Boxing method based on dynamic course avoidance and heavy module boxing equipment

Abstract

This application relates to the field of heavy-duty battery module enclosure technology, and discloses an enclosure method and heavy-duty module enclosure equipment based on dynamic stroke avoidance. The method includes: acquiring a positioning signal indicating that the workpiece to be enclosured has arrived at the enclosure station; responding to the positioning signal, controlling a lifting assembly to lift the workpiece to a preset height; acquiring a coaxial positioning signal between the workpiece and the enclosure to confirm that they are coaxial; controlling a conveying device to transport the enclosure to the enclosure station, acquiring real-time position information of the enclosure, and controlling each lifting assembly to perform an engagement action to support the workpiece or a disengagement action to release support based on the position information; after acquiring an enclosure completion signal, controlling the lifting assembly to lower the workpiece into the enclosure; and controlling the conveying device to move the enclosure and workpiece together out of the enclosure station. The heavy-duty module enclosure equipment includes a lifting device, a position detection device, a conveying device, and a controller, the controller being configured to execute the above method.

Description

Technical Field

[0001] This invention relates to the field of heavy-duty battery module conveying and packaging technology, and particularly to a packaging method and heavy-duty module packaging equipment based on dynamic stroke avoidance. Background Technology

[0002] In the process of fitting heavy-duty battery modules into enclosures, a hollow frame enclosure needs to be fitted over the heavy-duty battery modules. This type of enclosure has multiple uprights distributed along its length on its bottom or side. As the enclosure is gradually fitted over the modules along the travel direction, these uprights will pass by the locations of various lifting components in sequence.

[0003] In existing lifting equipment, the lifting arm typically uses a fixed structure. When the module enters the workstation, the extended lifting arm obstructs the module's path, preventing it from smoothly entering the casing station. During casing insertion, if the lifting arm of a certain lifting component is still in a lifted state and does not move aside when the column reaches the position of a certain lifting component, the column will collide and interfere with the lifting arm. Furthermore, after casing insertion, the lifting arm cannot be removed from the bottom of the module, hindering the separation of the lifting equipment from the workpiece. Moreover, due to the large weight and high safety requirements of heavy battery modules, traditional solutions cannot solve the interference problem by manual handling. The only solution is to repeatedly lift and reposition the module: before the module enters the workstation, lift it, remove the lifting arm, and then lower the module; after casing insertion, the process is repeated in reverse. This multiple lifting and repositioning method is inefficient, and frequent lifting of heavy modules poses significant safety hazards. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a method for mounting boxes based on dynamic stroke avoidance and a heavy-duty module mounting box device.

[0005] In a first aspect, the kitting method based on dynamic stroke avoidance according to embodiments of the present invention includes the following steps: Obtain the arrival signal of the workpiece to be boxed at the boxing station; In response to the positioning signal, the lifting assembly is controlled to lift the workpiece to be boxed to a preset height; The control conveying device transports the box to the box-fitting station, obtains the real-time position information of the box during the transport process, and controls the corresponding lifting components to perform engagement actions with the workpiece to be fitted in order to support the workpiece, or to perform disengagement actions with the workpiece to be fitted in order to release the support of the workpiece. Obtain a boxing completion signal, and in response to the boxing completion signal, control the lifting assembly to lower the workpiece to be boxed into the box; The conveying device is controlled to move the box and the workpiece to be boxed out of the boxing station together.

[0006] According to the embodiment of the present invention, the box-mounting method based on dynamic stroke avoidance, after the workpiece to be boxed is lifted to a preset height, further includes the step of acquiring a coaxial positioning signal between the workpiece to be boxed and the box body, and confirming that the workpiece to be boxed and the box body are in a coaxial state in response to the coaxial positioning signal. The steps for obtaining the coaxial positioning signal include: The coaxial positioning signal is generated based on the axial position of the workpiece to be boxed after it has been lifted. Wherein, after the conveying device enters the box-making station along the track, the guide groove of the track and the protrusion of the conveying device cooperate to constrain the conveying device in the horizontal and vertical directions, so that the center line of the supporting part of the conveying device is collinear with the center line of the lifting assembly in the horizontal direction, and the connecting part of the supporting part is flush with the connecting part of the lifting assembly in the vertical direction.

[0007] According to the method for box-mounting based on dynamic stroke avoidance according to an embodiment of the present invention, the step of controlling the lifting assembly to lift the workpiece to be boxed to a preset height in response to the positioning signal includes: Simultaneously send a lifting start signal to all the lifting components to control each of the lifting components to perform a lifting action; After the workpiece to be boxed is lifted to the preset height, a disengagement control signal is sent to the lifting components located at the beginning and end of the workpiece to be boxed, controlling them to release the connection relationship with the workpiece to be boxed. Alternatively, a lifting start signal may be sent to the lifting assembly located in the middle of the main conveying section to control the lifting assemblies located at the beginning and end of the main conveying section to remain in a non-lifting state.

[0008] According to the present invention, the box-making method based on dynamic stroke avoidance is arranged in a plurality of lifting groups along the conveying direction of the workpiece to be boxed, and each lifting group includes at least two lifting components disposed opposite to each other on both sides of the workpiece to be boxed. The steps of controlling the corresponding lifting components to perform engagement or disengagement actions with the workpiece to be fitted, based on the real-time position information, include: A predetermined number of lifting groups located in the middle along the conveying direction are selected as initial lifting groups. The initial lifting groups are controlled to perform engagement actions with the workpiece to be boxed, while the remaining lifting groups remain in a non-lifting state. As the box moves along the conveying direction, when the predetermined part on the box is detected to reach the position of the lifting group currently performing the engagement action, the adjacent lifting group located in front of the lifting group and not yet started is controlled to perform the engagement action with the workpiece to be boxed, and the current lifting group is controlled to perform the disengagement action from the workpiece to be boxed. Repeat the above steps until the box is completely fitted over the workpiece to be boxed.

[0009] According to the method for box-mounting based on dynamic stroke avoidance according to an embodiment of the present invention, before performing the disengagement action from the workpiece to be boxed, a pause signal is output to the conveying device. After detecting that the adjacent lifting group in front has completed the engagement action, a restart signal is output to the conveying device to continue driving the box to move. And / or, after the current lifting group performs the disengagement action from the workpiece to be fitted, once the predetermined part on the housing has completely passed the position of the current lifting group, the current lifting group is controlled to re-perform the engagement action with the workpiece to be fitted.

[0010] According to the kitting method based on dynamic stroke avoidance of the present invention, the step of obtaining the arrival signal of the workpiece to be kitted at the kitting station includes: Multiple first positioning parts are set on the moving path of the conveying device that carries the workpiece to be boxed, and each first positioning part is arranged sequentially along the moving path; The conveying device is provided with a plurality of first mating parts, and the positions of each first mating part correspond one-to-one with those of each first positioning part. As the conveying device travels along the moving path, it detects the position of each of the first mating parts through each of the first positioning parts and outputs a corresponding detection signal. When the detection signal output by each of the first positioning parts corresponds one-to-one with the position of each of the first mating parts, the positioning signal is generated.

[0011] According to the method for box-mounting based on dynamic stroke avoidance according to an embodiment of the present invention, a second positioning part is further provided on the moving path, the second positioning part being used to buffer and stop the conveying device; When the conveying device reaches the box-making station, the real-time operating parameters of the conveying device are obtained, and the second positioning part is controlled to start the blocking action according to the real-time operating parameters to stop the conveying device at the preset position. When the detection signals output by each of the first positioning parts correspond one-to-one with the positions of each of the first mating parts, and the second positioning part completes the blocking action, it is confirmed that the workpiece to be boxed has arrived at the boxing station and the arrival signal is generated.

[0012] According to the method for box-mounting based on dynamic stroke avoidance according to an embodiment of the present invention, the second positioning part includes a limiting member and a buffer member. The buffer member is disposed on the side of the limiting member facing the conveying device. The limiting member is used to provide hard limiting. The buffer member is used to absorb the impact energy of the conveying device. The steps to confirm that the workpiece to be boxed has arrived at the boxing station also include: The compression displacement of the buffer is detected, and a first confirmation signal is generated when the compression displacement reaches a preset value. Detect whether each of the first positioning units continuously outputs a valid detection signal within a preset time; if so, generate a second confirmation signal. Once both the first confirmation signal and the second confirmation signal are generated, it is confirmed that the workpiece to be boxed has arrived at the boxing station.

[0013] According to the tailoring method based on dynamic stroke avoidance according to an embodiment of the present invention, the real-time operating parameter is at least one of the following parameters: The cumulative distance traveled by the conveying device along the moving path; The real-time distance between the conveying device and the second positioning part; When a preset number of first positioning units output valid detection signals, the second positioning unit is controlled to start a stop action.

