CN115832406A

CN115832406A - Automatic assembling system and assembling method for battery stack

Info

Publication number: CN115832406A
Application number: CN202310154434.6A
Authority: CN
Inventors: 谈言; 周洁; 俞兆星; 成池; 叶潇; 顾金成; 杨建华; 胡伟
Original assignee: Changzhou Mentechs Intelligent Equipment Co ltd
Current assignee: Changzhou Mentechs Intelligent Equipment Co ltd
Priority date: 2023-02-23
Filing date: 2023-02-23
Publication date: 2023-03-21
Anticipated expiration: 2043-02-23
Also published as: CN115832406B

Abstract

The invention relates to the technical field of battery stacking, in particular to an automatic assembly system for battery stacking, which is provided with a first section of line body, a second section of line body and a third section of line body and also comprises a plurality of grabbing positions arranged on the first section of line body; the shuttle table is arranged between the first section of line body and the second section of line body and is used for grouping every two single battery cells; the second-section tray is arranged on the second-section wire body; the adhesive sticking position, the tearing-off type paper position, the adhesive sticking detection position and the pre-stacking position are sequentially arranged beside the two-section line along the conveying direction of the two-section line; the three-section tray is arranged on the three-section wire body; the tray tightening and loosening device is arranged beside the three sections of trays and is used for tightening and loosening the movable ends of the three sections of trays; the end plate position and the stacking position are arranged on the three wire bodies and used for mounting the end plates and stacking the battery cell modules; the NG material warehouse is arranged beside the tearing-off type paper position and is used for replacing unqualified grouped cells on the rubberizing detection position; the stacking efficiency of the electric core is high, and the stacking precision can be guaranteed.

Description

Automatic assembling system and assembling method for battery stack

Technical Field

The invention relates to the technical field of battery stacking, in particular to an automatic assembling system and an automatic assembling method for battery stacking.

Background

In the CTP battery package module production line, a plurality of electric cores need to be stacked. The stacking of the battery core is a crucial link in the assembly of the power battery module, wherein the stacking efficiency of the battery core directly influences the production efficiency of the module production line, and the stacking precision of the battery core directly influences the product quality. A good battery cell stacking assembly system and an assembly method can effectively improve efficiency, reduce cost, ensure precision and ensure yield.

At present, the assembly of a battery module is generally to stack a plurality of electric cores by manually matching corresponding automation equipment. Because the module produces the line in the lathe technology content many, lathe action complicacy and the beat is nervous, lead to the piling up of electric core inefficiency, labour cost is high, is difficult to satisfy the beat requirement of producing the line. Moreover, how to safely complete the cell stacking by using the same reference to ensure the accuracy of the cell stacking is also a difficult problem which needs to be solved urgently.

Disclosure of Invention

The invention aims to overcome the defects and shortcomings in the prior art and provide a battery stacking automatic assembly system and an assembly method, wherein the battery stacking automatic assembly system is high in battery cell stacking efficiency and capable of ensuring the stacking precision.

The technical scheme for realizing the purpose of the invention is as follows: a battery stacking automatic assembly system comprises a first section of wire body, a second section of wire body and a third section of wire body, and also comprises a plurality of grabbing positions, wherein the grabbing positions are arranged on the first section of wire body and used for placing a single battery cell; the shuttle table is arranged between the first section of line body and the second section of line body and is used for grouping the single battery cells pairwise; the two-section tray is arranged on the two-section wire body and used for placing the grouped electric cores; the battery cell module is sequentially arranged beside the two-section line along the conveying direction of the two-section line and used for carrying out rubberizing, tearing-off paper, rubberizing detection and stacking on a group of battery cells to form a battery cell module; the three sections of trays are arranged on the three sections of wire bodies and used for placing the end plates and the battery cell modules; the tray tightening and loosening device is arranged beside the three sections of trays and is used for tightening and loosening the movable ends of the three sections of trays; the end plate position and the stacking position are arranged on the three sections of wire bodies and are used for installing the end plates and stacking the battery cell modules; and the NG material warehouse is arranged beside the tearing-off type paper position and is used for replacing the unqualified grouped cells on the rubberizing detection position.

Further, the shuttle table comprises a first rack arranged on the foundation, a lower transportation assembly and an upper transportation assembly which are slidably arranged on the first rack, and a plurality of clamping assemblies which are respectively arranged on the lower transportation assembly and the upper transportation assembly, wherein the upper transportation assembly is arranged above the lower transportation assembly in parallel; the clamping assembly comprises a fixed tray, a clamping bottom plate, pressing groups and clamping groups, the fixed tray is respectively arranged on the lower conveying assembly and the upper conveying assembly, the clamping bottom plate is rotatably arranged on the fixed tray, the pressing groups are arranged at two ends of the clamping bottom plate, and the clamping groups are arranged on two sides of the clamping bottom plate.

Furthermore, a pre-stacking device is arranged on the pre-stacking position, and the pre-stacking device comprises a second rack arranged on the foundation, a lifting module vertically arranged on the second rack, a displacement adjusting assembly arranged on the lifting module and a first gripper assembly arranged at the bottom end of the displacement adjusting assembly; the displacement adjusting assembly comprises a displacement mounting plate arranged on the lifting module, a transverse mounting plate slidably mounted at the bottom end of the displacement mounting plate, a transverse driving group for driving the transverse mounting plate to transversely move, a longitudinal mounting plate slidably mounted at the bottom end of the transverse mounting plate and a longitudinal driving group for driving the longitudinal mounting plate to longitudinally move.

The three-section tray comprises a bottom plate assembly arranged on the three-section line body, a front end plate stop block arranged at the front end of the bottom plate assembly, a floating clamping stop block arranged at the rear end of the bottom plate assembly in a sliding mode and a first linear module driving the floating clamping stop block to move along the length direction of the bottom plate assembly; the floating clamping stop block comprises a mounting seat which is slidably mounted at the rear end of the bottom plate assembly, an elastic guide rod group which is mounted at the top end of the mounting seat and a floating stop block which is mounted on the elastic guide rod group.

Further, the tray tightening and loosening device comprises a base arranged on the three line bodies, an unlocking assembly arranged on the base in a sliding mode and a first driving assembly driving the unlocking assembly to move along the base; the unlocking assembly comprises a floating sleeve and a first driving group for driving the floating sleeve to rotate.

Further, the floating sleeve comprises a sleeve bottom plate arranged at the output end of the first driving group, a positioning cylinder arranged on the sleeve bottom plate, and a conical sleeve, a guide ring, a built-in sleeve and a first elastic piece which are sequentially and coaxially arranged in the positioning cylinder from outside to inside, wherein the guide ring and the built-in sleeve are elastically connected through the first elastic piece, the built-in sleeve is arranged on the sleeve bottom plate, three guide strips are axially and uniformly distributed on the inner wall of the circumference of the positioning cylinder, and three grooves matched with the guide strips are formed in the periphery of the tail end of the conical sleeve and the periphery of the guide ring.

Furthermore, an end plate material warehouse and an end plate conveying device are arranged on the end plate position, and the end plate material warehouse comprises a third rack arranged on the foundation and a plurality of drawer assemblies sequentially stacked on the third rack; the drawer assembly comprises an edge support, two moving groups, a material drawer and a plurality of material supports, wherein two sides of the material drawer are respectively connected with the edge support in a sliding manner through the two moving groups, the material supports are arranged on the material drawer, the upper end and the lower end of each edge support are respectively connected through a cross beam, and the cross beam at the lower end of each edge support is hinged with a cover plate; and the end plate conveying device conveys the end plates in the end plate material warehouse to three sections of line bodies.

