Mounting device

Abstract

The utility model discloses carrying equipment, and relates to the technical field of vehicle production, the carrying equipment comprises a conveying platform, a conveying sliding table, a carrying device and a controller, the conveying platform is used for conveying vehicles; the conveying sliding table is arranged on one side of the conveying platform and used for conveying batteries, and the carrying device comprises a frame body, a mechanical arm, a shooting camera, a sliding rod arranged on the frame body in a sliding mode in the first direction and a first driving piece for driving the sliding rod to slide; the shooting camera is arranged on the manipulator and is used for acquiring real-time image information of the battery or the vehicle; and the controller is used for acquiring the real-time image information and controlling the manipulator to operate according to the real-time image information so as to clamp the battery and carry the battery into a battery pack box body of the vehicle. According to the technical scheme provided by the utility model, the technical problems that the working efficiency is low and the labor intensity of an operator is high when the battery is carried to a vehicle can be solved.

Description

Technical Field

[0001] This utility model relates to the field of vehicle manufacturing technology, and in particular to a mounting device. Background Technology

[0002] With the rapid development of science and technology, vehicles, as a means of transportation in modern life, have become an indispensable part of people's daily lives. During vehicle production, batteries need to be installed into the vehicle's battery pack to complete the battery installation. However, the installation of batteries into vehicles presents technical problems such as low work efficiency and high labor intensity for operators.

[0003] Therefore, it is necessary to provide a new mounting device to solve the above-mentioned technical problems. Utility Model Content

[0004] The main purpose of this utility model is to provide a mounting device that aims to solve the technical problems of low operating efficiency and high labor intensity of operators when mounting batteries onto vehicles.

[0005] To achieve the above objectives, this utility model proposes a mounting device, comprising:

[0006] A conveyor platform for conveying vehicles;

[0007] A conveyor slide is disposed on one side of the conveyor platform and is used to convey batteries;

[0008] The mounting device includes a frame, a robotic arm, a camera, a slide bar slidably mounted on the frame along a first direction, and a first driving member for driving the slide bar to slide. The robotic arm is slidably mounted on the slide bar along a second direction and is used to grip and transfer the battery. The camera is mounted on the robotic arm and is used to acquire real-time image information of the battery or the vehicle.

[0009] A synchronization device, used to measure the operating speed of the conveyor platform;

[0010] The controller is used to acquire the real-time image information and the measurement data of the synchronization device. The controller can control the operation of the robot arm according to the real-time image information to grip the battery and load the battery into the battery pack box of the vehicle. The controller can also control the running speed of the slide bar through the first drive component according to the measurement data of the synchronization device so that the robot arm runs synchronously with the vehicle on the conveying platform.

[0011] In one embodiment, the frame is provided with a first rack, the slide bar is provided with a first gear and a second rack, and the robot arm is provided with a second gear and a second drive member. The first gear meshes with the first rack, the second gear meshes with the second rack, and the first gear is connected to the output end of the first drive member, and the second gear is connected to the output end of the second drive member.

[0012] In one embodiment, both the first rack and the second rack have tungsten wires for lubrication on their tooth surfaces.

[0013] In one embodiment, a position sensor is provided on the frame, which is used to detect the real-time position of the robotic arm.

[0014] In one embodiment, the frame is provided with two first limit switches at intervals, and the slide bar is provided with two second limit switches at intervals. Each first limit switch can abut against the slide bar, and each second limit switch can abut against the robotic arm; and / or,

[0015] The frame is provided with two first limiting blocks at intervals, and the slide bar is provided with two second limiting blocks at intervals. Each first limiting block can abut against the slide bar, and each second limiting block can abut against the robotic arm.

[0016] In one embodiment, the robotic arm includes a mounting base, a robotic arm, and a clamping assembly connected in sequence. The mounting base is slidably disposed on the slide bar along a second direction, and the clamping assembly is used to clamp the battery. The camera is disposed on the clamping assembly.

[0017] In one embodiment, the clamping assembly includes a connecting block, a bidirectional drive cylinder, and two grippers disposed on the bidirectional drive cylinder. The connecting block is connected to the robotic arm via a connecting flange. The bidirectional drive cylinder can drive the two grippers to move toward each other to clamp the battery, and can also drive the two grippers to move away from each other to release the battery. The camera is disposed on the connecting block.

