CN115832555A

CN115832555A - Battery forming system and battery forming method

Info

Publication number: CN115832555A
Application number: CN202111302339.3A
Authority: CN
Inventors: 陈必官; 周世平
Original assignee: Contemporary Amperex Technology Co Ltd
Current assignee: Contemporary Amperex Technology Co Ltd
Priority date: 2021-11-04
Filing date: 2021-11-04
Publication date: 2023-03-21

Abstract

The application discloses battery forming system and method, the application relates to the technical field of battery production equipment, and through the arrangement of the grabbing device and the mounting device, the grabbing device grabs the battery module to the corresponding mounting position on the lower shell, and then the mounting device is used for mounting and fixing the battery module and the lower shell, so that the battery module is mounted on the lower shell in a full-automatic mode. The battery forming system comprises a grabbing device, a base coordinate system and a control device, wherein the grabbing device is used for acquiring a first coordinate of a first mounting hole of a battery module in the base coordinate system; the mounting device is used for acquiring a second coordinate of a second mounting hole at a mounting position on the lower shell in the base coordinate system, is in signal connection with the grabbing device and transmits the second coordinate to the grabbing device; the grabbing device grabs the normal battery module to the mounting position on the lower shell according to the first coordinate and the second coordinate, and the mounting device fixes the battery module at the mounting position of the lower shell according to the second coordinate.

Description

Battery forming system and battery forming method

Technical Field

The application relates to the technical field of battery production equipment, in particular to a battery forming system and a battery forming method.

Background

Currently, in the process of mounting and molding the battery, it is necessary to fix the battery module to the lower case.

In the prior art, the process of fixing the battery module on the lower case cannot meet the automation requirement.

Therefore, how to provide a battery molding apparatus capable of realizing automation in the whole process of mounting the battery module and the lower case is a problem to be solved.

Disclosure of Invention

In view of the above problems, the present application provides a battery forming system and a battery forming method, by providing a gripping device and a mounting device, the gripping device grips a battery module to a corresponding mounting position on a lower housing, and then the mounting device mounts and fixes the battery module and the lower housing, thereby realizing the full-automatic mounting of the battery module on the lower housing.

In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:

in a first aspect, the present application provides a battery molding system, comprising:

the grabbing device is used for acquiring a first coordinate of a first mounting hole of the battery module in the base coordinate system;

the mounting device is used for acquiring a second coordinate of a second mounting hole at the mounting position on the lower shell in the base coordinate system, is in signal connection with the grabbing device and transmits the second coordinate to the grabbing device;

the grabbing device grabs the normal battery module to the mounting position on the lower shell according to the first coordinate and the second coordinate, and the mounting device fixes the battery module at the mounting position of the lower shell according to the second coordinate.

In the technical scheme of this application embodiment, battery forming system includes grabbing device and installation device, grabbing device is used for gathering the first coordinate of the first mounting hole of battery module in basic coordinate system, installation device is used for gathering the second coordinate of the second mounting hole on the last mounted position of casing in basic coordinate system down, in the in-process of realizing battery shaping, need correspond the first mounting hole of battery module with the second mounting hole on the lower casing mounted position, the coordinate of the first mounting hole that grabbing device gathered in this application and the coordinate of the second mounting hole that installation device gathered are in same coordinate system, installation device sends the coordinate of the second mounting hole that gathers to grabbing device, thereby grabbing device need not go to gather the coordinate of second mounting hole, and use same coordinate system to make grabbing device and installation device can closely cooperate, in order work, make battery module can accurately put at the mounted position, and then time and cost have been practiced thrift, the shaping time has been reduced, thereby the production efficiency of battery has been improved, the device corresponds the normal battery module's of battery module to the second mounting hole in the production coordinate system according to first coordinate system, the cost of the installation device is reduced in the whole battery module of the production of the second mounting hole, thereby the production efficiency has been realized corresponding to the battery module on the second mounting hole.

In some embodiments, the battery molding system further comprises a controller in signal connection with the gripping device and the mounting device, respectively, receiving the second coordinates transmitted by the mounting device, and transmitting the second coordinates to the gripping device. The controller is respectively in signal connection with the gripping device and the mounting device, so that a second coordinate of the lower shell mounting position in the base coordinate system, which is sent by the mounting device, is received, and the second coordinate of the lower shell mounting position in the base coordinate system is sent to the gripping device, the step that the gripping device acquires the coordinates of the lower shell mounting position is omitted, time is saved, the working efficiency of a battery forming system and the efficiency of battery production are improved, the gripping device receives the second coordinate of the lower shell mounting position in the base coordinate system, so that the battery module is gripped to the mounting position of the lower shell according to the first coordinate of the first mounting hole of the battery module in the base coordinate system and the second coordinate of the lower shell mounting position, the first mounting hole of the battery module completely corresponds to the second mounting hole of the lower shell mounting position, and fixed mounting of the battery module can be completed.

In some embodiments, the battery forming system further comprises a first transmission line and a second transmission line, the first transmission line transmits a plurality of battery module transmission trays, the plurality of battery modules are contained on the battery module transmission trays, the second transmission line transmits the plurality of battery transmission trays, the battery transmission trays contain a lower shell, and a plurality of mounting positions are arranged on the lower shell; the first transmission line and the second transmission line are arranged adjacently, and the grabbing device and the mounting device are oppositely arranged on two sides of the second transmission line. The battery forming system further comprises a first transmission line and a second transmission line, the first transmission line is used for transmitting a plurality of battery module trays, a battery module is arranged on each battery module tray, the first transmission line is close to the grabbing device, the grabbing device is convenient to grab the battery modules from the first transmission line, the second transmission line is used for transmitting the battery module trays, a lower shell is arranged on each battery module tray, a plurality of mounting positions are arranged on the lower shell, the battery modules are used for being mounted, the second transmission line is close to the grabbing device and the mounting device, the normal battery modules grabbed by the grabbing device are convenient to place at the mounting positions of the second transmission line, and the normal battery modules placed at the mounting positions are convenient to mount and fixed on the normal battery modules placed at the mounting positions by the mounting device.

In some embodiments, the battery molding system further comprises a third transmission line for transmitting the abnormal battery modules captured by the receiving and capturing device; wherein the third transmission line is respectively arranged adjacent to the first transmission line and the grabbing device. The battery forming system further comprises a third transmission line, the third transmission line is used for receiving abnormal battery modules, the third transmission line is respectively arranged adjacent to the first transmission line and the grabbing device, so that the grabbing device can grab the abnormal battery modules to place the abnormal battery modules on the third transmission line, and the abnormal battery modules are transmitted and discharged.

