CN114178806B - Automatic power battery assembling method, device and equipment and readable storage medium - Google Patents
Automatic power battery assembling method, device and equipment and readable storage medium Download PDFInfo
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- CN114178806B CN114178806B CN202111301853.5A CN202111301853A CN114178806B CN 114178806 B CN114178806 B CN 114178806B CN 202111301853 A CN202111301853 A CN 202111301853A CN 114178806 B CN114178806 B CN 114178806B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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Abstract
The invention provides a method, a device and equipment for automatically assembling a power battery and a readable storage medium, wherein the method for automatically assembling the power battery comprises the following steps: when recognizing that the vehicle starts to enter the assembly station, moving the tray loaded with the power battery to the battery positioning device; when the fact that the vehicle stops at the assembly station is recognized, acquiring target coordinates of a hole center of an installation hole of the vehicle chassis on a horizontal plane; controlling the battery positioning device to adjust the position of the tray, so that a first coordinate of a hole center of an installation hole of the power battery on the tray on the horizontal plane is consistent with the target coordinate; and controlling the battery positioning device to lift the tray to a target height, controlling the tightening device to place the bolt into the target coordinate, and tightening the bolt. The invention can realize the automatic assembly of the power battery, and simultaneously can output an alarm and corresponding prompt information based on the abnormal condition occurring in the assembly process, thereby overcoming the defects of omission and relatively low accuracy of manual assembly in the prior art.
Description
Technical Field
The invention relates to the field of electric automobile assembly, in particular to an automatic power battery assembly method, device and equipment and a readable storage medium.
Background
The pure electric vehicle is mainly characterized by comprising an electric drive assembly, a power battery, a motor controller and other three-power-system parts. At present, the mainstream arrangement form of the pure electric vehicle is as follows: the electric drive assembly and the motor controller replace the prior engine assembly and are arranged in the engine room; the power battery is mainly arranged below the floor of the vehicle body and is fixedly connected with the vehicle body through bolts based on the consideration of space utilization maximization. The power battery of the electric vehicle is assembled to one of the problems to be faced by many host factories.
In the prior art, a main engine factory is mostly manually assembled in the production and assembly process, when a power battery is assembled, a vehicle body is positioned at a high station, the power battery is positioned at a low position, the power battery is lifted to the lower part of the floor of the vehicle body through manpower, the power battery is accurately positioned with a mounting hole of the vehicle body through a positioning pin, and then the fastening operation of the power battery is realized through manual operation of pre-screwing a pneumatic air gun, descending a lifting device, screwing a bolt by a formal servo machine and the like.
The power assembly operation of prior art transports, the bolt tightening etc. from the line limit and accomplishes by the manual work, when underbody and power battery passed through the bolt tightening assembly, needs the operator to face upward the head and carry out the operation from up down, and long-time assembly operation causes the damage to operator's cervical vertebra, shoulder easily, not only requires highly to operator's health quality, and overall efficiency is not high moreover. Under the background that the labor cost of the current automobile industry is high and the intelligent manufacturing technology is generally applied, the operation mode mainly relying on manual work to realize power battery assembly cannot meet the requirements of all automobile factories.
Disclosure of Invention
The invention mainly aims to provide a method, a device and equipment for automatically assembling a power battery and a readable storage medium, and aims to solve the technical problem that in the prior art, the power battery and a vehicle body bottom plate on a production line cannot be automatically assembled and need to be manually assembled.
In a first aspect, the present invention provides an automatic assembly method for a power battery, including the following steps:
when recognizing that the vehicle starts to enter the assembly station, moving the tray loaded with the power battery to the battery positioning device;
when the fact that the vehicle stops at an assembly station is recognized, acquiring target coordinates of a hole center of a mounting hole of the vehicle chassis on a horizontal plane;
controlling the battery positioning device to adjust the position of the tray, so that a first coordinate of a hole center of an installation hole of the power battery on the tray on the horizontal plane is consistent with the target coordinate;
and controlling the battery positioning device to lift the tray to a target height, controlling the tightening device to place the bolt into the target coordinate, and tightening the bolt.
Optionally, before the step of moving the tray with the power battery onto the battery positioning device when the vehicle is identified to start entering the assembly station, the method further includes:
when the fact that a vehicle reaches a first preset position is recognized, judging whether the vehicle needs to be assembled with a power battery or not based on the vehicle type code of the vehicle;
and if the vehicle needs to be assembled with a power battery, transmitting the vehicle to an assembly station.
