An automatic positioning and filling battery pack device

Abstract

This utility model discloses an automatic positioning and filling device for battery packs, relating to the field of automated assembly technology for energy storage devices. To address the problem of insufficient flexibility in existing battery pack installation operations, requiring additional manpower, the following technical solution is proposed: An automatic positioning and filling device for battery packs includes a material picking module, a container pushing module, a vision positioning module, a lifting hinge, a moving trolley, and a control system. The moving trolley is a rectangular installation platform with omnidirectional wheels and a magnetic navigation module at its bottom. The material picking module is mounted on the moving trolley and has a retractable material picking plate. A vision positioning module is also located away from the plane of the material picking module. This utility model achieves full automation from material picking and transportation to filling, solving the problem of poor positioning accuracy in traditional forklift operations, ensuring filling accuracy, and flexibly adapting to battery packs and container workstations of different specifications.

Description

Technical Field

[0001] This utility model relates to the field of automated assembly technology for energy storage equipment, specifically to a device for automatically positioning and filling battery packs. Background Technology

[0002] Currently, in the field of energy storage equipment manufacturing, battery packs inside energy storage containers are mostly handled and loaded using forklifts. This method has significant drawbacks, such as low operational efficiency, poor positioning accuracy due to reliance on manual operation, and the resulting high labor costs. Although some automated loading equipment exists on the market, its numbers are limited and its capabilities are generally insufficient.

[0003] The shortcomings of these devices are mainly reflected in the following aspects: First, their operation is not flexible enough, often requiring additional manpower for auxiliary positioning or operation; second, their functions are relatively dispersed, with core functions such as material picking, moving, and pushing requiring multiple devices to work together step by step, resulting in a cumbersome and complex operation process; finally, the equipment has poor adaptability and is difficult to flexibly adapt to containers or battery packs of different sizes. Therefore, the industry urgently needs a mobile automated filling device that integrates picking, placing, positioning, and pushing functions, and possesses high precision and high adaptability. Utility Model Content

[0004] The purpose of this invention is to provide an automatic positioning and filling device for battery packs, so as to solve the problem that the existing battery pack installation operation is not flexible enough and requires additional manpower to assist.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows:

[0006] An automatic positioning and filling battery pack device includes a material picking module, a container pushing module, a vision positioning module, a lifting hinge, a mobile trolley, and a control system. The mobile trolley is a rectangular mounting platform with omnidirectional wheels and a magnetic navigation module at the bottom. The material picking module is mounted on the mobile trolley and has a retractable material picking plate. A left positioning module and a right positioning module are symmetrically arranged perpendicular to the retraction direction of the material picking plate. A container pushing module is arranged along the retraction direction of the material picking plate. The material picking module is also equipped with a lifting hinge, and a vision positioning module is also arranged away from the plane of the material picking module.

[0007] The material handling module, container pushing module, left positioning module, right positioning module, vision positioning module, and lifting hinge are all connected to the control system.

[0008] Furthermore, the left and right positioning modules are symmetrically arranged L-shaped flat plates. The flat plates are slidable using precision lead screws driven by servo motors, and laser sensors are also installed on the flat plates.

[0009] Furthermore, it also includes a protective frame, which is a rectangular frame structure and is installed above the mobile trolley.

[0010] Furthermore, it also includes a protective frame, and the visual positioning module is an industrial camera, which is fixedly mounted on the protective frame.

[0011] Furthermore, the feeding module is driven by a servo motor and connected to a lead screw via a coupling. The lead screw nut is fixedly connected to the slider and slides on a linear guide rail preset on the surface of the feeding plate.

[0012] Furthermore, the control system is a programmable logic controller (PLC) installed inside the mobile vehicle.

[0013] This utility model has the following beneficial effects:

[0014] This invention integrates a material handling module, a positioning module, a pushing module, and a mobile trolley into one unit, achieving full automation from material handling and transportation to loading. Compared to the cumbersome process requiring multiple devices, this significantly improves operational efficiency and reduces labor costs. Secondly, by employing a dual positioning method combining a visual positioning module and left / right positioning modules, and utilizing industrial cameras and laser sensors for real-time position calibration and deviation compensation of battery packs and containers, it solves the problem of poor positioning accuracy in traditional forklift operations, ensuring loading precision. Finally, the equipment achieves adaptive height adjustment through a lifting hinge with a built-in motor, and, in conjunction with a magnetically guided trolley that can move autonomously along a preset path, it can flexibly adapt to battery pack and container workstations of different specifications, exhibiting strong versatility and adaptability. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the device structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the container pushing module structure of this utility model;

[0017] Figure 3 This is an enlarged schematic diagram of the container pushing module structure of this utility model;

[0018] Figure 4 This is a schematic diagram of the structure of the mobile trolley of this utility model.

