Collaborative robot for installing blade battery module connectors

Abstract

The utility model relates to the field of robot technology, and in particular to a collaborative robot for installing connecting pieces of a blade battery module, comprising a loading frame and a robotic arm arranged on the loading frame, the loading frame being provided with a first material bin for storing a first connecting piece and a second material bin for storing a second connecting piece, the robotic arm being provided with a grabbing assembly, the grabbing assembly comprising a first grabbing mechanism and a second grabbing mechanism, the first grabbing mechanism being used to grab the first connecting piece, the second grabbing mechanism being used to grab the second connecting piece, the robotic arm being provided with a force control sensor and a quick-change mechanism, when in use, the grabbing assembly on the robotic arm is used to grab the first positioning piece corresponding to the first material bin and the second positioning piece in the second material bin, and the first positioning piece and the second positioning piece are installed to the required installation position of the blade battery module, thereby realizing fully automatic installation of the blade battery module, reducing labor intensity, and improving installation efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a collaborative robot for installing a blade battery module connecting piece. Background Art

[0002] With the development of new energy vehicles, battery assemblies are becoming more and more important. The battery assembly includes a blade battery module and a mounting frame relatively installed on both sides of the blade battery module. A connecting piece is installed in the mounting block. There are mainly two types of connecting pieces: a first connecting piece located at both ends, and a second connecting piece located between the first connecting pieces at both ends. The first connecting piece and the second connecting piece are clamped on the mounting frame. The existing method is usually manual installation. Since the blade battery module is relatively large and a large number of second connecting pieces are installed, the manual installation of the connecting pieces is inefficient and has high strength, which cannot meet the needs of large-scale production. Utility Model Content

[0003] The technical problem to be solved by the present utility model is: in order to solve the problem that the existing installation is usually done manually, because the blade battery module is relatively large and the number of second connecting plates to be installed is large, the manual installation of the connecting plates is inefficient and has high strength, and cannot meet the needs of large-scale production, a collaborative robot for installing blade battery module connecting plates is now provided.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a collaborative robot for installing a blade battery module connecting piece, comprising a loading frame and a mechanical arm arranged on the loading frame, the loading frame is provided with a first material bin for storing a first connecting piece and a second material bin for storing a second connecting piece, the mechanical arm is provided with a grabbing assembly, the grabbing assembly comprises a first grabbing mechanism and a second grabbing mechanism, the first grabbing mechanism is used to grab the first connecting piece, the second grabbing mechanism is used to grab the second connecting piece, the mechanical arm is provided with a force control sensor and a quick change mechanism, the force control sensor is located between the grabbing assembly and the mechanical arm, the quick change mechanism is located between the force control sensor and the grabbing assembly, the force control sensor is used for the mechanical arm to control the force applied by the grabbing assembly when installing the first connecting piece or the second connecting piece, and the quick change mechanism is used to quickly replace different grabbing assemblies on the mechanical arm. Compared with the prior art, the present solution uses a grabbing assembly on a robotic arm to grab the first positioning piece in the corresponding first material bin and the second positioning piece in the second material bin, and installs the first positioning piece and the second positioning piece to the required installation position of the blade battery module, thereby realizing fully automatic installation of the blade battery module, reducing labor intensity and improving installation efficiency.

[0005] In order to ensure the installation accuracy of the blade battery module, some preferred embodiments further include a distance measuring sensor and a visual positioning component arranged on the feeding rack, the feeding rack is provided with a control mechanism for controlling the distance measuring sensor and the visual positioning component to approach or move away from the blade battery module, the distance measuring sensor is used to detect the distance between the feeding blade battery module and the feeding rack, and the visual positioning component is used to locate the installation position of the first connecting piece or the second connecting piece on the blade battery module. By installing the distance measuring sensor and the visual positioning component on the feeding rack, the distance measuring sensor detects the distance between the feeding rack and the blade battery module, and the visual positioning component is used to locate the installation position of the first connecting piece or the second connecting piece, thereby improving the installation efficiency and installation accuracy.

