An unmanned device for co-assembly of a battery pack communication module and a method of using the same

Abstract

The application relates to unmanned equipment for cooperatively assembling a battery pack communication module and a use method thereof, which comprises a communication module feeding system, a PACK box feeding system, a secondary positioning platform, a first robot, a second robot and a feeding station; the communication module feeding system comprises a roller line, a communication module incoming material assembly and a vertical lifting mechanism, the roller line is used for conveying the communication module incoming material assembly, the vertical lifting mechanism is located on one side of the roller line, and the communication module incoming material assembly comprises a communication module blueprint, a tray and a material frame; the PACK box feeding system comprises a PACK trolley, an AGV automatic carrier and a positioning jacking mechanism; the first robot sends the communication module blueprint to the secondary positioning platform through a vacuum suction disc assembly to perform fine positioning; the first robot is switched to a dexterous hand to grab the communication module blueprint after the secondary positioning, and a cable is threaded through a preset threading hole on a bottom support of the PACK box. The application can seamlessly connect multiple processes such as communication module blueprint feeding and positioning with high integration.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing and robotic automated assembly technology, and in particular to an unmanned device for collaborative assembly of a battery pack communication module and its usage method. Background Technology

[0002] With the rapid development of new energy vehicles and the energy storage industry, the demand for lithium battery packs is enormous, placing extremely high demands on their production efficiency and assembly quality. As one of the core components of the battery management system, the communication module needs to be precisely and reliably installed onto the base of the pack housing. This installation process typically involves several complex steps, including removing the module from the material box, precise positioning, cable laying, mechanical pressing, and bolt tightening.

[0003] Traditional installation of communication modules with wire harnesses is mostly done manually, usually by two people. First, the module's wire harness needs to be passed through the through hole and the module needs to be secured. The process requires one person to hold the module down while the other person uses a bolt tightening gun to secure it. However, manual installation usually has the following technical bottlenecks: Manual operation requires two or more people to work together to complete tasks such as picking up and placing modules, threading wires and screwing in screws. It is labor-intensive, has low production efficiency, and is difficult to meet the needs of large-scale production. When the scene is varied and complex, such as a confined space or a dangerous area, and is not suitable for manual operation, additional process steps are required, which increases the product manufacturing cost. Summary of the Invention

[0004] The purpose of this invention is to provide an unmanned device and its method for collaboratively assembling battery pack communication modules, which can achieve seamless connection of multiple processes such as material feeding, positioning, handling, threading, pressing and fastening of communication module blueprints with high efficiency, high pass rate and high integration.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an unmanned device for collaborative assembly of battery pack communication modules, comprising a communication module feeding system, a PACK box feeding system, a secondary positioning platform, a first robot, a second robot, and a feeding station; The communication module feeding system is located at the front end of the first robot. The communication module feeding system includes a roller conveyor, a communication module receiving component, and a vertical lifting mechanism. The roller conveyor is used to convey the communication module receiving component. The vertical lifting mechanism is located on one side of the roller conveyor. The communication module receiving component includes a communication module template, a tray, and a frame. The frame is placed on the tray, and the communication module template is placed inside the frame. The feeding station is located to the right of the second robot; The PACK box feeding system includes a PACK trolley, an AGV (Automated Guided Vehicle), and a positioning and lifting mechanism. The PACK trolley is positioned above and connected to the AGV. The PACK trolley is used to place the PACK box. The positioning and lifting mechanism is located at both ends of the feeding station and is used to lift the two sides of the PACK trolley at the feeding station. The first robot uses a vacuum suction cup assembly to send the communication module blueprint to the secondary positioning stage for precise positioning. The first robot then switches to a dexterous hand to grasp the communication module blueprint that has been positioned twice and passes the cable on the communication module blueprint through the pre-set cable hole on the bottom of the PACK box.

[0006] Furthermore, the roller conveyor includes a roller loading line and a roller unloading line. The roller loading line is located above the roller unloading line and conveys the communication module material assembly in the forward direction, while the roller unloading line conveys the communication module material assembly in the reverse direction.

[0007] Furthermore, the vertical lifting mechanism includes a profile frame, a vertical lifting module, and two horizontal moving modules. The two ends of the vertical lifting module are respectively fixed to the upper and lower ends of one side of the profile frame. One of the horizontal moving modules is fixed to the output end of the vertical lifting module, and its two ends are slidably connected to the profile frame through a first clamp-type guide rail. The horizontal moving module is slidably disposed on the other side of the profile frame through a second clamp-type guide rail. The two horizontal moving modules are connected by a placement plate.