[0014] The method for box-mounting based on dynamic stroke avoidance according to embodiments of the present invention has at least the following beneficial effects: The method for box-mounting based on dynamic stroke avoidance provided in this application, by acquiring the real-time position information of the box during the conveying process and controlling the corresponding lifting components to perform engagement or disengagement actions according to this position information, helps each lifting component to flexibly avoid and re-connect according to the real-time position of a predetermined part on the box during the box-mounting process, thereby helping to avoid collision interference between the predetermined part and the lifting components. At least two lifting components are in an engaged state at any given time, which helps to ensure that the workpiece to be boxed receives sufficient support throughout the box-mounting process, helping to reduce the risk of tilting or uneven loading of the workpiece due to insufficient support. Multiple confirmations of the positioning status of the conveying device are performed through a multi-point detection method with multiple sets of first positioning parts corresponding to multiple first mating parts, which helps to improve the reliability of positioning confirmation and reduce positioning errors caused by misjudgment by a single sensor. The cooperation between the buffer and limiting parts of the second positioning part helps to ensure the certainty of the stopping position of the conveying device while absorbing the impact energy of the conveying device. The combination of the compression displacement detection of the buffer and the detection signal of the first positioning part for positioning confirmation further helps to improve the reliability of positioning judgment.

[0015] Secondly, according to an embodiment of the present invention, a heavy-duty module housing device is used to perform the above-described housing method based on dynamic stroke avoidance, including: A lifting device is provided at the box-fitting station. The lifting device includes a plurality of lifting components spaced apart along the radial direction of the workpiece to be boxed. The lifting components are configured to lift the workpiece to be boxed. A position detection device includes a first positioning part, which is disposed on the same side as the lifting assembly, and the first positioning part is configured to acquire the positioning signal. A conveying device is movably installed at the boxing station, and the conveying device is configured to carry the workpiece to be boxed and the box body into and / or out of the boxing station; A controller is electrically connected to the lifting device, the position detection device, and the conveying device, and the controller is configured to perform the carrier-based collision avoidance method according to any one of claims 1 to 9.

[0016] The heavy-duty module box-making equipment according to embodiments of the present invention has at least the following beneficial effects: The heavy-duty module box-making equipment provided in this application, in which the controller executes the aforementioned box-making method based on dynamic stroke avoidance, controls the corresponding lifting component to perform engagement or disengagement actions according to the real-time position information of the box, which helps to achieve flexible avoidance and re-connection of the lifting component according to the predetermined position of the box during the box-making process. The first positioning part of the position detection device is used to acquire a positioning signal, and the controller controls the lifting component to lift the workpiece according to the positioning signal, which helps to ensure that the lifting operation is performed after the workpiece is accurately positioned. The conveying device is used to transport the workpiece and the box into and / or out of the box-making station, coordinating with the lifting action of the lifting device, which helps to realize the processization and automation of the box-making operation.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a diagram showing the main steps of the nesting method according to an embodiment of the present invention; Figure 2 This is a partial structural diagram of the heavy-duty module housing equipment according to an embodiment of the present invention; Figure 3 This is a partial front view of the heavy-duty module housing equipment according to an embodiment of the present invention; Figure 4 This is a first partial structural enlarged view of the heavy-duty module housing equipment according to an embodiment of the present invention; Figure 5 This is an enlarged view of the second partial structure of the heavy-duty module housing equipment according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the first state during module delivery according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the second state during module delivery according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the first state of the box conveying during module packaging according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the second state of the box conveying during module packaging according to an embodiment of the present invention; Explanation of reference numerals in the attached figures: Module 1; Housing 2; Lifting device 100; Lifting assembly 110; Connecting base 111; Lifting arm 112; Lifting rod 113; Plug-in hole 1131; Rotary drive component 114; First positioning part 200; Second positioning part 300; Limiting component 310; Buffer component 320; Telescopic drive assembly 330; Conveying device 400; Carrier 410; First mating part 411; Drive trolley 420; Protrusion 430; Track 500; Guide section 510; Main conveying section 520; Guide rail component 521; Guide groove 5211; Guide wheel set 530; Large guide wheel 531; Small guide wheel 532. Detailed Implementation

[0019] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0020] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0021] In the description of the invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. If the terms "first" and "second" are used, they are only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0022] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0023] This application provides a heavy-duty module enclosure device, which is mainly used for enclosure operations of heavy-duty battery modules 1, that is, to fit a hollow frame-type enclosure 2 onto the outside of the heavy-duty battery module 1. Additionally, refer to... Figure 1 This application also provides a method for using a heavy-duty module enclosure based on dynamic stroke avoidance.

[0024] Reference Figures 2 to 9 The heavy-duty module enclosure equipment includes a lifting device 100, a position detection device, a conveying device 400, and a controller. The controller is electrically connected to the lifting device 100, the position detection device, and the conveying device 400, and is used to execute the enclosure method based on dynamic stroke avoidance provided in this application.

[0025] Specifically, the lifting device 100 is installed at the boxing station to lift the workpiece to be boxed to a preset height after it arrives at the station, and to avoid obstacles and re-connect the workpiece during the boxing process based on the real-time position of the box 2. The position detection device detects whether the workpiece to be boxed has reached the preset position of the boxing station and obtains a positioning signal. The conveying device 400 is movably installed at the boxing station to transport the workpiece to be boxed into the boxing station, transport the box 2 into the boxing station, and, after boxing is completed, transport the box 2 and the workpiece inside the box 2 away from the boxing station.

[0026] According to some embodiments of this application, refer to Figure 2 and Figure 3 The lifting device 100 includes multiple lifting groups arranged sequentially along the conveying direction of the workpiece to be boxed. Each lifting group includes two lifting components 110 disposed opposite each other on both sides of the workpiece to be boxed. The lifting groups are arranged at intervals along the conveying direction, corresponding to different areas along the length of the workpiece to be boxed, and jointly undertake the task of supporting the workpiece to be boxed during the boxing process. Taking a four-lifting-group configuration as an example, they are sequentially referred to as the first lifting group, the second lifting group, the third lifting group, and the fourth lifting group along the conveying direction of the workpiece to be boxed.

[0027] Those skilled in the art will understand that the number of lifting groups can be adjusted according to the actual length and weight of the workpiece to be boxed, and is not limited to four.

[0028] In some embodiments, refer to Figure 2 and Figure 3 The lifting device 100 also includes a frame. The frame includes multiple gantry frames arranged sequentially along the conveying direction, each gantry frame housing a lifting assembly. The gantry frames serve as support structures, providing mounting bases for the lifting assemblies. The gantry frames are spaced apart along the conveying direction, and correspondingly, the lifting assemblies are also spaced apart along the conveying direction.

[0029] Each lifting assembly has two lifting components 110 positioned on opposite sides of the gantry frame. These two lifting components 110 support the workpiece to be boxed from both sides. It is important to note that the installation height of each lifting component 110 on the corresponding gantry frame is consistent. This helps ensure that the supporting surfaces of each lifting component 110 are on the same plane, maintaining the workpiece's horizontal position during lifting.

[0030] Specifically, the lifting assembly 110 includes a lifting component and a driving component. The lifting component has a lifting part for connecting with a first mating part 411 of the workpiece to be fitted. The first mating part 411 is a pin fixed to the workpiece, protruding outward from the bottom or side of the workpiece. The driving component includes a first driving part and a second driving part.

[0031] The second drive unit drives the lifting assembly to reciprocate in a first direction, which is vertical, i.e., up and down. The second drive unit achieves the lifting assembly's raising and lowering function by driving the lifting assembly to reciprocate vertically. When the second drive unit drives the lifting assembly to rise, the lifting assembly lifts the workpiece to be fitted together, achieving lifting. When the second drive unit drives the lifting assembly to fall, the lifting assembly lifts the workpiece to be fitted together. The first drive unit drives the lifting assembly to switch between a docking position and a clearance position. In the docking position, the lifting assembly and the workpiece to be fitted form a supporting engagement, with the lifting assembly supporting the workpiece and transferring the weight of the workpiece to the lifting assembly. In the avoidance position, the lifting part is offset outside the travel path of the workpiece to be boxed or the box 2, so that the workpiece to be boxed will not interfere with the lifting part when it moves along its travel path, and at the same time, the predetermined part (i.e. the column) on the hollow frame box 2 will not collide with the lifting part when it passes the position of the lifting component 110.

[0032] In this embodiment, the first driving unit can be a rotary drive 114 or a linear drive. When the first driving unit is a rotary drive 114, the rotary drive 114 drives the lifting assembly to reciprocate in the horizontal plane around the vertical axis, causing the lifting unit to switch between a docking position and a clearance position. When the first driving unit is a linear drive, the linear drive drives the lifting assembly to reciprocate in the horizontal direction, causing the lifting unit to switch between a docking position and a clearance position. The two driving methods can be flexibly selected according to the actual workstation layout and space conditions.