Optionally, the step of controlling the tightening device to place the bolt into the target coordinates and tighten the bolt includes:
measuring the sum of the depths of the mounting holes of the vehicle chassis and the mounting holes of the power battery;
and if the sum of the depths in the holes is within a preset numerical range, controlling a tightening device to place the bolt into the target coordinate, and tightening the bolt.
Optionally, after the step of measuring the sum of the depths of the mounting holes of the vehicle chassis and the power battery, the method includes:
and if the sum of the depths in the holes is not within a preset numerical range, outputting prompt information of abnormal warning.
Optionally, if the sum of the depths in the holes is within a preset numerical range, the step of controlling the tightening device to place the bolt into the target coordinate and tightening the bolt includes:
acquiring the maximum torque output by a tightening device in the tightening process;
detecting whether the maximum torque is in a preset torque range or not;
if the torque is within the preset torque range, determining that the power battery is successfully assembled;
and if the torque is not within the preset torque range, outputting bolt abnormity prompt information, wherein the bolt abnormity prompt information comprises the bolt number of the bolt corresponding to the maximum torque.
Optionally, after the step of determining that the power battery is assembled successfully, the method includes:
and resetting the battery positioning device and the tightening device to the corresponding zero positions.
In a second aspect, the present invention further provides an automatic power battery assembling apparatus, including:
the moving module is used for moving the tray loaded with the power battery to the battery positioning device when recognizing that the vehicle starts to enter the assembly station;
the acquisition module is used for acquiring a target coordinate of a mounting hole center of the vehicle chassis on a horizontal plane when the vehicle is identified to stop at an assembly station;
the adjusting module is used for controlling the battery positioning device to adjust the position of the tray, so that a first coordinate of a hole center of a mounting hole of the power battery on the tray on the horizontal plane is consistent with the target coordinate;
and the control module is used for controlling the battery positioning device to lift the tray to a target height, controlling the tightening device to place the bolt into the target coordinate and tightening the bolt.
Optionally, the automatic power battery assembling device further includes a determining module, configured to:
when the fact that a vehicle reaches a first preset position is recognized, judging whether the vehicle needs to be assembled with a power battery or not based on the vehicle type code of the vehicle;
and if the vehicle needs to be assembled with a power battery, transmitting the vehicle to an assembly station.
Optionally, the automatic power battery assembling device further includes a measuring module, configured to:
measuring the sum of the depths of the mounting holes of the vehicle chassis and the mounting holes of the power battery;
and if the sum of the depths in the holes is within a preset numerical range, controlling a tightening device to place the bolt into the target coordinate, and tightening the bolt.
Optionally, the automatic power battery assembling device further includes an output module, configured to:
and if the sum of the depths in the holes is not in a preset numerical range, outputting prompt information of abnormal warning.
Optionally, the automatic power battery assembling device further includes an output module, configured to:
acquiring the maximum torque output by a tightening device in the tightening process;
detecting whether the maximum torque is in a preset torque range or not;
if the torque is within the preset torque range, determining that the power battery is assembled successfully;
and if the torque is not within the preset torque range, outputting bolt abnormity prompt information, wherein the bolt abnormity prompt information comprises the bolt number of the bolt corresponding to the maximum torque.
Optionally, the automatic power battery assembling device further includes a reset module, configured to:
and resetting the battery positioning device and the tightening device to corresponding zero positions.
In a third aspect, the present invention further provides an automatic power battery assembling device, which includes a processor, a memory, and an automatic power battery assembling program stored on the memory and executable by the processor, wherein when the automatic power battery assembling program is executed by the processor, the steps of the automatic power battery assembling method described above are implemented.
In a fourth aspect, the present invention further provides a readable storage medium, wherein the readable storage medium stores an automatic power battery assembling program, and when the automatic power battery assembling program is executed by a processor, the steps of the automatic power battery assembling method as described above are implemented.