Further, two sections remove group including long guide rail, short guide rail, intermediate lamella and interior plate, long guide rail installs the inboard at the limit support, short guide rail is installed in the inboard of intermediate lamella, and with long guide rail parallel arrangement, intermediate lamella outside both ends are fixed with two first slip tables that set up on long guide rail, interior plate outside both ends are fixed with two second slip tables, and the second slip table that is close to apron one end sets up on long guide rail, and the second slip table setting of keeping away from apron one end is on short guide rail, the outside of interior plate and material drawer is connected.

Further, a side pushing reference device, a first robot and a second robot are arranged on the stacking position, the side pushing reference device comprises a fourth rack installed on a foundation, a main side pushing assembly installed on the fourth rack in a sliding mode, a second linear module driving the main side pushing assembly to move transversely, and a plurality of secondary side pushing assemblies installed on the main side pushing assembly, and the main side pushing assembly and the plurality of secondary side pushing assemblies are sequentially arranged side by side; the first robot and the second robot respectively comprise a mounting seat arranged at the tail end of the robot, a floating assembly arranged on the mounting seat and a plurality of second gripper assemblies arranged on the floating assembly in parallel.

Further, the main side pushing assembly comprises a plurality of movable longitudinal bars, a side pushing cross bar and a main side pushing plate, the movable longitudinal bars are slidably mounted on the top surface of the fourth rack, the side pushing cross bar is mounted at one end of each movable longitudinal bar, the main side pushing plate is mounted at one end, far away from the movable longitudinal bars, of the side pushing cross bar, and the movable longitudinal bars are arranged in parallel; the secondary side pushing assembly comprises a second driving group and a secondary pushing side plate, the second driving group is installed on the side pushing cross bar, the secondary pushing side plate is installed at the output end of the second driving group, and the output end of the second driving group penetrates through the side pushing cross bar.

An assembling method of the battery stack assembling system comprises the following steps:

s1, two battery cores are connected into a group: the battery cells pasted with the glue on the upper side surfaces of the grabbing positions are grabbed to the shuttle table through a third robot and a fourth robot to be grouped in pairs to form grouped battery cells;

s2, rubberizing, tearing off type paper and rubberizing of battery core in groups detect: the group of electric cores on the shuttle table are grabbed onto a second-section tray through a fifth robot, and the second-section line drives the second-section tray to sequentially pass through a rubberizing position, a tearing-off type paper position and a rubberizing detection position, so that rubberizing, tearing-off type paper and rubberizing detection of the group of electric cores are completed;

s3, end plate feeding and NG replacement: the end plates in the end plate material warehouse are grabbed by a sixth robot and are placed in an end plate conveying device after being torn off, and meanwhile, the sixth robot replaces the grouped electric cores which are unqualified in rubberizing detection with the qualified grouped electric cores in the NG material warehouse;

s4, pre-stacking of grouped battery cells: the pre-stacking device stacks the grouped cells on one second-section tray to another second-section tray to form a2 x 2 cell module;

s5, end plate installation and battery cell module stack: the tray loosening and tightening device on the end plate position loosens the movable ends of the three sections of trays, the end plates on the end plate conveying device are grabbed to the front ends and the rear ends of the three sections of trays through the seventh robot and are downwards put into the trays and are tightly pressed, the three sections of trays are circulated to the stacking position, the side-push reference device stretches out to the right position, the first robot and the second robot grab the battery cell modules on the two sections of trays and stack the battery cell modules on the three sections of trays, and after the stacking operation is completed, the movable ends of the three sections of trays are tightened by the tray loosening and tightening device to the set position to achieve self-locking and pressure maintaining.

After the technical scheme is adopted, the invention has the following positive effects:

(1) According to the invention, the battery cell is transmitted through the first-section wire body, the second-section wire body and the third-section wire body, the automation of battery stacking is realized through the shuttle table, the rubberizing position, the tearing-off type paper position, the rubberizing detection position, the pre-stacking position, the end plate position and the stacking position, the efficiency of battery cell stacking is greatly improved, the production efficiency of a module production line is improved, and meanwhile, the same reference is used in the process of battery cell stacking, so that the accuracy of battery cell stacking is ensured.

(2) According to the invention, the upper conveying assembly is arranged in the space above the lower conveying assembly, so that double-station loading and unloading are realized, two groups of conveying assemblies alternately run, and the loading and the unloading are carried out at the same time, so that the working beat is improved, the assembly efficiency is improved, and the production efficiency is improved; in addition, two sets of transportation assemblies run up and down alternately, so that the occupied area is reduced, and the space utilization rate in the vertical direction is improved.

(3) According to the invention, through the arrangement of the displacement adjusting assembly and the reference plate, the grabbing and positioning are accurate, so that the two groups of battery cores have the same positioning reference surface when being pre-stacked, and a foundation is laid for the stacking of the next procedure.

(4) The floating sleeve can slightly move in the circumferential direction, and the fastener and the floating sleeve are allowed to have different axes to a certain extent, so that the position fault tolerance rate is high, and the adaptability of the floating sleeve matched with the fastener is good.

(5) The arrangement of the end plate material warehouse separates the manual work from the production line, and is safe, the two-section type feeding drawer has longer stroke and more reasonable arrangement.

(6) According to the invention, the side-push reference device, the first robot and the second robot are arranged, so that the module production line is suitable for battery cell modules with different lengths, and single-row and double-row battery cell modules are arranged, so that the battery cell modules with different lengths can be rapidly switched and can be rapidly stacked to the reference position.

Drawings

In order that the manner in which the present invention is made will be more readily and clearly understood, the invention will be further described in detail in the following detailed description taken in conjunction with the accompanying drawings, in which:

fig. 1 is a schematic structural view of an automatic assembly system for battery stacks according to the present invention;

FIG. 2 is a schematic view of the shuttle table of the present invention;

FIG. 3 is a schematic structural view of the lower and upper transport assemblies of the present invention;

FIG. 4 is a schematic structural diagram of a lower driving group and an upper driving group according to the present invention;

FIG. 5 is a schematic view of the lower frame structure of the present invention;

FIG. 6 is a first schematic structural view of a clamping assembly of the present invention;

FIG. 7 is a second schematic structural view of the clamping assembly of the present invention;

FIG. 8 is a schematic view of the internal structure of the clamping assembly of the present invention;

FIG. 9 is a cross-sectional view of the clamping assembly of the present invention;

FIG. 10 is a schematic view of a pre-stacking apparatus according to the present invention;

FIG. 11 is an enlarged view of a portion of the pre-stacking apparatus of the present invention;

FIG. 12 is a side view of a pre-stacking apparatus of the present invention;

FIG. 13 is a first structural schematic view of a three-section tray according to the present invention;

FIG. 14 is a second schematic structural view of a three-stage tray according to the present invention;

FIG. 15 is a schematic view of the structure of the pallet tensioner of the present invention;

FIG. 16 is a cross-sectional view of the tray tightening mechanism of the present invention;

FIG. 17 is a cross-sectional view of the floating sleeve of the present invention;

FIG. 18 is a schematic view of the end plate magazine of the present invention;

FIG. 19 is a schematic view of the drawer assembly of the present invention;

FIG. 20 is a schematic diagram of a mobile group according to the present invention;

FIG. 21 is a side view of the drawer assembly of the present invention;

FIG. 22 is a schematic structural view of a lateral thrust reference device according to the present invention;

FIG. 23 is a schematic structural view of a master side thrust assembly of the present invention;

FIG. 24 is a top view of the side thrust reference device of the present invention;

FIG. 25 is an operational view of the second gripper assembly of the present invention;

FIG. 26 is a schematic view of a second gripper assembly according to the present invention;

FIG. 27 is an exploded view of the elastomeric compensation package of the present invention;

FIG. 28 is a schematic structural view of a floating assembly of the present invention;

fig. 29 is a flow chart of a method of assembling a battery stack according to the present invention.