In some embodiments, each mounting position on the lower housing has a preset serial number, the preset serial numbers of each pair of mounting positions are not adjacent, and the mounting position with the previous preset serial number of each pair of mounting positions is far away from the gripping device relative to the other mounting position, the gripping device places the battery modules according to the preset serial numbers, and the mounting device fixes the battery modules according to the preset serial numbers. Grabbing device and installation device set up in the second transmission line both sides relatively, grabbing device snatchs one or a pair of battery module at every time, grabbing device places one when placing one or a pair of battery module that will snatch, every mounted position on the second transmission line all has a preset sequence number, include a plurality of pairs of mounted positions in a plurality of mounted positions, the preset sequence number of every pair of mounted position is not adjacent, thereby when grabbing device snatchs a pair of battery module, grabbing device places first battery module on the mounted position that the preset sequence number leans on ahead at first, and every mounted position that has the sequence number lean on ahead in the mounted position keeps away from grabbing device relative to another mounted position, thereby mounting device just can carry out fixed mounting to this battery module after first battery module is placed, can not produce the interference with grabbing device, meanwhile, grabbing device places another battery module on the mounted position that the preset sequence number leans on back, namely same time, after grabbing device places first battery module, installation device carries out fixed mounting to first battery module, grabbing device places another battery module, thereby save the time, and the efficiency of installation of battery interference can not take place.

In some embodiments, the grasping device includes a first picture collecting device, and the first picture collecting device is used for taking a picture of the first mounting hole of the battery module and obtaining a first coordinate of the first mounting hole in the base coordinate system according to the picture of the first mounting hole. The grabbing device comprises a first picture collecting device, the first picture collecting device is used for shooting pictures of the first mounting hole of the battery module, and the coordinates of the first mounting hole in the base coordinate system are obtained through calculation according to the shot pictures.

In some embodiments, the gripping device further comprises a detection device for detecting whether the battery module is normal, the detection device is in signal connection with the controller and sends a detection result to the controller; if the battery module is normal, the controller controls the grabbing device to grab the battery module to the installation position of the second transmission line; if the battery module is abnormal, the controller controls the grabbing device to grab the battery module onto the third transmission line. Grabbing device is still including detection device, detection device is used for detecting whether normal battery module, and send testing result to the controller, the controller is controlled grabbing device according to received testing result, if received testing result is that the battery module is normal, then control grabbing device snatchs the battery module to the mounted position, if received testing result is that the battery module is unusual battery module, then control device control grabbing device snatchs unusual battery module to the third transmission line, thereby realize the detection to the battery module, prevent that unusual battery module from finally assembling and forming the battery.

In some embodiments, the detection device comprises a two-dimensional code scanning piece and a voltage testing piece, the two-dimensional code scanning piece is used for scanning a two-dimensional code on the battery module, and the two-dimensional code scanning piece is connected with the controller and sends a scanning result to the controller; the voltage testing piece is used for detecting the voltage of the battery module and sending a detection result to the controller; if the two-dimensional code scanning result and the voltage detection result are normal, the controller controls the grabbing device to grab the battery module to the installation position of the second transmission line; and if the two-dimension code scanning result and/or the voltage detection result are/is abnormal, the controller controls the grabbing device to grab the battery module to the third transmission line. The detection device comprises a two-dimensional code scanning piece and a voltage testing piece, wherein the two-dimensional code scanning piece is used for scanning a two-dimensional code on a battery module and sending a scanning result to the controller, the two-dimensional code arranged on the battery module is a material code of the battery module, material information of the battery module can be obtained by scanning the two-dimensional code, whether the battery module is available or not is judged through the material information, the voltage testing piece is used for detecting the voltage of the battery module, the voltage of the battery module is whether the voltage between the anode and the cathode of the battery module is normal or not, the detection result is sent to the controller, the controller receives the scanning result of the two-dimensional code and the detection result of the voltage, if both are normal, the controller controls the grabbing device to grab the battery module to the installation position of the second transmission line, if at least one of the two received results is abnormal, the controller controls the grabbing device to grab the battery module to the third transmission line, detection on the battery module is realized, and the abnormal battery module is prevented from being finally assembled to form a battery.

In some embodiments, the gripping device comprises at least two grippers, each gripper is used for gripping one battery module, and each gripper is correspondingly provided with two voltage testing pieces, and the two voltage testing pieces are used for testing the voltage between the positive pole and the negative pole of the battery module. The gripping device at least comprises two grippers, so that the gripping device can grip at least two battery modules at each time, and the production efficiency of the batteries is improved. Each gripper device is provided with two voltage testing pieces, and the two voltage testing pieces are used for testing the voltage between the positive and negative poles of the battery module, so that whether the voltage between the positive and negative poles of the battery module is normal or not is detected.

In some embodiments, the mounting device includes a second picture capturing device for capturing a picture of a second mounting hole of the mounting position of the lower housing, obtaining a second coordinate of the second mounting hole in the base coordinate system according to the picture of the second mounting hole, and transmitting the second coordinate to the controller. The mounting device collects the picture of the second mounting hole in the mounting position of the upper shell and the lower shell of the second transmission line through the second picture collecting device, the coordinates of the second mounting hole in the base coordinate system are obtained according to the picture of the second mounting hole, the coordinates collected by the mounting device and the grabbing device are the coordinates in the base coordinate system, the coordinates of the mounting device and the grabbing device can be shared, the second coordinate collected by the mounting device is sent to the grabbing device, the grabbing device does not need to collect the coordinates when the coordinates of the mounting position of the lower shell are needed, the time is saved, and the production efficiency of the battery is improved.

In some embodiments, the mounting device further comprises at least one tightening gun, the tightening gun is connected with the controller, and the controller controls the tightening gun to tighten the screws extending into the first mounting hole and the second mounting hole according to the second coordinate so as to fix the battery module at the mounting position of the lower housing. The first mounting hole of battery module has four, every mounted position of casing has four second mounting holes down, installation device includes four guns of screwing up, place the back on the mounted position that corresponds at the battery module, installation device screws up the battery module on mounting position through stretching into first mounting hole and second mounting hole with the screw, installation device has four guns of screwing up, when screwing up, four guns of screwing up simultaneous working, thereby fixed mounting's time has been practiced thrift, the production efficiency of battery has been improved.

In some embodiments, in a second aspect, the present application provides a battery molding method, including collecting a first coordinate of a first mounting hole of a battery module in a base coordinate system; acquiring a second coordinate of a second mounting hole at the mounting position on the lower shell in the base coordinate system; normal battery module is grabbed to the mounted position of casing down based on first coordinate and second coordinate to fix the mounted position of casing down with battery module.

According to the technical scheme, the grabbing device collects the first coordinate of the first mounting hole of the battery module in the base coordinate system, the mounting device collects the second coordinate of the second mounting hole of the mounting position on the lower shell in the base coordinate system, the mounting device sends the collected second coordinate of the second mounting hole on the lower shell to the grabbing device, the grabbing device grabs the normal battery module to the corresponding mounting position according to the first coordinate and the second coordinate, the mounting device fixedly mounts the battery module on the mounting position on the lower shell, in the process of mounting the battery module, the grabbing device grabs the normal battery module to the corresponding mounting position on the lower shell according to the first coordinate and the second coordinate, at the moment, the first mounting hole on the battery module completely corresponds to the second mounting hole on the mounting position of the lower shell, the battery module is located in the second mounting hole, namely, the coordinate in the base coordinate is the second coordinate, the mounting device fixedly mounts the battery module on the corresponding mounting position of the lower shell according to the second coordinate, therefore, the mounting cost of the battery module is reduced, and the production cost is reduced.