When the fact that a vehicle starts to enter an assembly station is recognized, a tray loaded with a power battery is moved to a battery positioning device; when the fact that the vehicle stops at an assembly station is recognized, acquiring target coordinates of a hole center of a mounting hole of the vehicle chassis on a horizontal plane; controlling the battery positioning device to adjust the position of the tray, so that a first coordinate of a hole center of an installation hole of the power battery on the tray on the horizontal plane is consistent with the target coordinate; and controlling the battery positioning device to lift the tray to a target height, controlling the tightening device to place the bolt into the target coordinate, and tightening the bolt. The invention can realize the automatic assembly of the power battery, and simultaneously can send out an alarm and corresponding prompt information based on the abnormal condition in the assembly process, thereby overcoming the defects of omission and relatively low accuracy of manual assembly in the prior art.
Drawings
Fig. 1 is a schematic diagram of a hardware structure of an automatic power battery assembling device according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating an embodiment of an automatic assembling method for a power battery according to the present invention;
fig. 3 is a schematic functional block diagram of an automatic power battery assembling apparatus according to an embodiment of the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In a first aspect, an embodiment of the present invention provides an automatic power battery assembling device.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of an automatic power battery assembling device according to an embodiment of the present invention. In the embodiment of the present invention, the automatic power battery assembling device may include a processor 1001 (e.g., a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WI-FI interface, WI-FI interface); the memory 1005 may be a Random Access Memory (RAM) or a non-volatile memory (non-volatile memory), such as a disk memory, and the memory 1005 may optionally be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration depicted in FIG. 1 is not intended to be limiting of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
With continued reference to fig. 1, the memory 1005 of fig. 1, which is one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a power cell auto-assembly program. The processor 1001 may call the power battery automatic assembly program stored in the memory 1005, and execute the power battery automatic assembly method provided by the embodiment of the present invention.
In a second aspect, an embodiment of the present invention provides an automatic assembly method for a power battery.
Referring to fig. 2, fig. 2 is a schematic flow chart of an embodiment of an automatic power battery assembling method of the present invention.
In one embodiment of the automatic power battery assembly method of the present invention, the automatic power battery assembly method includes:
step S10, when recognizing that the vehicle starts to enter an assembly station, moving a tray loaded with a power battery to a battery positioning device;
further, in an embodiment, before step S10, the method further includes:
when the fact that a vehicle reaches a first preset position is recognized, judging whether the vehicle needs to be assembled with a power battery or not based on the vehicle type code of the vehicle;
and if the vehicle needs to be assembled with a power battery, transmitting the vehicle to an assembly station.
In this embodiment, the vehicle is carried on assembly line with the mode of being had by the locking device, has set up photoelectric sensing switch discernment vehicle current transmission arrival's position in assembly line both sides. Power battery transmits through the rollgang on assembly manufacturing line, and power battery is placed on the power battery assembly tray on the rollgang from the windrow point via power battery loading attachment, and power battery assembly tray can bear the power battery of assembly usefulness, and the locating pin of tray self-carrying can fix power battery on the position of settlement simultaneously, therefore power battery is fixed unchangeable for the position of tray in transmission process. After the power batteries are loaded, the power battery assembly tray bears the power batteries to be assembled and enters the battery positioning device through the power battery conveying roller way. The battery positioning device is positioned at the assembly station and is controlled by 3 servo motors, and the position of the tray loaded with the power battery can be adjusted in the X direction, the Y direction and the Z direction, so that the position of the power battery can be synchronously adjusted.
When the photoelectric sensing switches arranged on two sides of the assembly line identify that the vehicle reaches a first preset position, acquiring a vehicle type VID code of the vehicle at the first preset position, scanning the vehicle type VID code of the vehicle by a bar code scanning device, identifying and judging whether the vehicle needs to carry out power battery assembly, and if the vehicle does not need to carry out power battery assembly, releasing the vehicle and enabling the vehicle to quickly pass through a power battery assembly station; if the vehicle needs to be assembled with the power battery, the speed of vehicle transmission is accelerated and then the vehicle is transmitted to an assembly station, and the vehicle is gradually decelerated until the vehicle is identified to stop on the power battery assembly station through photoelectric sensing switches arranged on two sides of an assembly production line.
Meanwhile, when the photoelectric sensing switches arranged on the two sides of the assembly line recognize that the vehicle on the assembly line starts to enter the assembly station, the vehicle starts to enter the assembly station but does not completely enter the assembly station, the tray loaded with the power battery to be assembled on the power battery conveying roller way is moved to the battery positioning device, and the battery positioning device adjusts the position of the power battery to be assembled in the X direction, the Y direction and the Z direction so as to perform final assembly operation on the vehicle and the power battery.