In the figure: 1. grabbing positions; 2. a shuttle table; 2a, a first frame; 2b, a lower transportation component; 2b1, a lower transport rack; 2b2, a lower driving group; 2b3, a lower frame; 2b4, a lower slide rail group; 2c, an upper transport assembly; 2c1, loading on a transport rack; 2c2, an upper driving group; 2c3, an upper frame; 2c4, an upper sliding rail group; 2d, a clamping assembly; 2d1, fixing a tray; 2d11, positioning seat; 2d12, mounting a sensor; 2d13, a handle; 2d2, clamping the bottom plate; 2d21, positioning holes; 2d3, a compression group; 2d31, a pressing air cylinder; 2d32, a load cell; 2d4, a clamping group; 2d41, clamping plate; 2d42, crank drive; 2d43, clamp driving piece; 2d44, clamping the slide rail member; 2d45, correlation sensor; 2d5, placing a battery core placing plate; 2d6, proximity sensor; 2d7, a rotating device; 3. a second section of tray; 4. gluing; 4a, sticking a glue position on the sheet stock; 4b, a coil stock rubberizing position; 5. tearing off the paper position; 6. pasting a glue detection position; 7. a pre-stack bit; 8. three sections of trays; 8a, a bottom plate component; 8a1, a bottom plate; 8a2, a supporting strip; 8a3, a follower; 8a4, a first buffer block; 8b, a front end plate stop block; 8c, floating clamping stop blocks; 8c1, a mounting seat; 8c2, an elastic guide rod group; 8c3, a floating stop block; 8c4, a first slide rail assembly; 8d, a first straight line module; 8e, an elastic buffer member; 9. a tray take-up unit; 9a, a base; 9b, an unlocking component; 9b1, a floating sleeve; 9b11, sleeve bottom plate; 9b12, a positioning cylinder; 9b13, tapered sleeve; 9b14, a guide ring; 9b15, built-in sleeve; 9b16, a first elastic member; 9b17, a guide bar; 9b18, floating head; 9b19, wear resistant blocks; 9b2, a first driving group; 9b3, a speed reducer; 9b4, a coupler; 9c, a first driving component; 9c1, a connecting plate; 9c2, a connecting rod; 9c3, a second elastic member; 9d, a second slide rail component; 9e, a sleeve in-position sensor; 9f, a cylinder initial sensor; 9g, a cylinder in-place sensor; 9h, a first induction sheet; 9i and a second induction sheet; 10. an end plate position; 11. a stacking position; 12. an NG material warehouse; 13. a pre-stacking device; 13a, a second frame; 13b, a lifting module; 13c, a displacement adjusting component; 13c1, a displacement mounting plate; 13c2, a transverse mounting plate; 13c3, a transverse driving group; 13c4, a longitudinal mounting plate; 13c5, a longitudinal driving group; 13d, a first gripper assembly; 13d1, a gripper cylinder; 13d2, a gripper plate; 13d3, a clamping block; 13d4, a reference plate; 13d5, anti-slip strips; 13d6, a material clamping sensor; 13e, a transverse buffer; 13f, a longitudinal buffer; 13g, a displacement sensor; 14. an end plate material warehouse; 14a, a third frame; 14b, a drawer assembly; 14b1, edge support; 14b2, two moving groups; 14b21, long guide rail; 14b22, short guide rails; 14b23, an intermediate plate; 14b24, inner decking; 14b25, a first slide table; 14b26, a second slide table; 14b3, a material drawer; 14b4, a material support; 14b5, a cross beam; 14b6, a cover plate; 14b7, a locking member; 14b8, a second buffer block; 14b9, a buffer; 14b10, a second drive assembly; 14b11, a material sensor; 14c, a top plate; 15. an end plate conveying device; 16. a lateral pushing reference device; 16a, a fourth frame; 16b, a primary side push assembly; 16b1, moving the longitudinal bar; 16b2, lateral pushing horizontal bars; 16b3, a main side push plate; 16b4, a third slide rail assembly; 16c, a second linear module; 16d, a secondary side-pushing component; 16d1, a second driving group; 16d2, secondary pushing side plates; 16d3, a guide rod; 16d4, connecting plate; 16d5, front buffer; 16d6, rear buffer; 17. a first robot; 17a, a mounting seat; 17b, a floating assembly; 17b1, a vertical moving group; 17b2, a lateral movement group; 17c, a second gripper assembly; 17c1, a sliding table cylinder; 17c2, self-locking clamping jaws; 17c3, upper jaw; 17c4, lower jaw; 17c5, an elastic compensation group; 17c51, a limiting column; 17c52, a third elastic member; 17c53, pressing blocks; 17c6, a fourth slide rail assembly; 17c7, a photosensor; 18. a second robot; 19. a third robot; 20. a fourth robot; 21. a fifth robot; 22. a sixth robot; 23. a seventh robot; 24. a pin boss; 25. a pin bush; 26. a fastener.

Detailed Description

Example 1.

As shown in fig. 1, an automatic assembling system for battery stacking comprises a first section of line body, a second section of line body and a third section of line body, wherein a grabbing position 1 for placing a single battery cell is arranged on the first section of line body, a shuttle table 2 for grouping two single battery cells into two groups is arranged between the first section of line body and the second section of line body, a second section of tray 3 for placing grouped battery cells is arranged on the second section of line body, a rubberizing position 4, a tearing type paper position 5, an rubberizing detection position 6 and a pre-stacking position 7 are sequentially arranged beside the second section of line body along the conveying direction, the three section of tray 8 for placing end plates and battery cell modules and a tray loosening device 9 for quickly loosening and tightening the three section of tray 8 are arranged on the third section of line body, an end plate position 10 and a stacking position 11 are arranged on the third section of line body, the end plate is used for installation of end plates and stacking of battery cell modules, an NG material library 12 is arranged beside the tearing type paper position 5 and used for replacing unqualified groups on the rubberizing detection position 6. Through one section line body, two-section line body and three-section line body transmission electric core, by shuttle platform 2, rubberizing position 4, tear from type paper position 5, rubberizing detection position 6, pile in advance and fold position 7, end plate position 10 and pile up the automation that position 11 realized that electric core piles up, increased substantially the efficiency that electric core piles up to improve the production efficiency that the line was produced to the module, the same benchmark of in-process use that piles up at electric core simultaneously, thereby guaranteed the precision that electric core piles up. Specifically, the rubberizing positions 4 comprise a sheet rubberizing position 4a and a roll rubberizing position 4b.

As shown in fig. 2, the shuttle table 2 includes a first frame 2a mounted on the base, a lower transport unit 2b and an upper transport unit 2c slidably mounted on the first frame 2a, and a plurality of gripping units 2d respectively mounted on the lower transport unit 2b and the upper transport unit 2c, and the upper transport unit 2c is disposed in parallel above the lower transport unit 2 b.

As shown in fig. 3 and 4, the lower transport assembly 2b includes a lower transport frame 2b1 slidably mounted on the first frame 2a, a lower driving group 2b2 driving the lower transport frame 2b1 to move in a length direction of the first frame 2a, and a lower frame 2b3 mounted on a top end of the lower transport frame 2b 1. Specifically, two sides of the lower transport frame 2b1 are respectively connected with the first frame 2a through lower slide rail groups 2b4, the lower slide rail groups 2b4 are divided into two groups, the two groups are arranged in parallel below the inside of the first frame 2a along the length direction of the first frame 2a, and the bottom end of the lower transport frame 2b1 is spanned on the two lower slide rail groups 2b 4; the lower driving group 2b2 is arranged in the lower transport rack 2b1 and is used for driving the lower transport rack 2b1; four groups of clamping assemblies 2d are arranged on the lower frame 2b3, are arranged in pairs in parallel, are used for clamping the grouped battery cores after the viscose glue, and are transported to the next processing station.