[0018] In one embodiment, a buffer pad is provided on the side of each of the two grippers that faces each other.

[0019] In one embodiment, the synchronization device includes a synchronization wheel, a pulse encoder, a base, a fixed block, an elastic element, a connecting rod, and a mounting block. The outer circumferential surface of the synchronization wheel abuts against the conveying platform. The pulse encoder is coaxially connected to the synchronization wheel. The mounting block is rotatably disposed on the base. The synchronization wheel is rotatably disposed at one end of the mounting block. The fixed block is disposed on the base. The connecting rod passes through the elastic element and the fixed block in sequence and is connected to the end of the mounting block away from the synchronization wheel. The elastic element drives the synchronization wheel to abut against the conveying platform.

[0020] In one embodiment, the mounting device further includes a safety device, which includes a slide and a scanner slidably mounted on the slide. The scanner is used to detect whether there is a worker in the working area of ​​the robotic arm. The robotic arm has a low-speed operating state and a high-speed operating state.

[0021] When the scanner detects a worker in the working area of ​​the robotic arm, the controller acquires the detection signal from the scanner and switches the robotic arm to the low-speed operating state; when the scanner detects no worker in the working area of ​​the robotic arm, the controller acquires the detection signal from the scanner and switches the robotic arm to the high-speed operating state.

[0022] This invention utilizes a robotic arm for gripping batteries. The robotic arm is slidably mounted on a slide bar in a second direction, and the slide bar is slidably mounted on a frame in a first direction. This allows the robotic arm to load batteries from a conveyor slide into the battery pack compartment of a vehicle on a conveyor platform, completing the battery loading operation. This improves battery loading efficiency and eliminates the need for manual intervention, reducing the labor intensity of operators. In this embodiment, by slidably mounting the robotic arm on the slide bar in the second direction and the slide bar on the frame in the first direction, the robotic arm can be driven to move in both directions, thereby transferring batteries between the conveyor platform and the conveyor slide. A camera is used to acquire real-time image information of the battery and the vehicle. A controller is used to acquire real-time image information and control the robotic arm's operation based on this information to grip the battery and complete the battery loading operation. Specifically, when the equipment starts or the controller receives a start command, the controller controls the robotic arm to move from a preset position to above the conveyor slide, and controls the robotic arm to grip the battery based on real-time image information of the battery acquired by the camera. After the vehicle is transported to the mounting equipment, the controller controls the robotic arm to move above the vehicle based on real-time image information of the vehicle acquired by the camera, and controls the robotic arm to mount the battery into the vehicle's battery pack housing. After the battery mounting is completed, the controller controls the robotic arm to move to the preset position. This mounting equipment uses machines to replace manual labor to complete the battery mounting operation, which can improve work efficiency and reduce the labor intensity of operators. This mounting equipment is applied in the field of vehicle production or other production technologies that require mounting of components. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 A schematic diagram of the overall structure of the mounting device in one embodiment of the present utility model;

[0025] Figure 2 A schematic diagram of the overall structure of the mounting device in one embodiment of the present utility model;

[0026] Figure 3 Three views of a clamping assembly in one embodiment of the present invention;

[0027] Figure 4 A schematic diagram of the synchronization device in one embodiment of the present invention;

[0028] Figure 5 A schematic diagram of the structure of the safety protection device in one embodiment of this utility model;

[0029] Figure 6 A flowchart illustrating the control method in one embodiment of this utility model.

[0030] Explanation of icon numbers:

[0031] 100. Conveying platform; 200. Conveying slide; 300. Mounting device; 310. Frame; 311. First limit block; 320. Robotic arm; 321. Mounting base; 322. Robotic arm; 323. Clamping assembly; 3231. Connecting block; 3232. Bidirectional drive cylinder; 3233. Gripper; 3234. Connecting flange; 3235. Buffer pad; 330. Camera; 340. Slide rod; 341. Second limit block; 400. Synchronization device; 410. Synchronization wheel; 420. Pulse encoder; 430. Base; 440. Fixing block; 450. Elastic element; 460. Connecting rod; 470. Mounting block; 500. Safety device; 510. Slide; 520. Scanner.