S20, when the fact that the vehicle stops at an assembly station is recognized, acquiring a target coordinate of a hole center of an installation hole of the vehicle chassis on a horizontal plane;
in this embodiment, when the photoelectric sensing switches arranged on the two sides of the assembly line recognize that the vehicle stops at the assembly station on the assembly line, the vehicle completely enters and stops at the assembly station at this time, and therefore the vehicle on the assembly station is fixed before the assembly is completed, and the vehicle comprises position coordinates in the X direction and the Y direction on the horizontal plane and position height in the Z direction, so that the position coordinates of the mounting hole on the vehicle chassis need to be acquired at this time to perform hole alignment, so as to perform the final screwing assembly operation. The mounting hole of the vehicle chassis can be photographed and identified through an imaging sensor arranged on a power battery assembly station, the pixel coordinate of the mounting hole center of the vehicle chassis on an acquired image is fitted to obtain the real physical coordinate of the mounting hole center of the vehicle chassis based on an internal and external parameter matrix on a camera, the position height of the power battery in the Z direction can be fixedly adjusted by controlling a servo motor in the Z direction on a battery positioning device, and meanwhile, in order to reduce the requirement on calculation resources in a visual identification algorithm, the real X-direction and Y-direction coordinates of the mounting hole center of the vehicle chassis on the horizontal plane can be obtained through fitting according to an image after distortion correction and serve as the X-direction and Y-direction target coordinates of the mounting hole center of the vehicle chassis and the power battery mounting hole center on the horizontal plane which are finally assembled.
Step S30, controlling a battery positioning device to adjust the position of the tray, so that a first coordinate of a hole center of an installation hole of a power battery on the tray on the horizontal plane is consistent with the target coordinate;
in this embodiment, when the vehicle starts to enter the assembly station, the tray carrying the power battery is conveyed to the battery positioning device through the power battery roller conveyor. Therefore, when the situation that the vehicle stops at the assembly station and the target coordinates of the center of the mounting hole of the vehicle chassis stopped at the assembly station on the horizontal plane are obtained is identified, the power battery is located on the battery positioning device at the moment, the battery positioning device is located at the assembly station, the X-direction and Y-direction coordinate positions of the center of the mounting hole of the power battery on the power battery assembly tray on the horizontal plane need to be obtained in real time at the moment, and the position of the tray is adjusted by controlling the X-direction and Y-direction servo motors through the battery positioning device according to the X-direction and Y-direction target coordinates of the center of the mounting hole of the vehicle chassis on the horizontal plane, so that the first coordinates of the center of the mounting hole of the power battery on the tray in the X-direction and Y-direction are consistent with the X-direction and Y-direction target coordinates of the center of the mounting hole of the vehicle chassis on the horizontal plane.
And S40, controlling the battery positioning device to lift the tray to a target height, controlling the tightening device to place the bolt into the target coordinate, and tightening the bolt.
The step of controlling the tightening device to place a bolt into the target coordinates and tighten the bolt includes:
measuring the sum of the depths of the mounting holes of the vehicle chassis and the mounting holes of the power battery;
and if the sum of the depths in the holes is within a preset numerical range, controlling a tightening device to place the bolt into the target coordinate, and tightening the bolt.
In this embodiment, when the first coordinates of the center of the mounting hole of the power battery in the X direction and the Y direction on the horizontal plane are consistent with the target coordinates of the center of the mounting hole of the vehicle chassis in the X direction and the Y direction on the horizontal plane, the position of the tray can be adjusted by controlling the servo motor in the Z direction through the battery positioning device, so that the center of the mounting hole of the power battery on the tray reaches the target height in the Z direction, and is attached to the center of the mounting hole of the vehicle chassis, that is, the mounting holes of the power battery are aligned with the mounting holes of the vehicle chassis at this time.
After the alignment and the fitting of each mounting hole of the power battery and each mounting hole of the vehicle chassis are finished, the sum of the depths of the mounting holes of the aligned and fitted vehicle chassis and the mounting holes of the power battery needs to be measured, whether the current mounting holes are finished for the holes is judged according to the numerical range of the sum of the depths of the holes, if the sum of the depths of the holes is within the preset numerical range, the phenomenon that the holes are mistakenly wrong is not caused and no other obstacles exist in the holes, an assembling manipulator on the tightening device can be controlled to place the bolts into the mounting holes corresponding to the target coordinates, and the bolts are tightened through a servo tightening machine assembled by the power battery.
