CN115763933A - Battery module automatic stacking equipment - Google Patents

Abstract

The invention relates to an automatic stacking device for battery modules; the method comprises the following steps that a six-axis stacking robot and a six-axis feeding robot are respectively arranged on two sides of a case, an end plate feeding assembly and a battery cell feeding assembly are arranged on two sides of the six-axis stacking robot, and a stacking mechanism, a turnover mechanism and a translation mechanism are arranged on the case; at first, the stacking mechanism inclines a certain angle through a turnover mechanism, then the six-axis stacking robot grabs the end plate and the electric core on the end plate incoming material and the electric core incoming material assembly to the stacking mechanism through the clamping jaw, the turnover mechanism drives the stacking mechanism to reset, then the translation mechanism drives the stacking mechanism to translate to the six-axis blanking robot, and finally, the six-axis blanking robot grabs the battery module formed by stacking and moves to the next step. The invention can realize full automation of the stacking process of the battery modules, and has the advantages of reducing production cost and improving production efficiency and yield.

Description

Battery module automatic stacking equipment

technical field

The invention relates to the technical field of power battery production, in particular to an automatic stacking device for battery modules.

Background technique

With the rapid development of society, the demand for electric vehicles is increasing year by year, and the energy of electric vehicles mainly comes from battery packs. The smallest unit of a battery pack is a cell, which is an electrical energy storage unit; when multiple cells are packaged together in the same shell frame and communicate with the outside through a unified boundary, it becomes a battery module. After the module is jointly controlled or managed by the BMS and the thermal management system, the unified whole is the battery pack, and the process of placing multiple cells in the same casing is called the stacking process of the battery module.

At this stage, the automation of battery module stacking equipment is not high and the equipment structure is complex. Many links need to be stacked manually, and there is a problem of low stacking efficiency.

Contents of the invention

The object of the present invention is to provide an automatic stacking device for battery modules to solve the problem of low efficiency in the existing stacking process.

The purpose of the present invention can be achieved through the following technical solutions:

An automatic stacking device for battery modules, comprising a chassis, the chassis is provided with a translation mechanism, and the translation mechanism is slidably matched with the chassis;

The translation mechanism is provided with an overturning mechanism, and the overturning mechanism is in rotation with the translation mechanism; the axial direction of the rotation axis of the overturning mechanism is perpendicular to the translation direction of the translation mechanism; the overturning mechanism is provided with a stacking mechanism ;

A six-axis stacking robot and a six-axis unloading robot are arranged on both sides of the chassis, and the six-axis stacking robot and the six-axis unloading robot are located in the moving direction of the translation mechanism, and the six-axis stacking robot The two sides of the end plate incoming material assembly and the battery core incoming material assembly are respectively provided. The end plate incoming material assembly is provided with an end plate placing station for placing the end plate. The six-axis stacking robot is used to place the The end plate of the end plate placement station is grabbed to the stacking mechanism, the cell incoming assembly is provided with a cell placement station for placing cells, and the six-axis stacking robot is used for placing the cell The battery cell of the bit is grabbed to the stacking mechanism,

The end plates and the battery cells are stacked on the stacking station of the stacking mechanism to form a battery module, and the six-axis unloading robot grabs the battery module to the next process.

In one of the embodiments, the stacking mechanism includes a stacking installation plate, the stacking installation plate is fixedly connected with the turning mechanism, and the stacking installation plate is provided with a stacking station, and the stacking station is used for the The six-axis stacking robot grabs the cells for stacking operation, the end of the stacking station close to the six-axis stacking robot is provided with a bottom support device, and the end of the stacking station away from the six-axis stacking robot is provided with a As for the pressing device, the spacing direction between the bottom supporting device and the pressing device is consistent with the stacking direction of the electric cores.

In one of the embodiments, the stacking station is provided with a battery support frame, and side positioning devices are provided on both sides of the battery support frame, and the spacing direction of the two side positioning devices is related to the stacking direction of the battery cells. The direction is perpendicular, the side positioning device includes a second driving member, the second driving member is arranged on the stacking mounting plate, the driving direction of the second driving member is perpendicular to the stacking direction of the battery cells, The output end of the second driving member is connected to a positioning plate through a positioning screw, and the positioning plate abuts against the electric core.

In one of the embodiments, the pressing device includes a first driving member, the first driving member is arranged on the stacking mounting plate, and the driving direction of the first driving member is in line with the stacking direction of the electric cores. Consistently, the output end of the first driving member is connected to the pressing base through a pressing screw rod, and a pressing plate is installed on the pressing base, and the pressing plate can act along the stacking direction of the electric cores. One end surface of the battery module formed after the batteries are stacked.

In one of the embodiments, the bottom support device includes a support base, the support base is set on the stacking installation plate, a support plate is installed on the support base, and the support plate is used to support the end plate , the two sides of the support plate are equipped with limiting jaws, the spacing direction of the limiting jaws is perpendicular to the stacking direction of the battery cells, and the limiting jaws can at least partially be clamped on the end plate on both sides.