[0019] Figures 1 to 4 The reference numerals in the attached drawings are respectively: 1-protective frame, 2-material picking plate, 3-material picking module, 4-container pushing module, 5-left positioning module, 6-right positioning module, 7-visual positioning module, 8-lifting hinge, 9-moving trolley, 10-control system. Detailed Implementation

[0020] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0021] Example 1

[0022] As attached Figure 1 As shown, an automatic positioning and filling battery pack device includes a rectangular protective frame 1 and a mobile trolley 9 serving as an installation platform. The mobile trolley 9 is equipped with omnidirectional wheels and a magnetic navigation module at its bottom, enabling it to move flexibly between multiple workstations via remote control or autonomous path planning. The device's control system 10 is preferably a programmable logic controller (PLC), installed inside the mobile trolley 9, for unified and coordinated control of the operation of all modules within the device.

[0023] A material handling module 3 is installed on the mobile trolley 9. This module has a retractable material handling plate 2 for carrying the battery pack. A left positioning module 5 and a right positioning module 6 are symmetrically arranged on both sides of the retraction direction of the material handling plate 2. A container pushing module 4 is also provided along the retraction direction of the material handling plate 2.

[0024] The material handling module 3 also integrates a lifting hinge 8, which has a built-in motor responsible for driving the material handling module to adjust its vertical height. A vision positioning module 7, preferably an industrial camera, is fixedly installed on the protective frame 1 of the equipment for precise positioning of the battery pack and container before loading.

[0025] All functional modules, including material handling module 3, container pushing module 4, left positioning module 5, right positioning module 6, vision positioning module 7, and lifting hinge 8, are connected to the control system 10 to achieve automated collaborative operation.

[0026] like Figure 2 As shown in Figure 3, both the left and right positioning modules 5 are L-shaped flat plate structures, which slide via precision lead screws driven by servo motors to clamp and position the battery pack. A laser sensor is also integrated on the flat plate for real-time calibration of the equipment's position relative to the container. The industrial camera in the vision positioning module 7 identifies the coordinate deviation between the battery pack and the container rack, generating a compensation signal for the control system 10 to achieve high-precision alignment.

[0027] The process of distance and attitude calibration of the left positioning module 5 and the right positioning module 5, and the process of accurate coordinate deviation compensation of the visual positioning module 7 are as follows:

[0028] Distance detection: When the mobile trolley 9 moves in front of the container, the laser sensors on both sides of the left and right positioning modules 5 will measure the distance from the mobile trolley 9 to the surface of the container. The control system 10 can accurately determine the distance between the mobile trolley 9 and the container using these data, providing a basis for the extension distance of the subsequent container pushing module 4.

[0029] Attitude calibration: By comparing the distance values ​​measured by the left and right laser sensors, the control system 10 can determine whether the main surface of the equipment is parallel to the container plane. If the readings on both sides are inconsistent, it indicates that there is an angular deviation in the equipment. At this time, the control system 10 will instruct the omnidirectional wheels of the moving trolley 9 to make fine adjustments, so that the trolley body rotates slightly until the readings of the laser sensors on both sides are consistent or within the allowable error range, thereby ensuring that the equipment is facing the target workstation in the correct attitude.

[0030] Then, after the initial attitude calibration is completed, the vision positioning module 7, which is fixed on the protective frame 1, takes over to perform more precise two-dimensional coordinate positioning.

[0031] Image acquisition: After the lifting hinge 8 raises the battery pack to the approximate filling height, the visual positioning module 7 takes a real-time image containing the battery pack and the target entrance of the container.

[0032] Feature recognition and coordinate calculation: The vision processing software within the control system 10 analyzes the image. It identifies the current position coordinates of the battery pack using preset algorithms such as edge detection and feature point matching, for example, using its center point or a specific corner point as a reference and the ideal center coordinates of the container target entrance.

[0033] Deviation calculation: The system compares the "actual coordinates of the battery pack" with the "ideal coordinates of the target entrance" and calculates the deviation values ​​ΔX and ΔY between the two in the horizontal X-axis and vertical Y-axis directions.