As shown in fig. 3 and 4, the upper transport assembly 2c includes an upper transport frame 2c1 slidably mounted on the first frame 2a, an upper driving group 2c2 driving the upper transport frame 2c1 to move in a length direction of the first frame 2a, and an upper frame 2c3 mounted on a top end of the upper transport frame 2c 1. Specifically, two sides of the upper transport frame 2c1 are respectively connected with the first frame 2a through upper slide rail groups 2c4, the upper slide rail groups 2c4 have four groups, the upper slide rail groups 2c4 are arranged on two sides of the first frame 2a in parallel along the length direction of the first frame 2a, each side has two groups, and the bottom end of the upper transport frame 2c1 is spanned on the four groups of upper slide rail groups 2c 4; the upper driving group 2c2 is installed at one side of the upper transporting frame 2c1, for driving the upper transporting frame 2c1; four groups of clamping assemblies 2d are arranged on the upper frame 2c3, are arranged in parallel in pairs and are used for clamping grouped battery cores after being glued and are transported to the next processing station.

As shown in fig. 4, the lower driving group 2b2 and the upper driving group 2c2 both include a servo motor, a driving gear and a rack, the servo motor is disposed beside the lower transportation frame 2b1 and the upper transportation frame 2c1, the output end of the servo motor is vertically disposed downwards, the driving gear is mounted at the output end of the servo motor, the rack is respectively mounted on the first racks 2a beside the lower transportation frame 2b1 and the upper transportation frame 2c1 and is parallel to the length direction of the first racks 2a, the driving gear is meshed with the rack, and the driving function of reciprocating the transportation assembly is achieved.

Go up transport assembly 2c and set up the top space of transport assembly 2b down, realize unloading on the duplex position, two sets of transport assembly alternate operation, material loading, unloading have promoted the beat, have improved assembly efficiency to production efficiency has been improved. In addition, two sets of transportation assemblies run up and down alternately, so that the occupied area is reduced, and the space utilization rate in the vertical direction is improved.

As shown in fig. 5 to 9, the clamping assembly 2d includes a fixing tray 2d1 respectively installed on the lower transporting assembly 2b and the upper transporting assembly 2c, a clamping base plate 2d2 rotatably installed on the fixing tray 2d1, pressing groups 2d3 installed at both ends of the clamping base plate 2d2, and clamping groups 2d4 installed at both sides of the clamping base plate 2d 2. Specifically, the clamping assemblies 2d are divided into two groups of eight groups, and are respectively and rapidly mounted on the lower frame 2b3 and the upper frame 2c 3; a plurality of pin bosses 24 are arranged on the lower frame 2b3 and the upper frame 2c3, and pin sleeves 25 are arranged on the fixed tray 2d1 corresponding to the pin bosses 24, so that the fixed tray 2d1 is quickly positioned.

The pressing group 2d3 comprises a pressing cylinder 2d31 and a weighing sensor 2d32; the press-fit cylinder 2d31 and the load cell 2d32 are respectively provided at both ends of the clamping base plate 2d 2. The pressing cylinder 2d31 plays a role in compressing the battery cells after being glued, pressure is maintained during transportation, and adhesion between the two battery cells is realized; the weighing sensor 2d32 is used for measuring the real-time pressure of the pressing cylinder 2d31, and prevents overlarge or undersize pressing force of the pressing cylinder 2d31, the overlarge can damage the battery cells in the clamping, and the undersize can cause the loose adhesion between the two battery cells, so that the loose adhesion or the dropping adhesion is caused, and the adhesion effect is ensured.

The clamping group 2d4 comprises a clamping plate 2d41, a crank drive 2d42, a clamping drive 2d43 and a clamping slide 2d44; the clamping plate 2d41 has two clamping plates, the two clamping plates are symmetrically arranged on two sides of the clamping base plate 2d2, the bottom ends of the two clamping plates 2d41 are connected with a crank driving piece 2d42, linkage clamping is realized, the clamping driving piece 2d43 is arranged on the clamping base plate 2d2, the output end of the clamping plate 2d41 is connected with the output end of the clamping plate, a clamping slide rail piece 2d44 is perpendicular to the clamping plate 2d41, and the top end of the clamping base plate 2d2 is connected with the bottom end of the clamping plate 2d 41. The clamping plates 2d41 which are symmetrically arranged realize simultaneous centripetal clamping or centrifugal loosening through the crank driving piece 2d42, so that the two adhered electric cores are ensured to be clamped on the side by taking the center as a reference, the two electric cores are prevented from being bonded in a staggered manner, and the bonding effect is improved. The clamping rail part 2d44 ensures the stability of the clamping plate 2d41 during operation.

Clamping unit 2d still includes that one sets up and places board 2d5 at the electric core that compresses tightly group 2d3, press from both sides between the tight group 2d4, and board 2d5 is placed to the electric core and fix on centre gripping bottom plate 2d2, and the electric core is placed and is provided with two proximity sensor 2d6 in the board 2d5 for whether the electric core that detects the transport puts in place, prevent that the slope that electric core probably exists from putting, damage electric core.

The clamping base 2d2 is rotatably mounted on the stationary tray 2d1 by means of an optional rotating device 2d 7. Rotating device 2d7 can be for rotatory electric jar or revolving cylinder, according to electric core module formula, polarity demand in the production to realize that 180 degrees of clamping assembly 2d turn to, change the polarity direction of electric core, realize better material on the ground.

The clamping group 2d4 further comprises two groups of correlation sensors 2d45 which are symmetrically arranged and used for detecting whether the battery core is loaded or not, and the mechanism is prevented from being damaged due to empty clamping.

The corner position of the clamping bottom plate 2d2 is at least provided with a positioning hole 2d21, and the positioning seat 2d11 is arranged below the positioning hole 2d21 of the fixing tray 2d 1. When needing to overhaul, insert a locking round pin to positioning seat 2d11 in the locating hole 2d21, prevent the rotation of centre gripping bottom plate 2d2, conveniently overhaul. An installation sensor 2d12 is arranged beside the positioning seat 2d11 and used for detecting whether the locking pin is installed in place or not and preventing error rotation.

The both ends of fixed tray 2d1 are provided with handle 2d13 respectively, and convenient quick change whole clamping component 2d.

During the use, two electric cores are placed on board 2d5 is placed to electric core, and the tight group of clamp 2d4 compresses tightly 2d3 from both sides centre gripping electric core to electric core from both sides, then two sets of transportation subassemblies move in turn, material loading on one side, unloading on the other side.

As shown in fig. 10-12, a pre-stacking device 13 is disposed on the pre-stacking station 7, and the pre-stacking device 13 includes a second frame 13a mounted on the base, a lifting module 13b vertically mounted on the second frame 13a, a displacement adjusting assembly 13c mounted on the lifting module 13b, and a first gripper assembly 13d mounted at a bottom end of the displacement adjusting assembly 13 c.

The displacement adjusting assembly 13c comprises a displacement mounting plate 13c1 mounted on the lifting module 13b, a transverse mounting plate 13c2 slidably mounted at the bottom end of the displacement mounting plate 13c1, a transverse driving group 13c3 for driving the transverse mounting plate 13c2 to move transversely, a longitudinal mounting plate 13c4 slidably mounted at the bottom end of the transverse mounting plate 13c2, and a longitudinal driving group 13c5 for driving the longitudinal mounting plate 13c4 to move longitudinally. The displacement adjusting assembly 13c is arranged to facilitate the adjustment of the first gripper assembly 13d in the transverse direction or the longitudinal direction.