In some embodiments, the collecting the first mounting hole of the battery module further includes, before the first coordinate of the base coordinate system: detecting whether the battery module is normal or not; if the battery module is normal, acquiring a first coordinate of a first mounting hole of the battery module in a base coordinate system; if the battery module is abnormal, the battery module is captured to the third transmission line. Detect the battery module before snatching the battery module, if detect the battery module unusual, snatch the battery module of abnormal to on the third transmission line to select the battery module of abnormal, prevent that the installation of the battery module of abnormal from forming faulty battery, and the testing result is that the battery module of normal could snatch to the second transmission line.

In some embodiments, the grasping the normal battery modules to the mounting positions of the lower case based on the first and second coordinates includes grasping one or a pair of the normal battery modules; grabbing a first normal battery module to a mounting position with a preset serial number which is the same as the grabbing sequence according to a first coordinate of a first mounting hole of the first battery module and a second coordinate of a second mounting hole of the mounting position which is the same as the grabbing sequence; grabbing a second normal battery module to a mounting position with a preset serial number which is the same as the grabbing sequence according to a first coordinate of a first mounting hole of the second battery module and a second coordinate of a second mounting hole of the mounting position which is the same as the grabbing sequence; wherein, lower casing has a plurality of mounting position corresponding with the battery module, and every mounting position has a predetermined serial number, and every is not adjacent to the predetermined serial number of mounting position, and every is far away from grabbing device to the relative mounting device of mounting position that has the predetermined serial number that leans on in every mounting position. Grabbing device snatchs one or a pair of battery module at every turn, when snatching a pair of battery module, earlier with first battery module to the mounted position who corresponds on, the mounted position this moment keeps away from grabbing device, and is close to installation device, then places second battery module on the mounted position that corresponds, and the mounted position this moment is close to grabbing device, keeps away from installation device.

In some embodiments, fixing the battery modules at the mounting positions of the lower case includes fixing a first battery module at a mounting position having a preset serial number in the same order as the grasping order in the lower case according to a second coordinate of a second mounting hole of the mounting position in the same order as the grasping order; and fixing a second battery module at the mounting position with the same preset serial number as the grabbing sequence in the lower shell according to the second coordinate of the second mounting hole at the mounting position with the same grabbing sequence. The installation device is used for fixedly installing the first battery module at the installation position, and then fixing and installing the second battery module. Thereby will snatch at every turn two battery module install fixed the completion.

In some embodiments, when the grasping means grasps a pair of normal battery modules each time and the mounting means fixes a first battery module at a mounting position having the same preset number as the grasping order in the lower case according to the second coordinate of the mounting position having the same grasping order, the grasping means grasps a second normal battery module at a mounting position having the same preset number as the grasping order simultaneously according to the first coordinate of the second battery module and the second coordinate of the mounting position having the same grasping order. When snatching a pair of battery module, place first battery module at grabbing device on the corresponding mounted position of keeping away from grabbing device and being close to installation device, installation device installs fixedly the first battery module of having placed, meanwhile, grabbing device places second battery module at the mounted position of keeping away from grabbing device and being close to installation device, thereby can fix first battery module when placing second battery module, the installation time has been practiced thrift, and the production efficiency is provided, and because grabbing device and being close to installation device are kept away from to first mounted position, second mounted position is close to grabbing device and is kept away from the installation and install extremely, thereby fixed first battery module when placing second battery module, can not take place to interfere.

The above description is only an overview of the technical solutions of the present application, and the present application may be implemented in accordance with the content of the description so as to make the technical means of the present application more clearly understood, and the detailed description of the present application will be given below in order to make the above and other objects, features, and advantages of the present application more clearly understood.

Drawings

Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Moreover, like reference numerals are used to refer to like elements throughout.

In the drawings:

fig. 1 is a schematic diagram of a battery forming system according to some embodiments of the present disclosure;

FIG. 2 is a schematic view of the installed position of the lower housing according to some embodiments of the present application;

FIG. 3 is a schematic illustration of a grasping device according to some embodiments of the present application;

FIG. 4 is a schematic view of a mounting device according to some embodiments of the present application;

fig. 5 is a flow chart of a method of forming a battery according to some embodiments of the present application;

fig. 6 is another flow chart of a battery forming method according to some embodiments of the present application;

fig. 7 is a further flow chart of a method of forming a battery according to some embodiments of the present application;

the reference numbers in the detailed description are as follows:

the battery forming system comprises a battery forming system 1, a grabbing device 11, a first picture collecting device 111, a two-dimensional code scanning piece 112, a voltage testing piece 113, a hand grip 114, a mounting device 12, a second picture collecting device 121, a tightening gun 122, a first transmission line 13, a second transmission line 14, a third transmission line 15, a battery module 16, a lower shell 17 and a mounting position 172.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are merely used to more clearly illustrate the technical solutions of the present application, and therefore are only examples, and the protection scope of the present application is not limited thereby.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the technical terms "first", "second", and the like are used only for distinguishing different objects, and are not to be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary-secondary relationship of the technical features indicated. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is only one kind of association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), and similarly, "plural sets" refers to two or more (including two), and "plural pieces" refers to two or more (including two).

In the description of the embodiments of the present application, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the directions or positional relationships indicated in the drawings, and are only for convenience of description of the embodiments of the present application and for simplicity of description, but do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the embodiments of the present application.

In the description of the embodiments of the present application, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, may be fixedly connected, detachably connected, or integrated; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

The core of industry 4.0 is data, and the digital construction of enterprises is not all at once. The battery production process begins to face the difficult integration problem of a plurality of isolated data sources. The isolated data sources are integrated, and transverse and longitudinal comprehensive analysis and data storage and tracing of the operation data are more and more important in the production process of the battery pack.

With the development of new energy vehicles, the production demand for batteries is increasing, and therefore, the manufacturing requirements and the process equipment for producing batteries need to be improved. At present, the degree of automation is low in the process of mounting and forming the battery.

The inventor notices, in the current battery production process, only just realize through automation equipment when battery module and lower casing are fixed, and the process of putting battery module on the casing then can not satisfy automatic demand under, the battery module is gone into the case and is leaned on manual operation helping hand arm to snatch battery module and put into box down, whole process inefficiency, manpower are extravagant, snatch improper still can lead to battery module to drop and pound the people.

In order to improve the degree of automation in the production and installation process of the battery, the applicant has studied and found that the grasping process of the battery module can also be automatically set.

Based on the above consideration, in order to solve the problem of automation lower in the battery production process, the inventor has designed a battery molding system through deep research, and through setting up grabbing device and installation device, grabbing device snatchs the battery module to the mounted position that corresponds on the casing down, and rethread installation device installs and fixes battery module and casing down to realize the full-automatic installation of battery module on the casing down.