Further, in an embodiment, after the step of measuring the sum of the depths in the holes of the mounting hole of the vehicle chassis and the mounting hole of the power battery, the method includes:
and if the sum of the depths in the holes is not in a preset numerical range, outputting prompt information of abnormal warning.
In this embodiment, if the sum of the depths in the holes is not within the preset numerical range, it indicates that there is a wrong hole in each mounting hole of the power battery and each mounting hole of the vehicle chassis or a foreign object blockage exists in the mounting holes, and then a prompt message of an abnormal warning may be output, where the prompt message includes a sound alarm and a warning state prompt of a warning light. After the prompt information of the abnormity warning is output, the assembly operation is intervened manually, and a basis is provided for subsequent abnormal repair after the abnormity is recorded based on hole aligning results.
Further, in an embodiment, after the step of controlling the tightening device to place the bolt into the target coordinate and tighten the bolt if the sum of the depths in the holes is within a preset numerical range, the step of:
acquiring the maximum torque output by a tightening device in the tightening process;
detecting whether the maximum torque is in a preset torque range or not;
if the torque is within the preset torque range, determining that the power battery is assembled successfully;
and if the torque is not within the preset torque range, outputting bolt abnormity prompt information, wherein the bolt abnormity prompt information comprises the bolt number of the bolt corresponding to the maximum torque.
In this embodiment, if the sum of the depths in the holes is within the preset numerical range, which indicates that no error occurs in the holes and no other obstacles exist in the holes at this time, the assembling manipulator on the tightening device may be controlled to place the bolt in each mounting hole corresponding to the target coordinate, and the bolt may be tightened by the servo tightening machine assembled by the power battery. Meanwhile, the maximum torque output by the tightening device in the bolt tightening assembly process is obtained, and whether the maximum torque of each mounting hole in the bolt tightening assembly process is within a preset torque range or not is detected, so that whether the current bolt has problems or not is judged, for example, the bolt model is not matched with the mounting hole, and the bolt is not locked. If the maximum torque of each mounting hole in the bolt tightening assembling process is within the preset torque range, the power battery and the vehicle are determined to be successfully assembled, and if the maximum torque of each mounting hole in the bolt tightening assembling process is not within the preset torque range, bolt abnormity prompt information corresponding to the mounting hole is output, wherein the bolt abnormity prompt information comprises the bolt number of the bolt corresponding to the maximum torque which is not within the preset torque range.
Further, in an embodiment, after the step of determining that the power battery is successfully assembled, the method includes:
and resetting the battery positioning device and the tightening device to corresponding zero positions.
In the embodiment, after the power battery is successfully assembled and a vehicle release instruction is sent, the vehicle is quickly transported by the holding tool at a certain transport speed until the vehicle leaves the power battery assembly station, and at the moment, whether the vehicle leaves the assembly station is judged by identifying the photoelectric inductive switches arranged on two sides of the assembly production line. Simultaneously, resetting the battery positioning device and the tightening device to respective zero positions, wherein the zero position of the battery positioning device is a fixed point position of a tray which is initially moved upwards to carry the power battery; the zero position of the tightening device includes the respective fixed-point positions of the power-battery-equipped robot and the servo tightening machine.
In the embodiment, when the vehicle is identified to start entering the assembly station, the tray carrying the power battery is moved to the battery positioning device; when the fact that the vehicle stops at the assembly station is recognized, acquiring target coordinates of a hole center of an installation hole of the vehicle chassis on a horizontal plane; controlling the battery positioning device to adjust the position of the tray, so that a first coordinate of a hole center of an installation hole of the power battery on the tray on the horizontal plane is consistent with the target coordinate; and controlling the battery positioning device to lift the tray to a target height, controlling the tightening device to place the bolt into the target coordinate, and tightening the bolt. The invention can realize the automatic assembly of the power battery, and simultaneously can send out an alarm and corresponding prompt information based on the abnormal condition in the assembly process, thereby overcoming the defects of missing and relatively low accuracy of manual assembly in the prior art.