[0008] Furthermore, the positioning and lifting mechanism includes a base plate, a lifting cylinder, a high-pressure clamping cylinder, a guide plate, and a universal ball bearing. The base plate is disposed within the feeding station. The base plate is equipped with a high-pressure clamping cylinder for initial positioning of the PACK trolley by clamping it front and rear. The lifting cylinder is fixed to the base plate. The output end of the lifting cylinder is connected to a first lifting block. The rear end of the first lifting block is connected to a second lifting block via a connecting rod. The first and second lifting blocks slide above the top plate via a first slider and a first slide rail. The first slider and the first slide rail are equipped with slotted photoelectric sensors for controlling the stopping of the lifting cylinder's movement. Above the first and second lifting blocks are... The system includes a lifting plate with multiple universal ball bearings on its upper surface and a fixing block on its lower surface that is positioned opposite to the first and second lifting blocks. The bottom of the fixing block has lifting rollers that can roll on the slopes of the first and second lifting blocks. Columns are located at both ends of the base plate, and the lifting plate slides on these columns via a second slider and a second slide rail. A positioning assembly for precise positioning of the PACK trolley is located on one side of the lifting plate. Multiple support rods are fixed at both ends of the inner side of the base plate, and each support rod has a mounting plate. Multiple guide rollers are located on the guide plate, and a guide plate is located on the ground at the front end of the inner side of the base plate.

[0009] Furthermore, the positioning assembly also includes a first positioning pin, a telescopic cylinder, a shaft block, and a positioning post. The telescopic cylinder is disposed on the side of the lifting plate, the shaft block is fixed above the telescopic cylinder, and the positioning pin is fixed to the output end of the telescopic cylinder and moves telescopically within an opening in the shaft block via a linear bushing. The linear bushing and the shaft block have elongated openings. One end of the positioning post extends into the elongated opening and is fixed to the positioning pin. Two proximity sensors are disposed on the outside of the shaft block, positioned vertically, to control the telescopic cylinder to stop operating. Second positioning pins for positioning the PACK housing are disposed on both sides of the PACK trolley.

[0010] Furthermore, the vacuum suction cup assembly includes a robot quick-change plate, a communication module template suction cup, a material tray suction cup, a vision positioning component, and a connecting plate. The robot quick-change plate is fixed on the connecting plate. One end of the connecting plate is provided with the communication module template suction cup, and the other end is provided with the material tray suction cup. The vision positioning component for providing real-time target pose is provided below the connecting plate.

[0011] Furthermore, the secondary positioning platform includes a positioning platform, a secondary positioning fixture, a first secondary positioning cylinder, a second secondary positioning cylinder, a handheld tightening gun, and a module positioning detection sensor. The handheld tightening gun is placed on the positioning platform, and the L-shaped secondary positioning fixture is installed on the positioning platform. The first secondary positioning cylinder is provided at the front end of the secondary positioning fixture, the second secondary positioning cylinder is provided on the side of the secondary positioning fixture, and the module positioning detection sensor is provided on the inner side of the secondary positioning fixture.

[0012] Furthermore, it also includes a vibratory feeder bolt feeding system, which is used to drive bolts to be automatically sorted and blown into the nozzle of the tightening gun through the feeding pipe by an internal air blowing device, thereby completing the automatic bolt feeding.

[0013] Furthermore, it also includes a changeover platform support, which is located on the left side of the second robot and is used to place the dexterous hand and vacuum suction cup assembly.

[0014] A method for using an unmanned device for collaboratively assembling battery pack communication modules includes the following steps: Step S1: The material frame fully loaded with communication module blueprints is fed into the roller feeding line of the equipment by the external conveyor line. The power roller of the roller feeding line is started to transport the communication module material components to the preset picking station and is accurately positioned by the positioning mechanism. Step S2: The first robot connects to the vacuum suction cup assembly via the end quick-change disc. The first robot moves to the top of the roller feeding line and uses the suction cup fixture to pick up a communication module blueprint from the top tray. The first robot carries the communication module blueprint to the secondary positioning platform on the side for fine positioning. Step S3: The first robot switches the vacuum suction cup assembly to a dexterous hand; the first robot uses the dexterous hand to grasp the communication module blueprint that has completed secondary positioning; and moves the communication module blueprint to the predetermined installation position on the bottom tray of the PACK box, and performs preliminary alignment and placement; Step S4: The second robot end effector is equipped with a dexterous hand, which moves to the vicinity of the communication module blueprint, grabs the cable connector connected to the communication module blueprint, and accurately passes it through the preset cable hole on the bottom of the PACK box; after the cable is passed through the hole or simultaneously, the first robot controls the dexterous hand to apply a stable pressure to the communication module blueprint. Step S5: The second robot uses its dexterous hand to grab the hand-held tightening gun and feed the bolts. The second robot moves the hand-held tightening gun above the communication module blueprint, aligns the nozzle with the bolt holes on the communication module blueprint, and securely fixes the communication module blueprint. Step S6: After the communication module blueprint is fixed, the first robot switches back to the vacuum suction cup assembly. After the communication module is fixed, the second robot puts the handheld tightening gun back in place. Step S7: Repeat the above actions until all communication modules in the material have been installed on the bottom tray of the PACK box.

[0015] The beneficial effects of this invention are: it provides a novel device and method for the collaborative assembly of battery pack communication modules using a multimodal robot with a dexterous hand, which can achieve seamless connection of multiple processes such as material feeding, positioning, handling, threading, pressing and fastening of communication module blueprints with high efficiency, high pass rate and high integration, as well as flexible replacement of various products.

