the second clamping hook 1332 contact and clamp the two sides of the battery pack. The loading drive module 131 drives the second mounting frame 132 to rise. The first clamping hook 1331 and the second clamping hook 1332 clamp the battery pack and move it to a set height. The loading drive module 131 drives the second mounting frame 132 to move horizontally and move the first conveying unit 133 to directly above the first conveying mechanism 12. The loading drive module 131 drives the second mounting frame 132 to descend. The clamping hooks 1331 and 1332 move away from each other, placing the battery pack onto the conveyor line 121. The alignment unit 122 aligns the battery pack, and the conveyor line 121 transports the battery pack to the second conveying mechanism 32. Then, the loading drive module 131 drives the second mounting frame 132 to move horizontally above the support frame 11. The loading drive module 131 then drives the second mounting frame 132 to descend. The second handling unit 134 begins operation, and the second drive assembly 1343 drives the first clamping arm 1341 and the second clamping arm 1342 to approach each other and extend into the front and rear sides of the support frame 11 until the first clamping arm 1341 contacts and clamps the front and rear sides of the support frame 11. The loading drive... Module 131 drives the second mounting frame 132 to rise, and the first clamping arm 1341 and the second clamping arm 1342 clamp the carrier frame 11 and move it to a set height. The loading drive module 131 drives the second mounting frame 132 to move horizontally and moves the second handling unit 134 to the second area B, where empty carrier frames 11 are temporarily stored. Similarly, empty carrier frames 11 are stacked on top of each other on the second area B. After all the battery packs on all the carrier frames 11 have been removed, all the empty carrier frames 11 are stacked on top of each other on the second area B. The AGV trolley then removes all the carrier frames 11 on the second area B. The AGV trolley then transports the battery packs and carrier frames 11 together to the first area A for the next round of loading operations.

[0027] Specifically, one side of the base 38 is hinged to the first lifting plate 24 via the first hinge module 27, and the other side of the base 38 is hinged to the second lifting plate 25 via the second hinge module 28. The first hinge module 27 includes a first hinge seat 271 with one end connected to the first lifting plate 24, a second hinge seat 272 with one end connected to one side of the base 38, and a first support shaft 273 connecting the first hinge seat 271 and the second hinge seat 272 together. The first support shaft 273 extends horizontally, and both the first hinge seat 271 and the second hinge seat 272 are rotatably connected to the first support shaft 273. The second hinge module 28 includes a third hinge seat 281 with one end connected to the second lifting plate 25, a fourth hinge seat 282 with one end connected to one side of the base 38, a connecting rod 283, a second support shaft 284 connecting one end of the connecting rod 283 to the third hinge seat 281, and a third support shaft 285 connecting the other end of the connecting rod 283 to the fourth hinge seat 282. Both the second support shaft 284 and the third support shaft 285 extend horizontally. The second support shaft 284 is located above the third support shaft 285. One end of the connecting rod 283 and the third hinge seat 281 are rotatably connected to the second support shaft 284, and the other end of the connecting rod 283 and the fourth hinge seat 282 are rotatably connected to the third support shaft 285. The connecting rod 283 is rotatably connected to the third hinge seat 281 and the fourth hinge seat 282 respectively, so that when the right side of the base 38 moves up and down with the second lifting plate 25, it can adapt to the angle changes caused by the overall left and right tilt of the base 38. This releases the rigid constraint between the right side's lifting motion and the rotation center, avoiding structural interference or jamming due to different lifting amounts on the left and right sides. It ensures that the first drive module 22 and the second drive module 23 can independently control the height of the left and right sides of the base 38, and achieve precise adjustment of the left and right tilt angle of the battery pack. To ensure the stability of the angle adjustment, in this embodiment, there are two first hinge modules 27 and two second hinge modules 28, or multiple of each. In other embodiments, the number of first hinge modules 27 and second hinge modules 28 can be set according to the actual situation.