The first gripper assembly 13d comprises a gripper cylinder 13d1 installed at the bottom end of the longitudinal installation plate 13c4, gripper plates 13d2 symmetrically installed at the output ends of the gripper cylinder 13d1, clamping blocks 13d3 installed at two sides of the bottom end of the gripper plates 13d2 and a reference plate 13d4 installed beside the gripper cylinder 13d 1. Due to the arrangement of the clamping blocks 13d3, groups of battery cells can be better grabbed, and the battery cells are prevented from falling; a plurality of anti-slip strips 13d5 are arranged on the side surface of the gripper plate 13d2 to prevent the grouped cells from slipping off; the reference plate 13d4 is arranged for placing the battery cells with one side of the captured battery cells as a reference; and a material clamping sensor 13d6 is installed at the top end of the reference plate 13d4 and used for judging whether the battery cell is grabbed in place or not and preventing the battery cell from not being grabbed in place.

Two ends of the displacement mounting plate 13c1 along the moving direction of the transverse mounting plate 13c2 are respectively provided with a transverse buffer 13e; the lateral mounting plate 13c2 is provided with a longitudinal buffer 13f at each of both ends in the moving direction of the longitudinal mounting plate 13c 4. The arrangement of the two buffers plays a role in buffering during movement. A displacement sensor 13g is respectively arranged above and below one side of the lifting module 13b and used for sensing the lifting position of the lifting module 13 b. Displacement sensors for monitoring the displacement of the transverse mounting plate 13c2 and the longitudinal mounting plate 13c4 are arranged on the transverse mounting plate and the longitudinal mounting plate respectively.

During the use, lift module 13b drives displacement adjusting part 13c and first tongs subassembly 13d, until first tongs subassembly 13d and electric core contact, then first tongs subassembly 13d centre gripping is electric core in groups, and lift module 13b drives displacement adjusting part 13c and first tongs subassembly 13d and resets.

As shown in fig. 13 and 14, the three-stage pallet 8 includes a bottom plate assembly 8a mounted on the three-stage wire body, a front end plate stopper 8b mounted on the front end of the bottom plate assembly 8a, a floating clamping stopper 8c slidably mounted on the rear end of the bottom plate assembly 8a, and a first linear module 8d driving the floating clamping stopper 8c to move along the length direction of the bottom plate assembly 8 a. Through the setting of the floating clamping stop block 8c, the battery cell module is suitable for different lengths.

The bottom plate assembly 8a comprises a bottom plate 8a1 and support bars 8a2, four support bars 8a2 are fixed on the bottom plate 8a1 in parallel, and the support bars 8a2 are perpendicular to the front end plate stop block 8 b. Four corners of the bottom plate 8a1 are respectively provided with a follower 8a3 to prevent the whole device from jamming when moving. The four sides of the bottom plate 8a1 are respectively provided with a plurality of first buffer blocks 8a4 which play a role in buffering in movement.

And two ends of the inner side of the front end plate stop block 8b are respectively provided with an elastic buffer part 8e for limiting the position of assembling the cell end plate.

The floating clamping jaw 8c includes a mounting seat 8c1 slidably mounted at the rear end of the base plate assembly 8a, an elastic guide bar group 8c2 mounted at the top end of the mounting seat 8c1, and a floating jaw 8c3 mounted on the elastic guide bar group 8c 2. Specifically, the bottom both sides of mount pad 8c1 are connected with bottom plate 8a1 through first slide rail set spare 8c4 respectively, and the bottom middle part of mount pad 8c1 is connected with first linear module 8d, and elastic guide rod group 8c2 is total two sets ofly, and its end passes through the connecting rod and connects.

As shown in fig. 15-17, the pallet take-up unit 9 includes a base 9a mounted on the three-segment wire, an unlocking assembly 9b slidably mounted on the base 9a, and a first driving assembly 9c for driving the unlocking assembly 9b to move along the base 9 a. Specifically, the bottom end of the unlocking assembly 9b is movably arranged on the base 9a through two sets of second sliding rail assemblies 9d arranged in parallel, and the first driving assembly 9c is an air cylinder or a moving mechanism capable of moving linearly.

The unlocking assembly 9b includes a floating sleeve 9b1 and a first driving group 9b2 for driving the floating sleeve 9b1 to rotate. Specifically, the first driving group 9b2 is a servo motor.

First drive assembly 9c is fixed under base 9a, connecting plate 9c1 is installed to its output, connecting plate 9c1 endotheca is equipped with one and the parallel connecting rod 9c2 of second slide rail set spare 9d moving direction, the one end of connecting rod 9c2 is fixed on unblock subassembly 9b, the spacing setting of the other end is on connecting plate 9c1, connecting rod 9c2 overcoat is equipped with second elastic component 9c3, its effect prevents the rigid impact fastener of sleeve 9b1 that floats, play protection compensation. When a fastener impact with the floating sleeve 9b1 occurs, the first driving assembly 9c can be retracted a certain distance by compressing the second elastic member 9c 3. The first driving group 9b2 is in transmission connection with the floating sleeve 9b1 through a speed reducer 9b3, and the speed reducer 9b3 is connected with the floating sleeve 9b1 through a coupler 9b 4. Specifically, the second elastic member 9c3 is a spring.

The floating sleeve 9b1 comprises a sleeve bottom plate 9b11 arranged at the output end of the first driving group 9b2, a positioning cylinder 9b12 arranged on the sleeve bottom plate 9b11, and a conical sleeve 9b13, a guide ring 9b14, an internal sleeve 9b15 and a first elastic piece 9b16 which are coaxially arranged in the positioning cylinder 9b12 from outside to inside in sequence, wherein the guide ring 9b14 and the internal sleeve 9b15 are elastically connected through the first elastic piece 9b16, the internal sleeve 9b15 is arranged on the sleeve bottom plate 9b11, three guide strips 9b17 are axially and uniformly distributed on the circumferential inner wall of the positioning cylinder 9b12, and three grooves which are matched with the guide strips 9b17 in the axial direction are formed in the periphery of the tail end of the conical sleeve 9b13 and the periphery of the guide ring 9b 14. A floating head 9b18 is fixed at the center of the top end of the guide ring 9b14, and the top end of the floating head 9b18 abuts against the end of the tapered sleeve 9b 13. The end of the tapered sleeve 9b13 is fitted with a wear block 9b19 to improve the wear resistance of the tapered sleeve 9b 13. The floating sleeve 9b1 can slightly move in the circumferential direction, and the fastener and the floating sleeve 9b1 are allowed to have different axes to a certain extent, so that the position fault tolerance rate is high, and the adaptability of the matching with the fastener is good.

A sleeve in-place sensor 9e, an air cylinder initial sensor 9f and an air cylinder in-place sensor 9g are respectively arranged beside the base 9 a; a first sensing piece 9h matched with the sleeve in-place sensor 9e is fixed beside the unlocking assembly 9b, a second sensing piece 9i matched with the cylinder initial sensor 9f and the cylinder in-place sensor 9g is further fixed beside the unlocking assembly 9b, the initial position of the first driving assembly 9c, whether the first driving assembly 9c is in place and whether the floating sleeve 9b1 is in place are respectively detected, so that the model is transferred to the first driving assembly 9b2, when the cylinder is in place, the first driving assembly 9b2 rotates at a slow speed, when the floating sleeve 9b1 is in place, the first driving assembly 9b2 rotates at an accelerated speed, and the quick tightness of the movable end of the three-section tray 8 is realized, namely the tightness of the floating clamping stop 8c is realized.