[0006] In order to realize the control mechanism, some embodiments are preferred, wherein the control mechanism includes a transverse displacement mechanism installed on the loading frame, the transverse displacement mechanism is provided with a longitudinal displacement mechanism, the distance measuring sensor and the visual positioning component are installed on the longitudinal displacement mechanism, the transverse displacement mechanism is used to drive the longitudinal displacement mechanism along the transverse displacement of the blade battery module, and the longitudinal displacement mechanism is used to drive the distance measuring sensor and the visual positioning component close to or away from the blade battery module. The transverse displacement mechanism drives the longitudinal displacement mechanism along the transverse displacement of the blade battery module, thereby driving the distance measuring sensor and the visual positioning component to move closer to or away from the blade battery module, and the longitudinal displacement mechanism drives the distance measuring sensor and the visual positioning component close to or away from the blade battery module.

[0007] In order to realize the second silo, some embodiments are preferred, wherein the second silo includes a turntable and a plurality of storage units arranged on the turntable, wherein the plurality of storage units are arranged along the circumferential direction of the turntable, wherein the turntable is rotatably mounted on a loading rack, wherein the storage units are used to stack and store the second connecting pieces, and wherein the loading rack is provided with a driving mechanism for controlling the rotation of the turntable. The turntable is driven to rotate by the driving mechanism, and the storage units on the turntable stack and store the second connecting pieces, and a large number of second connecting pieces can be stored, thereby ensuring that there is sufficient reserve of second connecting pieces when the equipment is installed.

[0008] In order to ensure the accuracy of the second grabbing mechanism grabbing the second connecting piece, in some preferred embodiments, the feeding frame is provided with a positioning groove for positioning the second connecting piece, and the feeding frame is provided with a transfer mechanism for grabbing the second connecting piece in the second material bin and placing it in the positioning groove. By providing a positioning groove on the feeding frame, and having the transfer mechanism place the second connecting piece in the second material bin in the positioning groove for positioning, and then having the second grabbing mechanism grab the second connecting piece, the accuracy of the second positioning piece during installation is improved.

[0009] In order to realize the transfer mechanism, some embodiments are preferred, wherein the transfer mechanism includes a suction cup, the suction cup is connected to an external negative pressure mechanism, the loading frame is provided with a first displacement mechanism and a second displacement mechanism provided on the first displacement mechanism, the suction cup is provided on the second displacement mechanism, the first displacement mechanism is used to control the second displacement mechanism to move back and forth between the second material bin and the positioning groove, and the second displacement mechanism is used to control the suction cup to approach or move away from the second material bin and the second connecting piece in the positioning groove. The first displacement mechanism drives the second displacement mechanism to move back and forth between the second material bin and the positioning groove, thereby controlling the suction cup to move back and forth between the second material bin and the positioning groove, and then the second displacement mechanism drives the suction cup to approach or move away from the second material bin and the second connecting piece in the positioning groove, thereby sucking or loosening the second positioning piece in the second material bin, thereby transferring the second connecting piece from the second material bin to the positioning groove.

[0010] In some preferred embodiments, the transfer mechanism is located between the positioning groove and the second silo.

[0011] In some preferred embodiments, the second material bins and the positioning grooves are arranged in a one-to-one correspondence.

[0012] Since the first connecting piece and the second connecting piece need to be installed on both sides of the blade battery module, in order to improve the installation efficiency, some embodiments are preferably provided with a loading rack on both sides of the blade battery module. By arranging the robot on both sides of the blade battery module, the first connecting piece and the second connecting piece are installed on both sides of the blade battery module simultaneously, thereby improving the installation efficiency of the blade battery module.