In a third aspect, the embodiment of the invention further provides an automatic power battery assembling device.
Referring to fig. 3, a functional module of an embodiment of an automatic power battery assembling apparatus is schematically illustrated.
In this embodiment, the power battery automatic assembly device includes:
the moving module 10 is used for moving the tray loaded with the power battery to the battery positioning device when recognizing that the vehicle starts to enter the assembly station;
the obtaining module 20 is used for obtaining a target coordinate of a mounting hole center of the vehicle chassis on a horizontal plane when the vehicle is identified to stop at the assembly station;
the adjusting module 30 is used for controlling the battery positioning device to adjust the position of the tray, so that a first coordinate of a hole center of a mounting hole of the power battery on the tray on the horizontal plane is consistent with the target coordinate;
and the control module 40 is used for controlling the battery positioning device to lift the tray to a target height, controlling the tightening device to place the bolt into the target coordinate, and tightening the bolt.
Further, in an embodiment, the automatic assembling device for power batteries further comprises a judging module, configured to:
when the fact that a vehicle reaches a first preset position is recognized, judging whether the vehicle needs to be assembled with a power battery or not based on a vehicle type code of the vehicle;
and if the vehicle needs to be assembled with a power battery, transmitting the vehicle to an assembly station.
Further, in an embodiment, the automatic power battery assembling device further includes a measuring module, configured to:
measuring the sum of the depths of the mounting holes of the vehicle chassis and the mounting holes of the power battery;
and if the sum of the depths in the holes is within a preset numerical range, controlling a tightening device to place the bolt into the target coordinate, and tightening the bolt.
Further, in an embodiment, the automatic power battery assembling device further includes an output module, configured to:
and if the sum of the depths in the holes is not within a preset numerical range, outputting prompt information of abnormal warning.
Further, in an embodiment, the automatic power battery assembling device further includes an output module, configured to:
acquiring the maximum torque output by a tightening device in the tightening process;
detecting whether the maximum torque is in a preset torque range or not;
if the torque is within the preset torque range, determining that the power battery is assembled successfully;
and if the torque is not within the preset torque range, outputting bolt abnormity prompt information, wherein the bolt abnormity prompt information comprises the bolt number of the bolt corresponding to the maximum torque.
Further, in an embodiment, the automatic power battery assembling device further includes a reset module, configured to:
and resetting the battery positioning device and the tightening device to the corresponding zero positions.
The function implementation of each module in the automatic power battery assembly device corresponds to each step in the automatic power battery assembly method embodiment, and the functions and implementation processes are not described in detail here.
In a fourth aspect, the embodiment of the present invention further provides a readable storage medium.
The readable storage medium of the invention stores the automatic power battery assembling program, wherein the automatic power battery assembling program realizes the steps of the automatic power battery assembling method when being executed by the processor.
The method for implementing the automatic power battery assembling program when executed may refer to various embodiments of the automatic power battery assembling method of the present invention, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or the portions contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes several instructions for causing a terminal device to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. An automatic power battery assembling method is characterized by comprising the following steps:
when the vehicle is identified to start to enter the assembly station, moving the tray loaded with the power battery to the battery positioning device;
when the fact that the vehicle stops at an assembly station is recognized, acquiring target coordinates of a hole center of a mounting hole of the vehicle chassis on a horizontal plane;
controlling a battery positioning device to adjust the position of the tray, so that a first coordinate of a hole center of a mounting hole of a power battery on the tray on the horizontal plane is consistent with the target coordinate;
controlling a battery positioning device to lift the tray to a target height, controlling a tightening device to place a bolt into the target coordinate, and tightening the bolt;
the step of controlling the tightening device to place a bolt into the target coordinates and tighten the bolt includes:
measuring the sum of the depths of the mounting holes of the vehicle chassis and the mounting holes of the power battery;
if the sum of the depths in the holes is within a preset numerical range, controlling a tightening device to place a bolt into the target coordinate and tightening the bolt;
if the sum of the depths in the holes is within a preset numerical range, controlling a tightening device to place a bolt into the target coordinate, and tightening the bolt, wherein the step of tightening the bolt comprises the following steps:
acquiring the maximum torque output by a tightening device in the tightening process;
detecting whether the maximum torque is in a preset torque range or not;
if the torque is within the preset torque range, determining that the power battery is assembled successfully;
and if the torque is not within the preset torque range, outputting bolt abnormity prompt information, wherein the bolt abnormity prompt information comprises the bolt number of the bolt corresponding to the maximum torque.