[0028] Initially, the base 38 is horizontal, so the battery pack 300 is also horizontal. If the left support is detected to be higher than the right support, the left and right angles of the battery pack need to be adjusted so that the tilt angle of the battery pack matches the tilt angle of the support. In actual operation, the first drive module 22 and the second drive module 23 work simultaneously. The first drive module 22 drives the first lifting plate 24 to raise the first hinge seat 271. The first hinge seat 271 rotates around the first support shaft 273, and at the same time, the first hinge seat 271 drives the first support... Shaft 273 rises, which in turn drives the second hinge seat 272 to rise. The left side of the base 38 rises, thereby raising the left side of the battery pack by a set height M. Simultaneously, the second drive module 23 drives the second lifting plate 25 to lower the third hinge seat 281. The third hinge seat 281 drives the second support shaft 284 to lower, while the connecting rod 283 rotates clockwise, lowering the right side of the base 38 and thus lowering the right side of the battery pack by a set height N. This ensures that the tilt angle of the battery pack matches the tilt angle of the bracket, facilitating precise placement of the battery pack on the brackets on both sides. The set heights M and N are adjusted according to the actual tilt angle of the bracket and are not limited here. If the left support is lower than the right support, the left and right angles of the battery pack need to be adjusted so that the tilt angle of the battery pack matches the tilt angle of the support. The actual operation process is exactly the opposite of the above. The first drive module 22 drives the first lifting plate 24 to lower the first hinge seat 271, causing the left side of the base 38 to lower, thus lowering the left side of the battery pack by a set height C. At the same time, the second drive module 23 drives the second lifting plate 25 to raise the third hinge seat 281, causing the right side of the base 38 to rise, thus raising the right side of the battery pack by a set height D. This ensures that the tilt angle of the battery pack matches the tilt angle of the support, allowing the battery pack to be accurately placed on the supports on both sides. The set heights C and D are adjusted according to the actual tilt angle of the support and are not limited here. In this embodiment, since the tilt angle of the left and right supports is small, the height difference between the left and right supports may only be a few millimeters. Therefore, the first drive module 22 and the second drive module 23 only need to make minor adjustments to the left and right sides of the second conveying mechanism 32. That is, the tilt angle of the left and right sides of the second conveying mechanism 32 is very small, for example, less than 2°. Therefore, the position of the battery pack 300 on the second conveying mechanism 32 will not be shifted, so it will not affect the positional accuracy of the battery pack 300 entering the box.

[0029] A vision camera 311 is installed at the front end of the first mounting bracket 31, which can take pictures to detect the height of the two side supports inside the energy storage box 200. Before the battery pack 300 is placed in, the vision camera 311 takes pictures of the two side supports. The vision camera is connected to an image processor, which can identify and output information such as the tilt angle and specific position of the two side supports. The first drive module 22 and the second drive module 23 are both electrically connected to the image processor. The image processor can transmit the processed information to the first drive module 22 and the second drive module 23 so that the first drive module 22 and the second drive module 23 can perform corresponding actions based on the information to realize the action of automatically adjusting the level of the battery pack 300.

[0030] The first drive module 22 and the second drive module 23 have the same or similar structures. In this embodiment, the first drive module 22 and the second drive module 23 are driven by a motor-driven screw transmission. Specifically, both the first drive module 22 and the second drive module 23 include a third drive motor 231 mounted on the frame 21 and a second transmission screw 232 extending vertically and connected at one end to the output end of the third drive motor 231. The first lifting plate 24 or the second lifting plate 25 is connected to the second transmission screw 232 and can move up and down along the second transmission screw 232. In other embodiments, the first drive module 22 and the second drive module 23 are driven by a motor-driven belt transmission, which is prior art and will not be described in detail here. To ensure the stability of the lifting of the first lifting plate 24 or the second lifting plate 25, vertically extending slide rails 211 are provided on the opposite inner sides of the frame 21. The first lifting plate 24 and the second lifting plate 25 are slidably mounted on the slide rails 211 by sliders 212.

[0031] Specifically, the second conveying mechanism 32 has a conveying surface along the first direction, and a conveying area is formed above the conveying surface; the pushing mechanism includes a pushing member 33 disposed on the side of the second conveying mechanism 32 and a third driving module 34 that drives the pushing member 33 to reciprocate between an initial position and a pushing position. When the pushing member 33 is in the initial position, it is located outside the conveying area. In this embodiment, there are two pushing members 33 and two third driving modules 34 respectively. One pushing member 33 is connected to one third driving module 34 and is located on the left side of the second conveying mechanism 32, and the other pushing member 33 is connected to another third driving module 34 and is located on the right side of the second conveying mechanism 32. Each third driving module 34 drives the pushing member 33 connected to it to reciprocate between the initial position and the pushing position. When the two pushing members 33 are in the pushing position, they act on the left and right sides of the rear end of the battery pack at the same time. Then, the pushing member 33 moves along the first direction to push the battery pack into place. Correspondingly, there are also two push-pull driving components 36, which are located on the left and right sides of the second conveying mechanism 32 respectively, and drive the pushing member 33 to move along the first direction respectively. The number of pushers 33 can be reduced or increased according to the actual size of the material to be pushed, and the pushing position of the pushers 33 can be changed accordingly. Therefore, the number of pushers 33, the third drive module 34, and the push-pull drive assembly 36 is set according to the actual size of the material to be pushed.