Through such battery molding system, its snatching process to the battery module is accomplished through grabbing device, and the installation fixing process to the battery module is accomplished through installation device to do not need the manual work to operate in snatching and the installation of battery module, practiced thrift the human resource cost, improved the production efficiency of battery, also reduced manufacturing cost simultaneously, and the security also improves greatly.

Through such battery molding system, the second coordinate of the second mounting hole of the mounting position that the installation device can will gather in basic coordinate system is sent to grabbing device has just need not gathered the coordinate of the second mounting hole of mounting position, has practiced thrift the time, has improved the efficiency of battery production.

The battery molding system disclosed by the embodiment of the application can be used in battery production. The battery forming system who possesses this application disclosure can be used and snatch and install the battery module, in snatching and the installation of battery module, through the setting of battery forming system for whole process has realized the full automatization, has improved production efficiency, has reduced artifical this, and has improved the security.

For convenience of description, the following examples will be described with reference to a battery forming method according to an embodiment of the present application.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a battery forming system 1 according to some embodiments of the present disclosure. Battery molding system 1 adopts full-automatic method to snatch and install battery module 16, make battery module 16 can snatch automatically through grabbing device 11 and get into mounted position 172, and after battery module 16 was placed on mounted position 172, realize the fixed mounting to battery module 16 through mounting device 12 is automatic, make whole battery module 16 get into mounted position 172 and be the automation process by the installation on mounted position 172, the manual labor has been reduced, the production efficiency is improved, and the security has been improved simultaneously.

Referring to fig. 1, the battery molding system 1 includes a grasping device 11 and a mounting device 12, the grasping device 11 and the mounting device 12 are respectively used for grasping the battery module 16 and mounting the battery module 16, and before grasping and mounting the battery module 16, the grasping device 11 acquires a first coordinate of a first mounting hole in a base coordinate system when the battery module 16 is at an initial position, the mounting device 12 acquires a second coordinate of a second mounting hole of a mounting position 172 on the lower housing 17 in the base coordinate system and transmits the second coordinate to the grasping device 11, the grasping device 11 needs to grasp the battery module 16 to the mounting position 172, and the first mounting hole needs to correspond to the second mounting hole, the grasping device 11 grasps the battery module 16 from the initial position to the mounting position 172 on the lower housing 17 according to the first coordinate of the initial position of the battery module 16 and the second coordinate of the mounting position 172, and the mounting device 12 fixes the battery module 16 on the lower housing 17 according to the second coordinate of the mounting position 172.

And the first coordinate of the first mounting hole acquired by the gripping device 11 is in the first coordinate system, and the second coordinate of the mounting position 172 acquired by the mounting device 12 is also in the base coordinate system, that is, the gripping device 11 and the mounting device 12 use the same reference coordinate system, so that the first coordinate and the second coordinate acquired by the gripping device 11 and the mounting device 12 can be shared. The second coordinates of the second mounting hole of the collected mounting position 172 in the base coordinate system are sent to the gripping device 11 by the mounting device 12, so that the gripping device 11 does not need to collect the coordinates of the second mounting hole of the mounting position 172 in the base coordinate system again, time is saved, and production efficiency is improved.

Referring to fig. 1, the present application provides a battery molding system 1, according to some embodiments of the present application. Battery molding system 1 includes grabbing device 11 and installation device 12, grabbing device 11 gathers the first coordinate of the first mounting hole of battery module 16 on the base coordinate system, installation device 12 gathers the second coordinate of casing 17 mounted position 172 in the base coordinate system down, grabbing device 11 snatchs battery module 16 to the mounted position 172 on casing 17 down according to first coordinate and second coordinate, then installation device 12 fixes battery module 16 on the mounted position 172 of casing 17 down according to the second coordinate, battery module 16 is from snatching to the equal full-automatic completion of the fixed whole process of installation, and production efficiency is improved, and the cost is reduced.

The reference coordinate system is a coordinate system created at a position around the grasping apparatus and the mounting apparatus. The purpose is to make the robot movement and the programmed position both reference to the coordinate system. The grabbing device 11 and the installing device 12 respectively collect a first coordinate and a second coordinate of a first installing hole of the battery module 16 and a second installing hole of the installing position 172 of the lower shell 17 in the base coordinate system, the first coordinate and the second coordinate are offset values in the base coordinate system, the coordinate of the first coordinate in the base coordinate system is (X1, Y1, A1), the coordinate of the second coordinate in the base coordinate system is (X2, Y2, A2), wherein X1 and X2 are offset values of an X axis in the base coordinate system, Y1 and Y2 are offset values of a Y axis in the base coordinate system, A1 and A2 are angle offset values in the base coordinate system, and accurate positions of the battery module 16 and the installing position 172 can be obtained through acquisition of the first coordinate and the second coordinate, so that the qualification rate is improved in subsequent grabbing, placing and fixing processes.

In the battery forming system 1, including the gripping device 11 and the mounting device 12, the gripping device 11 and the mounting device 12 respectively collect coordinates of a first mounting hole of the battery module 16 and a second mounting hole of the mounting position 172 of the lower housing 17 in a base coordinate system, the coordinates collected by the gripping device 11 and the mounting device 12 are both in the base coordinate system, so that the coordinates collected by the gripping device 11 and the mounting device 12 can be shared, a second coordinate of the second mounting hole of the mounting position 172 of the lower housing 17 collected by the mounting device 12 can be shared with the gripping device 11 for sharing, so that work tasks of the gripping device 11 are reduced, the operation efficiency of the gripping device 11 is improved, the assembly tact is improved, the gripping device 11 grips the battery module 16 from the first coordinate to the second coordinate according to the first coordinate and the second coordinate, so as to complete boxing of the battery module 16, so that the battery module 16 is gripped from the initial position to the mounting position 172 of the lower housing 17, and then the mounting device 12 mounts the battery module 16 to the mounting position 172 through the second coordinate, thereby completing boxing and mounting of the battery module 16. Therefore, the battery module 16 is placed on the mounting position 172 of the lower shell 17 through the mutual cooperation of the grabbing device 11 and the mounting device 12, and is fixedly mounted, so that the fully automatic grabbing and mounting process is realized, and the production efficiency is improved.

According to some embodiments of the present application, optionally, the battery molding system 1 further includes a controller, which is in signal connection with the grasping device 11 and the mounting device 12, respectively, receives the second coordinates sent by the mounting device 12, and sends the second coordinates to the grasping device 11.

The Controller is a PLC (Programmable Logic Controller), a device for controlling the grasping device 11 and the installing device 12, and is a bridge for connection and signal transmission before the grasping device 11 and the installing device 12.