2. The automatic assembly method for power batteries according to claim 1, characterized in that before the step of moving the tray carrying the power batteries to the battery positioning device when recognizing that the vehicle starts entering the assembly station, the method further comprises the following steps:
when the fact that a vehicle reaches a first preset position is recognized, judging whether the vehicle needs to be assembled with a power battery or not based on a vehicle type code of the vehicle;
and if the vehicle needs to be assembled with a power battery, transmitting the vehicle to an assembly station.
3. The automatic power battery assembling method according to claim 1, wherein after the step of measuring the sum of the depths in the holes of the mounting hole of the vehicle chassis and the mounting hole of the power battery, the method comprises:
and if the sum of the depths in the holes is not in a preset numerical range, outputting prompt information of abnormal warning.
4. The automatic power battery assembly method of claim 1, wherein after the step of determining that the power battery assembly is successful, comprising:
and resetting the battery positioning device and the tightening device to corresponding zero positions.
5. The utility model provides a power battery automatic assembly device which characterized in that, power battery automatic assembly device includes:
the moving module is used for moving the tray loaded with the power battery to the battery positioning device when recognizing that the vehicle starts to enter the assembly station;
the acquisition module is used for acquiring a target coordinate of a mounting hole center of the vehicle chassis on a horizontal plane when the vehicle is identified to stop at an assembly station;
the adjusting module is used for controlling the battery positioning device to adjust the position of the tray, so that a first coordinate of a hole center of a mounting hole of the power battery on the tray on the horizontal plane is consistent with the target coordinate;
the control module is used for controlling the battery positioning device to lift the tray to a target height, controlling the tightening device to place the bolt into the target coordinate and tightening the bolt;
the automatic power battery assembling device further comprises a measuring module used for:
measuring the sum of the depths of the mounting holes of the vehicle chassis and the mounting holes of the power battery;
if the sum of the depths in the holes is within a preset numerical range, controlling a tightening device to place a bolt into the target coordinate and tightening the bolt;
the automatic power battery assembling device further comprises an output module, which is used for:
acquiring the maximum torque output by a tightening device in the tightening process;
detecting whether the maximum torque is in a preset torque range or not;
if the torque is within the preset torque range, determining that the power battery is assembled successfully;
and if the torque is not within the preset torque range, outputting bolt abnormity prompt information, wherein the bolt abnormity prompt information comprises the bolt number of the bolt corresponding to the maximum torque.
6. The automatic power battery assembling device according to claim 5, further comprising a determining module for:
when the fact that a vehicle reaches a first preset position is recognized, judging whether the vehicle needs to be assembled with a power battery or not based on a vehicle type code of the vehicle;
and if the vehicle needs to be assembled with a power battery, transmitting the vehicle to an assembly station.
7. An automatic power battery assembly apparatus, characterized in that the automatic power battery assembly apparatus comprises a processor, a memory, and an automatic power battery assembly program stored on the memory and executable by the processor, wherein the automatic power battery assembly program, when executed by the processor, implements the steps of the automatic power battery assembly method according to any one of claims 1 to 4.
8. A readable storage medium, wherein a power battery automatic assembly program is stored on the readable storage medium, wherein when the power battery automatic assembly program is executed by a processor, the steps of the power battery automatic assembly method according to any one of claims 1 to 4 are realized.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104259830A (en) * | 2014-08-01 | 2015-01-07 | 湖北机电院装备制造有限责任公司 | High-voltage battery assembly equipment |
| CN112264792A (en) * | 2020-10-27 | 2021-01-26 | 成都英泰基智能装备有限公司 | Control system and method for precise screw disassembly and assembly |
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2021
- 2021-11-04 CN CN202111301853.5A patent/CN114178806B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104259830A (en) * | 2014-08-01 | 2015-01-07 | 湖北机电院装备制造有限责任公司 | High-voltage battery assembly equipment |
| CN112264792A (en) * | 2020-10-27 | 2021-01-26 | 成都英泰基智能装备有限公司 | Control system and method for precise screw disassembly and assembly |
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| CN114178806A (en) | 2022-03-15 |
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