[0013] In order to be suitable for the installation of blade battery modules of different specifications, some embodiments preferably further include a third displacement mechanism, on which the loading rack is arranged, and the third displacement mechanism is used to drive the loading rack to move laterally along the blade battery module. The loading rack is driven to move laterally along the blade battery module by the third displacement mechanism to meet the installation requirements of blade battery modules of different specifications.

[0014] The beneficial effect of the utility model is that when the collaborative robot for installing the connecting piece of the blade battery module is in use, the first positioning piece of the corresponding first material bin and the second positioning piece in the second material bin are grasped by the grasping component on the mechanical arm, and the first positioning piece and the second positioning piece are installed to the required installation position of the blade battery module, thereby realizing the fully automatic installation of the blade battery module, reducing labor intensity, improving installation efficiency, and avoiding the existing manual installation. Since the blade battery module is relatively large and the number of second connecting pieces to be installed is large, the manual installation of the connecting pieces is inefficient and has high strength, and cannot meet the needs of large-scale production. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0017] Figure 2 yes Figure 1 A partial enlarged view of middle A;

[0018] Figure 3 yes Figure 1 A partial enlarged view of B in the middle;

[0019] Figure 4 It is the front view of the utility model;

[0020] Figure 5 It is a left view of the utility model;

[0021] Figure 6 It is a right view of the utility model;

[0022] Figure 7 It is a top view of the utility model;

[0023] Figure 8 yes Figure 7 A partial enlarged view of C in the middle.

[0024] In the figure: 1. feeding rack, 2. robotic arm, 3. first material bin, 4. second material bin, 5. first grasping mechanism, 6. second grasping mechanism, 7. force control sensor, 8. quick change mechanism, 9. distance sensor, 10. visual positioning component 11. control mechanism, 12. lateral displacement mechanism 13. longitudinal displacement mechanism, 14. turntable, 15. storage unit 16. driving mechanism, 17. positioning groove, 18. suction cup, 19. first displacement mechanism, 20. second displacement mechanism, 21. third displacement mechanism, 22. blade battery module. DETAILED DESCRIPTION

[0025] The utility model is further described in detail below in conjunction with the embodiments:

[0026] The present invention is not limited to the following specific implementations. A person skilled in the art can implement the present invention in a variety of other specific implementations according to the content disclosed in the present invention, or any design structure and idea of ​​the present invention with simple changes or modifications shall fall within the protection scope of the present invention. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0027] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0029] A mounting frame made of plastic is installed on both sides of the blade battery module 22. First mounting grooves for mounting the first connecting piece are respectively arranged at both ends of the mounting frame, and the first mounting grooves at both ends are arranged symmetrically with each other. The mounting frame is located between the first mounting grooves and is used to mount the second connecting piece. A hook is arranged in each of the first mounting groove and the second mounting groove. The hook is used to clamp the first connecting piece in the first mounting groove, and the second connecting piece is installed in the second mounting groove. In order to improve the installation efficiency and reduce the labor intensity, as shown in FIG. Figure 1-8As shown, the present scheme adopts a collaborative robot for installing the connecting piece of a blade battery module, including a feeding frame 1 and a mechanical arm 2, the mechanical arm 2 is fixedly mounted on the feeding frame 1, the feeding frame 1 is provided with a first material bin 3 and a second material bin 4, the first material bin 3 is used to store the first connecting piece, the second material bin 4 is used to store the second connecting piece, the mechanical arm 2 is provided with a grabbing assembly, the feeding frame 1 is installed on both sides of the blade battery module 22, the grabbing assembly includes a first grabbing mechanism 5 and a second grabbing mechanism 6, the first grabbing mechanism 5 is used to grab the first connecting piece, there are two first grabbing mechanisms 5 and they are symmetrically arranged, the second grabbing mechanism 6 is used to grab the second connecting piece, the second grabbing mechanism 6 is located between the two first grabbing mechanisms 5, the first grabbing mechanism 5 and the second grabbing mechanism 6 are both cylinder-driven clamps, the first connecting piece and the second connecting piece are provided with clamping holes matching the clamps, and the clamps The claw is arranged in the clamping hole to realize grabbing the first connecting piece or the second connecting piece. The robot arm 2 is provided with a force control sensor 7 and a quick-change mechanism 8. The force control sensor 7 is located between the grabbing component and the robot arm 2, and the quick-change mechanism 8 is located between the force control sensor 7 and the grabbing mechanism. The force control sensor 7 is used for the robot arm 2 to control the force applied by the grabbing component when installing the first connecting piece or the second connecting piece. The quick-change mechanism 8 is used to quickly replace different grabbing components on the robot arm 2, and adjust the position of the first grabbing mechanism 5 and the second grabbing mechanism 6. The quick-change mechanism 8 is to meet the installation of connecting pieces on blade battery modules 22 of different models, so as to realize the installation of different types of grabbing components on the robot arm 2. The manufacturer of the quick-change mechanism 8 in this embodiment is Wuhan Longxing Jiangxin Automation Co., Ltd., and the specific model of the quick-change mechanism 8 is the main disk NSK-10Q or the tool disk NSK-10QJ.