[0032] The push-pull drive assembly 36 includes a first drive motor 361 and a first transmission screw 362 connected to the output end of the first drive motor 361. The first transmission screw 362 extends along a first direction, that is, along the front-back direction (Y direction). In this embodiment, two third drive modules 34 are symmetrically arranged on the outer side of the second conveying mechanism 32. The third drive module 34 includes a first mounting base 341 disposed on the first transmission screw 362, a fourth support shaft 342 horizontally disposed on the first mounting base 341, a swing seat 343 rotatably disposed on the fourth support shaft 342 at one end, a fifth support shaft 344 horizontally disposed in the middle of the swing seat 343, a moving rod 345 rotatably disposed on the fifth support shaft 344 at one end, and a drive member 346 connected to the other end of the moving rod 345 and driving the moving rod 345 to move in the second direction. The other end of the drive member 346 is hinged to the first mounting base 341. A pusher 33 is connected to one side of the end of the swing seat 343 and extends in the first direction. The drive member 346 and the pusher 33 are respectively located on both sides of the swing seat 343. When the pusher 33 is in its initial position, it is located outside the conveying area and at a high position. When the drive member 346 drives the moving rod 345 to move along the second direction, the swing seat 343 rotates around the fourth support shaft 342 by a set angle. When the pusher 33 is in the pushing position, it is located within the conveying area and at a low position. The second direction is perpendicular to the first direction, which is the front-back direction (Y direction) and the second direction is the left-right direction (X direction). The initial position and rotation angle of the swing seat 343 can be set according to actual conditions and are not limited here. For example, when the pusher 33 is in its initial position, the swing seat 343 is in a vertical state. When the drive member 346 drives the moving rod 345 to move along the second direction to put the pusher 33 in the pushing position, the swing seat 343 rotates 90° around the fourth support shaft 342, at which point the swing seat 343 is in a horizontal state. The drive member 346 can be a cylinder, an electric cylinder, or a motor, which can be set according to actual conditions and is not limited here.

[0033] The design of the third drive module 34 and the pusher 33 in this solution, by setting the pusher 33 at a high position outside the conveying area, and rotating it down to a low position when needed, achieves complete avoidance of the battery pack conveying path, ensuring smooth feeding. One end of the second conveying mechanism 32 can be connected to the first conveying mechanism 12 and the other end can be connected to the energy storage box 200 to realize the action of conveying the battery pack 300. Compared with the energy storage battery pack box tooling announced by the Chinese Utility Model Authorization Announcement No. CN220787293U, this solution has the following significant advantages: (1) The length of the second conveying mechanism 32 is greatly shortened: because there is no need to reserve a handling transition section, the electric (1) After the battery pack is delivered to the position, it is directly pushed by the pushers 33 on both sides, which reduces the equipment footprint; (2) The operation process is simplified and the efficiency is higher: the intermediate handling link is eliminated, and the second conveying mechanism 32 can be connected to the energy storage box 200 or the battery pack conveying line at the front and rear respectively, reducing the cycle time and the accumulation of positioning error; (3) The structure is simpler and the cost is lower: there is no need to set up an independent handling mechanism, and the pushers 33 can be inserted and withdrawn by the rotatable drive modules on both sides; (4) The spatial layout is more flexible: the pushers 33 are integrated on both sides of the second conveying mechanism 32, the overall structure is compact, and it is easy to connect with the battery pack conveying line or the energy storage box 200. The pushers 33 are rod-shaped, bar-shaped or other structures, and the length of the pushers 33 is set according to the actual situation. Therefore, the specific structure of the pushers 33 is not limited here and can be adjusted according to the actual situation.