[0033] In some embodiments, refer to Figure 4 or Figure 5When the first driving unit is a rotary driving member 114, the lifting assembly includes a connecting base 111 and a lifting arm 112. The connecting base 111 is connected to the second driving unit, that is, the connecting base 111 is mounted on the output end of the second driving unit and rises and falls vertically with the movement of the second driving unit. The rotary driving member 114 is mounted on the connecting base 111, that is, the housing part of the rotary driving member 114 is fixed to the connecting base 111 and rises and falls together with the connecting base 111. The lifting arm 112 is rotatably connected to the connecting base 111, and one end of the lifting arm 112 is mounted on the connecting base 111 through a pivot, so that the lifting arm 112 can rotate relative to the connecting base 111 about a vertical axis. The output end of the rotary driving member 114 is connected to the lifting arm 112, and when the rotary driving member 114 is activated, its output end drives the lifting arm 112 to rotate relative to the connecting base 111. The lifting part is located at the end of the lifting arm 112 and switches between the docking position and the avoidance position as the lifting arm 112 rotates.

[0034] During operation, when the second drive unit drives the connecting base 111 to rise and fall vertically, the rotary drive unit 114 mounted on the connecting base 111, the lifting arm 112 rotatably connected to the connecting base 111, and the lifting part located at the end of the lifting arm 112 all rise and fall together with the connecting base 111. Simultaneously, the rotary drive unit 114 can independently drive the lifting arm 112 to rotate relative to the connecting base 111, allowing the lifting part to switch between a docking position and a clearance position. The rising and falling actions and the rotating actions are independent of each other and do not interfere with each other; they can be performed simultaneously or in stages.

[0035] In some embodiments, refer to Figure 4 or Figure 5 A lifting rod 113 may be provided at the end of the lifting arm 112. The lifting rod 113 is installed at the end of the lifting arm 112 as an additional component independent of the lifting arm 112. The lifting rod 113 has a insertion hole 1131, which is used to insert and engage with the first mating part 411 on the workpiece to be fitted. The insertion hole 1131 constitutes the lifting part. The lifting rod 113 can have a certain degree of freedom of movement relative to the lifting arm 112, so that the position of the insertion hole 1131 can be finely adjusted relative to the lifting arm 112. In some embodiments, the lifting part can also be directly formed at the end of the lifting arm 112, that is, the insertion hole 1131 is directly formed on the end material of the lifting arm 112, which simplifies the structure.

[0036] In some embodiments, the drive assembly may further include a third drive unit. A mounting hole is provided at the end of the lifting arm 112, and the lifting rod 113 passes through the mounting hole. The output end of the third drive unit is connected to the lifting rod 113. The third drive unit drives the lifting rod 113 to reciprocate along the axial direction of the mounting hole, so that the insertion hole 1131 approaches or moves away from the first mating part 411. Specifically, the mounting hole penetrates the end of the lifting arm 112, and its axial direction is consistent with the insertion direction of the first mating part 411. The lifting rod 113 passes through the mounting hole, one end of the lifting rod 113 is connected to the output end of the third drive unit, and the other end of the lifting rod 113 has an insertion hole 1131. When the third drive unit is activated, its output end pushes or pulls the lifting rod 113, causing the lifting rod 113 to slide along the axial direction within the mounting hole. When the lifting rod 113 extends, the insertion hole 1131 gradually approaches the first mating part 411, and finally the first mating part 411 is inserted into the insertion hole 1131, realizing the insertion connection between the lifting part and the workpiece to be fitted. When the lifting rod 113 retracts, the insertion hole 1131 gradually moves away from the first mating part 411, and finally the first mating part 411 disengages from the insertion hole 1131, realizing the separation between the lifting part and the workpiece to be fitted. In this embodiment, the rotation action is responsible for coarsely positioning the insertion hole 1131 to the vicinity of the first mating part 411, and the extension and retraction action is responsible for precisely positioning the insertion hole 1131 and the first mating part 411 and completing the insertion.

[0037] In some embodiments, refer to Figure 4 or Figure 5 The mounting hole has a non-circular cross-section, and the outer circumferential surface of the lifting rod 113 is correspondingly also non-circular. The lifting rod 113 passes through the mounting hole, and the inner wall of the mounting hole mates with the outer circumferential surface of the lifting rod 113, forming a circumferential positioning fit to prevent the lifting rod 113 from rotating relative to the lifting arm 112 around its own axis. The non-circular cross-section fit ensures that the lifting rod 113 can only slide along the axial direction within the mounting hole and cannot rotate around the axis. An insertion hole 1131 is provided at the end of the lifting rod 113, which needs to be inserted into the first mating part 411 at a specific angle. Through the circumferential positioning fit of the non-circular cross-section, the angle of the lifting rod 113 within the mounting hole is fixed, and the insertion hole 1131 always remains in the predetermined angular direction, helping to ensure the angular alignment accuracy between the insertion hole 1131 and the first mating part 411. The non-circular cross-section can be rectangular, square, hexagonal, or splined, among other forms.

[0038] Additionally, it should be noted that the first mating part 411 is a pin fixed to the workpiece to be fitted. The pin protrudes outward from the side of the workpiece, and its outer diameter matches the diameter of the insertion hole 1131. The pin is fixedly set on the workpiece and there is no relative movement between the pin and the workpiece. When the insertion hole 1131 and the pin are inserted, they form a limiting structure in the vertical direction. After the pin is fully inserted into the insertion hole 1131, the root of the pin and the opening of the insertion hole 1131 abut against each other in the vertical direction, so that the pin cannot be dislodged from the insertion hole 1131. This vertical limiting structure allows the lifting part to apply an upward supporting force to the pin through the insertion hole 1131 when the second drive part lifts the lifting assembly, thereby driving the workpiece to be fitted to rise together. Understandably, during the actual insertion process, after the lifting part moves with the lifting assembly to the position aligned with the pin, the pin is inserted into the insertion hole 1131, achieving the connection between the lifting part and the workpiece to be fitted. After insertion, the lifting part applies a supporting force to the pin through the insertion hole 1131, and the pin transmits this supporting force to the workpiece to be fitted, thereby achieving the support of the lifting assembly for the workpiece to be fitted. When the lifting assembly 110 needs to switch from the engaged state to the disengaged state, the third drive unit drives the lifting rod 113 to retract, causing the insertion hole 1131 to disengage from the first mating part 411. When the lifting assembly 110 needs to return from the disengaged state to the engaged state, the third drive unit drives the lifting rod 113 to extend, causing the insertion hole 1131 to engage with the first mating part 411.

[0039] In this application, a lifting component and a driving component constitute a lifting module. Two lifting modules are horizontally positioned opposite each other, located on either side of the workpiece to be fitted, supporting the workpiece from both sides. Each lifting module has an independent lifting component and a driving component. The two lifting modules can be controlled independently or synchronously. In synchronous control, the first driving units of both lifting modules operate simultaneously, causing the two lifting components to switch synchronously between a docking position and a clearance position; the second driving units of both lifting modules operate simultaneously, causing the two lifting components to rise and fall synchronously. This synchronous control method ensures that the workpiece to be fitted receives symmetrical supporting forces from both sides during the lifting process. In independent control, the two lifting modules can perform position switching and rising and falling actions separately to accommodate potential imbalances or off-center loads on the workpiece. When the two lifting modules are positioned opposite each other, the two lifting components extend from both sides of the workpiece to be fitted. In the docking position, the two lifting components support both sides of the workpiece to be fitted. In the avoidance position, the two lifting parts shift to the sides respectively, making way for the travel path of the workpiece to be boxed or the predetermined part of the box 2.

[0040] According to some embodiments of this application, the position detection device is disposed on the moving path of the conveyor 400 carrying the workpiece to be boxed. (Refer to...) Figure 2The position detection device includes a first positioning part 200 and a second positioning part 300.

[0041] Multiple first positioning units 200 are spaced apart along the moving path, and each first positioning unit 200 is arranged sequentially along the moving path. Each first positioning unit 200 has a detection range. When a first mating part 411 on the workpiece to be boxed enters the detection range, the first positioning unit 200 can detect the presence of the first mating part 411 and output a valid detection signal accordingly. The workpiece to be boxed is positioned on the conveying device 400. Multiple first mating parts 411 are provided on the workpiece to be boxed, and the position of each first mating part 411 corresponds one-to-one with the position of each first positioning unit 200. The number of first mating parts 411 is equal to the number of first positioning units 200, and when the conveying device 400 carries the workpiece to be boxed to a preset position, each first mating part 411 on the workpiece to be boxed is simultaneously within the detection range of its corresponding first positioning unit 200.

[0042] In this application, the first positioning unit 200 can employ various detection principles to achieve the detection function.

[0043] In some embodiments, the first positioning part 200 is an infrared detector. The infrared detector can operate on either a through-beam or reflective principle. In the through-beam type, the infrared detector includes an infrared transmitter and an infrared receiver, which are positioned opposite each other on opposite sides of the moving path. When the first mating part 411 on the workpiece to be fitted moves between the infrared transmitter and the infrared receiver, the first mating part 411 blocks the infrared light, causing a change in the light signal received by the infrared receiver, thus indicating that the first mating part 411 has entered the detection range. In the reflective type, the transmitting and receiving ends of the infrared detector are integrated in the same housing, and the infrared light is received by the receiving end after being reflected by the first mating part 411.