[0030] It also includes a distance measuring sensor 9 and a visual positioning component 10 arranged on the feeding frame 1. In this embodiment, the distance measuring sensor 9 is a laser distance measuring sensor 9, and the visual positioning component 10 is a visual sensor. A control mechanism 11 is arranged on the feeding frame 1. The control mechanism 11 includes a lateral displacement mechanism 12 installed on the feeding frame 1, and a longitudinal displacement mechanism 13 is arranged on the lateral displacement mechanism 12. The distance measuring sensor 9 and the visual positioning component 10 are installed on the longitudinal displacement mechanism 13. The lateral displacement mechanism 12 is used to drive the longitudinal displacement mechanism 13 along the lateral displacement of the blade battery module 22, and the longitudinal displacement mechanism 13 is used to drive the distance measuring sensor 9 and the visual positioning component 10 to approach or move away from the blade battery module 22, so that the control mechanism 11 controls the distance measuring sensor 9 and the visual positioning component 10 to approach or move away from the blade battery module 22. The distance measuring sensor 9 is used to detect the distance between the feeding blade battery module 22 and the feeding frame 1, and the visual positioning component 10 is used to locate the installation position of the first connecting piece or the second connecting piece on the blade battery module 22.

[0031] The second silo 4 includes a turntable 14 and a plurality of storage units 15 arranged on the turntable 14, the plurality of storage units 15 are arranged along the circumferential direction of the turntable 14, the turntable 14 is rotatably mounted on the loading rack 1, the storage units 15 are used to stack and store the second connecting pieces, the loading rack 1 is provided with a driving mechanism 16 for controlling the rotation of the turntable 14, the loading rack 1 is provided with a positioning groove 17 for positioning the second connecting piece, the loading rack 1 is provided with a transfer mechanism, the transfer mechanism is located between the positioning groove 17 and the second silo 4, the transfer mechanism includes a suction cup 18, the suction cup 18 is connected to the external negative pressure mechanism, and the loading rack 1 is provided with a first The displacement mechanism 19 and the second displacement mechanism 20 arranged on the first displacement mechanism 19, the suction cup 18 is arranged on the second displacement mechanism 20, the first displacement mechanism 19 is used to control the second displacement mechanism 20 to move back and forth between the second material bin 4 and the positioning groove 17, and the second displacement mechanism 20 is used to control the suction cup 18 to approach or move away from the second material bin 4 and the second connecting piece in the positioning groove 17, so that the transfer mechanism grabs the second connecting piece in the second material bin 4 and puts it into the positioning groove 17, the second material bin 4 and the positioning groove 17 are arranged one by one, and in this embodiment, the first displacement mechanism 19 and the second displacement mechanism 20 are both cylinders.