In one of the embodiments, the turning mechanism includes a rotating fixed seat, a rotating shaft, a gear transmission assembly, and a turning servo motor, and the rotating fixed seat is fixedly connected with the stacking mounting plate and the rotating shaft respectively, and the turning The servo motor is arranged on the translation mechanism, and the gear transmission assembly is driven and fitted between the rotation shaft and the flipping servo motor. The rotation shaft is connected in rotation with the translation mechanism, and the axial direction of the rotation shaft perpendicular to the moving direction of the translation mechanism;

The gear transmission assembly includes a first gear and a second gear, the first gear is sleeved on the rotating shaft and meshed with the second gear, and the second gear is connected to the output end of the turning servo motor.

In one of the embodiments, the turning servo motor drives the stacking mounting plate to rotate to the first turning position and the second turning position; the turning servo motor drives the stacking installing plate to turn to the first turning position position, the stacking mounting plate is parallel to the top of the chassis; when the turning servo motor drives the stacking mounting plate to rotate to the second turning position, a 60° is formed between the stacking mounting plate and the top of the chassis. °-80° included angle and the stacking station on the stacking mounting plate corresponds to the six-axis stacking robot;

And/or, a relief slot is provided on the chassis, and when the stack mounting plate is rotated to the second turning position, the relief slot is used to accommodate the rotation of the stack mounting plate towards the The side of the chassis that moves in the direction described above.

In one of the embodiments, the translation mechanism includes a translation base, a translation connection seat, a translation screw and a translation servo motor, the translation base is slidably connected to the chassis, the translation base is rotationally connected to the rotating shaft, One of the translation connecting seat and the translation servo motor is arranged on the chassis, the other is arranged on the translation base, the output end of the translation servo motor is connected with the translation screw rod, and the The axial direction of the output end of the translation servo motor is consistent with the axial direction of the translation screw rod, and the translation screw rod is screwed to the translation base.

In one of the embodiments, the translation base includes a translation bottom plate, and translation side plates are fixedly installed on both sides of the translation bottom plate; sliding connection;

A rotation limiting block is provided on the end surface of the translation side plate close to the rotating shaft, and when the stacking mounting plate rotates to the second turning position, the rotating limiting block is in contact with the bottom of the stacking mounting plate. meet each other.

In one of the embodiments, the end plate incoming material assembly includes a first end plate support frame and a second end plate support frame, and the first end plate support frame and the second end plate support frame are spaced apart to form an end plate support frame. position, the end plate is placed on the end plate station, an adjustment device is arranged between the first end plate support frame and the second end plate support frame, and the adjustment device supports the first end plate by adjusting the The distance between the frame and the second end plate support frame changes the size of the end plate station, the first end plate support frame is provided with a first stopper, and the second end plate support frame is provided with a There is a second limiter, the first end plate support frame and the second limiter are used to position the end plate; the cell incoming material assembly includes the first cell support frame and the second cell Support frame, the first cell support frame and the second cell support frame are arranged at intervals to form a cell station, the cell station is placed on the cell, the first cell support frame and the cell station An adjustment device is provided between the second cell support frames, and the adjustment device changes the size of the cell station by adjusting the distance between the first cell support frame and the second cell support frame. The first cell support frame is provided with a third limiter, the second cell support frame is provided with a fourth limiter, the third limiter and the second cell support frame are used to locate the cell.

And/or, the six-axis stacking robot includes an end plate gripper and a cell gripper, the size of the end plate gripper matches the end plate, and the cell gripper has a size that matches the cell match;

And/or, the six-axis blanking robot includes battery grippers, and the size of the battery grippers matches the battery module.

The invention provides an automatic stacking device for battery modules, which has the following beneficial effects: by setting a stacking mechanism, an overturning mechanism and a translation mechanism on the chassis, the stacking mechanism can be rotated after the six-axis stacking robot grabs the end plate and the battery core. It is more convenient to perform stacking operations. After stacking, the stacked battery modules are driven by the translation mechanism to the six-axis unloading robot. Finally, the six-axis unloading robot grabs the battery modules and moves to the next step. The present invention achieves the effects of reducing production cost, improving production efficiency and yield by realizing full automation of the battery module stacking process.

Description of drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention under a viewing angle;

Fig. 2 is a schematic structural view of a stacking mechanism according to an embodiment of the present invention;

Fig. 3 is a structural schematic diagram of a turning mechanism according to an embodiment of the present invention at a viewing angle;

Fig. 4 is a schematic structural diagram of an embodiment of the present invention under a viewing angle;

Fig. 5 is a schematic structural view of a six-axis loading robot according to an embodiment of the present invention;

Fig. 6 is a structural schematic diagram of an end plate incoming material assembly in a perspective according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a battery incoming material assembly according to an embodiment of the present invention from a viewing angle.