As shown in fig. 18 to 21, the end plate position 10 is provided with an end plate magazine 14 and an end plate conveying device 15, and the end plate magazine 14 includes a third rack 14a mounted on the base and a plurality of drawer assemblies 14b stacked on the third rack 14a in sequence. Specifically, the drawer assemblies 14b have four groups, the top plate 14c is mounted at the top end of the drawer assembly 14b at the uppermost layer, and the drawer assemblies 14b with different layers can be selected according to the feeding rhythm and number.

The drawer assembly 14b comprises an edge support 14b1, two moving groups 14b2, a material drawer 14b3 and a plurality of material supports 14b4, two sides of the material drawer 14b3 are respectively in sliding connection with the edge support 14b1 through the two moving groups 14b2, the material drawer is convenient to draw out and is used for placing materials to be fed, the material supports 14b4 are installed on the material drawer 14b3 and are used for placing the materials, the upper end and the lower end of the edge support 14b1 are respectively connected through a cross beam 14b5, and the cross beam 14b5 at the lower end is hinged with a cover plate 14b6 and is used for separating the material drawer 14b3 from the outside after feeding; the end plate conveying device 15 conveys the end plates in the end plate material storage 14 to three sections of line bodies.

The two-stage moving group 14b2 comprises a long guide rail 14b21, a short guide rail 14b22, an intermediate plate 14b23 and an inner side plate 14b24, the long guide rail 14b21 is installed on the inner side of the side bracket 14b1, the short guide rail 14b22 is installed on the inner side of the intermediate plate 14b23 and is arranged in parallel with the long guide rail 14b21, two first sliding tables 14b25 arranged on the long guide rail 14b21 are fixed at two outer ends of the intermediate plate 14b23, two second sliding tables 14b26 are fixed at two outer ends of the inner side plate 14b24, the second sliding table 14b26 close to one end of the cover plate 14b6 is arranged on the long guide rail 14b21, the second sliding table 14b26 far away from one end of the cover plate 14b6 is arranged on the short guide rail 14b22, and the inner side plate 14b24 is connected with the outer side of the material drawer 14b 3. The inner side plate 14b24 is provided with a locking member 14b7 for locking the short rail 14b22 above the end close to the cover plate 14b 6.

The top end of the middle plate 14b23 is provided with a second buffer block 14b8, and two buffers 14b9 matched with the second buffer block 14b8 are arranged above the long guide rail 14b 21. A second driving assembly 14b10 is arranged below the long guide rail 14b21, the tail end of the second driving assembly 14b10 is fixed on the edge bracket 14b1, and the output end is fixed with the middle plate 14b 23. A plurality of material sensors 14b11 are arranged on the material drawer 14b 3. Specifically, the second driving assembly 14b10 is a driving cylinder.

During the material loading, open apron 14b6, open retaining member 14b7, take out material drawer 14b3 material loading, draw to long guide rail 14b21 extreme position, put good back, impel material drawer 14b3, be in long guide rail 14b21 middle section position, locking retaining member 14b7 closes apron 14b6, and second drive assembly 14b10 starts, with material drawer 14b3 propelling movement to long guide rail 14b21 innermost end, makes things convenient for the material loading.

The NG storage 12 is also designed to have the same structure as the end plate storage 14.

As shown in fig. 22-24, a side-push reference device 16, a first robot 17 and a second robot 18 are disposed on the stacking position 11, the side-push reference device 16 includes a fourth frame 16a mounted on the base, a main side-push assembly 16b slidably mounted on the fourth frame 16a, a second linear module 16c driving the main side-push assembly 16b to move laterally, and a plurality of secondary side-push assemblies 16d mounted on the main side-push assembly 16b, and the main side-push assembly 16b and the plurality of secondary side-push assemblies 16d are sequentially disposed side by side.

The main side pushing assembly 16b comprises a plurality of moving longitudinal bars 16b1 slidably mounted on the top surface of the fourth frame 16a, a side pushing cross bar 16b2 mounted at one end of the plurality of moving longitudinal bars 16b1, and a main side pushing plate 16b3 mounted at one end of the side pushing cross bar 16b2 away from the moving longitudinal bar 16b1, the moving longitudinal bars 16b1 are arranged in parallel, the secondary side pushing assembly 16d comprises a second driving group 16d1 mounted on the side pushing cross bar 16b2 and a secondary side pushing plate 16d2 mounted at the output end of the second driving group 16d1, and the output end of the second driving group 16d1 passes through the side pushing cross bar 16b2. Specifically, the movable vertical bars 16b1 have four pieces, and the bottom ends of the movable vertical bars 16b1 are connected to the fourth frame 16a through the third slide rail assemblies 16b 4.

Two sides of the second driving group 16d1 are respectively provided with a guide rod 16d3, the front ends of the two guide rods 16d3 are fixed on the secondary pushing side plate 16d2, the middle section of the two guide rods passes through the lateral pushing cross bar 16b2 through the guide sleeve, and the tail ends of the two guide rods are connected through the connecting plate 16d4, so that the guiding effect of the second driving group 16d1 during action is achieved, and the action is stabilized. The front end of the second driving group 16d1 is fixed with a front buffer 16d5, and the front end of the front buffer 16d5 abuts against the side surface of the secondary push side plate 16d2 to play a role in buffering when working. A rear buffer 16d6 is fixed on the connecting plate 16d4, and the front end of the rear buffer 16d6 abuts against the tail end of the second driving group 16d1 to play a role in buffering when working. Specifically, the second drive group 16d1 is a cylinder.

During operation, according to the field requirement, different numbers of secondary side-push components 16d are selected to be mounted on the side-push cross bar 16b2 together. Whole device follows second straight line module 16c and moves together, will pile up earlier through main side push pedal 16b3 and use one side as the electric core module of benchmark to push away three-section line body one side, again according to the electric core module of different length, starts second drive group 16d1 and pushes away on one side with electric core module different in length, accomplishes the promotion operation.

As shown in fig. 25-28, each of the first robot 17 and the second robot 18 includes a mounting base 17a mounted on the robot performing end, a floating assembly 17b mounted on the mounting base 17a, and a plurality of second gripper assemblies 17c mounted in parallel on the floating assembly 17 b. The floating assembly 17b is installed on the installation seat 17a and used for accurately adjusting the position of the hand grab and guaranteeing the flatness of the whole module after the battery cells form the module during stacking. Specifically, the number of the second gripper assemblies 17c is two, and the second gripper assemblies are used for gripping the battery cells and stacking the battery cells.

The second gripper assembly 17c comprises a sliding table cylinder 17c1, a self-locking clamping jaw 17c2, an upper jaw 17c3 and a lower jaw 17c4; the self-locking clamping jaw 17c2 is movably arranged on the floating assembly 17b through a sliding table air cylinder 17c1 fixed on the back surface, and the upper jaw 17c3 and the lower jaw 17c4 are fixed on the output end of the self-locking clamping jaw 17c2, so that the electric core is grabbed. The upper claw 17c3 is arranged above the lower claw 17c4, and two elastic compensation groups 17c5 are arranged at the front and back of the bottom end of the upper claw 17c 3. The setting of elasticity compensation group 17c5 can play the compensation, prevents that two electric core modules behind the viscose from producing the tight of grabbing of an electric core because of difference in height, and the pine's of grabbing of an electric core consequence prevents that electric core from dropping, has guaranteed the security of producing the line. The elastic compensation group 17c5 comprises a limiting column 17c51, a third elastic piece 17c52 and a pressing block 17c53; the limiting column 17c51 penetrates through the grabbing end face of the upper claw 17c3, a flange arranged at the top end of the limiting column 17c51 is limited above the upper claw 17c3, a pressing block 17c53 is fixed at the bottom end of the limiting column 17c51, and a plurality of third elastic pieces 17c52 are arranged between the pressing block 17c53 and the upper claw 17c 3. The back surfaces of the upper claw 17c3 and the lower claw 17c4 are respectively provided with a fourth slide rail assembly 17c6 connected with the sliding table air cylinder 17c1, so that the operation stability of the upper claw 17c3 and the lower claw 17c4 during grabbing is ensured.