[0016] High integration and optimized layout: The square central layout uses two robots as the core, with all functional modules (loading, positioning, tool storage, and workpiece carrying) arranged around it, which greatly optimizes space utilization, shortens the robot's movement path, and improves the equipment cycle time.

[0017] Flexibility and Intelligence: By combining robots and quick-change trays, automatic switching between different tooling (suction cups, dexterous hands, tightening guns) is achieved, enabling a single machine to adapt to complex assembly tasks. Dual-robot collaborative operation results in a clear process and precise movements, significantly improving the equipment's intelligence level and flexible production capabilities. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the unmanned equipment in this invention; Figure 2 This is a structural diagram of the communication module feeding system; Figure 3 This is a schematic diagram of the vertical lifting mechanism; Figure 4 From left to right, the images show the side view, front view, and structural diagram of the communication module blueprint. Figure 5 A structural diagram of a PACK trolley and an AGV automated guided vehicle; Figure 6 Side view of the PACK trolley and AGV automated guided vehicle; Figure 7 A structural schematic diagram of the PACK enclosure viewed from below; Figure 8 This is a top view of the PACK enclosure; Figure 9 This is a schematic diagram of the positioning and lifting mechanism; Figure 10 for Figure 9 Enlarged view of point A in the middle; Figure 11Side view of the positioning lifting mechanism; Figure 12 A top view of the positioning lifting mechanism; Figure 13 A schematic diagram of the positioning and lifting mechanism from another perspective; Figure 14 for Figure 13 Enlarged view of point B in the middle; Figure 15 This is a schematic diagram of the PACK housing feeding system; Figure 16 This is a schematic diagram of the secondary positioning platform. Figure 17 This is a schematic diagram of the support for the replacement platform; Figure 18 This is a schematic diagram of the vacuum suction cup assembly. Figure 19 A schematic diagram of the vacuum suction cup assembly viewed from below; Figure 20 A schematic diagram of the structure of the vibratory feeder bolt feeding system.

[0019] Among them: 1. Communication module feeding system, 11. Roller line, 111. Roller loading line, 112. Roller unloading line, 12. Communication module receiving component, 121. Communication module blueprint, 1211. Cable, 1212. Screw locking position, 122. Material tray, 123. Material frame, 13. Vertical lifting mechanism, 131. Vertical lifting linear module, 132. Horizontal moving linear module, 133. Profile frame, 134. First clamp-type guide rail, 135. Placement plate; 2. PACK box feeding system; 21. PACK trolley; 22. AGV automatic transport vehicle; 23. Positioning and lifting mechanism; 231. Base plate; 232. Lifting cylinder; 233. Heavy clamping cylinder; 234. Guide plate; 235. Universal ball bearing; 236. First lifting block; 237. Connecting rod; 238. Second lifting block; 239. Positioning assembly; 2391. First positioning pin; 2392. Telescopic cylinder; 2393. Shaft block; 2394. Positioning column; 2395. Long strip opening; 2396. Linear bushing; 2397. Proximity sensor; 2398. Second positioning pin; 2399. Adjusting plate; 23910. L 23911 Adjusting shim, 2310 Lifting plate, 2311 Fixing block, 2312 Lifting roller, 2313 Column, 2314 Channel photoelectric sensor, 2315 Support rod, 2316 Mounting plate, 2317 Guide roller, 2318 Through-beam sensor, 2319 IO port, 2320 Valve island, 24 PACK housing, 241 Wiring hole, 25 Placement position, 26 Installation position; 3. Vibratory feeder bolt feeding system; 4. Secondary positioning platform; 41. Secondary positioning fixture; 42. First and secondary positioning cylinders; 43. Secondary positioning cylinder; 44. Handheld tightening gun; 45. Module positioning detection sensor. 51. Change platform support; 52. Vacuum suction cup assembly; 521. Robot quick change plate; 522. Communication module blueprint suction cup; 523. Material tray suction cup; 524. Vision positioning assembly; 5241. 2D camera; 5242. Lens; 5243. Light source; 5244. Bracket; 525. Connecting plate; 53. Dexterous hand. 6. Modular cabinet; M1, the first robot; M2, the second robot; 7. Material feeding station. Detailed Implementation

[0020] The invention will now be further described with reference to the accompanying drawings.