Explanation of reference signs:

10. Chassis; 101. Relief slot; 20. Stacking mechanism; 201. Stacking mounting plate; 202. Battery support frame; 203. Bottom supporting device; 204. Pressing device; 205. Side positioning device; 2031. Supporting base; 2032, support plate; 2033, limit jaw; 2041, first driving member; 2042, pressing screw rod; 2043, pressing base; 2044, pressing plate; 2051, second driving member; 2052, positioning screw rod ; 2053, positioning plate; 30, turning mechanism; 301, rotating fixed seat; 302, rotating shaft; 303, gear transmission assembly; 304, turning servo motor; 3031, first gear; 3032, second gear; 40, translation mechanism ; 401, translation base; 402; translation connection seat; 403, translation screw; 404, translation servo motor; 405, translation fixing seat; 4011, translation bottom plate; 4012, translation side plate; Six-axis stacking robot; 501, end plate gripper; 502, cell gripper; 60, six-axis unloading robot; 601, battery gripper; 70, end plate incoming component; 701, first end plate support frame; 702, the second end plate support frame; 703, the first limiter; 704, the second limiter; 705, the end plate; 80, the battery incoming component; 801, the first battery support frame; 802, the first Second cell support frame; 803, the third limiter; 804, the fourth limiter; 805, the battery cell; 90, the battery module.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

In some embodiments, the present invention provides an automatic stacking device for battery modules, which includes a chassis 10, on which a translation mechanism 40 is provided, and the translation mechanism 40 is slidably matched with the chassis 10; the translation mechanism 40 is provided with a turning mechanism 30 , the overturning mechanism 30 and the translation mechanism 40 rotate and cooperate; the axial direction of the turning shaft of the overturning mechanism 30 is perpendicular to the translation direction of the translation mechanism; the overturning mechanism 30 is provided with a stacking mechanism 20; The six-axis unloading robot 60, and the six-axis stacking robot 50 and the six-axis unloading robot 60 are located in the moving direction of the translation mechanism 40, and the two sides of the six-axis stacking robot 50 are respectively provided with an end plate incoming assembly 70 and a battery incoming assembly. The material assembly 80, the end plate incoming material assembly 70 is provided with an end plate placing station for placing the end plate 705, and the six-axis stacking robot 50 is used to grab the end plate 705 of the end plate placing station to the stacking mechanism 20, and the electric The core incoming material assembly 80 is provided with a cell placement station for placing the cell 805, the six-axis stacking robot 50 is used for grabbing the cell 805 at the cell placement station to the stacking mechanism 20, the end plate 705 and the The battery cells 805 are stacked on the stacking station of the stacking mechanism 20 to form the battery module 90 , and the six-axis unloading robot 60 grabs the battery module 90 to the next process.

Referring to FIG. 1 , the stacking workflow of the battery module of the present invention is as follows: First, before the stacking robot 50 performs the stacking operation, the end plate incoming material assembly 70 and the battery core incoming material assembly 80 carry the battery provided by the previous process equipment. The raw material end plate 705 and the battery core 805, the translation mechanism 40 simultaneously drive the turning mechanism 30 and the stacking mechanism 20 to perform translation, when the stacking mechanism 20 moves to a designated position close to the six-axis stacking robot 50, the translation mechanism 40 stops driving, and the turning mechanism 30 After driving the stacking mechanism 20 to overturn at a certain angle, the stacking station on the stacking mechanism 20 corresponds to the six-axis stacking robot 50 .

Then, the six-axis stacking robot 50 first grabs an end plate 705 to the stacking mechanism, and then successively grabs several pieces of battery cells 805 and stacks them on the base of the end plate 705. When the stack reaches the required size, the six-axis stacking robot 50 grabs the end plate 705 again and fixes it on the last battery cell 805 after stacking, thereby forming the battery module 90 .

Then, after the turning mechanism 30 drives the battery modules on the stacking mechanism 20 to turn over to a state parallel to the moving direction of the translation mechanism 40, the translation mechanism 40 drives the stacking mechanism 20 to move again. When the stacking mechanism 20 moves close to the six-axis The material robot 60 stops, and finally, the battery module 90 on the stacking mechanism 20 is picked up by the six-axis unloading robot 60 and transported to other stations. At this point, the automatic stacking process of the battery module is over.

In some embodiments, the translation mechanism 40 , the turning mechanism 30 and the stacking mechanism 50 cooperate with each other to form a set of translation turning devices, and at least two sets of translation turning devices are arranged on the chassis 10 . After the six-axis stacking robot 50 completes the stacking operation on the first set of translation and turning devices, the translation and turning devices need time to drive the battery module 90 to perform turning and translation movements. Start the stacking operation in middle; when the stacking operation is completed, the six-axis stacking robot 50 returns to the first translation and flipping device for stacking, so that the two sets of translation and flipping devices are alternately stacked, ensuring that the equipment can complete the stacking operation without interruption, and improve the quality of the six-axis robot. The utilization rate and the production capacity of the equipment; at the same time, the setting of the translation and flipping device shortens the working range of the six-axis robot, ensuring that the six-axis stacking robot 50 and the six-axis blanking robot can not interfere with each other when working at the same time.