[0032] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0035] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously.

[0036] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0037] During vehicle production, batteries need to be installed into the vehicle's battery pack. In actual production, researchers have found that the process of installing batteries into the battery pack mainly involves workers moving the batteries from the conveyor slide to the vehicle's transport platform. This affects the efficiency of the battery installation process. Furthermore, workers need to move repeatedly between the transport platform and the battery conveyor slide while installing batteries, increasing their workload and potentially leading to fatigue and lower back strain over time, which is detrimental to their physical and mental health.

[0038] This utility model proposes a mounting device to solve the technical problems of low operating efficiency and high labor intensity of operators when mounting batteries onto vehicles.

[0039] Please see Figures 1 to 4In one embodiment of this utility model, the mounting device includes a conveying platform 100, a conveying slide 200, a mounting device 300, a synchronization device 400, and a controller. The conveying platform 100 is used to transport vehicles; the conveying slide 200 is disposed on one side of the conveying platform 100 and is used to transport batteries; the mounting device 300 includes a frame 310, a robotic arm 320, a camera 330, a slide rod 340 slidably disposed on the frame 310 along a first direction, and a first driving member for driving the slide rod 340 to slide; the robotic arm 320 is slidably disposed on the slide rod 340 along a second direction and is used for clamping and... The process involves transferring the battery; a camera 330 is mounted on the robotic arm 320 to acquire real-time image information of the battery or vehicle; a synchronization device 400 measures the operating speed of the conveyor platform 100; a controller acquires real-time image information and measurement data from the synchronization device 400, and controls the robotic arm 320 to grip and load the battery into the vehicle's battery pack based on the real-time image information; the controller also controls the operating speed of the slide bar 340 via a first drive component based on the measurement data from the synchronization device 400, so that the robotic arm 320 moves synchronously with the vehicle on the conveyor platform 100. The first direction refers to... Figure 1 The direction indicated by X in the diagram, the second direction refers to Figure 1 The direction indicated by Y in the figure; in a specific embodiment, the first direction and the second direction are perpendicular, and the first direction refers to the length direction of the frame 310 and the second direction refers to the width direction of the frame 310.

[0040] The technical solution of this utility model, by setting a robotic arm 320 for gripping batteries, and slidably setting the robotic arm 320 along a second direction on a slide bar 340, and slidably setting the slide bar 340 along a first direction on a frame 310, allows the robotic arm 320 to load batteries from the conveyor slide 200 into the battery pack box of the vehicle on the conveyor platform 100, completing the battery loading operation. This improves the efficiency of battery loading operations and eliminates the need for manual intervention, reducing the labor intensity of operators. In this embodiment, by slidably setting the robotic arm 320 along the second direction on the slide bar 340, and slidably setting the slide bar 340 along the first direction on the frame 310, the robotic arm 320 can be driven to move in both directions, thereby transferring batteries between the conveyor platform 100 and the conveyor slide 200. A camera 330 is used to acquire real-time image information of the battery and the vehicle. A controller is used to acquire real-time image information and control the operation of the robotic arm 320 based on the real-time image information to grip the battery and complete the battery loading operation. Specifically, when the equipment starts or the controller receives a start command, the controller controls the robotic arm 320 to move from a preset position to above the conveyor slide 200, and controls the robotic arm 320 to grip the battery based on real-time image information of the battery acquired by the camera 330. After the vehicle is transported to the mounting equipment, the controller controls the robotic arm 320 to move above the vehicle based on real-time image information of the vehicle acquired by the camera 330, and controls the robotic arm 320 to mount the battery into the vehicle's battery pack housing. After the battery mounting is completed, the controller controls the robotic arm 320 to move to the preset position. This mounting equipment uses machines to replace manual labor to complete the battery mounting operation, which can improve work efficiency and reduce the labor intensity of operators. This mounting equipment is applied in the field of vehicle production or other production technologies that require mounting of components.