[0021] Please see Figures 1 to 20 This invention provides an embodiment: an unmanned device for collaborative assembly of battery pack communication modules, including a communication module feeding system 1, a PACK box feeding system 2, a secondary positioning platform 4, a first robot M1, a second robot M2, and a feeding station 7; wherein the unmanned device adopts a square layout, with two industrial robots arranged in the central area of ​​the square device. Centered on the two robots, a PACK box feeding system 2 is provided on the right side for positioning a logistics trolley carrying the bottom support of the PACK box 24; The communication module feeding system 1 is located at the front end of the first robot M1. The communication module feeding system 1 includes a roller conveyor 11, a communication module receiving component 12, and a vertical lifting mechanism 13. The roller conveyor 11 is used to convey the communication module receiving component 12. The vertical lifting mechanism 13 is located on one side of the roller conveyor 11. The communication module receiving component 12 includes a communication module template 121, a material tray 122, and a material frame 123. The material frame 123 is placed on the material tray 122, and the communication module template 121 is placed inside the material frame 123. The feeding station 7 is located to the right of the second robot M2; The PACK box feeding system 2 includes a PACK trolley 21, an AGV (Automated Guided Vehicle) 22, and a positioning and lifting mechanism 23. The PACK trolley 21 is positioned above and connected to the AGV 22, and is used to place the PACK box 24. The positioning and lifting mechanism 23 is located at both ends within the feeding station 7, and is used to lift the sides of the PACK trolley 21 at the feeding station 7. After the AGV 22 carries the PACK box 24 on the PACK trolley 21 to the designated working position, the positioning and lifting mechanism 23 fixes the PACK trolley 21 and lifts it to the working height. The placement position 25 of the PACK box 24 is as follows: Figure 6 As shown, the cable 1211 on the communication module blueprint 121 needs to be passed through the communication module through hole on the PACK base first. Then, the first robot M1 and the second robot M2 will screw the screw into the screw locking position 1212 on the communication module blueprint 121 to install the communication module blueprint 121 onto the designated installation position 26 on the base.

[0022] The first robot M1 uses the vacuum suction cup assembly 52 to send the communication module blueprint 121 to the secondary positioning stage for precise positioning. The first robot M1 then switches to a dexterous hand 53 to grasp the communication module blueprint 121 after secondary positioning and passes the cable 1211 on the communication module blueprint 121 through the pre-set wire hole 241 on the bottom support of the PACK box 24. The invention also includes a combination cabinet 6, which includes components such as an electrical cabinet, robot controller, industrial computer, triplet unit, and UPS power supply. The combination cabinet 6 can provide power and control for the unmanned equipment. The combination cabinet 6 is well-known in the art and will not be described further here.

[0023] Please continue reading. Figure 2 As shown, in one embodiment of the present invention, the roller conveyor 11 includes a roller loading line 111 and a roller unloading line 112. The roller loading line 111 is located above the roller unloading line 112 and forward-transmits the communication module receiving component 12. The roller unloading line 112 reverses the forward-transmitting direction. The roller conveyor 11 is located on the periphery of the equipment and includes a roller loading line 111, a roller unloading line 112, and a vertical lifting mechanism 13 working together to transport the communication module receiving component 12. The upper layer is a powered roller loading line 111, used to transport a fully loaded communication module material frame 123 to a designated position. The lower layer uses the vertical lifting mechanism 13 to vertically transfer an empty pallet to the lower powered roller unloading line 112, achieving rapid unloading of the material tray 122. The power drive of the roller loading line 111 and the roller unloading line 112 can be driven by a motor, belt, pulley, etc., which is well known in the art and will not be described in detail here.

[0024] Please continue reading. Figure 3 As shown, in one embodiment of the present invention, the vertical lifting mechanism 13 includes a profile frame 133, a vertical lifting module 131, and two horizontal moving modules 132. The two ends of the vertical lifting module 131 are respectively fixed to the upper and lower ends of one side of the profile frame 133. One of the horizontal moving modules 132 is fixed to the output end of the vertical lifting module 131, and its two ends are slidably connected to the profile frame 133 through a first clamp-type guide rail 134. The horizontal moving module 132 is slidably disposed on the other side of the profile frame 133 through a second clamp-type guide rail. The two horizontal moving modules 132 are connected by a placement plate 135. The robotic arm picks up the material tray 122 and places it on the placement plate 135. The tray is then transported from top to bottom by the vertical lifting module 131 and then moved to the roller unloading line 112 in the roller conveyor 11 by the horizontal moving module 132. After all the blueprints in the material frame 123 have been used, they are also transported by the same method of the roller loading line 111, the roller unloading line 112, the vertical lifting module 131, and the two horizontal moving modules 132.