In some embodiments, the stacking mechanism 20 includes a stacking installation plate 201, the stacking installation plate 201 is fixedly connected to the turning mechanism 30, and a stacking station is provided on the stacking installation plate 201, and the stacking station is used for the six-axis stacking robot 50 to grab the electric The core 805 performs the stacking operation, the end of the stacking station close to the six-axis stacking robot 50 is provided with a bottom support device 203, the end of the stacking station away from the six-axis stacking robot 50 is provided with a pressing device 204, the bottom supporting device 203 and the pressing device The spacing direction of 204 is consistent with the stacking direction of the battery cells 805 .

Because in the stacking operation, the turning mechanism 30 drives the stacking installation plate 201 to reverse a certain angle, so that the stacking station corresponds to the six-axis stacking robot 50 for stacking operations, and the stacking station is set near the end of the six-axis stacking robot 50 There is a bottom support device 203, which plays a basic supporting role for the end plate 705 and the battery core 805, and can prevent the end plate 705 and the battery core 805 from slipping when stacked on the inclined stacking installation plate 201, ensuring the stacking Stability during operation; a pressing device 204 is arranged at a distance from the bottom support device 203. After the stacking operation is completed, the stacking installation plate 201 needs to be rotated to the original position and perform translational movement. The pressing device 204 can hold the stacked batteries The pressing operation of the module 90 prevents the battery module from shifting during the rotation process, and also ensures the stability of the battery module during the translation process.

In some embodiments, the bottom support device 203 and the stacking installation plate 201 are detachably connected, and different sizes of the bottom support device 203 can be installed according to the size of the stacked end plates and battery cells to adapt to different production Scenes.

In some embodiments, a battery support frame 202 is provided on the stacking station, side positioning devices 205 are provided on both sides of the battery support frame 202 , and the spacing direction of the two side positioning devices 205 is perpendicular to the stacking direction of the battery cells 805 .

The jaws of the six-axis stacking robot 50 grabbing the end plate 705 and the battery cell 805 tend to frictionally collide with the stacking installation plate 201 during stacking. A certain distance is convenient for the six-axis stacking robot 50 to stack on the stacking installation plate 201. Similarly, it is also convenient for the six-axis unloading robot 60 to grab the battery modules formed after stacking; the side positioning device 205 further controls the battery modules. The group plays the role of limiting and fixing, which ensures the stability of the battery module 90 during flipping and translational movements.

In some embodiments, the side positioning device 205 includes a second driving member 2051, the second driving member 2051 is arranged on the stacking installation plate 201, the driving direction of the second driving member 2051 is perpendicular to the stacking direction of the electric core 805, and the second The output end of the driving part 2051 is connected to the positioning plate 2053 through the positioning screw 2052, and the positioning plate 2053 is in contact with the battery cell 805; the pressing device 204 includes a first driving part 2041, and the first driving part 2041 is arranged on the stacking installation plate 201 , the driving direction of the first driving member 2041 is consistent with the stacking direction of the battery cells 805, the output end of the first driving member 2041 is connected to the pressing base 2043 through the pressing screw 2042, and a pressing plate is installed on the pressing base 2043 2044 , the pressing plate 2044 can act on one end surface of the battery module formed by stacking the battery cells 805 along the stacking direction of the battery cells 805 .

After the battery support frame 202 is stacked and installed to form the battery module 90, the second driving member 2051 drives the positioning plate 2053 to contact the battery cell 805, thereby realizing the limit and fixation of the battery module 90. The positioning plate 2053 can be positioned according to the battery The size and size of the module 90 are disassembled to achieve a better fixing effect, and to avoid positional deviation during the movement of the battery module 90 due to the small size of the positioning plate 2053 relative to the battery module 90 .

After the positioning plate 2053 has finished limiting and fixing the battery module 90, the first driving member 2041 drives the pressing plate 2044 to further press and position the battery module 90, through the positioning plate 2053, the pressing plate 2044 and the bottom support device 203 and the three cooperate to surround the battery module 90, so that the battery module has higher stability, and ensure that the battery module 90 is more stable when turning and moving.

In some embodiments, the bottom support device 203 includes a support base 2031, and the support base 2031 is arranged on the stacking installation plate 201, and a support plate 2032 is installed on the support base 2031, and the support plate 2032 is used to support the end plate 705, and the support plate 2032 Limiting jaws 2033 are installed on both sides. The spacing direction of the limiting jaws 2033 is perpendicular to the stacking direction of the cells 805 . The limiting jaws 2033 can at least partially be clamped on both sides of the end plate 705 .

Further, the support base 2031 and the support plate 2032 are detachably connected, so that the size of the support plate 2032 can be disassembled and replaced according to the size of the battery module 90 to ensure the stability of the stacking operation; the limit jaw 2033 and the support plate An adjustable device is provided between 2032 to realize that the limiting jaw 2033 is adaptable to battery modules 90 of different sizes.