[0034] Each of the first mounting bases 341 is provided with a mounting bracket 347. The two ends of the pull rod 35 are detachably mounted on the two mounting brackets 347. The pull rod 35 extends along a second direction and is provided with a pulling element extending along a first direction. A common pulling element is a pull rope. Specifically, since the pusher 33 extends forward, to avoid positional interference between the pull rod 35 and the pusher 33, the mounting bracket 347 is located on the rear side of the first mounting base 341, and the mounting bracket 347 is provided with a slot 3 for engaging the pull rod 35. 48. If the battery pack 300 is damaged or malfunctioning, and it needs to be removed from the energy storage box 200, both ends of the pull rod 35 are respectively engaged in the two slots 348. Then, a pull rope is wound around the pull rod 35, with the other end of the pull rope wound around the battery pack. The push-pull drive assembly 36 drives in the opposite direction to pull the battery pack 300 out. However, during the normal process of pushing the battery pack 300 into the energy storage box 200, it is not necessary to install the pull rod 35, thus avoiding interference with the transport of the battery pack. Alternatively, the pulling component can be a hook, with one end of the hook connected to the pull rod 35 and the other end connected to the battery pack, which can also achieve the action of pulling the battery pack. The detachable installation method of the pull rod 35 solves the problem of lack of reliable leverage points and difficulty in using driving force when removing heavy battery packs, and also avoids interference from fixed structures on normal pushing actions. In summary, the pull rod 35 can be removed normally to ensure no spatial interference with the forward-extending pusher 33. When the battery pack needs to be removed, the pull rod 35 can be quickly installed using the rear slot 348 to form a stable crossbeam anchor point. Combined with the puller and push-pull drive assembly 36, the battery pack can be pulled out smoothly and effortlessly, achieving the effects of symmetrical force distribution, convenient disassembly and assembly, and no impact on the battery pack's own structure.

[0035] To prevent damage to the battery pack or cabinet structure due to excessive pushing or pulling force when the pusher 33 pushes the battery pack or the pull rod 35 pulls the battery pack, a force sensor 3410 is connected to the first mounting base 341. Specifically, the force sensor 3410 is connected to the rear side of the first mounting base 341, and the other end of the force sensor 3410 is connected to the second mounting base 349. The second mounting base 349 is connected to the first transmission screw 362. The first mounting base 341 and the second mounting base 349 are arranged one after the other on the first transmission screw 362. That is, when the first transmission screw 362 is driven, the second mounting base 349 moves together with the first mounting base 341, and the two ends of the force sensor 3410 are respectively connected by fasteners ( Bolts, screws, or pins are used to connect the first mounting base 341 and the second mounting base 349. Therefore, when the pusher 33 pushes the battery pack forward, the reaction force of the pusher 33 is transmitted to the force sensor 3410 through the first mounting base 341, and the force sensor 3410 can detect the reaction force on the pusher 33. Similarly, when the pull rod 35 pulls the battery pack, the pulling force of the pull rod 35 is transmitted to the force sensor 3410 through the first mounting base 341, and the force sensor 3410 can detect the pulling force on the pull rod 35. Therefore, whether the battery pack 300 is being pushed or pulled out, the force sensor 3410 can detect the force acting on the battery pack 300. The force sensor 3410 is connected at both ends to the first mounting base 341 and the second mounting base 349 respectively. This is to connect the force sensor 3410 in series on the main transmission path of the push and pull force, so that the driving force must pass through the force sensor 3410, thereby realizing bidirectional accurate detection of push and pull forces. The second mounting base 349 serves as a transition component between the driving end and the force sensor 3410, and is responsible for transmitting the power of the first transmission screw 362 to the force sensor 3410, ensuring continuous force transmission and accurate measurement without loss. The above-mentioned force sensor 3410 has the following advantages: (1) It can detect both push and pull: The force sensor 3410 is connected in series on the main force path. Regardless of the driving direction, the push and pull forces can be accurately measured by the same force sensor 3410. The structure is simple and there is no need to set up two sets of sensors; (2) The measured value truly reflects the load force: Since the sensor directly bears all the driving force, the detected force value is the actual force acting on the battery pack. There is no error caused by transmission loss or bypass shunting, and the control accuracy is high; (3) It realizes closed-loop control and prevents overload: The real-time force feedback can form a closed-loop control with the first drive motor 361. When the force value is close to the set threshold, it automatically decelerates or stops, which protects the equipment and allows timely alarm in case of abnormality, thus improving the safety and reliability of the equipment; (4) It has a compact structure and high integration: The force sensor 3410 is integrated between the original first drive motor 361 and the execution component (such as the push component 33 or the pull rod 35). It does not occupy additional cabinet space and does not affect the convenience of disassembling and assembling the pull rod 35. At the same time, it provides accurate process monitoring data for automated operation and maintenance.