[0025] Please continue reading. Figures 5 to 15As shown, in one embodiment of the present invention, the positioning and lifting mechanism 23 includes a base plate 231, a lifting cylinder 232, a high-pressure clamping cylinder 233, a guide plate 234, and a universal ball bearing 235. The base plate 231 is disposed within the feeding station 7. The high-pressure clamping cylinder 233 is disposed on the base plate 231 for initial positioning of the PACK trolley 21 by clamping it front and rear. The lifting cylinder 232 is fixed on the base plate 231, and the output end of the lifting cylinder 232 is connected to... A first lifting block 236 is connected to the top plate. The rear end of the first lifting block 236 is connected to a second lifting block 238 via a connecting rod 237. The first lifting block 236 and the second lifting block 238 slide above the top plate via a first slider and a first slide rail. The first slider and the first slide rail are provided with slotted photoelectric sensors 2314 for controlling the stopping of the lifting cylinder 232. A lifting plate 2310 is provided above the first lifting block 236 and the second lifting block 238. The upper surface of the lifting plate 2310 is provided with multiple universal ball bearings 235, and the lower surface of the lifting plate 2310 is provided with a fixing block 2311 opposite to the first lifting block 236 and the second lifting block 238. The bottom of the fixing block 2311 is provided with a lifting roller 2312 that can roll on the inclined surface of the first lifting block 236 and the second lifting block 238. Columns 2313 are provided at both ends of the base plate 231. The lifting plate 2310 slides on the column 2313 via a second slider and a second slide rail. A positioning component 239 for precise positioning of the PACK trolley 21 is provided on one side of the lifting plate 2310. Multiple support rods 2315 are fixed to both ends of the inner side of the base plate 231, and mounting plates 2316 are provided on the support rods 2315. Multiple guide rollers 2317 are provided on the guide plate 234, and a guide plate 234 is provided on the ground at the front end of the inner side of the base plate 231. The lifting cylinder 232 pushes the first lifting block 236, which in turn drives the second lifting block 238 to move back and forth. This allows the lifting rollers 2312 to roll on the inclined surface of the first and second lifting blocks 236 and 238, lifting the top plate and converting horizontal movement into vertical movement, thus lifting the PACK trolley 21. The two sets of lifting blocks are connected by a connecting rod 237 and driven by a single cylinder, solving the coordination problem. It also features buffer positioning, slotted photoelectric 2314 position detection, and vertical slider guiding functions. The guide plate 234 is fixed to the ground to guide the wheels of the AGV. Simultaneously, guide rollers 2317 guide the middle section of the AGV automated guided vehicle 22. A powerful clamping cylinder 233 extends to clamp the PACK trolley 21 for initial positioning. Two through-beam sensors 2318, fixed to the rod body, are also installed on the column 2313 for layer height detection. The two through-beam sensors 2318 are positioned vertically on the rod body, diagonally opposite the infeed station 7. Figure 11As shown, the PACK trolley 21 enters the workstation, and the upper through-beam sensor 2318 senses whether the PACK trolley 21 has been lifted into position. Once in position, the trolley is lowered, placing the product in the workstation. The lower through-beam sensor 2318 senses whether the product has been placed on the work rack. Upon receiving the signal, the collaborative robot begins its work. After completion, the trolley lifts the product and leaves the station. The base plate 231 also has an IO port 2319 and a valve island 2320. The IO port 2319 is a communication port, and the valve island 2320 is a cylinder control device. The functions and principles of the IO port 2319 and the valve island 2320 are well-known in the art and will not be elaborated further here.

[0026] Please continue reading. Figures 5 to 15 As shown, in one embodiment of the present invention, the positioning component 239 further includes a first positioning pin 2391, a telescopic cylinder 2392, a shaft block 2393, and a positioning post 2394. The telescopic cylinder 2392 is disposed on the side of the lifting plate 2310. The shaft block 2393 is fixed above the telescopic cylinder 2392. The positioning pin is fixed to the output end of the telescopic cylinder 2392 and moves telescopically within an opening in the shaft block 2393 via a linear bushing 2396. The linear bushing 2396 and the shaft block 2393 have elongated slots 2395. One end of the positioning post 2394 extends into the elongated slot and is fixed to the positioning pin. Two proximity sensors 2397 are disposed vertically outside the shaft block 2393 to control the telescopic cylinder 2392 to stop operating. Second positioning pins 2398 for positioning the PACK box 24 are disposed on both sides of the PACK trolley 21. The telescopic cylinder 2392 drives and controls the first positioning pin 2391 to insert into the corresponding hole on the tray for precise positioning, such as... Figure 14 The telescopic cylinder 2392 is adjustable and set on the side of the lifting plate 2310 by means of a large hole adjustment limit. The large hole adjustment limit includes an adjustment plate 2399 and an L-shaped stop block 23910. The adjustment plate 2399 has a mounting hole that is significantly larger than the diameter of the bolt / pin. After the adjustment position is in place, the bolt / pin is locked by placing an adjustment shim 23911 of appropriate thickness above the mounting hole. At the same time, the bolt and the L-shaped block are used to limit the side of the bracket 5244 to prevent the telescopic cylinder 2392 installed on the adjustment plate 2399 from shifting after locking.

[0027] Please continue reading. Figures 18 to 19As shown, in one embodiment of the present invention, the vacuum suction cup assembly 52 includes a robot quick-change plate 521, a communication module template suction cup 522, a material tray suction cup 523, a vision positioning component 524, and a connecting plate 525. The robot quick-change plate 521 is fixed on the connecting plate 525. The communication module template suction cup 522 is provided at one end of the connecting plate 525, and the material tray suction cup 523 is provided at the other end. The vision positioning component 524 for providing real-time target pose is provided below the connecting plate 525. The robot quick-change tray 521 can automatically and quickly install and change the vacuum suction cup assembly 52 or the dexterous hand 53 with the quick-change tray at the end of the first robot M1. The communication module blueprint suction cup 522 in the vacuum suction cup assembly 52 is used to transfer the communication module blueprint 121, and the material tray suction cup 523 is used to transfer the material tray. The vision positioning assembly 524 is used to cooperate with the existing controller to accurately position the material tray 122 or transfer the communication module blueprint 121. The vision assembly consists of a 2D camera 5241, a lens 5242, and a light source 5243. The 2D camera 5241 is fixed in the opening on the connecting plate 525 and is located on the side of the robot quick-change tray 521. The light source 5243 is set below the connecting plate 525 through an L-shaped bracket 5244. The light source 5243 is a ring light source 5243. The lens 5242 is mounted on the 2D camera 5241 and is opposite to the center of the ring light source 5243.