The supporting plate 2032 and the pressing plate 2044 are respectively pressed on opposite ends of the battery module 90 , and the two positioning plates 2053 are respectively pressed on two opposite side walls of the battery module 90 .

In some embodiments, the turning mechanism 30 includes a rotating fixed base 301, a rotating shaft 302, a gear transmission assembly 303, and a turning servo motor 304. Set on the translation mechanism 40, the gear transmission assembly 303 is driven and fitted between the rotation shaft 302 and the flip servo motor 304, the rotation shaft 302 is rotationally connected with the translation mechanism 40, and the axial direction of the rotation shaft 302 is perpendicular to the moving direction of the translation mechanism 40 The gear transmission assembly 303 includes a first gear 3031 and a second gear 3032 , the second gear 3032 is sleeved on the rotating shaft 302 and meshes with the first gear 3031 , and the first gear 3031 is connected to the output end of the turning servo motor 304 .

The output end of the turning servo motor 30 drives the first gear 3031 to rotate, and the second gear 3032, which is meshed with the rotation of the first gear 3031, rotates accordingly. Because the second gear 3032 is sleeved on the rotating shaft 302, the second gear 3032 drives The rotating shaft 302 rotates, because the rotating shaft 302 is rotationally connected with the translation mechanism 40, and is fixedly connected with the rotating fixed seat 301, so when the rotating shaft 302 rotates on the translation mechanism, it drives the rotating fixed seat 301 to rotate, and the rotating fixed seat 301 drives the stacking The mounting plate 201 rotates so that the stacking mounting plate 201 forms a certain angle with the translation mechanism 40 or the chassis 10 , so that the stacking mounting plate 201 is inclined and the stacking station corresponds to the six-axis stacking robot 50 .

In some embodiments, the first driving member 2041 and the second driving member 2051 use air cylinders, and sensors are respectively provided on the battery support frame 202 and the air cylinders. When the sensor of the battery support frame 202 senses the battery module 90, it drives the cylinder to move, thereby pushing the pressing device 204 and the side positioning device 205 to press and position the battery module. At this time, the sensor provided on the cylinder also sends a signal to Turn over the servo motor 30 to make it rotate, thereby driving the stacking installation plate 201 to rotate.

In some embodiments, the turning servo motor 304 drives the stacking installation plate 201 to rotate to the first turning position and the second turning position; Parallel to the top of the chassis 10; when the turning servo motor 304 drives the stacking mounting plate 201 to rotate to the second turning position, an angle of 60°-80° is formed between the stacking mounting plate 201 and the top of the chassis 10 and the stacking on the stacking mounting plate 201 The workstations correspond to the six-axis stacking robot 50 .

When the stacking installation plate 201 is in the first turning position, two translational states can be realized; the first is that the stacking station carries the stacked battery modules 90 , and then the stacking installation plate 201 moves the battery modules 90 through the translation mechanism 40 Transport to a place close to the six-axis unloading robot 60, so that the six-axis unloading robot 60 can grab the battery module 90 to other processes; After grabbing, the stacking mounting plate 201 is translated from the six-axis unloading robot 60 to the six-axis stacking robot 50 through the translation mechanism 40;

Further, when the stacking mounting plate 201 is in the second steering position, the angle between the stacking mounting plate 201 and the chassis 10 is 60°. At this time, the inclination angle of the stacking mounting plate 201 is not only convenient for the stacking operation of the six-axis stacking robot, but also can Stably bear the weight of the battery module 90 itself.

In some embodiments, the chassis 10 is provided with a relief slot 101, and when the stacking mounting plate 201 is rotated to the second turning position, the relief slot 101 is used to accommodate the movement of the stacking mounting plate 201 toward the chassis 10 when turning. If the distance between the stacking mounting plate 10 and the chassis 10 is too small, it will not be able to accommodate the side of the stacking mounting plate 201 that is close to the chassis 10 when rotating, so a relief slot 101 is provided on the chassis 10 , to prevent the side of the stacking mounting plate 201 close to the chassis 10 from colliding with the chassis 10, which not only satisfies the different angle rotation between the stacking mounting plate 201 and the chassis 10, but also reduces the failure rate of the equipment.

In some embodiments, the translation mechanism 40 includes a translation base 401, a translation connection seat 402, a translation screw rod 403, and a translation servo motor 404. The translation base 401 is slidably connected to the chassis 10, and the translation base 401 is rotationally connected to the rotating shaft 302, and the translation connection One of the seat 402 and the translation servo motor 404 is arranged on the chassis 10, and the other is arranged on the translation base 401. The output end of the translation servo motor 404 is connected with the translation screw rod 403, and the axial direction of the output end of the translation servo motor 404 The axial direction of the translation screw rod 403 is consistent with that of the translation screw rod 403 and the translation base 401 is screwed.