The controller is respectively connected with the grabbing device 11 and the installing device 12, the grabbing device 11 and the installing device are started and closed under the control of the controller, the controller starts the grabbing device 11, the grabbing device 11 moves to the working position from the original position, the grabbing device 11 sends a request signal to the controller, the controller sends a signal to the grabbing device 11, the grabbing device 11 carries out coordinate collection on a first installing hole of the battery module 16 according to the signal, the controller starts the installing device 12, the installing device 12 moves to the working position from the original position, the installing device 12 sends the request signal to the controller, the controller sends a signal to the installing device 12, the installing device 12 collects a second coordinate of a second installing hole of the installing position 172 according to the signal and sends the second coordinate to the controller, the controller sends the second coordinate to the grabbing device 11, the device grabs the battery module 16 to the installing position 172 according to the first coordinate and the second coordinate, and the installing device 12 installs and fixes the battery module 16 according to the second coordinate.

According to some embodiments of the present application, optionally, referring to fig. 1 again, the battery forming system 1 further includes a first transmission line 13 and a second transmission line 14, the first transmission line 13 transmits a plurality of battery module 16 transmission trays, and the plurality of battery modules 16 are loaded on the battery module 16 transmission trays; the second transmission line 14 transmits a plurality of battery transmission trays, the battery transmission trays contain the lower shell 17, and a plurality of mounting positions 172 are arranged on the lower shell 17; wherein the first transmission line 13 and the second transmission line 14 are arranged adjacently, and the grabbing device 11 is arranged at two sides of the second transmission line 14 opposite to the mounting device 12.

Be provided with battery module 16 on first transmission line 13, second transmission line 14 is provided with lower casing 17, first transmission line 13 and the adjacent setting of second transmission line 14, and grabbing device 11 and the adjacent setting of first transmission line 13 and second transmission line 14 homogeneous phase, installation device 12 and the adjacent setting of second transmission line 14, grabbing device 11 and installation device 12 set up in second transmission line 14 both sides relatively, thereby make things convenient for grabbing device 11 to snatch battery module 16 to lower casing 17 on, and installation device 12 is with battery module 16 fixed mounting on the mounted position 172 of casing 17 down. Preferably, the first transmission line 13 is relatively perpendicular to the second transmission line 14.

First transmission line 13 is used for transmitting battery module 16 transmission tray, be provided with a plurality of battery modules 16 on every battery module 16 transmission tray, a plurality of battery modules 16 transmit on first transmission line 13 promptly, the transmission has a plurality of battery transmission trays on the second transmission line 14, contain casing 17 down on the battery transmission tray, be provided with a plurality of mounted position 172 on the casing 17 down, thereby make battery module 16 and casing 17 can install at the in-process of transmission through the setting up of first transmission line 13 and second transmission line 14.

According to some embodiments of the present application, the battery molding system 1 further includes a third transmission line 15, the third transmission line 15 is used for receiving the abnormal battery modules 16 captured by the capturing device 11; wherein the third transport line 15 is arranged adjacent to the first transport line 13 and the gripping device 11, respectively.

When the battery module 16 is detected to be abnormal, the grabbing device 11 grabs the abnormal battery module 16 from the first transmission line 13 to the third transmission line 15, and the third transmission line 15 is arranged adjacent to the first transmission line 13, so that the grabbing device 11 can grab and place the abnormal battery module conveniently.

The third transmission line 15 is used for transmitting the abnormal battery modules 16, before the grabbing device 11 grabs the battery modules 16 onto the lower shell 17 on the second transmission line 14, the battery modules 16 are detected, if the battery modules 16 are compensated to be abnormal, the battery modules 16 are grabbed onto the third transmission line 15, the abnormal battery modules 16 are discharged, the abnormal battery modules 16 are prevented from being installed on the lower shell 17, and finally bad batteries are formed.

As shown in fig. 2, which is a schematic view of the mounting locations 172 in the lower housing 17 in the present application, the locations of the respective mounting locations 172 and the predetermined serial numbers of the respective mounting locations 172 are shown, according to some embodiments of the present application, optionally, each mounting location 172 on the lower housing 17 has a predetermined serial number, the predetermined serial numbers of each pair of mounting locations 172 are not adjacent, and the mounting location 172 having the earlier predetermined serial number in each pair of mounting locations 172 is far away from the gripping device 11 relative to the other mounting location, the gripping device 11 places the battery module 16 according to the predetermined serial number, and the mounting device 12 fixes the battery module 16 according to the predetermined serial number.

The mounting positions 172 with the front preset serial numbers in each pair of mounting positions 172 are far away from the gripping device 11 relative to the other mounting positions, the gripping device 11 places the battery modules 16 according to the preset serial numbers, the mounting device 12 fixes the battery modules 16 according to the preset serial numbers, namely, the gripping and placing sequence of each pair of battery modules 16 by the gripping device 11 is from far to near, in the gripping process, when the gripping device 11 grips the battery modules 16, one or two battery modules 16 are gripped from far to near according to the transmission sequence of the battery modules 16 on the first transmission line 13, so that the gripping process is completed, similarly, when the gripping device 11 places the battery modules 16 on the second transmission line 14, the battery modules are placed in the sequence from far to near, so that the gripping and placing of the battery modules 16 are completed.

The lower shell 17 is provided with a plurality of mounting positions 172, each mounting position 172 is provided with a preset serial number, the grabbing device 11 is placed according to the preset serial number when the battery modules 16 are placed, the preset serial numbers of two adjacent mounting positions 172 are not adjacent, and each pair of mounting positions 172 with the front preset serial number are far away from the grabbing device 11 relative to the other mounting position, and are close to the mounting device 12, so that the grabbing device 11 can move a moving space for the mounting device 12 after grabbing the first battery module 16 in each pair to the mounting position 172 with the front preset serial number, the mounting device 12 can mount the battery module 16 within a certain range, the grabbing device 11 can grab the other battery module 16 to the mounting position 172 with the rear preset serial number simultaneously, because the preset serial numbers of two adjacent mounting positions 172 are not adjacent, the mounting device 12 and the grabbing device 11 can work simultaneously, when the grabbing device 11 returns to the initial working position, the mounting device 12 can fix the second battery module 16, the working efficiency of the mounting device 11 and the mounting device 12 is improved, and the efficiency of each pair of the mounting devices 11 and the grabbing device 12 do not interfere with the other pair of the mounting positions 12, and the picking device 11 and the picking device 12 can not interfere with the front working range of the other mounting positions, thereby avoiding interference between the grabbing device 11 and the picking device 12.

In this embodiment, as shown in fig. 2, the preset numbers of the mounting positions 172 of the lower housing 17 are paired even and odd two by two and gradually increased as (01, 02), (03, 04) (05, 06) … … … … (23, 24). The grasping means 11 first places one battery module 16 at an odd-numbered position, for example, the 1 position, on the side away from the grasping means 11, and the other at an even-numbered position, for example, the 2 position, near the grasping means 11.

As shown in fig. 3, which is a schematic structural diagram of the grasping apparatus 11, according to some embodiments of the present application, optionally, the grasping apparatus 11 includes a first picture collecting device 111, and the first picture collecting device 111 is configured to take a picture of a first mounting hole of the battery module 16, and obtain a first coordinate of the first mounting hole in the base coordinate system according to the picture of the first mounting hole.