The bottom end of the side face of the sliding table cylinder 17c1 is provided with a photoelectric sensor 17c7, and a photoelectric sensor 17c7 is also arranged beside the lower claw 17c4 and used for detecting whether the battery cell is grabbed and put in place.

The floating assembly 17b comprises a vertical moving group 17b1 and a transverse moving group 17b2, the vertical moving group 17b1 is installed on the installation seat 17a, the vertical air cylinder output end of the vertical moving group 17b1 is connected to the transverse moving group 17b2 to drive the transverse moving group 17b2 to move, and the transverse air cylinder output end of the transverse moving group 17b2 is connected to the second gripper assembly 17c.

When the battery cell grabbing device is used, when a single-module battery cell is grabbed, the two second grabbing hand assemblies 17c arranged in parallel can independently move separately to grab and stack the independent battery cell modules; when snatching bimodulus electric core, second tongs subassembly 17c moves in step, and the linkage snatchs, guarantees that the relative position of bimodulus electric core is unchangeable, guarantees the viscose stability between the bimodulus electric core, can use on the production line of single pair of module mixed production of electric core.

Example 2.

As shown in fig. 29, according to the assembling method of the battery stack assembling system in embodiment 1, the steps are as follows:

s1, two battery cores are connected into a group: the battery cells pasted with the glue on the side surfaces of the grabbing positions 1 are grabbed to the shuttle table 2 through a third robot 19 and a fourth robot 20 to be grouped in pairs to form grouped battery cells;

s2, rubberizing, tearing off type paper and rubberizing of battery core in groups detect: a group of electric cores on the shuttle table 2 are grabbed onto the second-section tray 3 through a fifth robot 21, and the second-section line drives the second-section tray 3 to sequentially pass through the rubberizing position 4, the tearing-off type paper position 5 and the rubberizing detection position 6, so that rubberizing, tearing-off type paper and rubberizing detection of the group of electric cores are completed;

s3, end plate feeding and NG replacement: the end plates in the end plate material warehouse 14 are placed in the end plate conveying device 15 after being grabbed and torn off by the sixth robot 22, and meanwhile, the sixth robot 22 replaces the grouped cells which are unqualified in the rubberizing detection with the qualified grouped cells in the NG material warehouse 12;

s4, pre-stacking of grouped battery cells: the pre-stacking device 13 stacks the grouped cells on one second-segment tray 3 onto the other second-segment tray 3 to form a2 × 2 cell module;

s5, end plate installation and battery cell module stack: the tray loosening and tightening device 9 on the end plate position 10 loosens the fasteners 26 at the movable ends of the three sections of trays 8, the end plates on the end plate conveying device 15 are grabbed to the front ends and the rear ends of the three sections of trays 8 through the seventh robot 23 and are downwards put into the trays and compressed, the three sections of trays 8 flow to the stacking position 11, the side-push reference device 16 stretches out to the right position, the first robot 17 and the second robot 18 grab the battery cell modules on the two sections of trays 3 and stack the battery cell modules on the three sections of trays 8, and after the stacking operation is completed, the tray loosening and tightening device 9 tightens the fasteners 26 at the movable ends of the three sections of trays 8 to the set position to realize self-locking and pressure maintaining.

In step S2, when the group of electric cores on the shuttle table 2 are grabbed onto the second-stage tray 3 by the fifth robot 21, the electric cores are laid down with the large faces upward, and the adhesive tape for the group of electric cores is also used for adhering the large faces of the electric cores. In step S4, after pre-stacking by the pre-stacking device 13, a full second-stage tray 3 is formed on the second-stage wire body and an empty second-stage tray 3 is formed at an interval, and then the second-stage wire body is transferred to the grabbing position 1 to be grabbed by the robot.

The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The automatic assembling system for battery stack is provided with a first-section line body, a second-section line body and a third-section line body, and is characterized by also comprising

The plurality of grabbing positions (1) are arranged on one section of line body and used for placing a single battery cell;

the shuttle platform (2) is arranged between the first section of line body and the second section of line body and is used for grouping the single battery cells pairwise;

the two-section tray (3) is arranged on the two-section wire body and used for placing the grouped electric cores;

the battery cell module is characterized by comprising a gluing position (4), a tearing-off type paper position (5), a gluing detection position (6) and a pre-stacking position (7), wherein the gluing position, the tearing-off type paper position, the gluing detection position and the pre-stacking position are sequentially arranged beside two sections of lines along the conveying direction of the two sections of lines and are used for gluing, tearing-off type paper, gluing detection and stacking grouped battery cells to form a battery cell module;

the three sections of trays (8) are arranged on the three sections of wire bodies and used for placing the end plates and the battery cell modules;

the tray tightening and loosening device (9) is arranged beside the three sections of trays (8) and is used for tightening and loosening the movable ends of the three sections of trays (8);

the end plate position (10) and the stacking position (11) are arranged on the three sections of wire bodies and used for installing the end plates and stacking the battery cell modules;

and the NG material warehouse (12) is arranged beside the tearing-off type paper position (5) and is used for replacing unqualified grouped cells on the rubberizing detection position (6).

2. The automated assembly system for battery stacks according to claim 1, wherein the shuttle station (2) comprises a first frame (2 a) mounted on the base, a lower transport assembly (2 b) and an upper transport assembly (2 c) slidably mounted on the first frame (2 a), a plurality of gripping assemblies (2 d) mounted respectively on the lower transport assembly (2 b) and on the upper transport assembly (2 c), the upper transport assembly (2 c) being arranged in parallel above the lower transport assembly (2 b); the clamping assembly (2 d) comprises a fixed tray (2 d 1) which is respectively arranged on the lower transportation assembly (2 b) and the upper transportation assembly (2 c), a clamping bottom plate (2 d 2) which is rotatably arranged on the fixed tray (2 d 1), a pressing group (2 d 3) which is arranged at two ends of the clamping bottom plate (2 d 2) and clamping groups (2 d 4) which are arranged at two sides of the clamping bottom plate (2 d 2).

3. The automatic assembly system for battery stacks according to claim 1, wherein the pre-stacking station (7) is provided with a pre-stacking device (13), and the pre-stacking device (13) comprises a second frame (13 a) mounted on a base, a lifting module (13 b) vertically mounted on the second frame (13 a), a displacement adjusting assembly (13 c) mounted on the lifting module (13 b), and a first gripper assembly (13 d) mounted at a bottom end of the displacement adjusting assembly (13 c); the displacement adjusting assembly (13 c) comprises a displacement mounting plate (13 c 1) arranged on the lifting module (13 b), a transverse mounting plate (13 c 2) slidably mounted at the bottom end of the displacement mounting plate (13 c 1), a transverse driving group (13 c 3) driving the transverse mounting plate (13 c 2) to transversely move, a longitudinal mounting plate (13 c 4) slidably mounted at the bottom end of the transverse mounting plate (13 c 2) and a longitudinal driving group (13 c 5) driving the longitudinal mounting plate (13 c 4) to longitudinally move.