[0036] Both the second conveying mechanism 32 and the push-pull drive assembly 36 are mounted on the first mounting frame 31, and the two push-pull drive assemblies 36 are located on the left and right sides of the second conveying mechanism 32. The first mounting frame 31 is movably mounted on the base 38 along the first direction, and the base 38 is equipped with a second drive motor 37 that drives the first mounting frame 31 to move along the first direction. In this embodiment, the first direction is the front-back direction (Y direction), that is, the first mounting frame 31 can be movably mounted back and forth so that the second conveying mechanism 32 can move back and forth. When the second conveying mechanism 32 moves backward, it can dock with the first conveying mechanism 12 so that the battery pack on the first conveying mechanism 12 can smoothly enter the second conveying mechanism 32. When the second conveying mechanism 32 moves forward, it can dock with the energy storage box 200 so that the battery pack can smoothly enter the energy storage box 200. In this embodiment, since the tilt angle of the left and right supports is small, the height difference between the two supports may only be a few millimeters. Therefore, the first drive module 22 and the second drive module 23 only need to make minor adjustments to the left and right sides of the second conveying mechanism 32. That is, the tilt angle of the left and right sides of the second conveying mechanism 32 is very small, for example, less than 2°, or other tilt angles. The specific tilt angle is not limited here. Since the tilt angle is very small, the position of the battery pack 300 on the second conveying mechanism 32 will not shift when adjusting the angle of the left and right sides of the battery pack 300, so it will not affect the positional accuracy of the battery pack 300 entering the box. In other embodiments, if the tilt angle of the left and right sides of the second conveying mechanism 32 is large, the material may shift on the second conveying mechanism 32 when adjusting the angle of the left and right sides of the material. Therefore, limiting members are provided on both sides of the second conveying mechanism 32 to limit the left and right sides of the material. The limiting members are driven by the limiting cylinder to move closer to or away from the battery pack. When adjusting the angle of the left and right sides of the second conveying mechanism 32, the limiting members can limit the left and right sides of the battery pack, preventing the position of the battery pack from shifting.

[0037] The second conveying mechanism 32 includes a first conveying module 321 and a second conveying module 322, which are positioned opposite each other on the left and right sides of the bottom of the battery pack 300. To improve the versatility of the second conveying mechanism 32 and adapt to battery packs of different sizes, the first conveying module 321 and / or the second conveying module 322 are movably arranged along a second direction. That is, the first conveying module 321 and / or the second conveying module 322 are driven by the fourth drive module 323 to move along the second direction, thus adapting to battery packs of different sizes. The fourth drive module 323 is mounted on the first mounting bracket 31. The fourth drive module 323 can be a servo motor or a linear module; the specific structure can be set according to actual conditions and is not limited here.

[0038] The first conveying module 321 and the second conveying module 322 have the same or similar structures, and both include a conveying motor mounted on the first mounting frame 31 and a transmission assembly driven by the conveying motor for conveying transmission. The transmission assembly is a chain and several support blocks mounted on the outer surface of the chain, or the transmission assembly is a roller. The specific structure is set according to the actual situation and is not limited here. Guide wheels 325 extending along the first direction are provided on the left and right outer sides of the second conveying mechanism 32. The guide wheels 325 are used to provide low-friction, high-precision lateral guidance for the battery pack during the conveying process, which not only ensures accurate conveying trajectory and prevents deviation, but also reduces resistance and wear. Blocking assemblies 324 are provided at the input and output ends of the second conveying mechanism 32. The blocking assembly 324 includes a blocking element and a blocking drive element that drives the blocking element to extend or rotate. The blocking assembly 324 is used to achieve precise positioning, safe locking, and process control of the battery pack at both ends of the second conveying mechanism 32, which not only prevents overshoot and accidental slippage, but also provides reliable timing coordination for automated push-pull operations. Both the input and output ends of the second conveying mechanism 32 are equipped with through-beam optical fibers 326, which are used to achieve high-precision non-contact detection of the battery pack in place.

[0039] Since the energy storage box 200 needs to accommodate multiple layers and rows of battery packs, the loading device 20, in addition to the second conveying mechanism 32 being able to move along the X direction, also needs to be able to drive the battery packs to move along the Y direction. Therefore, the loading device 20 also includes a loading drive module 5. The loading drive module 5 includes an X-axis drive motor 52 located at the bottom of the frame 21 and a ground rail 53 that matches the output end of the X-axis drive motor 52. The ground rail 53 extends along the second direction (X direction). A rack extending along the X direction is provided on the ground rail 53, and a gear matching the rack is provided at the output end of the X-axis drive motor 52. A slide rail extending along the X direction is provided on the ground rail 53, and the frame 21 is slidably mounted on the slide rail by a slider.