The translation base 401 is slidably connected with the chassis 10 through the translation servo motor 404 and the translation connection seat 402 to realize the translation movement, and the translation movement can be realized through two different connection methods.

The first is that the translation connecting seat 402 is fixedly connected with the translation base 401, the translation servo motor 404 is arranged on the chassis 10, the translation connection seat 402 is screwed with the translation screw rod 403, and the output end of the translation screw rod 403 and the translation servo motor 404 rotates connection, when the translation servo motor 404 is activated, the translation connection seat 401 rotates on the translation screw rod 403 to drive the translation base 401 to perform a translation movement relative to the chassis 10 .

The second is that the fixed portion of the translation servo motor 404 is fixedly connected to the translation base 401, and the translation connection seat 402 is connected to the chassis 10. When the translation servo motor 404 is started, the translation servo motor 404 is moving in translation through the translation screw rod 403 connected to the output end. The connection seat 402 rotates, so that the translation servo motor 404 drives the translation base 401 to perform translation movement relative to the chassis.

In some embodiments, the translation base 401 includes a translation base plate 4011, and translation side plates 4012 are fixedly installed on both sides of the translation base plate 4011; the translation side plates 4012 are rotationally connected with the rotation shaft 302, and the translation base plate 4011 is slidingly connected with the chassis 10; A rotation limiting block 4013 is provided on the end surface of the plate 4012 close to the rotating shaft 302 , and the rotation limiting block 4013 abuts against the bottom of the stacking mounting plate 201 when the stacking mounting plate 201 rotates to the second turning position. Setting the rotation limiter 4013 can absorb the collision force generated by the stacking installation plate 201 and the translational side plate 4012 when it rotates to a certain angle, and play a buffering role, thereby reducing the vibration and noise of the device and increasing the service life of the device.

In some embodiments, the end plate incoming component 70 includes a first end plate support frame 701 and a second end plate support frame 702, and the first end plate support frame 701 and the second end plate support frame 702 are arranged at intervals to form an end plate support frame. position, the end plate 705 is placed on the end plate station, an adjustment device is arranged between the first end plate support frame 701 and the second end plate support frame 702, and the adjustment device adjusts the first end plate support frame 701 and the second end plate The distance between the support frames 702 changes the size of the end plate station, the first end plate support frame 701 is provided with a first limiter 704, and the second end plate support frame 702 is provided with a second limiter 703, The first end plate supporting frame 701 and the second limiting member 703 are used to position the end plate 705 .

An adjustment device is set between the first end plate support frame 701 and the second end plate support frame 702 to change the size of the end plate station, so as to carry different types of end plate 705, when the equipment in other processes transports the end plate 705 When reaching the end plate station, the first limiter 704 and the second limiter 703 cooperate to position and fix the end plate 705 at a specified position, so that the six-axis stacking robot 50 can quickly and accurately grab.

The battery incoming material assembly 80 includes a first battery support frame 801 and a second battery support frame 802, and the first battery support frame 801 and the second battery support frame 802 are arranged at intervals to form a battery station, and the battery station The electric core 805 is placed on it, and an adjustment device is arranged between the first electric core support frame 801 and the second electric core support frame 802, and the adjustment device adjusts the The spacing distance changes the size of the cell station, the first cell support frame 801 is provided with a third limiter 804, the second cell support frame 802 is provided with a fourth limiter 803, and the third limiter 804 And the second cell support frame 802 is used to position the cell.

An adjustment device is set between the first battery support frame 801 and the second battery support frame 802 to change the size of the battery cell station, so as to carry different types of battery cells 805, when the equipment in other processes transports the battery cells 805 When reaching the battery cell station, the fourth stopper 803 and the third stopper 804 cooperate to position and fix the battery cell 805 at a designated position, so that the six-axis stacking robot 50 can quickly and accurately grab it.

In some embodiments, the adjusting device may adopt bolt connection, telescopic piece connection and the like. For the convenience of expression, the first end plate support frame 701, the second end plate support frame 702, the first cell support frame 801 and the second cell support frame 802 are collectively referred to as support frames in this embodiment; the end plate station and Cell stations are collectively referred to as stations. When the adjustment device is connected by bolts, among the two support frames that are arranged at intervals to form a station, one of the support frames is provided with threaded holes, and the other support frame is provided with bolts, and the bolts are threaded with the threaded holes and fixed with nuts. When the distance between the two support frames needs to be adjusted, the nut is removed, the bolt and the threaded hole cooperate to adjust the distance, and the nut is fixed after adjusting to the required distance.

When the adjustment device adopts telescopic parts, telescopic rods can be installed on the two supporting frames that are arranged at intervals to form stations, and the two telescopic rods cooperate with each other to realize the change of the distance between the supporting frames; or one of the supporting frames can be added A slide rail is installed on the top, and a slide block is installed on another support frame, and the slide block and the slide rail cooperate with each other to realize the change of the distance between the two support frames.