Grabbing device 11 includes first picture collection system 111, and first picture collection system 111 is vision industry camera, sets up in grabbing device 11 towards the bottom of battery module 16, sets up with battery module 16 relatively to the convenience is shot battery module 16. The two vision industrial cameras are respectively arranged corresponding to the first mounting holes of the two battery modules 16 and used for respectively shooting the two symmetrical first mounting holes of the battery modules 16 and calculating to obtain first coordinates of the two first mounting holes in the base coordinate system according to the shot pictures.

The first picture collecting device 111 sends a request to the controller, the controller sends a signal to the first picture collecting device 111 according to the request, the first picture collecting device 111 shoots the battery module 16 according to the signal, if shooting and detection are normal, if shooting is empty, the controller sends a signal to the first picture collecting device 111, and the first picture collecting device 111 goes to the next position again to shoot until the battery module 16 is shot.

According to some embodiments of the present application, the grasping apparatus 11 further includes a detecting device for detecting whether the battery module 16 is normal, the detecting device is in signal connection with the controller, and sends a detection result to the controller; if the battery module 16 is normal, the controller controls the grabbing device 11 to grab the battery module 16 to the installation position 172 of the second transmission line 14; if the battery module 16 is abnormal, the controller controls the grasping device 11 to grasp the battery module 16 onto the third transfer line 15.

The gripping device 11 comprises a detection device which is also arranged at the bottom of the gripping device 11 and is opposite to the battery module 16, so that the battery module 16 can be conveniently detected.

The detection device is used for detecting whether the battery module 16 is normal or not, if the battery module 16 is normal, the grabbing device 11 grabs the battery module 16 to the mounting position 172 of the lower shell 17 of the second transmission line 14, so that the normal battery module 16 is further fixed on the lower shell 17, if the detection device detects that the battery module 16 is abnormal, the grabbing device 11 grabs the battery module 16 to the third transmission line 15 for waste discharge, and therefore the abnormal battery module 16 and the lower shell 17 are prevented from being fixed to finally form a battery.

As shown in fig. 3, according to some embodiments of the present disclosure, the detection device includes a two-dimensional code scanning component 112 and a battery testing component, the two-dimensional code scanning component 112 is configured to scan a two-dimensional code on the battery module 16, and the two-dimensional code scanning component 112 is connected to the controller and sends a scanning result to the controller; the voltage testing piece is used for detecting the voltage of the battery module 16 and sending a detection result to the controller; if the two-dimensional code scanning result and the voltage detection result are normal, the controller controls the grabbing device 11 to grab the battery module 16 to the installation position 172 of the second transmission line 14; if the two-dimensional code scanning result and/or the voltage detection result are abnormal, the controller controls the grabbing device 11 to grab the battery module 16 onto the third transmission line 15.

The grabbing device 11 moves to the first picture collecting device 111 to correspond to the first mounting hole, the first mounting hole is shot, meanwhile, the two-dimensional code scanning piece 112 scans the two-dimensional code on the battery module 16, and then the grabbing device moves to the voltage testing piece and the position where the positive electrode and the negative electrode correspond to each other, so that the voltage of the battery module 16 is detected.

Every battery module 16 surface is provided with a two-dimensional code, and this two-dimensional code is battery module 16's identity label, has recorded battery module 16's material code, voltage data and screws up quality data etc. grabbing device 11 scans the two-dimensional code through two-dimensional code scanning device, detects battery module 16 positive and negative pole voltage through voltage test spare, if there is a problem in these two testing results, will grab battery module 16 to the waste discharge line through grabbing device 11. If there is no problem in both the detection results, the grasping device 11 is controlled to grasp the battery module 16 to the mounting position 172 of the second transmission line 14.

As shown in fig. 3, according to some embodiments of the present disclosure, the gripping device 11 includes at least two grippers 114, each gripper 114 is used for gripping one battery module 16, and each gripper 114 is correspondingly provided with two voltage testing pieces for testing the voltage between the positive and negative poles of the battery module.

The gripping device 11 comprises at least two grippers 114, and each gripper 114 can grip one battery module 16, so that at least two battery modules 16 can be gripped at the same time, the working efficiency is improved, and the time is saved.

Each gripper 114 device is correspondingly provided with two voltage testing pieces, the two voltage testing pieces are used for testing the voltage between the positive pole and the negative pole of the battery module, and the voltage testing piece is used for testing the voltage of the battery module 16.

As shown in fig. 4, according to some embodiments of the present application, the mounting device 12 includes a second picture taking device 121, the second picture taking device 121 is configured to take a picture of a second mounting hole of the mounting position 172 of the lower housing 17, obtain a second coordinate of the second mounting hole in the base coordinate system according to the picture of the second mounting hole, and transmit the second coordinate to the controller.

The mounting device 12 has a second picture collecting device 121, and the second picture collecting device 121 is used for shooting a picture of a second mounting hole of the housing on the second transmission line 14, so as to obtain a second coordinate of the second mounting hole according to the picture of the second mounting hole, wherein the second picture collecting device 121 is a visual industrial camera, is arranged at the bottom of the mounting device 12 facing the mounting position 172, and is arranged opposite to the mounting position 172, so as to conveniently shoot the second mounting hole of the mounting position 172.

The mounting device 12 sends a request to the controller, the controller sends a signal to the mounting device 12 in response to the request, and the mounting device 12 photographs the second mounting hole at the different mounting location 172 in response to the signal from the controller. The vision industry camera is two, correspond the setting with two second mounting holes respectively for shoot the second mounting hole of two symmetries respectively, and calculate the second coordinate that obtains two second mounting holes in basic coordinate system according to the picture of shooing, and send the second coordinate to the controller, the controller says the second coordinate again and sends to grabbing device 11, thereby grabbing device 11 need not shoot the second mounting hole, the time of having practiced thrift, efficiency has been improved.

As shown in fig. 4, according to some embodiments of the present application, the mounting device 12 further includes at least one tightening gun 122, the tightening gun 122 is connected to a controller, and the controller controls the tightening gun 122 to tighten screws extending into the first mounting hole and the second mounting hole according to the second coordinate to fix the battery module 16 to the mounting position 172 of the lower case 17.

The tightening guns 122 of the mounting device 12 serve as fixing means for the mounting device 12 to the battery module 16, and screws are inserted into the first mounting holes and the second mounting holes to be tightened, thereby fixing the battery module 16 to the lower case 17.

The first mounting hole of battery module 16 is four, and the second mounting hole of every mounted position 172 is four, screws up rifle 122 and is four to when installation device 12 fixes battery module 16, the controller control send the nailing machine to send the screw respectively to reach the rifle head of four screws up rifle 122, four screws up rifle 122 simultaneous working, screws up battery module 16 jointly, thereby has improved and has screwed up efficiency.