[0041] It should be noted that the aforementioned preset position refers to the position of the robot arm 320 when the equipment is started. This preset position is a manually set position, which must ensure that the robot arm 320 will not interfere with the transported vehicle and battery when it is in the preset position.

[0042] In one embodiment of this utility model, the frame 310 is provided with a first rack, the slide bar 340 is provided with a first gear and a second rack, and the robot arm 320 is provided with a second gear and a second driving member. The first gear meshes with the first rack, the second gear meshes with the second rack, and the first gear is connected to the output end of the first driving member, and the second gear is connected to the output end of the second driving member. In this embodiment, the slide bar 340 and the frame 310, and the mounting base 321 of the robot arm 320 and the slide bar 340 are all connected by a gear and rack transmission. Gear and rack transmission has the characteristics of high precision and high transmission efficiency, which can improve work efficiency and improve the positional accuracy of the robot arm 320 when moving along the first direction and the second direction. The driving member is used to drive the corresponding gear to rotate, thereby driving the robot arm 320 to move along the first direction or the second direction. In a specific embodiment, both the first driving member and the second driving member can be a drive motor. To improve the stability of the robot arm 320 when it moves along the first and second directions, mutually cooperating slide rails and sliders can be provided between the slide rod 340 and the frame 310, and between the mounting base 321 and the slide rod 340. Specifically, the frame 310 is provided with a first slide rail, the slide rod 340 is provided with a first slider and a second slide rail, and the mounting base 321 is provided with a second slider. The first slider is slidably connected to the first slide rail, and the second slider is slidably connected to the second slide rail. Furthermore, to prevent the gear from disengaging from the output end of the drive component, a top cover can be provided at the output end of the drive component to prevent the gear from falling off.

[0043] In a specific embodiment of this invention, both the first and second racks have tungsten wires for lubrication on their tooth surfaces. In this embodiment, the use of tungsten wires for lubrication between the gear and rack reduces wear between them, extends their service life, and also reduces the amount of lubricating oil used, lowering the difficulty of later maintenance. Specifically, during use, the tungsten wires are attached to the tooth surfaces of the rack. When the gear rolls over the tungsten wires, the wires form a protective film on the tooth surfaces, thus preventing direct contact between the gear and rack, reducing wear, and extending their service life. In a specific embodiment, the gap between the gear and rack is 30 ± 2 micrometers.

[0044] In one embodiment of this utility model, a position sensor is provided on the frame 310, which is used to detect the real-time position of the robot arm 320. In this embodiment, the position sensor is used to detect the real-time position of the robot arm 320; the controller can obtain the real-time position information of the robot arm 320 detected by the position sensor, and calculate the running speed of the robot arm 320 based on the position change of the robot arm 320 over a period of time, and then compare it with the running speed of the conveying platform 100 to confirm whether the conveying platform 100 and the robot arm 320 are running synchronously.

[0045] Please see Figure 2In one embodiment of this utility model, the frame 310 is provided with two first limit switches at intervals, and the slide bar 340 is provided with two second limit switches at intervals. Each first limit switch can abut against the slide bar 340, and each second limit switch can abut against the robot arm 320. In this embodiment, the first limit switches are used to limit the sliding range of the slide bar 340 to prevent the slide bar 340 from sliding off the frame 310; the second limit switches are used to limit the sliding range of the robot arm 320 to prevent the robot arm 320 from sliding off the slide bar 340. In another embodiment of this utility model, the frame 310 is provided with two first limit blocks 311 at intervals, and the slide bar 340 is provided with two second limit blocks 341 at intervals. Each first limit block 311 can abut against the slide bar 340, and each second limit block 341 can abut against the robot arm 320. The first limit block 311 is used to limit the sliding range of the slide bar 340 to prevent the slide bar 340 from sliding off the frame 310; the second limit block 341 is used to limit the sliding range of the robot arm 320 to prevent the robot arm 320 from sliding off the slide bar 340. Accordingly, during manufacturing, both limit switches and limit blocks can be installed according to actual needs; it should be noted that during installation, the distance between the two limit blocks should be greater than the distance between the two limit switches, and both limit switches should be located between the two limit blocks; that is, when both limit switches and limit blocks are installed, the limit blocks should be used as the hard limit at the outermost end.