[0040] The detailed working process of the loading device 20 is as follows: First, the second drive motor 37 on the base 38 drives the first mounting frame 31 to move backward in the first direction, so that the second conveying mechanism 32 docks with the first conveying mechanism 12. Then, the battery pack enters the middle of the second conveying mechanism 32, and the bottom is supported by the first conveying module 321 and the second conveying module 322. The guide wheel 325 guides and prevents deviation. The first drive module 22 and the second drive module 23 of the lifting unit 2 work simultaneously to raise and lower the base 38, the first mounting frame 31, and the second conveying mechanism 32, so that the battery pack 300 is inside the energy storage box 200. Once the battery pack to be installed is positioned correctly, the vision camera 311 first takes pictures of the supports on both sides of the energy storage box 200. The image processor can identify and output information such as the tilt angle and specific position of the supports on both sides. The image processor can transmit the processed information to the first drive module 22 and the second drive module 23. The first drive module 22 and the second drive module 23 can perform corresponding actions based on this information to automatically adjust the level of the battery pack. After the tilt angle of the battery pack is adjusted, the second conveying mechanism 32 sends the battery pack to the output end, and the second drive motor 37 on the base 38 drives it. The first mounting bracket 31 moves forward in the first direction, causing the second conveying mechanism 32 to dock with the energy storage box 200. Then, the two third drive modules 34 operate simultaneously, and the drive member 346 drives the moving rod 345 to move in the second direction, causing the swing seat 343 to rotate around the fourth support shaft 342. This causes the pusher 33 to descend from the high position of the initial position to the low position of the push position. The two pushers 33 respectively abut against the left and right sides of the rear end of the battery pack. The first drive motor 361 in the push-pull drive assembly 36 drives the first transmission screw 362 to rotate, causing the first mounting bracket 341 and the pusher 33 to move forward in the first direction. The battery pack is smoothly pushed into the bracket of the energy storage box 200. During the pushing process, the force sensor 3410 detects the pushing force in real time and automatically stops the machine for protection when the limit is exceeded. When it is necessary to remove the battery pack, the two ends of the pull rod 35 are inserted into the slots 348 of the mounting bracket 347. One end of the pull rope is wrapped around the pull rod 35 and the other end is connected to the battery pack. The push-pull drive component 36 drives in the opposite direction. The battery pack is smoothly pulled out through the pull rod 35 and the pull rope. The force sensor 3410 also detects the pulling force in real time to prevent overload. After being pulled out into place, the blocking component 324 positions the battery pack. The second conveying mechanism 32 conveys the battery pack outward, thereby pulling out the battery pack.

[0041] The carrying unit 6 is configured as a conveyor line for transporting the energy storage box 200. After the conveyor line transports the energy storage box to its designated position, the energy storage box stops at the loading station for battery pack loading. Since the surface of the energy storage box is easily scratched, the carrying unit 6 may include a bracket for positioning the energy storage box 200 and a conveyor line for transporting the bracket. After the conveyor line transports the bracket with the positioned energy storage box 200 to its designated position, the bracket and energy storage box stop at the loading station for battery pack loading. Because the energy storage box 200 is relatively heavy, the conveyor line can be configured as a roller conveyor line, with a rubber sleeve fitted around the outer circumference of the roller to prevent scratching the box. Positioning structures for positioning the energy storage box are provided on the upper surface of the bracket around its four sides or corners; the specific structure is not limited here and can be set according to actual conditions. In this embodiment, a feeding device 1 and a box-entry device 20 are provided on one side of the carrying unit 6. The single-station box-entry operation is suitable for placing a single row of battery packs in the front and back direction inside the energy storage box, and is also suitable for situations where the energy storage box 200 is small in size and the number of battery packs placed is small.

[0042] Example 2: Although only a single row of battery packs is placed in the front-to-back direction inside the energy storage box, if the energy storage box is very long, single-station loading operations cannot meet production efficiency. Therefore, multiple loading devices 20 are provided on one side of the carrying unit 6, and correspondingly, one or more feeding devices 1 are provided on one side of the carrying unit 6, forming a multi-station battery pack loading equipment 100, which improves the production efficiency of battery pack loading. The specific structure of the carrying unit 6, feeding device 1, and loading device 20 is consistent with that of Example 1, and will not be described again here.

[0043] Example 3: If multiple rows of battery packs are placed in the front and back direction of the energy storage box, and if only one feeding device 1 and one box-entry device 20 are provided on one side of the carrying unit 6, the battery packs will only be stored on one side of the energy storage box. This would result in a long pushing time and slow cycle time for the pushing mechanism, reducing the efficiency of the box entry. Therefore, one feeding device 1 and one box-entry device 20 are provided on both the front and back sides of the carrying unit 6, forming a dual-station battery pack box entry device 100. Figure 12 As shown, this improves the production efficiency of battery pack loading into the box. The specific structures of the carrying unit 6, the feeding device 1, and the box loading device 20 are consistent with those in Embodiment 1, and will not be described again here.