[0044] Furthermore, a first positioning part 200 is provided on both sides of the movement path. Two first positioning parts 200 located on opposite sides of the movement path are configured as a detection group. Each detection group contains two first positioning parts 200, located on the left and right sides of the movement path respectively, and directly opposite each other. When the corresponding first mating part 411 on the workpiece to be packaged moves to the position of this detection group, the first mating part 411 is simultaneously within the detection range of both first positioning parts 200. The simultaneous detection of the first mating part 411 by both first positioning parts 200 helps to further improve the reliability of the detection. Even if one of the first positioning parts 200 fails to detect normally due to a fault or interference, the first positioning part 200 on the other side can still detect the first mating part 411, helping to avoid misjudgments caused by unilateral detection failure.

[0045] Furthermore, the second positioning unit 300 is disposed on the moving path to buffer and stop the conveying device 400. The second positioning unit 300 is disposed at the lifting station away from the entrance of the moving path, that is, at the end or near the end of the moving path. Specifically, refer to... Figure 4 The second positioning part 300 includes a limiting member 310 and a buffer member 320. The buffer member 320 is disposed on the moving path of the conveying device 400 and is located on the side of the limiting member 310 facing the conveying device 400. Along the moving direction of the conveying device 400, the buffer member 320 is in front and the limiting member 310 is behind. The conveying device 400 first contacts the buffer member 320 and then the limiting member 310.

[0046] Specifically, the buffer 320 has a movable and telescopic structure. When the conveyor 400 moves along the moving path, it first pushes against the buffer 320. After being pushed by the conveyor 400, the buffer 320 deforms or compresses, absorbing the impact energy of the conveyor 400 and gradually reducing the speed of the conveyor 400. The limiting member 310 is located at the end of the buffer stroke of the buffer 320. When the buffer stroke of the buffer 320 is fully compressed, if the conveyor 400 still tends to continue moving, the limiting member 310 will block the conveyor 400 from continuing to move forward, forming a hard limit. This method of buffering first and then limiting helps to absorb the impact energy of the conveyor 400 and also helps to ensure the certainty of the stopping position of the conveyor 400.

[0047] In some embodiments, the buffer 320 may be a hydraulic buffer. When the conveying device 400 moves to the end along the moving path, the conveying device 400 pushes the protruding end of the compression rod, which drives the piston rod to slide in the cylinder. The piston rod compresses the hydraulic medium, and the hydraulic medium generates a damping force when flowing through the damping orifice or valve port on the piston, thereby absorbing the impact energy of the conveying device 400. The hydraulic buffer can smoothly absorb the impact energy of the conveying device 400 through the damping effect of the hydraulic medium, which helps to reduce the damage to the equipment and workpiece caused by the impact. At the same time, its damping characteristics can be adjusted by adjusting the size of the damping orifice or the viscosity of the hydraulic medium to adapt to conveying devices 400 of different weights and speeds. The limiting member 310 is a limiting block fixedly set on the moving path. The limiting block is fixedly set on the moving path and located on the side of the cylinder facing the conveying device 400. The end face of the limiting block facing the conveying device 400 is flush with the end face of the protruding end of the compression rod when it is fully pushed into the cylinder. When the compression rod is fully pushed into the cylinder by the conveying device 400, the position of the protruding end face of the compression rod and the position of the end face of the limiting block facing the conveying device 400 are in the same spatial plane. Thus, when the conveying device 400 pushes the compression rod until it is fully retracted into the cylinder, the conveying device 400 simultaneously comes into contact with the limiting block. This flush-end configuration ensures that the conveying device 400 contacts the limiting block precisely at the same moment the hydraulic buffer completes its full buffering stroke. The limiting block provides the final mechanical hard limit, helping to ensure that the conveying device 400 stops at the same position each time.

[0048] In some embodiments, the second positioning unit 300 further includes a displacement detection element. The displacement detection element is disposed on the hydraulic buffer and is used to detect the displacement of the compression rod of the hydraulic buffer. The displacement detection element can be a displacement sensor or other device capable of detecting linear displacement. The displacement detection element can be disposed on the cylinder of the hydraulic buffer to detect the extension length of the compression rod relative to the cylinder; or it can be disposed on the compression rod to detect the movement distance of the compression rod. When the conveying device 400 pushes the compression rod of the hydraulic buffer, the compression rod gradually retracts into the cylinder, and the displacement detection element detects the displacement of the compression rod in real time and converts the displacement into an electrical signal and sends it to the controller. When the conveying device carries the workpiece to be boxed to a preset position, the displacement of the displacement detection element should fall within a preset displacement range (i.e., the displacement range corresponding to when the hydraulic buffer is fully compressed or nearly fully compressed), and each first positioning unit 200 detects the corresponding first mating part 411 on the workpiece to be boxed. The conveying device 400 can only be confirmed to have accurately reached the preset position when both conditions are met simultaneously: First, the displacement of the compression rod detected by the displacement detection element is within the preset displacement range, indicating that the hydraulic buffer has been compressed to the predetermined degree and the conveying device 400 has abutted against the limiting element 310; second, all the first positioning parts 200 detect their respective first mating parts 411, indicating that each first mating part 411 on the workpiece to be boxed has entered its respective detection range. This dual confirmation mechanism helps reduce misjudgments caused by a single abnormal signal and improves the accuracy of positioning confirmation.

[0049] In some embodiments, the second positioning part 300 further includes a telescopic drive assembly 330. A limiting member 310 and a buffer member 320 are spaced apart on the telescopic drive assembly 330 along a direction perpendicular to the moving path. The telescopic drive assembly 330 can be a cylinder, hydraulic cylinder, electric actuator, or other drive device capable of linear reciprocating motion. A mounting base is connected to the telescopic end of the telescopic drive assembly 330, and both the limiting member 310 and the buffer member 320 are fixed to this mounting base. When the telescopic drive assembly 330 extends, the limiting member 310 and the buffer member 320 extend into the moving path along with the mounting base. At this time, the limiting member 310 and the buffer member 320 are located on the moving path of the conveying device 400 and can stop the conveying device 400. When the telescopic drive assembly 330 retracts, the limiting member 310 and the buffer member 320 exit the moving path along with the mounting base. At this time, the limiting member 310 and the buffer member 320 leave the moving path of the conveying device 400 and will not interfere with the normal passage of the conveying device 400. By means of the telescopic drive assembly 330, the limit member 310 and the buffer member 320 can be retracted to the outside of the movement path when it is not necessary to stop the conveyor 400, so as to avoid interfering with the normal passage of the conveyor 400.

[0050] In some embodiments, the second positioning parts 300 may be disposed on both sides of the movement path. Two second positioning parts 300 located on opposite sides of the movement path are configured as a limiting group. When the conveying device 400 reaches a preset position, the two second positioning parts 300 in the limiting group stop the conveying device 400 from both sides of the movement path, and both second positioning parts 300 simultaneously contact the conveying device 400. This helps to make the force on the conveying device 400 more balanced when it stops, helps to improve the stability of the stopping position, and avoids the conveying device 400 from tilting due to force on one side.

[0051] According to some embodiments of this application, the conveying device 400 is used to carry the workpiece to be boxed into the boxing station along the track 500, and to carry the box body 2 into the boxing station along the same track 500. After the boxing is completed, the conveying device 400 is also used to transport the box body 2 and the workpiece to be boxed inside the box body 2 away from the boxing station together.

[0052] Specifically, refer to Figure 2 The conveying device 400 includes a carrier 410 and two drive trolleys 420. The carrier 410 is movably disposed at the box-packing station and has a support portion for carrying the workpiece. The two drive trolleys 420 are respectively disposed at both ends of the carrier 410 and are detachably connected to the carrier 410. When conveying the workpiece to be boxed (i.e., the heavy battery module 1), both drive trolleys 420 are simultaneously connected to the carrier 410, forming a power unit that drives the carrier 410 to move, so as to carry and transport the heavy module 1. When conveying the box 2, since the box 2 is relatively light, the conveying device 400 can use only one drive trolley 420 to carry the box 2 along the track 500, or use other forms of transport to carry the box 2. The carrier 410 is provided with a protrusion 430, which protrudes outward from the outer side wall of the carrier 410.

[0053] Once the carrier 410, carrying the workpiece to be packaged, reaches the preset position and the workpiece is lifted by the lifting assembly 110, the two drive trolleys 420 separate from the carrier 410. After separation, refer to... Figure 8 or Figure 9 The drive trolley 420, located at the end of the conveying channel, remains within the channel. The end face of the drive trolley 420 facing the carrier 410 is configured as a third positioning part. During the subsequent box-fitting operation of the conveyor box 2, when the conveyor device 400 carrying the box 2 travels along the track 500 to the end, its end face abuts against the third positioning part. The third positioning part positions the box 2 at the end of its journey, ensuring the accurate final position of the box 2 after fitting. The third positioning part enables the drive trolley 420 to serve multiple purposes, simplifying the equipment structure and eliminating the need for additional independent positioning components.