[0032] The first material bin 3 in this embodiment includes a special-shaped material tray, in which a first notch and a second notch corresponding to the first connecting piece are arranged. The first notch and the second notch are arranged opposite to each other and are used for storing first connecting pieces of two specifications.

[0033] A loading rack 1 is installed on both sides of the blade battery module 22.

[0034] It also includes a third displacement mechanism 21, the loading frame 1 is arranged on the third displacement mechanism 21, and the third displacement mechanism 21 is used to drive the loading frame 1 to move laterally along the blade battery module 22. In this embodiment, the third displacement mechanism 21 is a linear module.

[0035] When the above-mentioned collaborative robot for installing the blade battery module connecting piece is used, the blade battery module 22 is first located at the installation station, and the distance measurement sensor 9 and the visual positioning component 10 are used to measure the distance and locate the installation position of the blade battery module 22;

[0036] When it is necessary to grab the first connecting piece, the robot arm 2 drives the first grabbing mechanism 5 to approach the first silo 3, and the cylinder at the first grabbing mechanism 5 controls the clamping claw to extend into the clamping hole and grab the first connecting piece. The robot arm 2 drives the grabbed first connecting piece to move to the installation station, and is positioned by the previous visual positioning component 10 until the first connecting piece corresponds to the first installation groove. The robot arm 2 controls the force of the first connecting piece through the force control sensor 7 to prevent excessive force from damaging the plastic frame, or too little force from causing the first connecting piece to not be installed in place, and the installation of the first connecting piece is completed;

[0037] When it is necessary to grab the second connecting piece, the robot arm 2 drives the second grabbing mechanism 6 to approach the positioning groove 17, and at the same time, the first displacement mechanism 19 at the transfer mechanism drives the second displacement mechanism 20 and the suction cup 18 to approach the second material bin 4. When the suction cup 18 corresponds to the second connecting piece, the second displacement mechanism 20 drives the suction cup 18 to descend and contact the second connecting piece. The suction cup 18 is controlled by an external air source and sucks the second connecting piece. The second displacement mechanism 20 controls the suction cup 18 to drive the second connecting piece to rise and detach from the second material bin 4. The first displacement mechanism 19 drives the second displacement mechanism 20 to approach the positioning groove 17. When the second connecting piece corresponds to the positioning groove 17, the second displacement mechanism 20 controls the second connecting piece to descend and It is placed in the positioning groove 17, the suction cup 18 loosens the second connecting piece, and the first displacement mechanism 19 and the second displacement mechanism 20 return to the initial state to realize the positioning of the second connecting piece, and the cylinder on the second grasping mechanism 6 at the robot arm 2 controls the clamping claw to extend into the clamping hole and grasp the second connecting piece, and the robot arm 2 drives the grasped second connecting piece to move to the installation station, and is positioned by the previous visual positioning component 10 until the second connecting piece corresponds to the second installation groove, and the robot arm 2 controls the force of the second connecting piece through the force control sensor 7 to prevent excessive force from damaging the plastic frame, or too little force from causing the second connecting piece to fail to be installed in place, thereby completing the installation of the second connecting piece.

[0038] The above-mentioned ideal embodiments of the utility model are inspirations. Through the above-mentioned description, relevant staff can make various changes and modifications without deviating from the technical concept of the utility model. The technical scope of the utility model is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A collaborative robot for installing a blade battery module connecting piece, comprising a loading frame (1) and a mechanical arm (2) arranged on the loading frame (1), characterized in that: The loading frame (1) is provided with a first material bin (3) for storing the first connecting piece and a second material bin (4) for storing the second connecting piece. The mechanical arm (2) is provided with a gripping assembly, and the gripping assembly comprises a first gripping mechanism (5) and a second gripping mechanism (6). The first gripping mechanism (5) is used to grip the first connecting piece, and the second gripping mechanism (6) is used to grip the second connecting piece. The mechanical arm (2) is provided with a force control sensor (7) and a quick change mechanism (8). The force control sensor (7) is located between the gripping assembly and the mechanical arm (2), and the quick change mechanism (8) is located between the force control sensor (7) and the gripping assembly. The force control sensor (7) is used by the mechanical arm (2) to control the force applied by the gripping assembly when installing the first connecting piece or the second connecting piece. The quick change mechanism (8) is used to quickly replace different gripping assemblies on the mechanical arm (2).