[0028] Please continue reading. Figure 16 As shown, in one embodiment of the present invention, the secondary positioning platform 4 includes a positioning table, a secondary positioning fixture 41, a first secondary positioning cylinder 42, a second secondary positioning cylinder 43, a handheld tightening gun 44, and a module positioning detection sensor 45. The handheld tightening gun 44 is placed on the positioning table, and the L-shaped second secondary positioning fixture is installed on the positioning table. The first secondary positioning cylinder 42 is located at the front end of the secondary positioning fixture 41, the second secondary positioning cylinder 43 is located on the side of the secondary positioning fixture 41, and the module positioning detection sensor 45 is located on the inner side of the secondary positioning fixture 41. The secondary positioning platform 4 integrates the secondary positioning fixture 41 and the screwdriver fixture. The positioning detection sensor on the secondary positioning fixture 41 is used to detect whether the communication module is in position. After it is in position, the first secondary positioning cylinder 42 and the second secondary positioning cylinder 43 extend to precisely correct and clamp the communication module, completing the precision positioning.

[0029] Please continue reading. Figure 20As shown, in one embodiment of the present invention, a vibratory feeder bolt feeding system 3 is also included. This system drives the bolts to automatically sort, and through an internal air blowing device, blows the bolts into the nozzle of the tightening gun via a feeding pipe, thus completing the automatic bolt feeding. The vibratory feeder bolt feeding system 3 generates high-frequency micro-amplitude vibrations through an electromagnetic vibrator, driving the bolts to automatically sort on a specific track. The internal air blowing device then blows the bolts into the nozzle of the tightening gun via a feeding pipe, completing the automatic bolt feeding and improving the working efficiency of the robotic arm. The automatic bolt sorting driven by the vibratory feeder bolt feeding system 3 is achieved using a commercially available vibratory feeder known in the art. The vibratory feeder bolt feeding system 3 is primarily a conventional feeding device, and will not be described in detail here.

[0030] Please continue reading. Figure 17 As shown, in one embodiment of the present invention, a changeover platform support 51 is further included. The changeover platform support 51 is disposed on the left side of the second robot M2, and is used to place the dexterous hand 53 and the vacuum suction cup assembly 52. ​​The suction cup assembly fixture and the dexterous hand 53 are placed on the platform of the changeover platform support 51, which facilitates the first robot M1 to change the suction cup assembly fixture and the dexterous hand 53 as needed.

[0031] Please see Figures 1 to 20 The present invention provides an embodiment: a method for using an unmanned device for collaborative assembly of a battery pack communication module, comprising the following steps: Step S1: The material frame 123, fully loaded with communication module blueprint 121, is fed into the roller feeding line 111 of the equipment by an external conveyor line. The power roller of the roller feeding line 111 is started, which transports the communication module receiving component 12 to the preset picking station and is accurately positioned by a positioning mechanism. The positioning mechanism is a blocking cylinder, which is set on the roller feeding line 111. The material frame 123 is positioned by controlling the blocking cylinder. The working principle of the blocking cylinder for positioning is known to those skilled in the art and will not be described in detail here.

[0032] Step S2: The first robot M1 connects to the vacuum suction cup assembly 52 via the end quick-change plate. The first robot M1 moves to the top of the roller feeding line 111 and uses the suction cup tooling to pick up a communication module blueprint 121 from the uppermost material tray 122. The first robot M1 carries the communication module blueprint 121 to the secondary positioning platform on the side for fine positioning. Step S3: The first robot M1 switches the vacuum suction cup assembly 52 to the dexterous hand 53; the first robot M1 uses the dexterous hand 53 to grab the communication module blueprint 121 that has completed secondary positioning; and moves the communication module blueprint 121 to the predetermined installation position on the bottom tray of the PACK box 24, and performs preliminary alignment and placement. Step S4: The end effector of the second robot M2 is equipped with a dexterous hand 53, which moves to the vicinity of the communication module blueprint 121, grabs the connector of the cable 1211 connected to the communication module blueprint 121, and accurately passes it through the pre-set wire hole 241 on the bottom support of the PACK box 24; after the cable 1211 is passed through the hole or simultaneously, the first robot M1 controls the dexterous hand 53 to apply a stable pressure to the communication module blueprint 121; Step S5: The second robot M2 uses its dexterous hand 53 to grasp the handheld tightening gun 44 and feed the bolts. The second robot M2 moves the handheld tightening gun 44 above the communication module blueprint 121, aligns the nozzle with the bolt through hole on the communication module blueprint 121, and securely fixes the communication module blueprint 121. The handheld tightening gun 44 is fed through the vibratory feeder bolt feeding system 3. The vibratory feeder bolt feeding system 3 is activated, sorts the bolts in the correct orientation, and blows the bolts into the nozzle of the tightening gun through the feeding pipe by the air blowing device inside the vibratory feeder system, thus completing the automatic bolt feeding.