[0046] Please see Figure 3In one embodiment of this utility model, the robotic arm 320 includes a mounting base 321, a robotic arm 322, and a clamping assembly 323 connected in sequence. The mounting base 321 is slidably disposed on a slide rod 340 along a second direction. The clamping assembly 323 is used to clamp a battery. A camera 330 is disposed on the clamping assembly 323. The robotic arm 320 is composed of a mounting base 321, a robotic arm 322, and a clamping assembly 323, wherein the clamping assembly 323 is used to clamp a battery. The clamping assembly 323 includes a connecting block 3231, a bidirectional drive cylinder 3232, and two grippers 3233 disposed on the bidirectional drive cylinder 3232. The connecting block 3231 is connected to the robotic arm 322 through a connecting flange 3234. The bidirectional drive cylinder 3232 can drive the two grippers 3233 to move towards each other to clamp the battery, and can also drive the two grippers 3233 to move away from each other to release the battery. The camera 330 is disposed on the connecting block 3231. In this embodiment, the two grippers 3233 are driven by the bidirectional drive cylinder 3232 to move towards or away from each other to grip or release the battery, which simplifies the structure of the mounted device and reduces manufacturing difficulty. Specifically, the bidirectional drive cylinder 3232 can drive the two grippers 3233 to move towards each other to grip the battery; and the bidirectional drive cylinder 3232 can also drive the two grippers 3233 to move away from each other to release the battery. It should be noted that in this embodiment, the camera 330 is mounted on the connecting block 3231. However, during manufacturing, the camera 330 can be mounted on other components such as the robotic arm 322, the slide bar 340, or the frame 310, depending on actual needs (such as reducing the installation difficulty of the camera 330, avoiding structural interference, etc.).

[0047] Please see Figure 3 In a specific embodiment of this utility model, a buffer pad 3235 is provided on the side of each of the two grippers 3233 facing each other. In this embodiment, by providing a buffer pad 3235 on the side of each of the two grippers 3233 facing each other, cushioning can be provided when the two grippers 3233 grip the battery, thereby reducing the possibility of damage to the battery when it is gripped. In a specific embodiment, the buffer pad 3235 can be a rubber pad, a sponge pad, etc.

[0048] A synchronization device 400 is disposed below the conveyor platform 100. The synchronization device 400 includes a synchronization wheel 410 and a pulse encoder 420. The synchronization wheel 410 abuts against the conveyor platform 100, and the pulse encoder 420 is coaxially connected to the synchronization wheel 410. In this embodiment, the synchronization device 400 is used to realize the synchronous operation of the conveyor platform 100 and the robot arm 320. By synchronizing the operation of the conveyor platform 100 and the robot arm 320, the vehicle on the conveyor platform 100 and the robot arm 320 can be kept relatively stationary. Thus, the robot arm 320 can complete the battery loading operation during vehicle transport, improving work efficiency. Specifically, the controller can also acquire the output signal of the pulse encoder 420 and calculate the running speed of the conveyor platform 100 based on the output signal. Then, it controls the running speed of the slide bar 340 through the first driving component to synchronize the operation of the robot arm 320 and the vehicle on the conveyor platform 100. The pulse encoder 420 is a sensor that converts mechanical rotation into an output signal. It typically consists of a graduated encoder disk and a detection element, with the encoder disk coaxially connected to the synchronous pulley 410. When the encoder disk rotates, the detection element generates an output signal based on the graduations on the encoder disk. In a specific embodiment, a linear encoder is also installed on the conveyor platform 100 of the conveyor vehicle. The controller can also acquire the output signal of the linear encoder and calculate the running speed of the conveyor platform 100 based on the output signal of the linear encoder. By comparing the running speed of the conveyor platform 100 calculated by the pulse encoder 420 and the linear encoder, the controller can confirm whether the running speed of the conveyor platform 100 calculated by the pulse encoder 420 is accurate. Furthermore, even if one encoder fails, the controller can still acquire the signal from the other encoder, calculate the running speed of the conveyor platform 100, and control the running speed of the slide bar 340 through the first drive component to synchronize the robot arm 320 with the vehicle on the conveyor platform 100.