[0044] Example 4: If multiple rows of battery packs are placed in the front-to-back direction of the energy storage box, and the energy storage box 200 is very long, the dual-station loading operation formed by only setting one feeding device 1 and one loading device 20 on both the front and back sides of the supporting unit 6 is insufficient. Therefore, multiple loading devices 20 are set on both the front and back sides of the supporting unit 6, and correspondingly, one or more feeding devices 1 are set on both the front and back sides of the supporting unit 6, forming a multi-station battery pack loading equipment 100 to improve the production efficiency of battery pack loading. The specific structure of the supporting unit 6, feeding device 1, and loading device 20 is consistent with that of Example 1, and will not be described again here.

[0045] Example 5: This example is a method for placing a battery pack into a box, which is based on a battery pack placing device 100 from Example 1, Example 2, Example 3, or Example 4, and includes the following steps: Step S1: The energy storage box 200 is delivered to the position, and the carrier frame 11 containing the battery pack 300 moves to the lower part of the moving path of the conveying mechanism 13. Step S2: The transport mechanism 13 transports the battery pack 300 on the carrier frame 11 to the first conveying mechanism 12; Step S3: The first mounting bracket 31 moves backward along the first direction, so that the second conveying mechanism 32 docks with the first conveying mechanism 12, and the battery pack 300 on the first conveying mechanism 12 is conveyed to the second conveying mechanism 32. Step S4: The first drive module 22 and the second drive module 23 simultaneously drive the base 38 to move up and down, so that the battery pack 300 matches the position of the bracket of the battery pack to be installed inside the energy storage box 200. Step S5: The vision camera 311 takes a picture of the bracket of the battery pack to be installed inside the energy storage box 200 to determine the tilt angle of the brackets on both sides. The first drive module 22 and the second drive module 23 automatically adjust the tilt angle of the left and right sides of the battery pack according to the tilt angle, so that the left and right tilt angle of the battery pack 300 is consistent with the tilt angle of the left and right brackets. After the tilt angle of the battery pack is adjusted, the second conveying mechanism 32 sends the battery pack to the output end. Step S6: The first mounting frame 31 moves forward in the first direction, so that the second conveying mechanism 32 docks with the energy storage box 200; Step S7: The pushing mechanism moves from the side of the second conveying mechanism 32 to the rear end of the battery pack 300 and acts on the rear end of the battery pack 300. The push-pull drive assembly 36 drives the pushing mechanism to move forward, thereby accurately pushing the battery pack 300 into the bracket of the energy storage box 200, completing the battery pack 300 entering the box action.

[0046] The above descriptions are merely some embodiments of the present invention. Those skilled in the art can make various modifications and improvements without departing from the inventive concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A battery pack loading device, characterized in that, It includes: Bearing unit; A feeding device is provided on one side of the bearing unit. The feeding device includes a bearing frame, a first conveying mechanism provided on one side of the bearing frame, and a handling mechanism provided above the first conveying mechanism. A box-entry device is disposed between the bearing unit and the feeding device. The box-entry device includes a conveying push-pull unit that docks with the first conveying mechanism and a lifting unit that drives the conveying push-pull unit to perform lifting and lowering actions. The lifting unit includes a frame, a first drive module and a second drive module disposed opposite to each other on the inner side of the frame, a first lifting plate connected to the movable end of the first drive module, and a second lifting plate connected to the movable end of the second drive module. The conveying push-pull unit includes a base that is hinged to the first lifting plate and the second lifting plate on the left and right sides, respectively, a first mounting frame that is movably disposed on the base, a second conveying mechanism disposed on the first mounting frame, a pushing mechanism disposed on the side of the second conveying mechanism, and a push-pull drive assembly that drives the pushing mechanism to reciprocate along a first direction. A vision camera is disposed at the front end of the first mounting frame.

2. The battery pack loading device as described in claim 1, characterized in that: The support frame is provided in one or more stacked on top of each other; the conveying mechanism includes a gantry frame provided above the support frame, a feeding drive module provided on the gantry frame, and a second mounting frame connected to the movable end of the feeding drive module. The second mounting frame is provided with a first conveying unit and a second conveying unit; a proximity switch is provided at the bottom of the second mounting frame, and a first detection optical fiber is provided on the first conveying unit.