[0054] The track 500 is laid along the cable routing path at the casing station. In this application, reference is made to... Figure 2 The track 500 includes a main conveying section 520 and two guide sections 510. The two guide sections 510 are respectively located at both ends of the main conveying section 520. Each guide section 510 is coaxially arranged with the main conveying section 520, and each guide section 510 has a distal end away from the main conveying section 520 and a proximal end connected to the main conveying section 520. The inner diameter of each guide section 510 gradually decreases from the distal end to the proximal end. The track 500 is used to allow the conveying device 400 to move along the conveying direction. The conveying device 400 is configured to enter the track 500 from the distal end of the guide section 510, be guided by the guide section 510, and then enter the main conveying section 520.

[0055] Specifically, track 500 includes two mirror-symmetrically arranged guide rail groups, forming a guide channel for the conveying device 400 to travel between the two guide rail groups. Each guide rail group includes a first guide rail segment and a second guide rail segment connected to each other. A guide section 510 is formed between the first guide rail segments of the two guide rail groups, and a main conveying section 520 is formed between the second guide rail segments of the two guide rail groups. The distance between the two guide rail groups at the first guide rail segment gradually decreases from the far end to the near end. At the far end, the distance between the two first guide rail segments is the largest, facilitating the entry of the conveying device 400. As the device moves along the conveying direction towards the near end (i.e., towards the main conveying section 520), the distance between the two first guide rail segments gradually decreases until it is equal to the distance between the two second guide rail segments at the near end. The distance between the second guide rail segments of the two guide rail groups remains constant, equal to the distance between the first guide rail segments at the near end, ensuring a constant width of the main conveying section 520 and maintaining the centering of the conveying device 400 as it moves within the main conveying section 520. The two guide rail groups are arranged in a mirror symmetrical manner, so that the conveying device 400 is subjected to symmetrical thrust from the left and right sides during the guiding process, which helps to ensure the centering accuracy and prevent the conveying device 400 from deviating to one side.

[0056] Specifically, the second guide rail section includes multiple guide rail components 521 connected sequentially along the conveying direction. Adjacent guide rail components 521 are detachably connected, allowing the length of the main conveying section 520 to be adjusted according to actual needs. For example, when the spatial dimensions of the box-making station change, or when it is necessary to adapt to different sizes of boxes 2 or workpieces to be boxed, the length of the main conveying section 520 can be adjusted by increasing or decreasing the number of guide rail components 521, or by replacing guide rail components 521 with those of different lengths.

[0057] The guide rail 521 has a second mating part, and the conveying device 400 has a corresponding third mating part. The second and third mating parts cooperate to constrain the movement of the conveying device 400 along the conveying direction. This cooperation helps prevent the conveying device 400 from deviating from the track 500 during movement, especially when carrying heavy workpieces to be boxed, thus ensuring the stability of the conveying device 400. In this embodiment, referring to… Figure 5 The second mating part is a guide groove 5211 extending along the conveying direction, and the third mating part is a protrusion 430 provided on the conveying device 400. The protrusion 430 is embedded in the guide groove 5211 and is movably connected to the guide groove 5211. The guide groove 5211 extends along the conveying direction, and its width is slightly larger than the width of the protrusion 430, so that the protrusion 430 can slide freely in the guide groove 5211 along the conveying direction, but is constrained by the side wall of the guide groove 5211 in the direction perpendicular to the conveying direction, which helps to ensure that the conveying device 400 does not deviate from the direction of the track 500 when moving along the track 500.

[0058] In some embodiments, the conveying device 400 also has a lifting function for adjusting the height of the carrier 410 in the vertical direction. Specifically, the carrier 410 is provided with a lifting adjustment structure, which is connected to the support portion and configured to drive the support portion to reciprocate vertically relative to the carrier 410. The lifting adjustment structure includes a lead screw and a drive end. The lead screw is rotatably mounted on the carrier 410 and extends vertically, and the drive end is connected to the lead screw. The drive end is used to drive the lead screw to rotate around its own axis to drive the support portion to reciprocate vertically. The drive end can be a handwheel or a drive motor.

[0059] Understandably, during the movement of the conveying device 400 towards the preset position, the supporting part is driven to rise by the lifting adjustment structure, aligning the vertical position of the protrusion 430 with the inlet position of the guide groove 5211. After the protrusion 430 inserts into the guide groove 5211, the groove wall of the guide groove 5211 horizontally constrains the position of the protrusion 430, keeping the conveying device 400 horizontally centered. Simultaneously, the bottom of the guide groove 5211 vertically constrains the protrusion 430, limiting the vertical position of the protrusion 430 and the supporting part of the connected carrier 410 to a preset height. This preset height is set to be consistent with the vertical height of the connection part of the lifting assembly 110, ensuring that when the conveying device 400 reaches the preset position, the connection part of the supporting part and the connection part of the lifting assembly 110 remain vertically aligned. Through the aforementioned dual constraints in both the horizontal and vertical directions, the centerline of the support portion and the centerline of the lifting assembly 110 are collinear in the horizontal direction, and the connecting part of the support portion and the connecting part of the lifting assembly 110 are aligned in the vertical direction. This ensures that the axis of the housing 2 and the axis of the workpiece to be fitted into the housing are automatically kept parallel and collinear. The above process achieves coaxial positioning of the workpiece to be fitted into the housing 2.

[0060] Furthermore, a guide wheel assembly 530 is provided within the guide groove 5211, comprising a plurality of guide wheels spaced apart along the conveying direction. Each guide wheel is rotatably mounted on the groove wall of the guide groove 5211, and the rolling surface of each guide wheel protrudes from the groove wall surface of the guide groove 5211 for rolling engagement with the outer wall surface of the protrusion 430. When the conveying device 400 moves along the track 500, the outer wall of the protrusion 430 forms rolling contact with the rolling surface of the guide wheel, converting sliding friction into rolling friction, which helps to further reduce frictional resistance, making the conveying device 400 move more smoothly, and also helps to reduce wear on the protrusion 430 and the guide groove 5211.

[0061] In some embodiments, the protrusion 430 may also be recessed with a receiving groove, into which a portion of the guide wheel extends, and the rolling surface of the guide wheel makes rolling contact with the groove wall. The receiving groove makes the fit between the guide wheel and the protrusion 430 tighter. With a portion of the guide wheel embedded in the receiving groove and the rolling surface in contact with the groove wall, the contact area between the guide wheel and the protrusion 430 is increased, which helps improve guiding stability. Furthermore, the receiving groove provides a certain degree of restraint for the guide wheel, helping to prevent the conveying device 400 from jumping in the vertical direction.

[0062] Reference Figure 5The guide wheel assembly 530 includes multiple large guide wheels 531 and multiple small guide wheels 532 arranged alternately along the conveying direction. The outer diameter of the large guide wheels 531 is larger than that of the small guide wheels 532. The alternating arrangement of the large guide wheels 531 and the small guide wheels 532 ensures that the sidewall of the conveying device 400 is supported by guide wheels of different diameters at different positions. The large guide wheels 531 can provide greater support force and rolling stability, while the small guide wheels 532 can be arranged more densely within a limited space. At least two small guide wheels 532 are provided, and each small guide wheel 532 is spaced apart in the vertical direction intersecting the conveying direction to form multi-point rolling contact at different height positions of the protrusion 430. In the vertical direction, multiple small guide wheels 532 are arranged at different height positions, so that the side wall of the protrusion 430 is supported by the rolling of the guide wheels at multiple height positions. This helps to prevent the conveying device 400 from tilting or shaking during movement. Especially when carrying heavy workpieces to be boxed, multi-point support helps to ensure the stability of the conveying device 400.

[0063] In another embodiment, reference Figure 1 At the same time, in conjunction with reference Figures 6 to 9 The kitting method based on dynamic stroke avoidance provided in this application includes the following steps: S1: Obtain the arrival signal of the workpiece to be boxed at the boxing station.

[0064] Multiple first positioning parts 200 are arranged sequentially along the moving path of the conveying device 400 carrying the workpieces to be boxed. The workpieces to be boxed are positioned on the conveying device 400 and have multiple mating parts, each corresponding to one of the first positioning parts 200. As the conveying device 400 carries the workpieces along the moving path, each first positioning part 200 detects the position of each mating part on the workpiece and outputs a corresponding detection signal. When the detection signal output by each first positioning part 200 corresponds one-to-one with the position of each mating part on the workpiece, a positioning signal is generated.