[0034] Generate and execute compensation signals: Based on the calculated deviation value, the control system 10 generates specific compensation commands. These commands drive the lifting hinge 8 to make fine adjustments in the vertical direction to eliminate the Y-axis deviation; simultaneously, they drive the left positioning module 5 and the right positioning module 5 to work together to translate the battery pack in the horizontal direction to eliminate the X-axis deviation.

[0035] Closed-loop verification: After performing the compensation action, the visual positioning module 7 can take another image for verification to ensure that the position of the battery pack is precisely aligned with the target inlet. This "photograph-calculate-adjust" process is a closed-loop control that can be repeated until the deviation is less than the preset accuracy threshold, ultimately achieving precise positioning.

[0036] The container pushing module 4 is driven by a servo motor and connected to a lead screw via a coupling. The lead screw nut is fixed to a slider, which slides on a linear guide rail pre-set on the surface of the picking plate 2, thereby smoothly pushing the battery pack into the container.

[0037] As attached Figure 4 As shown, the mobile trolley 9 moves autonomously or remotely via a magnetic navigation module and omnidirectional wheels. The control system 10, acting as the brain of the equipment, receives data from various sensors and vision modules, and sends commands to the servo motors of each module to complete a complete material handling, positioning, and loading process.

[0038] The specific working process of this equipment is as follows:

[0039] 1. Material Retrieval: The mobile trolley 9 moves to the material area according to a preset path or remote control command. The material retrieval module 3 controls the material retrieval plate 2 to extend under the battery pack.

[0040] 2. Lifting and Returning: The lifting hinge 8 is activated, lifting the material handling module together with the battery pack to the predetermined height, and then the material handling plate 2 retracts back to the initial position of the equipment.

[0041] 3. Preliminary positioning: After moving to the vicinity of the container, the left positioning module 5 and the right positioning module 5 are activated to perform preliminary position calibration of the battery pack on the equipment.

[0042] 4. Precise Positioning and Loading: The lifting hinge 8 is adjusted to a higher position again, and at the same time, the vision positioning module 7 starts working to perform final positioning of the battery pack and the container. After positioning is completed, the material handling module 3 first transports the battery pack to the container opening, and then the container pushing module 4 starts to smoothly push the battery pack onto the rack.

[0043] 5. Cyclic Operation: After completing one loading cycle, each module is reset. The mobile trolley 9 switches to the next workstation according to the program, repeating the above steps until all loading tasks are completed.

[0044] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An apparatus for automatically positioning a battery pack, characterized by, The system includes a material picking module (3), a container pushing module (4), a visual positioning module (7), a lifting hinge (8), a mobile trolley (9), and a control system (10). The mobile trolley (9) is a rectangular mounting platform with omnidirectional wheels and a magnetic navigation module at the bottom. The material picking module (3) is mounted on the mobile trolley (9). The material picking module (3) has a retractable material picking plate (2). A left positioning module (5) and a right positioning module (6) are symmetrically arranged perpendicular to the retraction direction of the material picking plate (2). The container pushing module (4) is arranged on the material picking plate (2) along the retraction direction. The lifting hinge (8) is also arranged on the material picking module (3). The visual positioning module (7) is also arranged away from the plane of the material picking module (3). The material handling module (3), container pushing module (4), left positioning module (5), right positioning module (6), visual positioning module (7), and lifting hinge (8) are all connected to the control system (10) in communication.

2. The apparatus of claim 1, wherein, The left positioning module (5) and the right positioning module (6) are symmetrically arranged L-shaped flat plates. The flat plates are slidable using precision lead screws driven by servo motors, and laser sensors are also provided on the flat plates.

3. The apparatus of claim 1, wherein, It also includes a protective frame (1), which is a rectangular frame structure and is set above the mobile trolley (9).

4. The apparatus of claim 1, wherein, It also includes a protective frame (1), and the visual positioning module (7) is an industrial camera, which is fixedly mounted on the protective frame (1).

5. The apparatus of claim 1, wherein, The feeding module (4) is driven by a servo motor and connected to the lead screw through a coupling. The lead screw nut is fixedly connected to the slider and slides on the linear guide rail preset on the surface of the feeding plate (2).

6. The apparatus of claim 1, wherein, The control system (10) is a programmable controller and is located inside the mobile trolley (9).

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