[0049] Please see Figure 4 In a specific embodiment of this utility model, the synchronization device 400 further includes a base 430, a fixing block 440, an elastic element 450, a connecting rod 460, and a mounting block 470. The mounting block 470 is rotatably disposed on the base 430, and the synchronization wheel 410 is rotatably disposed at one end of the mounting block 470. The fixing block 440 is disposed on the base 430. The connecting rod 460 passes through the elastic element 450 and the fixing block 440 in sequence and is connected to the end of the mounting block 470 away from the synchronization wheel 410. The elastic element 450 drives the synchronization wheel 410 to abut against the conveying platform 100. In this embodiment, the elastic element 450 can drive the mounting block 470 to rotate, thereby ensuring that the synchronization wheel 410 is always in contact with the conveying platform 100. For details, please refer to [link to relevant documentation]. Figure 4 The elastic element 450 can drive the mounting block 470 to rotate counterclockwise, thereby ensuring that the outer circumferential surface of the synchronous wheel 410 is always in contact with the conveying platform 100.

[0050] Please see Figure 5 In a specific embodiment of this utility model, the mounting device further includes a safety protection device 500. The safety protection device 500 includes a slide 510 and a scanner 520 slidably disposed on the slide 510. The scanner 520 is used to detect whether there is a worker in the working area of ​​the robotic arm 320. The robotic arm 320 has a low-speed operating state and a high-speed operating state. In this embodiment, the scanner 520 is used to detect whether there is a worker in the working area of ​​the robotic arm 320, and the controller can obtain the detection signal of the scanner 520 and switch the operating state of the robotic arm 320 in a timely manner to ensure the safety of the worker and realize human-machine coexistence. Specifically, when the scanner 520 detects a worker in the working area of ​​the robotic arm 320, the controller acquires the detection signal from the scanner 520 and switches the robotic arm 320 to a low-speed operating state to reduce its operating speed and better protect the worker. When the scanner 520 detects no worker in the working area of ​​the robotic arm 320, the controller acquires the detection signal from the scanner 520 and switches the robotic arm 320 to a high-speed operating state to increase its operating speed and improve work efficiency. In this embodiment, the sliding of the scanner 520 is driven by a third driving component, and the controller can control the operating speed of the scanner 520 through the third driving component, so that the scanner 520 and the robotic arm 320 operate synchronously, thereby enabling the scanner 520 to constantly detect whether there is a worker in the working area of ​​the robotic arm 320. The third driving component can be a drive motor.

[0051] Please see Figure 6 , Figure 6 This is a flowchart illustrating the control method in one embodiment of the present invention. The present invention also proposes a control method applied to the aforementioned mounting device, the control method comprising:

[0052] S100: Control the operation of the first and second driving components to move the robot arm 320 from a preset position to above the conveyor slide 200, and control the robot arm 320 to pick up the battery based on the real-time image information of the battery obtained by the camera 330.

[0053] S200: When the vehicle is transported to the mounting device, based on the real-time image information of the vehicle obtained by the camera 330, the first and second drive components are controlled to operate so that the robot arm 320 moves from above the conveyor slide 200 to the vehicle and the robot arm 320 is controlled to mount the battery into the battery pack box of the vehicle.

[0054] S300: Once the battery is installed, control the first and second drive components to move the robotic arm 320 to the preset position.

[0055] Specifically, when the equipment starts or the controller receives a start command, the controller controls the robotic arm 320 to move from a preset position to above the conveyor slide 200 via the first and second drive components. Based on real-time image information of the battery acquired by the camera 330, the controller controls the robotic arm 320 to grip the battery. Once the vehicle is transported to the mounting device, the controller, based on real-time image information of the vehicle acquired by the camera 330, controls the robotic arm 320 to move above the vehicle via the first and second drive components, and controls the robotic arm 320 to mount the battery onto the vehicle's battery pack housing. After battery mounting is complete, the controller controls the robotic arm 320 to move to the preset position via the first and second drive components. It should be noted that the preset position refers to the position of the robotic arm 320 when the equipment starts. This preset position is manually set and must ensure that the robotic arm 320 does not interfere with the transported vehicle and battery when in the preset position.