3. The battery pack loading device as described in claim 1, characterized in that: The first conveying mechanism includes a conveying line and a correction unit arranged on the conveying line, and a second detection optical fiber and a detection camera are provided on the conveying line.

4. The battery pack loading device as described in claim 1, characterized in that: One side of the base is hinged to the first lifting plate via a first hinge module, and the other side of the base is hinged to the second lifting plate via a second hinge module. The first hinge module includes a first hinge seat with one end connected to the first lifting plate, a second hinge seat with one end connected to one side of the base, and a first support shaft connecting the first hinge seat and the second hinge seat together. The second hinge module includes a third hinge seat with one end connected to the second lifting plate, a fourth hinge seat with one end connected to one side of the base, a connecting rod, a second support shaft connecting one end of the connecting rod to the third hinge seat, and a third support shaft connecting the other end of the connecting rod to the fourth hinge seat.

5. The battery pack loading device as described in claim 1, characterized in that: The second conveying mechanism has a conveying surface along a first direction, and a conveying area is formed above the conveying surface; the pushing mechanism includes a pushing member disposed on the side of the second conveying mechanism and a third driving module that drives the pushing member to reciprocate between an initial position and a pushing position, wherein the pushing member is located outside the conveying area when it is in the initial position.

6. The battery pack loading device as described in claim 5, characterized in that: The push-pull drive assembly includes a first drive motor and a first transmission screw connected to the output end of the first drive motor; the third drive module includes a first mounting base disposed on the first transmission screw, a fourth support shaft horizontally disposed on the first mounting base, a swing seat rotatably disposed on the fourth support shaft at one end, a fifth support shaft horizontally disposed in the middle of the swing seat, a moving rod rotatably disposed on the fifth support shaft at one end, and a drive member connected to the other end of the moving rod and driving the moving rod to move in a second direction, the other end of the drive member being hinged to the first mounting base.

7. The battery pack loading device as described in claim 6, characterized in that: Each of the first mounting bases is provided with a mounting bracket, and a pull rod is detachably provided on the mounting bracket. The pull rod extends along a second direction and is provided with a pulling member extending along a first direction. The mounting bracket is provided with a slot. A force sensor is connected to the first mounting base, and the other end of the force sensor is connected to a second mounting base. The second mounting base is connected to the first transmission screw.

8. The battery pack loading device as described in claim 1, characterized in that: The second conveying mechanism includes a first conveying module and a second conveying module that are opposite each other on the left and right. The first conveying module and / or the second conveying module are driven by a fourth driving module to move along a second direction. The left and right outer sides of the second conveying mechanism are provided with guide wheels that extend along a first direction. The second conveying mechanism is provided with a blocking component and a through-beam optical fiber.

9. The battery pack loading device as described in claim 1, characterized in that: The box-in device also includes a box-in drive module, which includes an X-axis drive motor located at the bottom of the frame and a ground rail that matches the output end of the X-axis drive motor.

10. A method for placing a battery pack into a box, characterized in that, It is completed based on a battery pack loading device as described in any one of claims 1 to 9, and includes the following steps: Step S1: The energy storage box is delivered to the designated location, and the support frame containing the battery pack moves below the movement path of the transport mechanism; Step S2: The transport mechanism transports the battery pack on the support frame to the first conveying mechanism; Step S3: The first mounting bracket moves backward along the first direction, so that the second conveying mechanism docks with the first conveying mechanism, and the battery pack on the first conveying mechanism is conveyed to the second conveying mechanism; Step S4: The first drive module and the second drive module simultaneously drive the base to move up and down, so that the battery pack matches the position of the bracket to be installed inside the energy storage box. Step S5: The vision camera takes a picture of the bracket inside the energy storage box to be installed with the battery pack, and determines the tilt angle of the brackets on both sides. The first drive module and the second drive module automatically adjust the tilt angle of the left and right sides of the battery pack according to the tilt angle, so that the left and right tilt angle of the battery pack is consistent with the tilt angle of the left and right brackets. After the tilt angle of the battery pack is adjusted, the second conveying mechanism sends the battery pack to the output end. Step S6: The first mounting frame moves forward along the first direction, so that the second conveying mechanism docks with the energy storage box; Step S7: The pushing mechanism moves from the side of the second conveying mechanism to the rear end of the battery pack and acts on the rear end of the battery pack. The push-pull drive assembly drives the pushing mechanism to move forward, thereby accurately pushing the battery pack into the support of the energy storage box.

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