The utility model provides a battery forming system 1, including grabbing device 11, installation device 12, a controller, first transmission line 13, second transmission line 14 and third transmission line 15, the transmission has battery module 16 on the first transmission line 13, the transmission has lower casing 17 on the second transmission line 14, third transmission line 15 is the waste wire of arranging, grabbing device 11 gathers the first coordinate of the first mounting hole of battery module 16 in the basic coordinate system, and detect battery module 16, installation device 12 gathers the second coordinate of the second mounting hole of casing 17 mounted position 172 about second transmission line 14 in the basic coordinate system, and send the second coordinate that detects to grabbing device 11, grabbing device 11 still is used for detecting battery module 16, if detect for normal battery module 16, grabbing device 11 snatchs battery module 16 to the mounted position 172 on the lower casing 17 of second transmission line 14 according to first coordinate and second coordinate, installation device 12 fixes battery module 16 on casing 17 down, thereby realize battery forming system 1, and the manpower cost of battery forming system has been practiced thrift, and the efficiency of production has been improved fully automated.

In a second aspect, please refer to fig. 5, as shown in the drawing, the present application provides a battery forming method, including:

s101, collecting a first coordinate of a first mounting hole of the battery module in a base coordinate system;

the grabbing device collects a first coordinate of a first mounting hole of the battery module in the base coordinate system, the first coordinate is an offset value of the first mounting hole of the battery module in the base coordinate system, and the coordinate of the first coordinate in the base coordinate system is (X1, Y1, A1).

S102, collecting a second coordinate of a second mounting hole at the mounting position on the lower shell in the base coordinate system;

the mounting device collects a second coordinate of the second mounting hole of the mounting position on the lower shell in the base coordinate system, the second coordinate is an offset value of the second mounting hole of the mounting position on the lower shell in the base coordinate system, the coordinate of the first coordinate in the base coordinate system is (X2, Y2, A2), and the collected second coordinate is sent to the grabbing device.

And S103, grabbing the normal battery module to the mounting position of the lower shell based on the first coordinate and the second coordinate, and fixing the battery module at the mounting position of the lower shell.

The grabbing device grabs the normal battery module to the mounting position of lower casing according to first coordinate and second coordinate, and the installation device is with battery module fixed mounting at the mounting position according to the second coordinate.

In the battery forming method, the coordinates of a first mounting hole of a battery module and a second mounting hole of a mounting position of a lower shell in a base coordinate system are respectively acquired by a grabbing device and a mounting device, the coordinates acquired by the grabbing device and the mounting device are in the base coordinate system, so that the coordinates acquired by the grabbing device and the mounting device can be shared, the second coordinate of the second mounting hole of the mounting position of the lower shell acquired by the mounting device can be shared to the grabbing device for sharing, the work tasks of the grabbing device are reduced, the operating efficiency of the grabbing device is improved, the assembly rhythm is improved, the grabbing device grabs the battery module from the first coordinate to the second coordinate according to the first coordinate and the second coordinate, the battery module is boxed, the battery module is grabbed from the initial position to the mounting position of the lower shell, and the mounting device mounts the battery module to the mounting position through the second coordinate, so that the boxing and mounting of the battery module are completed. Thereby through grabbing device and installation device's mutual cooperation, put the battery module on the mounted position of casing down to fixed mounting, thereby realize full-automatic snatching and installation, provide production efficiency.

As shown in fig. 6, the present application provides another battery molding method, including:

s201, collecting a first coordinate of a first mounting hole of the battery module in a base coordinate system;

s202, collecting a second coordinate of a second mounting hole at the mounting position on the lower shell in the base coordinate system;

s203, detecting whether the battery module is normal or not;

before snatching the battery module, whether need detect the battery module normal, prevent that unusual battery module from being snatched down and form the battery on the casing. The method for detecting whether the battery module is normal comprises two-dimension code detection and voltage detection, wherein the two-dimension code on the battery module is scanned and detected by a two-dimension code scanning piece, and the voltage of the battery module is detected by a voltage testing piece.

S204, if the battery module is normal, grabbing the normal battery module to the installation position of the lower shell based on the first coordinate and the second coordinate;

if the two-dimension code scanning result and the voltage detection result are normal, controlling the grabbing device to grab the battery module to the installation position of the second transmission line;

s205, if the battery module is abnormal, the battery module is captured to the third transmission line.

And if one of the two-dimensional code scanning result or the voltage detection result is abnormal, controlling the grabbing device to grab the battery module onto the third transmission line.

In the battery forming method, the coordinates of a first mounting hole of a battery module and a second mounting hole of a mounting position of a lower shell in a base coordinate system are respectively acquired by a grabbing device and a mounting device, the coordinates acquired by the grabbing device and the mounting device are both in the base coordinate system, so that the coordinates acquired by the grabbing device and the mounting device can be shared, the second coordinate of the second mounting hole of the mounting position of the lower shell acquired by the mounting device can be shared with the grabbing device for sharing, the work tasks of the grabbing device are reduced, the operating efficiency of the grabbing device is improved, the assembly rhythm is improved, the grabbing device grabs the battery module from the first coordinate to the second coordinate according to the first coordinate and the second coordinate, the battery module is boxed, the battery module is grabbed from the initial position to the mounting position of the lower shell, and the mounting device mounts the battery module to the mounting position through the second coordinate, so that the boxing and mounting of the battery module are completed. And grabbing device still detects the battery module, detects the battery module and has the problem then snatchs it and carry out the wasting discharge on the third transmission line, detects the battery module and does not have the problem just can snatch the battery module to the mounted position on the second transmission line and install. Thereby through grabbing device and installation device's mutual cooperation, put the battery module on the mounted position of casing down to fixed mounting, thereby realize full-automatic snatching and the installation, provide production efficiency.

As shown in fig. 7, the present application provides still another battery molding method, including:

s301, collecting a first coordinate of a first mounting hole of the battery module in a base coordinate system;

s302, collecting a second coordinate of a second mounting hole of the mounting position on the lower shell in the base coordinate system;

s303, detecting whether the battery module is normal or not;

s304, if the battery modules are normal, one or a pair of battery modules are captured;

if the battery modules are normal, the grabbing device grabs one or a pair of battery modules from the first transmission line.

S305, placing the first normal battery module on the installation position with the preset serial number which is the same as the grabbing sequence according to the first coordinate of the first installation hole of the first battery module and the second coordinate of the second installation hole of the installation position which is the same as the grabbing sequence;

then, the first battery module is placed at a mounting position with the preset serial number which is the same as the grabbing sequence of the first battery module, wherein the lower shell is provided with a plurality of mounting positions corresponding to the battery modules, each mounting position is provided with one preset serial number, the preset serial numbers of each pair of mounting positions are not adjacent, the mounting position with the front preset serial number in each pair of mounting positions is far away from the grabbing device relative to the mounting device, namely, the battery module is placed at the mounting position far away from the grabbing device, and the placing sequence follows the principle of far first and near second.