[0033] Step S6: After the communication module blueprint 121 is fixed, the first robot M1 switches back to the vacuum suction cup assembly 52. ​​After the communication module is fixed, the second robot M2 puts the handheld tightening gun 44 back. Step S7: Repeat the above actions until all communication modules in the material have been installed on the bottom tray of the PACK box 24. The empty material tray 122 is picked up by the robot through the vacuum suction cup assembly 52 and placed on the vertical lifting mechanism 13. The empty material frame 123 reaches the vertical lifting mechanism 13 through the roller conveyor 11 and is transported by the vertical lifting mechanism 13 to the roller loading line 111 on the roller conveyor 11 below. The installed bottom tray of the PACK box 24 leaves this station via AGV.

[0034] This invention operates on the following principle: Employing a "dual-machine, four-modal" robot collaborative assembly system, it achieves automated feeding of communication modules, unmanned placement, threading, and fixing of modules, improving efficiency, reducing labor costs, and ensuring product consistency and stability. Specifically, the roller feeding line 111 in the roller conveyor 11 delivers a fully loaded material frame 123 to the picking position. The first robot M1 connects to a suction cup fixture via a quick-change disc at its end, picking up a single communication module from the material frame 123 and transferring it to the secondary positioning fixture 41 on the left for precise positioning. After loading, the first robot M1 returns the suction cup fixture to its original table and switches to a dexterous hand 53 via the quick-change disc, then uses the dexterous hand 53 to grasp the communication module that has undergone secondary positioning.

[0035] The first robot M1 initially places the communication module in the predetermined position on the bottom tray of the PACK box 24 on the right-hand logistics cart. Simultaneously or subsequently, the second robot M2 (also equipped with a dexterous hand 53) passes the cable 1211 from the communication module through the pre-set cable hole 241 on the bottom tray of the PACK box 24. The first robot M1 applies pressure to the communication module, firmly attaching it to the bottom tray. Afterward, the second robot M2 returns its dexterous hand 53 and switches to a handheld tightening gun 44. Through an external vibratory feeder and feed tube, bolts are blown into the tightening gun. The second robot M2 uses the tightening gun to drive the bolts into the through holes of the communication module, securing it to the bottom tray of the PACK box 24.

[0036] The above description is only a preferred embodiment of the present invention and should not be construed as a limitation of this application. All equivalent changes and modifications made in accordance with the scope of the patent application of the present invention should be included in the scope of the present invention.

Claims

1. An unmanned device for collaboratively assembling a battery pack communication module, characterized in that: This includes a communication module feeding system, a PACK box feeding system, a secondary positioning platform, a first robot, a second robot, and a feeding station; The communication module feeding system is located at the front end of the first robot. The communication module feeding system includes a roller conveyor, a communication module receiving component, and a vertical lifting mechanism. The roller conveyor is used to convey the communication module receiving component. The vertical lifting mechanism is located on one side of the roller conveyor. The communication module receiving component includes a communication module template, a tray, and a frame. The frame is placed on the tray, and the communication module template is placed inside the frame. The feeding station is located to the right of the second robot; The PACK box feeding system includes a PACK trolley, an AGV (Automated Guided Vehicle), and a positioning and lifting mechanism. The PACK trolley is positioned above and connected to the AGV. The PACK trolley is used to place the PACK box. The positioning and lifting mechanism is located at both ends of the feeding station and is used to lift the two sides of the PACK trolley at the feeding station. The first robot uses a vacuum suction cup assembly to send the communication module blueprint to the secondary positioning stage for precise positioning. The first robot then switches to a dexterous hand to grasp the communication module blueprint that has been positioned twice and passes the cable on the communication module blueprint through the pre-set cable hole on the bottom of the PACK box.

2. The unmanned equipment for collaborative assembly of battery pack communication modules according to claim 1, characterized in that: The roller conveyor includes a roller loading line and a roller unloading line. The roller loading line is located above the roller unloading line and conveys the communication module material assembly in the forward direction. The roller unloading line conveys the communication module material assembly in the reverse direction.

3. The unmanned equipment for collaborative assembly of battery pack communication modules according to claim 1, characterized in that: The vertical lifting mechanism includes a profile frame, a vertical lifting module, and two horizontal moving modules. The two ends of the vertical lifting module are fixed to the upper and lower ends of one side of the profile frame, respectively. One of the horizontal moving modules is fixed to the output end of the vertical lifting module, and its two ends are slidably connected to the profile frame through a first clamp-type guide rail. The horizontal moving module is slidably disposed on the other side of the profile frame through a second clamp-type guide rail. The two horizontal moving modules are connected by a placement plate.