4. The automatic assembly system for battery stacks according to claim 1, wherein the three-segment tray (8) comprises a bottom plate assembly (8 a) mounted on three-segment wire bodies, a front end plate stopper (8 b) mounted on a front end of the bottom plate assembly (8 a), a floating clamping stopper (8 c) slidably mounted on a rear end of the bottom plate assembly (8 a), and a first linear module (8 d) for driving the floating clamping stopper (8 c) to move along a length direction of the bottom plate assembly (8 a); the floating clamping stop block (8 c) comprises a mounting seat (8 c 1) which is slidably mounted at the rear end of the bottom plate assembly (8 a), an elastic guide rod group (8 c 2) mounted at the top end of the mounting seat (8 c 1) and a floating stop block (8 c 3) mounted on the elastic guide rod group (8 c 2).

5. The automatic assembly system of claim 4, wherein said tray tightener (9) comprises a base (9 a) mounted on three segments of wire, an unlocking assembly (9 b) slidingly mounted on the base (9 a), and a first driving assembly (9 c) to drive the unlocking assembly (9 b) to move along the base (9 a); the unlocking assembly (9 b) comprises a floating sleeve (9 b 1) and a first driving group (9 b 2) for driving the floating sleeve (9 b 1) to rotate.

6. The automatic assembly system for battery stacks according to claim 5, wherein the floating sleeve (9 b 1) comprises a sleeve bottom plate (9 b 11) installed at the output end of the first driving group (9 b 2), a positioning cylinder (9 b 12) installed on the sleeve bottom plate (9 b 11), and a tapered sleeve (9 b 13), a guide ring (9 b 14), an internal sleeve (9 b 15) and a first elastic member (9 b 16) coaxially arranged in the positioning cylinder (9 b 12) from outside to inside, wherein the guide ring (9 b 14) and the internal sleeve (9 b 15) are elastically connected through the first elastic member (9 b 16), the internal sleeve (9 b 15) is installed on the sleeve bottom plate (9 b 11), three guide bars (9 b 17) are axially uniformly distributed on the inner circumferential wall of the positioning cylinder (9 b 12), and three grooves matched with the guide bars (9 b 17) are formed on the outer circumference of the tail end of the tapered sleeve (9 b 13) and the outer circumference of the guide ring (9 b 14).

7. The automated battery stack assembly system of claim 1, wherein the end plate station (10) is provided with an end plate magazine (14) and an end plate conveying device (15), the end plate magazine (14) including a third rack (14 a) mounted on a base and a plurality of drawer assemblies (14 b) stacked in sequence on the third rack (14 a); the drawer assembly (14 b) comprises an edge support (14 b 1), two moving groups (14 b 2), a material drawer (14 b 3) and a plurality of material supports (14 b 4), two sides of the material drawer (14 b 3) are respectively in sliding connection with the edge support (14 b 1) through the two moving groups (14 b 2), the material supports (14 b 4) are installed on the material drawer (14 b 3), the upper end and the lower end of the edge support (14 b 1) are respectively connected through a cross beam (14 b 5), and the cross beam (14 b 5) at the lower end is hinged with a cover plate (14 b 6); the end plate conveying device (15) conveys end plates in the end plate material warehouse (14) to three sections of line bodies.

8. The automatic battery stack assembling system according to claim 7, wherein the two-stage moving group (14 b 2) includes a long guide rail (14 b 21), a short guide rail (14 b 22), an intermediate plate (14 b 23), and an inner plate (14 b 24), the long guide rail (14 b 21) is installed inside the side frame (14 b 1), the short guide rail (14 b 22) is installed inside the intermediate plate (14 b 23) and is arranged in parallel with the long guide rail (14 b 21), two first slide tables (14 b 25) provided on the long guide rail (14 b 21) are fixed to both outer ends of the intermediate plate (14 b 23), two second slide tables (14 b 26) are fixed to both outer ends of the inner plate (14 b 24), and the second slide table (14 b 26) near one end of the cover plate (14 b 6) is provided on the long guide rail (14 b 21), the second slide table (14 b 26) far from one end of the cover plate (14 b 6) is provided on the short guide rail (14 b 22), and the inner plate (14 b 3) and the drawer (14 b) are connected to the outer side.

9. The automatic assembling system for battery stacks according to claim 1, wherein the stacking site (11) is provided with a side pushing reference device (16), a first robot (17) and a second robot (18), the side pushing reference device (16) comprises a fourth frame (16 a) mounted on a base, a main side pushing assembly (16 b) slidably mounted on the fourth frame (16 a), a second linear module (16 c) for driving the main side pushing assembly (16 b) to move transversely, and a plurality of secondary side pushing assemblies (16 d) mounted on the main side pushing assembly (16 b), the main side pushing assembly (16 b) and the plurality of secondary side pushing assemblies (16 d) are sequentially arranged side by side; the first robot (17) and the second robot (18) respectively comprise a mounting seat (17 a) arranged at the tail end of the robot, a floating assembly (17 b) arranged on the mounting seat (17 a) and a plurality of second gripper assemblies (17 c) arranged on the floating assembly (17 b) in parallel.

10. The automated battery stack assembly system according to claim 9, wherein the main side push assembly (16 b) includes a plurality of moving rails (16 b 1) slidably mounted on a top surface of the fourth frame (16 a), a side push bar (16 b 2) mounted at one end of the plurality of moving rails (16 b 1), and a main side push plate (16 b 3) mounted at one end of the side push bar (16 b 2) away from the moving rails (16 b 1), the moving rails (16 b 1) being arranged in parallel; the secondary side pushing assembly (16 d) comprises a second driving group (16 d 1) arranged on the side pushing cross bar (16 b 2) and a secondary side pushing plate (16 d 2) arranged at the output end of the second driving group (16 d 1), and the output end of the second driving group (16 d 1) penetrates through the side pushing cross bar (16 b 2).

11. A method of assembling the automated battery stack assembly system of any of claims 1-10, comprising the steps of:

s1, two battery cores are connected into a group: the battery cells pasted with the glue on the upper side face of the grabbing position (1) are grabbed to the shuttle table (2) through a third robot (19) and a fourth robot (20) to be grouped in pairs to form grouped battery cells;

s2, rubberizing, tearing off type paper and rubberizing of battery core in groups detect: the grouped battery cells on the shuttle table (2) are grabbed onto the two sections of trays (3) through a fifth robot (21), and the two sections of lines drive the two sections of trays (3) to sequentially pass through a gluing position (4), a tearing-off type paper position (5) and a gluing detection position (6) to finish gluing, tearing-off type paper and gluing detection of the grouped battery cells;

s3, end plate feeding and NG replacement: the end plates in the end plate material warehouse (14) are grabbed by a sixth robot (22), torn off type paper is placed into an end plate conveying device (15), and meanwhile, the sixth robot (22) replaces the grouped electric cores which are unqualified in rubberizing detection with the qualified grouped electric cores in the NG material warehouse (12);

s4, pre-stacking of grouped battery cells: the pre-stacking device (13) stacks the grouped cells on one second-segment tray (3) onto the other second-segment tray (3) to form a 2-by-2 cell module;

s5, end plate installation and battery cell module stack: the automatic stacking device is characterized in that a tray loosening device (9) on an end plate position (10) loosens movable ends of three sections of trays (8), an end plate on an end plate conveying device (15) is grabbed to the front end and the rear end of the three sections of trays (8) through a seventh robot (23), the trays are placed downwards and pressed, the three sections of trays (8) are circulated to a stacking position (11), a side-pushing reference device (16) stretches out to the right position, a first robot (17) and a second robot (18) grab a battery cell module on the two sections of trays (3) and stack the battery cell module on the three sections of trays (8), and after the stacking operation is completed, the movable ends of the three sections of trays (8) are tightened by the tray loosening device (9) to a set position to achieve self-locking and pressure maintaining.