[0056] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A mounting device, characterized in that, include: A conveyor platform for conveying vehicles; A conveyor slide is disposed on one side of the conveyor platform and is used to convey batteries; The mounting device includes a frame, a robotic arm, a camera, a slide bar slidably mounted on the frame along a first direction, and a first driving member for driving the slide bar to slide. The robotic arm is slidably mounted on the slide bar along a second direction and is used to grip and transfer the battery. The camera is mounted on the robotic arm and is used to acquire real-time image information of the battery or the vehicle. A synchronization device, used to measure the operating speed of the conveyor platform; The controller is used to acquire the real-time image information and the measurement data of the synchronization device. The controller can control the operation of the robot arm according to the real-time image information to grip the battery and load the battery into the battery pack box of the vehicle. The controller can also control the running speed of the slide bar through the first drive component according to the measurement data of the synchronization device so that the robot arm runs synchronously with the vehicle on the conveying platform.

2. The mounting device as described in claim 1, characterized in that, The frame is provided with a first rack, the slide bar is provided with a first gear and a second rack, and the robot arm is provided with a second gear and a second drive member. The first gear meshes with the first rack, the second gear meshes with the second rack, and the first gear is connected to the output end of the first drive member, and the second gear is connected to the output end of the second drive member.

3. The mounting device as described in claim 2, characterized in that, Both the first rack and the second rack have tungsten wires on their tooth surfaces for lubrication.

4. The mounting device as described in claim 1, characterized in that, The frame is equipped with a position sensor, which is used to detect the real-time position of the robotic arm.

5. The mounting device as described in claim 1, characterized in that, The frame is provided with two first limit switches at intervals, and the slide bar is provided with two second limit switches at intervals. Each first limit switch can abut against the slide bar, and each second limit switch can abut against the robotic arm; and / or The frame is provided with two first limiting blocks at intervals, and the slide bar is provided with two second limiting blocks at intervals. Each first limiting block can abut against the slide bar, and each second limiting block can abut against the robotic arm.

6. The mounting device as described in claim 1, characterized in that, The robotic arm includes a mounting base, a robotic arm, and a clamping assembly connected in sequence. The mounting base is slidably disposed on the slide rod along a second direction, and the clamping assembly is used to clamp the battery. The camera is disposed on the clamping assembly.

7. The mounting device as described in claim 6, characterized in that, The clamping assembly includes a connecting block, a bidirectional drive cylinder, and two grippers disposed on the bidirectional drive cylinder. The connecting block is connected to the robotic arm via a connecting flange. The bidirectional drive cylinder can drive the two grippers to move toward each other to clamp the battery, and can also drive the two grippers to move away from each other to release the battery. The camera is disposed on the connecting block.

8. The mounting device as described in claim 7, characterized in that, Both grippers have a buffer pad on the side facing each other.

9. The mounting device as described in claim 1, characterized in that, The synchronization device includes a synchronization wheel, a pulse encoder, a base, a fixed block, an elastic element, a connecting rod, and a mounting block. The outer circumferential surface of the synchronization wheel abuts against the conveying platform. The pulse encoder is coaxially connected to the synchronization wheel. The mounting block is rotatably mounted on the base. The synchronization wheel is rotatably mounted at one end of the mounting block. The fixed block is mounted on the base. The connecting rod passes through the elastic element and the fixed block in sequence and is connected to the end of the mounting block away from the synchronization wheel. The elastic element drives the synchronization wheel to abut against the conveying platform.

10. The mounting device as described in any one of claims 1 to 9, characterized in that, The mounting device also includes a safety device, which includes a slide and a scanner slidably mounted on the slide. The scanner is used to detect whether there is a worker in the working area of ​​the robotic arm. The robotic arm has a low-speed operating mode and a high-speed operating mode. When the scanner detects a worker in the working area of ​​the robotic arm, the controller acquires the detection signal from the scanner and switches the robotic arm to the low-speed operation state. When the scanner detects that there is no operator in the working area of ​​the robotic arm, the controller acquires the detection signal from the scanner and switches the robotic arm to the high-speed operation state.

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