[0065] Taking a configuration with four first positioning parts 200 and four mating parts as an example, Figures 6 to 7When the conveyor 400, carrying the workpiece to be boxed, begins to enter the moving path, the first mating part on the workpiece first passes the first (closest to the entrance) first positioning part 200, which outputs a valid signal; subsequently, the mating part passes the second first positioning part 200, which outputs a valid signal, and so on. Simultaneously, the second, third, and fourth mating parts on the workpiece pass each first positioning part 200 in sequence. The controller continuously monitors the signal output status of each first positioning part 200 and determines the current position of each mating part on the workpiece based on the timing and sequence of the valid signals output by each first positioning part 200. When the conveyor 400 continues to a certain position, all mating parts on the workpiece are simultaneously within the detection range of their respective first positioning parts 200, at which point each first positioning part 200 simultaneously outputs a valid detection signal to the controller. The controller determines that the detection signals output by each first positioning part 200 correspond one-to-one with the positions of each mating part on the workpiece, and at this point, a positioning signal is generated.

[0066] A second positioning unit 300 is also provided on the moving path. The second positioning unit 300 is used to buffer and stop the conveying device 400. When the conveying device 400 arrives at the box-making station, the real-time operating parameters of the conveying device 400 are acquired. Based on the real-time operating parameters, the second positioning unit 300 is controlled to start the stopping action to stop the conveying device 400 at a preset position.

[0067] The start command of the second positioning unit 300 is generated based on the real-time operating parameters of the conveying device 400. The real-time operating parameters may be at least one of the following: the cumulative moving distance of the conveying device 400 along the moving path, the real-time distance between the conveying device 400 and the second positioning unit 300, or the detection signal output by the first positioning unit 200.

[0068] Regarding the activation method of the second positioning unit 300, there are several embodiments: Example 1: Real-time operating parameter is cumulative travel distance. The controller acquires the cumulative travel distance of the conveyor 400 from its starting position in real time through the encoder of the drive motor or a distance sensor installed on the travel path. When the travel distance reaches a preset threshold (which corresponds to the distance at which the conveyor 400 is about to reach the location of the second positioning unit 300), the controller sends a start command to the second positioning unit 300.

[0069] Example 2: The real-time operating parameter is the real-time distance. A distance detector is installed at the location of the second positioning unit 300. This distance detector can be a laser rangefinder, an ultrasonic sensor, or other components capable of detecting distance. The distance detector detects the distance between the conveying device 400 and the second positioning unit 300 in real time and sends the detection result to the controller. When the real-time distance falls within a preset value range, the controller sends a start command to the second positioning unit 300.

[0070] Example 3: The real-time operating parameter is the detection signal of the first positioning unit 200. When a preset number of objects approaching the second positioning unit 300 and the first positioning unit 200 both output valid detection signals, the controller sends a start command to the second positioning unit 300.

[0071] The three startup methods mentioned above can be used individually or in combination. Sending a startup command only when multiple conditions are met simultaneously helps improve the reliability of triggering.

[0072] The second positioning part 300 includes a limiting member 310 and a buffer member 320. The buffer member 320 is disposed on the side of the limiting member 310 facing the conveying device 400. The limiting member 310 is used to provide hard limiting, and the buffer member 320 is used to absorb the impact energy of the conveying device 400.

[0073] The step of confirming that the workpiece to be boxed has arrived at the boxing station also includes arrival confirmation. Regarding the arrival confirmation method, there are several implementation methods as follows: Method 1: Judgment based on the compression displacement of the buffer 320 combined with the detection signal from the first positioning part 200. When the conveying device 400 is stopped at a preset position by the second positioning part 300, the displacement detection component detects the displacement of the compression rod of the hydraulic buffer and sends this displacement to the controller. The controller determines whether this displacement falls within a preset displacement range (i.e., the displacement range corresponding to when the hydraulic buffer is fully compressed or nearly fully compressed). Simultaneously, the controller determines whether each of the first positioning parts 200 outputs a valid detection signal (i.e., whether each of the first positioning parts 200 detects its corresponding mating part, i.e., the pin). When both conditions are met simultaneously, i.e., the displacement of the displacement detection component falls within the preset displacement range and each of the first positioning parts 200 detects its corresponding mating part, the controller determines that the workpiece to be boxed is located at the preset position of the boxing station. After the conveying device 400 is stopped, the controller will wait for a preset period of time and continuously monitor whether each of the first positioning parts 200 consistently outputs a valid detection signal during this period. If each of the first positioning units 200 consistently outputs a valid signal during this time period, it indicates that the conveying device 400 has stopped stably at the preset position without rebound or shaking. Only then is it confirmed that the workpiece to be boxed has arrived at the boxing station and a positioning signal is generated.

[0074] Method 2: Judgment based on the cumulative number of times each first positioning unit 200 detects the mating part. Each first positioning unit 200 is arranged sequentially along the extension direction of the moving path, and the detection count is recorded for each. The controller continuously counts the cumulative number of valid detection signals output by each first positioning unit 200 during the movement of the conveyor device 400. Since each first positioning unit 200 is arranged sequentially along the moving path, the number of times each first positioning unit 200 detects the mating part is related to its location; the first positioning unit 200 near the entrance detects the most times, and the first positioning unit 200 near the exit detects the fewest times. The detection count of each first positioning unit 200 decreases successively along the extension direction of the moving path according to its location. When the distribution of the detection counts of each first positioning unit 200 conforms to a preset decreasing pattern, the controller determines that the workpiece to be boxed has been located at the preset position of the boxing station.

[0075] For example, when four first positioning parts 200 are provided, the first positioning part 200 near the entrance of the movement path should detect the mating part four times (representing that four sets of mating parts pass through the position successively). Along the direction away from the entrance of the movement path, the number of times each first positioning part 200 detects the mating part decreases by one, and the first positioning part 200 closest to the second positioning part 300 should detect it once. When the distribution of the number of detections of each first positioning part 200 conforms to this preset decreasing pattern, it is determined that the workpiece to be boxed has been located at the preset position of the boxing station.

[0076] The two methods of arrival confirmation mentioned above can be used individually or in combination to form a double confirmation.

[0077] S2: Control the lifting assembly 110 to lift the workpiece to be boxed to the preset height.

[0078] Once the position of the workpiece to be boxed is confirmed, the controller sends a lifting command to the lifting device 100. In response to the position signal, the lifting assembly 110 is controlled to lift the workpiece to be boxed to a preset height.

[0079] Regarding the activation method of the lifting assembly 110, there are several embodiments as follows: Example 1: A lifting start signal is simultaneously sent to all lifting components 110 to control each lifting component 110 to perform the lifting action. After the workpiece to be boxed is lifted to the preset height, a disengagement control signal is sent to the lifting components 110 located at the first and last ends of the workpiece to be boxed, controlling them to release their connection with the workpiece. All lifting components 110 start lifting simultaneously, lifting the entire workpiece to be boxed to the preset height. Then, the lifting components 110 located at the first and last ends release, leaving only the middle lifting component 110 to continue supporting the workpiece.

[0080] Example 2: A lifting start signal is sent to the lifting assembly 110 located in the middle, controlling the lifting assemblies 110 located at the front and rear ends to remain in a non-lifting state. From the beginning, only the lifting assembly 110 in the middle performs the lifting action, and the lifting assemblies 110 at the front and rear ends do not participate in the initial lifting.

[0081] S3: Obtain the coaxial positioning signal between the workpiece to be boxed and the box body 2.

[0082] Once the workpiece to be fitted into a box is lifted to a preset height, the axial position of the workpiece is determined. A coaxial positioning signal between the workpiece and the box 2 is acquired, and the coaxial positioning signal is used to confirm that the workpiece and the box 2 are coaxial.

[0083] Specifically, during the process of the conveying device 400 entering the box-making station along the track 500, a guide channel is formed between the protrusion 430 on the conveying device 400 and the second mating part on the track 500. The protrusion 430 slides along the guide channel, and the conveying device 400 is constrained in the horizontal and vertical directions by mechanical limiting, so that the center line of the support part of the carrier 410 is collinear with the center line of the lifting assembly 110 in the horizontal direction, and the connection part of the support part is flush with the connection part of the lifting assembly 110 in the vertical direction. After the lifting assembly 110 lifts the workpiece to be boxed to a preset height, the axial position of the workpiece to be boxed is determined. Based on the axial position of the workpiece to be boxed at this time, a coaxial positioning signal is generated. The controller confirms that the workpiece to be boxed and the box 2 are in a coaxial state based on this signal, providing a position reference for the subsequent conveying of the box 2 and the box-making operation.

[0084] After the workpiece is lifted, the two drive trolleys 420 separate from the carrier 410. The drive trolley 420 located at the end of the conveying channel remains in the conveying channel, and the end face of the drive trolley 420 facing the carrier 410 is configured as a third positioning part. The third positioning part serves as the end positioning reference for subsequent conveying and packing of the box 2.

[0085] S4: Control the conveying device 400 to transport the box 2 to the box-making station, and control the lifting assembly 110 to alternately perform engagement and disengagement actions according to the real-time position information of the box 2.