2. The collaborative robot for installing the blade battery module connecting piece according to claim 1, characterized in that: The invention also comprises a distance sensor (9) and a visual positioning component (10) arranged on a feeding frame (1); the feeding frame (1) is provided with a control mechanism (11) for controlling the distance sensor (9) and the visual positioning component (10) to approach or move away from the blade battery module (22); the distance sensor (9) is used to detect the distance between the feeding blade battery module (22) and the feeding frame (1); and the visual positioning component (10) is used to locate the installation position of the first connecting piece or the second connecting piece on the blade battery module (22).

3. The collaborative robot for installing the blade battery module connecting piece according to claim 2, characterized in that: The control mechanism (11) comprises a transverse displacement mechanism (12) mounted on a loading frame (1), a longitudinal displacement mechanism (13) being arranged on the transverse displacement mechanism (12), the distance measuring sensor (9) and the visual positioning component (10) being mounted on the longitudinal displacement mechanism (13), the transverse displacement mechanism (12) being used to drive the longitudinal displacement mechanism (13) to move transversely along the blade battery module (22), and the longitudinal displacement mechanism (13) being used to drive the distance measuring sensor (9) and the visual positioning component (10) to move closer to or farther away from the blade battery module (22).

4. The collaborative robot for installing the blade battery module connecting piece according to claim 1, characterized in that: The second material bin (4) comprises a turntable (14) and a plurality of storage units (15) arranged on the turntable (14), wherein the plurality of storage units (15) are arranged along the circumferential direction of the turntable (14), the turntable (14) is rotatably mounted on a loading frame (1), the storage units (15) are used to stack and store the second connecting plates, and the loading frame (1) is provided with a driving mechanism (16) for controlling the rotation of the turntable (14).

5. The collaborative robot for installing the blade battery module connecting piece according to claim 4, characterized in that: The loading frame (1) is provided with a positioning groove (17) for positioning the second connecting piece, and the loading frame (1) is provided with a transfer mechanism for grabbing the second connecting piece in the second material bin (4) and placing it in the positioning groove (17).

6. The collaborative robot for installing the blade battery module connecting piece according to claim 5, characterized in that: The transfer mechanism comprises a suction cup (18), the suction cup (18) being connected to an external negative pressure mechanism, the loading frame (1) being provided with a first displacement mechanism (19) and a second displacement mechanism (20) arranged on the first displacement mechanism (19), the suction cup (18) being arranged on the second displacement mechanism (20), the first displacement mechanism (19) being used for controlling the second displacement mechanism (20) to move back and forth between the second material bin (4) and the positioning groove (17), and the second displacement mechanism (20) being used for controlling the suction cup (18) to move close to or away from the second material bin (4) and the second connecting piece in the positioning groove (17).

7. The collaborative robot for installing the blade battery module connecting piece according to claim 6, characterized in that: The transfer mechanism is located between the positioning groove (17) and the second material bin (4).

8. The collaborative robot for installing the blade battery module connecting piece according to claim 7, characterized in that: The second material bin (4) and the positioning groove (17) are arranged in a one-to-one correspondence.

9. The collaborative robot for installing the blade battery module connecting piece according to claim 1, characterized in that: A loading rack (1) is installed on both sides of the blade battery module (22).

10. The collaborative robot for installing the blade battery module connecting piece according to claim 1 or 9, characterized in that: It also comprises a third displacement mechanism (21), the loading frame (1) is arranged on the third displacement mechanism (21), and the third displacement mechanism (21) is used to drive the loading frame (1) to displace laterally along the blade battery module (22).

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