In some embodiments, the six-axis stacking robot 50 includes an end plate gripper 501 and a cell gripper 502. The size of the end plate gripper 501 matches the end plate 705, and the size of the cell gripper 502 matches the cell 805. matching; and/or, the six-axis blanking robot 60 includes a battery gripper 601 , and the size of the battery gripper 601 matches the battery module 602 . Both the end plate clamping jaw 501 and the cell clamping jaw 502 are detachable, and the clamping jaws suitable for the type of the end plate 705 and the cell 805 can be installed according to different types. The battery gripper 601 is also detachable. The matching battery clamps 601 can be installed according to the size of the stacked battery modules 90 .

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

In order to make the above objects, features and advantages of the present invention more comprehensible, the specific implementation manners of the present invention have been described in detail above with reference to the accompanying drawings. In the foregoing description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

In describing the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", " The orientation or positional relationship indicated by "outer", "axial", "radial" and "circumferential" are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating Or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limit. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions are for the purpose of illustration only and are not intended to represent the only embodiment.

Claims (10)

1. The utility model provides an automatic equipment that piles up of battery module which characterized in that: the device comprises a case (10), wherein a translation mechanism (40) is arranged on the case (10), and the translation mechanism (40) is in sliding fit with the case (10);

the translation mechanism (40) is provided with a turnover mechanism (30), and the turnover mechanism (30) is in rotating fit with the translation mechanism (40); the axial direction of the rotating shaft of the turnover mechanism (30) is vertical to the translation direction of the translation mechanism; the turnover mechanism (30) is provided with a stacking mechanism (20);

six-axis stacking robots (50) and six-axis blanking robots (60) are arranged on two sides of the case (10), the six-axis stacking robots (50) and the six-axis blanking robots (60) are located in the moving direction of the translation mechanism (40), end plate incoming material assemblies (70) and cell incoming material assemblies (80) are respectively arranged on two sides of each six-axis stacking robot (50), each end plate incoming material assembly (70) is provided with an end plate placing station for placing an end plate (705), each six-axis stacking robot (50) is used for grabbing an end plate (705) of each end plate placing station to the stacking mechanism (20), each cell incoming material assembly (80) is provided with a cell placing station for placing a cell (805), and each six-axis stacking robot (50) is used for grabbing a cell (805) of each cell placing station to the stacking mechanism (20);

the end plate (705) and the battery core (805) are stacked on a stacking station of the stacking mechanism (20) to form a battery module (90), and the six-axis blanking robot (60) grabs the battery module (90) to the next process.

2. The automatic battery module stacking apparatus according to claim 1, wherein: stacking mechanism (20) is including piling up mounting panel (201), pile up mounting panel (201) with tilting mechanism (30) fixed connection, it is equipped with the pile up station on mounting panel (201) to pile up, it is used for to pile up the station six-axis piles up robot (50) and snatchs electric core (805) and stack the operation, it is close to pile up the station the one end that robot (50) were piled up to six-axis is provided with bottom sprag device (203), it keeps away from to pile up the station the one end that robot (50) were piled up to six-axis is provided with closing device (204), the interval direction of bottom sprag device (203) and closing device (204) with the direction of piling up of electric core (805) is unanimous.

3. The automatic battery module stacking apparatus according to claim 2, wherein: a battery support frame (202) is arranged on the stacking station, side positioning devices (205) are arranged on two sides of the battery support frame (202), and the spacing direction of the two side positioning devices (205) is perpendicular to the stacking direction of the battery core (805); the side positioning device (205) comprises a second driving piece (2051), the second driving piece (2051) is arranged on the stacking mounting plate (201), the driving direction of the second driving piece (2051) is perpendicular to the stacking direction of the battery cell (805), the output end of the second driving piece (2051) is connected with a positioning plate (2053) through a positioning screw rod (2052), and the positioning plate (2053) is abutted to the battery cell (805).

4. The automatic battery module stacking apparatus according to claim 2, wherein: compressing device (204) includes first drive piece (2041), first drive piece (2041) sets up on piling up mounting panel (201), the drive direction of first drive piece (2041) with the direction of piling up of electric core (805) is unanimous, the output of first drive piece (2041) is connected with compressing tightly base (2043) through compressing tightly lead screw (2042), compress tightly and install pressure strip (2044) on base (2043), pressure strip (2044) can be followed the direction of piling up of electric core (805) acts on an terminal surface of the battery module of constituteing after electric core (805) piles up.

5. The automatic battery module stacking apparatus according to claim 2, wherein: bottom sprag device (203) is including supporting base (2031), support base (2031) sets up on piling up mounting panel (201), install backup pad (2032) on supporting base (2031), backup pad (2032) are used for supporting end plate (705), spacing clamping jaw (2033) are installed to the both sides of backup pad (2032), spacing clamping jaw (2033) the interval direction with the direction of piling up of electricity core (805) is mutually perpendicular, spacing clamping jaw (2033) part at least can be got and is pressed from both sides of end plate (705).