[0086] Figures 8 to 9After lifting, the control conveying device 400 transports the box 2 to the box-fitting station, acquires the real-time position information of the box 2 during the transport process, and controls the corresponding lifting components 110 to either engage with the workpiece to be fitted to support it, or disengage from it to release it from support. During the transport of the box 2, the axial position of the box 2 is adjusted according to the coaxial positioning signal to ensure that the axis of the box 2 is coaxial and collinear with the axis of the workpiece. The conveying device 400 carrying the box 2 travels along the track 500 to its end, where its end face abuts against the third positioning part, which positions the end of the box 2's travel.

[0087] S4-1: Select a preset number of lifting groups located in the middle along the conveying direction as the initial lifting groups. Control the initial lifting groups to perform the engagement action with the workpiece to be boxed, while the remaining lifting groups remain in a non-lifting state. Taking four lifting groups as an example, the second and third lifting groups (i.e., the two lifting groups located in the middle) perform the engagement action first, while the first and fourth lifting groups (i.e., the two lifting groups located at the beginning and end) remain in a non-lifting state.

[0088] S4-2: As the housing 2 moves along the conveying direction, when the predetermined part (i.e. the column) on the housing 2 is detected to reach the position of the lifting group currently performing the engagement action, the adjacent lifting group located in front of the lifting group and not yet started is controlled to perform the engagement action with the workpiece to be fitted, and the current lifting group is controlled to perform the disengagement action from the workpiece to be fitted.

[0089] S4-3: Repeat the above steps until the box 2 is completely fitted over the outside of the workpiece to be boxed.

[0090] The above process is explained in detail using four lifting groups as an example: Box 2 moves along the conveying direction from the first lifting group to the fourth lifting group. Before the boxing operation begins, the second and third lifting groups first perform an engagement action, lifting the areas of the workpiece to be boxed corresponding to the second and third lifting groups to a preset height. At this time, the second and third lifting groups jointly support the workpiece to be boxed, while the first and fourth lifting groups remain in a non-lifting state.

[0091] The housing 2 begins to move along the conveying direction, gradually fitting onto the workpiece to be fitted. During the forward movement of the housing 2, when its front end moves in front of the second lifting group (i.e., the predetermined part on the housing 2 is about to reach the position of the second lifting group), the first lifting group activates and performs an engagement action, forming a supporting fit with the workpiece to be fitted, and lifting the area on the workpiece corresponding to the first lifting group to a preset height. Simultaneously, the second lifting group performs a disengagement action, releasing its connection with the workpiece to be fitted, and shifting outside the travel path of the predetermined part, allowing the predetermined part on the housing 2 to pass unimpeded through the position of the second lifting group. Through these actions, the first lifting group takes over the supporting task originally undertaken by the second lifting group, ensuring that the workpiece to be fitted is still stably supported by at least two lifting groups (in this case, the first and third lifting groups) during the avoidance phase of the second lifting group.

[0092] Before detaching from the workpiece to be boxed, a pause signal is sent to the conveyor 400. Once the engagement of the adjacent lifting group is detected, a restart signal is sent to the conveyor 400 to continue moving the box 2. Before a lifting group needs to detach, the conveyor 400 is paused. After the adjacent lifting group completes its engagement and begins supporting the workpiece, the conveyor 400 is restarted, and the box 2 continues to move forward. This helps ensure that there are enough lifting groups engaged at any given time.

[0093] The housing 2 continues to advance. When the predetermined part of the housing 2 passes the second lifting group, the second lifting group re-executes the engagement action, once again forming a supporting fit with the workpiece to be fitted, and lifting the corresponding area back to the preset height. Regarding the timing of the second lifting group re-executing the engagement action, there are several embodiments: Example 1: After the second lifting group passes the predetermined position of the box 2, the conveying device 400 stops, and the second lifting group resumes the engagement action to restore the support of the workpiece to be boxed.

[0094] Example 2: After the predetermined part of the housing 2 passes the second lifting group, the conveying device 400 remains in operation. When the predetermined part of the housing 2 moves to the front of the third lifting group and stops, the second lifting group re-executes the engagement action.

[0095] The housing 2 continues to move forward in the conveying direction. When the front end of the housing 2 moves in front of the third lifting group (i.e., the predetermined part on the housing 2 is about to reach the position of the third lifting group), the fourth lifting group starts and performs an engagement action, forming a supporting engagement with the workpiece to be fitted, and lifting the area of ​​the workpiece to be fitted corresponding to the fourth lifting group to a preset height. At the same time, the third lifting group performs a disengagement action to allow the predetermined part on the housing 2 to pass through the position of the third lifting group without interference. Through the above actions, the fourth lifting group takes over the supporting task originally undertaken by the third lifting group, so that the workpiece to be fitted is still stably supported by at least two lifting groups (at this time, the first lifting group, the second lifting group, and the fourth lifting group) during the period when the third lifting group avoids it.

[0096] As the box 2 continues to move forward, when the predetermined part of the box 2 passes the third lifting group, the third lifting group re-executes the engagement action, once again forming a supporting engagement with the workpiece to be boxed, and lifting the corresponding area back to the preset height.

[0097] The housing 2 continues to advance. When it reaches the front of the fourth lifting group, the second and third lifting groups remain engaged, while the first and fourth lifting groups move aside. The first and fourth lifting groups then disengage, allowing the predetermined portion of the housing 2 to pass unimpeded from the positions of the first and fourth lifting groups. At this point, the second and third lifting groups remain engaged, continuing to support the workpiece to be fitted. The housing 2 continues to advance until it is completely fitted over the workpiece.

[0098] After the current lifting group disengages from the workpiece to be fitted, once the predetermined part on the housing 2 has completely passed the position of the current lifting group, the current lifting group is controlled to re-execute the engagement action with the workpiece to be fitted. When the predetermined part has passed the position of the current lifting group, the current lifting group restarts engagement to restore support for the workpiece to be fitted.

[0099] S5: Obtain the box completion signal.

[0100] The system acquires the positioning detection signal of the box 2 relative to the workpiece to be boxed when it moves to the preset boxing end point, and generates a boxing completion signal in response to the positioning detection signal.

[0101] Specifically, when the container 2 moves along the conveying direction to the preset end position of the box-packing, the end face of the conveying device 400 carrying the container 2 abuts against the third positioning part. The detection element set at the end of the box-packing station detects that the container 2 has reached the end point and generates a positioning detection signal. The controller responds to the positioning detection signal and generates a box-packing completion signal.

[0102] S6: Control the lifting assembly 110 to lower the workpiece to be boxed into the box 2.

[0103] In response to the boxing completion signal, the lifting assembly 110 lowers the workpiece to be boxed into the box 2. After boxing is completed, the second drive unit of the lifting group (such as the second lifting group and the third lifting group) in the engaged state starts in reverse, driving their respective lifting assemblies to descend vertically, so that the workpiece to be boxed is lowered and supported by the box 2. At this time, the workpiece to be boxed is supported by the hollow frame box 2.

[0104] Subsequently, the first drive unit of each lifting group is activated, switching its respective lifting assembly from the docking position to the avoidance position. In the scheme with a third drive unit, the third drive unit first drives the lifting rod 113 to retract, causing the insertion hole 1131 to disengage from the mating part. Each lifting part disengages from the workpiece to be fitted and shifts outside the travel path.

[0105] S7: Control the conveyor 400 to move the box 2 and the workpiece to be boxed out of the boxing station together.

[0106] The control conveyor 400 moves the box 2 and the workpiece to be boxed together out of the boxing station. The conveyor 400 transports the box 2 that has been boxed and the workpiece to be boxed inside the box 2 together away from the boxing station along the travel path.

[0107] During the aforementioned process, each lifting group sequentially avoids and re-connects to the predetermined location on the hollow frame housing 2, based on the real-time position of that location. When the predetermined location is about to reach the position of a certain lifting group, the next adjacent lifting group is activated first to take over the support of the workpiece. Then, the current lifting group is released and avoids the predetermined location. After the predetermined location has passed, the current lifting group restarts its engagement. This alternating sequence of actions—activating the adjacent lifting group first, then releasing the current lifting group, and restarting after the predetermined location has passed—helps ensure that the workpiece to be fitted is always stably supported by at least two lifting groups throughout the entire process, while providing an interference-free path for the passage of the predetermined location.

[0108] In the embodiment equipped with a second positioning part 300, the second positioning part 300 blocks the conveyor 400 carrying the module 1 when the conveyor 400 enters for the first time, causing the module 1 to stop accurately at a preset position before being lifted. When the conveyor 400 enters for the second time, the second positioning part 300 remains retracted to allow the conveyor 400 to carry the box 2. After the box 2 is completely fitted into the module 1, the second positioning part 300 extends and blocks the conveyor 400, ensuring accurate final positioning of the box 2 and the module 1 after the box is fitted. Both blocking actions are performed by the same second positioning part 300, which plays a crucial positioning role in both conveying processes. During the box fitting process, the second positioning part 300 remains retracted and does not obstruct the movement of the conveyor 400. After the box fitting is completed, the second positioning part 300 extends and remains in a limited position until the conveyor 400 needs to exit, at which point it retracts and releases.