4. The unmanned equipment for collaborative assembly of battery pack communication modules according to claim 1, characterized in that: The positioning and lifting mechanism includes a base plate, a lifting cylinder, a high-pressure clamping cylinder, a guide plate, and a universal ball bearing. The base plate is disposed within the feeding station. The base plate is equipped with a high-pressure clamping cylinder for initial positioning of the PACK trolley by clamping it front and rear. The lifting cylinder is fixed to the base plate. A first lifting block is connected to the output end of the lifting cylinder. A second lifting block is connected to the rear end of the first lifting block via a connecting rod. The first and second lifting blocks slide above the base plate via a first slider and a first slide rail. The first slider and the first slide rail are equipped with slotted photoelectric sensors for controlling the stopping of the lifting cylinder. A lifting mechanism is disposed above the first and second lifting blocks. The lifting plate has multiple universal ball bearings on its upper surface and a fixed block opposite to the first and second lifting blocks on its lower surface. The bottom of the fixed block has lifting rollers that can roll on the slopes of the first and second lifting blocks. Columns are located at both ends of the base plate, and the lifting plate slides on these columns via a second slider and a second slide rail. A positioning assembly for precise positioning of the PACK trolley is located on one side of the lifting plate. Multiple support rods are fixed at both ends of the inner side of the base plate, and mounting plates with multiple guide rollers are mounted on the support rods. A guide plate is located on the ground at the front end of the inner side of the base plate.

5. The unmanned equipment for collaborative assembly of battery pack communication modules according to claim 4, characterized in that: The positioning assembly also includes a first positioning pin, a telescopic cylinder, a shaft block, and a positioning pin. The telescopic cylinder is located on the side of the lifting plate, the shaft block is fixed above the telescopic cylinder, and the positioning pin is fixed to the output end of the telescopic cylinder and moves telescopically within an opening in the shaft block via a linear bushing. The linear bushing and the shaft block have elongated openings. One end of the positioning pin extends into the elongated opening and is fixed to the positioning pin. Two proximity sensors are arranged vertically outside the shaft block to control the telescopic cylinder to stop operating. Second positioning pins for positioning the PACK housing are provided on both sides of the PACK trolley.

6. The unmanned equipment for collaborative assembly of battery pack communication modules according to claim 1, characterized in that: The vacuum suction cup assembly includes a robot quick-change plate, a communication module template suction cup, a material tray suction cup, a vision positioning component, and a connecting plate. The robot quick-change plate is fixed on the connecting plate. One end of the connecting plate is provided with the communication module template suction cup, and the other end is provided with the material tray suction cup. The vision positioning component for providing real-time target pose is provided below the connecting plate.

7. The unmanned equipment for collaborative assembly of battery pack communication modules according to claim 1, characterized in that: The secondary positioning platform includes a positioning platform, a secondary positioning fixture, a first secondary positioning cylinder, a second secondary positioning cylinder, a handheld tightening gun, and a module positioning detection sensor. The handheld tightening gun is placed on the positioning platform, and the L-shaped secondary positioning fixture is installed on the positioning platform. The first secondary positioning cylinder is located at the front end of the secondary positioning fixture, the second secondary positioning cylinder is located on the side of the secondary positioning fixture, and the module positioning detection sensor is located on the inner side of the secondary positioning fixture.

8. The unmanned equipment for collaborative assembly of battery pack communication modules according to claim 7, characterized in that: It also includes a vibratory feeder bolt feeding system, which drives the bolts to be automatically sorted and blown into the nozzle of the tightening gun through the feeding pipe by the internal air blowing device, thus completing the automatic bolt feeding.

9. The unmanned equipment for collaborative assembly of battery pack communication modules according to claim 1, characterized in that: It also includes a changeover platform support, which is located on the left side of the second robot and is used to place the dexterous hand and vacuum suction cup assembly.

10. A method of using an unmanned device suitable for the collaborative assembly of a battery pack communication module as described in claim 2: characterized in that: Includes the following steps: Step S1: The material frame fully loaded with communication module blueprints is fed into the roller feeding line of the equipment by the external conveyor line. The power roller of the roller feeding line is started to transport the communication module material components to the preset picking station and is accurately positioned by the positioning mechanism. Step S2: The first robot connects to the vacuum suction cup assembly via the end quick-change disc. The first robot moves to the top of the roller feeding line and uses the suction cup fixture to pick up a communication module blueprint from the top tray. The first robot carries the communication module blueprint to the secondary positioning platform on the side for fine positioning. Step S3: The first robot switches the vacuum suction cup assembly to a dexterous hand; the first robot uses the dexterous hand to grasp the communication module blueprint that has completed secondary positioning; and moves the communication module blueprint to the predetermined installation position on the bottom tray of the PACK box, and performs preliminary alignment and placement; Step S4: The second robot end effector is equipped with a dexterous hand, which moves to the vicinity of the communication module blueprint, grabs the cable connector connected to the communication module blueprint, and accurately passes it through the preset cable hole on the bottom of the PACK box; after the cable is passed through the hole or simultaneously, the first robot controls the dexterous hand to apply a stable pressure to the communication module blueprint. Step S5: The second robot uses its dexterous hand to grab the hand-held tightening gun and feed the bolts. The second robot moves the hand-held tightening gun above the communication module blueprint, aligns the nozzle with the bolt holes on the communication module blueprint, and securely fixes the communication module blueprint. Step S6: After the communication module blueprint is fixed, the first robot switches back to the vacuum suction cup assembly. After the communication module is fixed, the second robot puts the handheld tightening gun back in place. Step S7: Repeat the above actions until all communication modules in the material have been installed on the bottom tray of the PACK box.

Images