6. The automatic battery module stacking apparatus according to claim 2, wherein: the turnover mechanism (30) comprises a rotary fixing seat (301), a rotary shaft (302), a gear transmission assembly (303) and a turnover servo motor (304), wherein the rotary fixing seat (301) is respectively and fixedly connected with the stacking mounting plate (201) and the rotary shaft (302), the turnover servo motor (304) is arranged on the translation mechanism (40), the gear transmission assembly (303) is in transmission fit between the rotary shaft (302) and the turnover servo motor (304), the rotary shaft (302) is rotatably connected with the translation mechanism (40), and the axial direction of the rotary shaft (302) is perpendicular to the moving direction of the translation mechanism (40);

the gear transmission assembly (303) comprises a first gear (3031) and a second gear (3032), the second gear (3032) is sleeved on the rotating shaft (302) and meshed with the first gear (3031), and the first gear (3031) is connected with the output end of the turnover servo motor (304).

7. The automatic battery module stacking apparatus according to claim 6, wherein: the overturning servo motor (304) drives the stacking mounting plate (201) to rotate to a first steering position and a second steering position;

when the overturning servo motor (304) drives the stacking mounting plate (201) to rotate to the first rotation position, the stacking mounting plate (201) is parallel to the top of the case (10);

when the overturning servo motor (304) drives the stacking mounting plate (201) to rotate to the second steering position, an included angle of 60-80 degrees is formed between the stacking mounting plate (201) and the top of the case (10), and stacking stations on the stacking mounting plate (201) correspond to the six-axis stacking robot (50);

and/or, set up on quick-witted case (10) and abdicate groove (101), work as it rotates to pile up mounting panel (201) when second turning position, abdicate groove (101) are used for holding to be close to when rotating on piling up mounting panel (201) a side that quick-witted case (10) direction moved.

8. The automatic battery module stacking apparatus according to claim 6, wherein: translation mechanism (40) are including translation base (401), translation connecting seat (402), translation lead screw (403) and translation servo motor (404), translation base (401) with quick-witted case (10) sliding connection, translation base (401) with rotation axis (302) rotate and are connected, translation connecting seat (402) with one of them is located to translation servo motor (404) quick-witted case (10), and the other is located translation base (401), the output of translation servo motor (404) with translation lead screw (403) are connected, just the axial of the output of translation servo motor (404) with the axial of translation lead screw (403) is unanimous, translation lead screw (403) with translation base (401) threaded connection.

9. The automatic battery module stacking apparatus according to claim 8, wherein: the translation base (401) comprises a translation bottom plate (4011), and translation side plates (4012) are fixedly mounted on two sides of the translation bottom plate (4011); the translation side plate (4012) is rotationally connected with the rotating shaft (302), and the translation bottom plate (4011) is connected with the chassis (10) in a sliding way;

translation curb plate (4012) are close to be provided with rotatory stopper (4013) on the terminal surface of the one end of rotation axis (302), rotatory stopper (4013) are in it rotates extremely to pile up mounting panel (201) when the second is turned to with pile up mounting panel (201) bottom looks butt.

10. The automatic battery module stacking apparatus according to claim 1, wherein: the end plate feeding assembly (70) comprises a first end plate supporting frame (701) and a second end plate supporting frame (702), the first end plate supporting frame (701) and the second end plate supporting frame (702) are arranged at intervals to form an end plate station, the end plate (705) is placed on the end plate station, an adjusting device is arranged between the first end plate supporting frame (701) and the second end plate supporting frame (702), the adjusting device changes the size of the end plate station by adjusting the interval distance between the first end plate supporting frame (701) and the second end plate supporting frame (702), a first limiting piece (704) is arranged on the first end plate supporting frame (701), a second limiting piece (703) is arranged on the second end plate supporting frame (702), and the first end plate supporting frame (701) and the second limiting piece (703) are used for positioning the end plate (705); the battery cell incoming material assembly (80) comprises a first battery cell support frame (801) and a second battery cell support frame (802), the first battery cell support frame (801) and the second battery cell support frame (802) are arranged at intervals to form a battery cell station, the battery cell (805) is placed on the battery cell station, an adjusting device is arranged between the first battery cell support frame (801) and the second battery cell support frame (802), the adjusting device changes the size of the battery cell station by adjusting the spacing distance between the first battery cell support frame (801) and the second battery cell support frame (802), a third limiting part (804) is arranged on the first battery cell support frame (801), a fourth limiting part (803) is arranged on the second battery cell support frame (802), and the third limiting part (804) and the second battery cell support frame (802) are used for positioning the battery cell;

and/or the six-axis stacking robot (50) comprises an end plate clamping jaw (501) and a cell clamping jaw (502), wherein the size of the end plate clamping jaw (501) is matched with that of the end plate (705), and the size of the cell clamping jaw (502) is matched with that of the cell (805);

and/or the six-axis blanking robot (60) comprises a battery clamping jaw (601), and the size of the battery clamping jaw (601) is matched with that of the battery module (602).

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