[0109] The method for mounting carriers based on dynamic stroke avoidance and the heavy-duty module mounting equipment provided in this application improve the reliability of carrier 410 positioning by performing lifting only after confirming the carrier 410 is in place through multi-point detection. Multiple first positioning units 200 detect the position of multiple first mating parts 411 on the carrier 410, and a stop command is sent to the conveying device 400 only when all first positioning units 200 detect the corresponding first mating part 411. This facilitates multi-point composite confirmation of the stopping position of the carrier 410, avoiding positioning errors caused by misjudgment from a single sensor. The second positioning unit 300 buffers and stops the conveying device 400, helping to absorb the impact energy of the carrier 410 while ensuring the certainty of the stopping position of the carrier 410. By combining the compression displacement detection of the buffer 320 with the detection signal of the first positioning unit 200 for positioning determination, or by determining positioning determination based on the cumulative number of times each first positioning unit 200 detects the first mating part 411, multiple independent positioning confirmation methods are provided, further improving the flexibility and reliability of positioning determination.

[0110] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0111] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for nesting boxes based on dynamic stroke avoidance, characterized in that, Includes the following steps: Obtain the arrival signal of the workpiece to be boxed at the boxing station; In response to the positioning signal, the lifting assembly (110) is controlled to lift the workpiece to be boxed to a preset height; The control conveying device (400) conveys the box (2) to the boxing station, obtains the real-time position information of the box (2) during the conveying process, and controls the corresponding lifting component (110) to perform the engagement action with the workpiece to be boxed in order to support the workpiece to be boxed, or to perform the disengagement action with the workpiece to be boxed in order to release the support of the workpiece to be boxed. Obtain the boxing completion signal, and in response to the boxing completion signal, control the lifting assembly (110) to lower the workpiece to be boxed into the box body (2); Control the conveying device (400) to move the box (2) and the workpiece to be boxed out of the boxing station together.

2. The method for box-mounted boxes based on dynamic stroke avoidance according to claim 1, characterized in that, After the workpiece to be boxed is lifted to a preset height, the process also includes obtaining a coaxial positioning signal between the workpiece to be boxed and the box body (2), and confirming that the workpiece to be boxed and the box body (2) are in a coaxial state in response to the coaxial positioning signal. The steps for obtaining the coaxial positioning signal include: The coaxial positioning signal is generated based on the axial position of the workpiece to be boxed after it has been lifted. When the conveying device (400) enters the box-making station along the track (500), the guide groove (5211) of the track (500) and the protrusion (430) of the conveying device (400) cooperate to constrain the conveying device (400) in the horizontal and vertical directions, so that the center line of the supporting part of the conveying device (400) and the center line of the lifting assembly (110) are collinear in the horizontal direction, and the connecting part of the supporting part and the connecting part of the lifting assembly (110) are flush in the vertical direction.

3. The method for box-mounted boxes based on dynamic stroke avoidance according to claim 2, characterized in that, In response to the positioning signal, the step of controlling the lifting assembly (110) to lift the workpiece to be boxed to a preset height includes: Simultaneously send a lifting start signal to all the lifting components (110) to control each of the lifting components (110) to perform a lifting action; After the workpiece to be boxed is lifted to the preset height, a disengagement control signal is sent to the lifting assembly (110) located at the beginning and end of the workpiece to be boxed, so as to control it to release the connection relationship with the workpiece to be boxed. Alternatively, a lifting start signal may be sent to the lifting assembly (110) located in the middle of the main conveying section (520) to control the lifting assembly (110) located at the beginning and end of the main conveying section (520) to remain in a non-lifting state.

4. The method for casing boxes based on dynamic stroke avoidance according to any one of claims 1 or 3, characterized in that, Multiple lifting groups are arranged sequentially along the conveying direction of the workpiece to be boxed, and each lifting group includes at least two lifting components (110) that are arranged opposite to each other on both sides of the workpiece to be boxed. The steps of controlling the corresponding lifting assembly (110) to perform engagement or disengagement actions with the workpiece to be fitted, based on the real-time position information, include: A predetermined number of lifting groups located in the middle along the conveying direction are selected as initial lifting groups. The initial lifting groups are controlled to perform engagement actions with the workpiece to be boxed, while the remaining lifting groups remain in a non-lifting state. As the box (2) moves along the conveying direction, when the predetermined part on the box (2) is detected to reach the position of the lifting group currently performing the engagement action, the adjacent lifting group located in front of the lifting group and not yet started is controlled to perform the engagement action with the workpiece to be boxed, and the current lifting group is controlled to perform the disengagement action from the workpiece to be boxed. Repeat the above steps until the box (2) is completely fitted over the outside of the workpiece to be boxed.

5. The method for box-mounted boxes based on dynamic stroke avoidance according to claim 4, characterized in that, Before performing the action of detaching from the workpiece to be boxed, a pause signal is output to the conveying device (400). After the action of engaging the adjacent lifting group in front is detected, a restart signal is output to the conveying device (400) to continue moving the box (2). And / or, after the current lifting group performs the disengagement action from the workpiece to be fitted, once the predetermined part on the housing (2) is detected to have completely passed the position of the current lifting group, the current lifting group is controlled to re-perform the engagement action with the workpiece to be fitted.

6. The method for casing boxes based on dynamic stroke avoidance according to claim 1, characterized in that, The steps for obtaining the arrival signal of the workpiece to be boxed at the boxing station include: Multiple first positioning parts (200) are provided on the moving path of the conveying device (400) carrying the workpiece to be boxed, and each first positioning part (200) is arranged sequentially along the moving path; The conveying device (400) is provided with a plurality of first mating parts (411), and the positions of each first mating part (411) correspond one-to-one with those of each first positioning part (200); As the conveying device (400) travels along the moving path, it detects the position of each of the first mating parts (411) through each of the first positioning parts (200) and outputs a corresponding detection signal. When the detection signal output by each of the first positioning parts (200) corresponds one-to-one with the position of each of the first mating parts (411), the positioning signal is generated.

7. The method for box-mounted boxes based on dynamic stroke avoidance according to claim 6, characterized in that, A second positioning part (300) is also provided on the moving path, and the second positioning part (300) is used to buffer and stop the conveying device (400); When the conveying device (400) arrives at the box-making station, the real-time operating parameters of the conveying device (400) are obtained, and the second positioning part (300) is controlled to start the stop action according to the real-time operating parameters, so as to stop the conveying device (400) at the preset position. When the detection signals output by each of the first positioning parts (200) correspond one-to-one with the positions of each of the first mating parts (411), and the second positioning part (300) completes the blocking action, it is confirmed that the workpiece to be boxed has arrived at the boxing station and the positioning signal is generated.

8. The method for cofferdam accommodation based on dynamic stroke avoidance according to claim 7, characterized in that, The second positioning part (300) includes a limiting member (310) and a buffer member (320). The buffer member (320) is disposed on the side of the limiting member (310) facing the conveying device (400). The limiting member (310) is used to provide hard limiting, and the buffer member (320) is used to absorb the impact energy of the conveying device (400). The steps to confirm that the workpiece to be boxed has arrived at the boxing station also include: The compression displacement of the buffer (320) is detected, and a first confirmation signal is generated when the compression displacement reaches a preset value; Detect whether each of the first positioning units (200) continuously outputs a valid detection signal within a preset time; if so, generate a second confirmation signal. Once both the first confirmation signal and the second confirmation signal are generated, it is confirmed that the workpiece to be boxed has arrived at the boxing station.

9. The method for casing boxes based on dynamic stroke avoidance according to any one of claims 7 or 8, characterized in that, The real-time operating parameter is at least one of the following parameters: The cumulative distance traveled by the conveying device (400) along the moving path; The real-time distance between the conveying device (400) and the second positioning part (300); When a preset number of the first positioning units (200) that are close to the second positioning unit (300) output valid detection signals, the second positioning unit (300) is controlled to start a stop action.

10. A heavy-duty module (1) housing equipment, characterized in that, include: A lifting device (100) is provided at the box-making station. The lifting device (100) includes a plurality of lifting components (110) spaced apart along the radial direction of the workpiece to be boxed. The lifting components (110) are configured to lift the workpiece to be boxed. The position detection device includes a first positioning part (200), which is disposed on the same side as the lifting assembly (110), and the first positioning part (200) is configured to acquire the positioning signal; A conveying device (400) is movably installed at the box-making station, the conveying device (400) being configured to carry the workpiece to be boxed and the box body (2) into and / or out of the box-making station; A controller, electrically connected to the lifting device (100), the position detection device, and the conveying device (400), is configured to perform the carrier-based collision avoidance method according to any one of claims 1 to 9.

Images