S306, fixing the first battery module at the installation position with the same preset serial number as the grabbing sequence in the lower shell according to the second coordinate of the second installation hole of the installation position with the same grabbing sequence; placing a second normal battery module on a mounting position with a preset serial number which is the same as the grabbing sequence according to a first coordinate of a first mounting hole of the second battery module and a second coordinate of a second mounting hole of the mounting position which is the same as the grabbing sequence;

then installation device installs the battery module that has been placed nearer apart from the mounted position, and simultaneously, grabbing device places another battery module at the mounted position nearer apart from self to installation device and grabbing device carry out work simultaneously, have practiced thrift the time, have improved efficiency.

And S307, fixing a second battery module at the installation position with the same preset serial number as the grabbing sequence in the lower shell according to the second coordinate of the second installation hole at the installation position with the same grabbing sequence.

The mounting device mounts the latter battery module, thereby completing the mounting of the pair of battery modules, one pair being two.

In the forming process of the battery, a plurality of mounting positions are arranged on the lower shell, each mounting position is provided with a preset serial number, the grabbing device is placed according to the preset serial number when the battery module is placed, the preset serial numbers of two adjacent mounting positions are not adjacent, each mounting position, which is positioned in front of the preset serial number, is far away from the grabbing device relative to the other mounting position, and is close to the mounting device, so that the grabbing device can move a space for the mounting device after grabbing the first battery module in each pair to the mounting position, which is positioned in front of the preset serial number, and then move the other battery module to be close to the other mounting position of the grabbing device.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present disclosure, and the present disclosure should be construed as being covered by the claims and the specification. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present application is not intended to be limited to the particular embodiments disclosed herein but is to cover all embodiments that may fall within the scope of the appended claims.

Claims

1. A battery molding system, comprising:

the mounting device is used for acquiring a second coordinate of a second mounting hole at a mounting position on the lower shell in the base coordinate system, is in signal connection with the grabbing device and transmits the second coordinate to the grabbing device;

the grabbing device grabs the normal battery module to the mounting position on the lower shell according to the first coordinate and the second coordinate, and the mounting device fixes the battery module to the mounting position of the lower shell according to the second coordinate.

2. The battery molding system of claim 1, further comprising:

and the controller is in signal connection with the grabbing device and the mounting device respectively, receives the second coordinate sent by the mounting device, and sends the second coordinate to the grabbing device.

3. The battery molding system of claim 2, further comprising:

the first transmission line is used for transmitting the plurality of battery module transmission trays, and the plurality of battery modules are contained on the battery module transmission trays;

the second transmission line is used for transmitting a plurality of battery transmission trays, the lower shell is contained in the battery transmission trays, and a plurality of mounting positions are arranged on the lower shell;

the first transmission line and the second transmission line are arranged adjacently, and the grabbing device and the mounting device are arranged on two sides of the second transmission line oppositely.

4. The battery molding system of claim 3, further comprising:

the third transmission line is used for receiving the abnormal battery modules grabbed by the grabbing device;

wherein the third transmission line is respectively arranged adjacent to the first transmission line and the gripping device.

5. The battery molding system of claim 1,

every mounting position on the lower casing has a preset serial number, every is every the mounting position the preset serial number is not adjacent, and every is every have in the mounting position that leans forward the preset serial number the mounting position is relative another the mounting position is kept away from grabbing device, grabbing device places according to preset serial number battery module, mounting device is according to preset serial number is fixed battery module.

6. The battery molding system of claim 2, wherein the grasping device comprises:

the first picture acquisition device is used for shooting a picture of a first mounting hole of the battery module and obtaining a first coordinate of the first mounting hole in the base coordinate system according to the picture of the first mounting hole.

7. The battery molding system of claim 4, wherein the grasping device further comprises:

the detection device is used for detecting whether the battery module is normal or not, is in signal connection with the controller and sends a detection result to the controller;

if the battery module is normal, the controller controls the grabbing device to grab the battery module to the installation position of the second transmission line; and if the battery module is abnormal, the controller controls the grabbing device to grab the battery module onto the third transmission line.

8. The battery molding system of claim 7, wherein the detection device comprises:

the two-dimensional code scanning component is used for scanning a two-dimensional code on the battery module, is connected with the controller and sends a scanning result to the controller; and

the voltage testing piece is used for detecting the voltage of the battery module and sending the detection result to the controller;

if the two-dimension code scanning result and the voltage detection result are normal, the controller controls the grabbing device to grab the battery module to the installation position of the second transmission line; and if the two-dimension code scanning result and/or the voltage detection result are/is abnormal, the controller controls the grabbing device to grab the battery module to the third transmission line.

9. The battery molding system of claim 8,

the gripping device comprises at least two grippers, each gripper is used for gripping one battery module, two voltage testing pieces are correspondingly arranged on each gripper, and the two voltage testing pieces are used for testing the voltage between the positive pole and the negative pole of the battery module.

10. The battery molding system of any one of claims 2 to 9, wherein the mounting means comprises:

and the second picture acquisition device is used for shooting a picture of a second mounting hole at the mounting position of the lower shell, obtaining a second coordinate of the second mounting hole in the base coordinate system according to the picture of the second mounting hole, and transmitting the second coordinate to the controller.

11. The battery molding system of any one of claims 2 to 9, wherein the mounting device further comprises:

the battery module is fixed on the mounting position of the lower shell.

12. A method of forming a battery, comprising:

collecting a first coordinate of a first mounting hole of the battery module in a base coordinate system;

acquiring a second coordinate of a second mounting hole at the mounting position on the lower shell in the base coordinate system;

and grabbing a normal battery module to the mounting position of the lower shell based on the first coordinate and the second coordinate, and fixing the battery module at the mounting position of the lower shell.

13. The battery molding method according to claim 12, wherein before the grasping the normal battery module to the mounting position of the lower case based on the first coordinate and the second coordinate, further comprising:

detecting whether the battery module is normal or not;

if the battery module is normal, grabbing the normal battery module to the installation position of the lower shell based on the first coordinate and the second coordinate;

and if the battery module is abnormal, grabbing the battery module to the third transmission line.

14. The battery molding method according to claim 12, wherein the grasping the normal battery module to the mounting position of the lower case based on the first coordinate and the second coordinate comprises:

grabbing one or a pair of battery modules;

placing the first normal battery module on a mounting position with a preset serial number which is the same as the grabbing sequence according to a first coordinate of a first mounting hole of the first battery module and a second coordinate of a second mounting hole of the mounting position which is the same as the grabbing sequence;

placing a second normal battery module on a mounting position with a preset serial number which is the same as the grabbing sequence according to the first coordinate of a first mounting hole of the second battery module and a second coordinate of a second mounting hole of a mounting position which is the same as the grabbing sequence;

the lower shell is provided with a plurality of installation positions corresponding to the battery modules, each installation position is provided with a preset serial number, the preset serial numbers of each pair of installation positions are not adjacent, and the installation position with the front preset serial number in each pair of installation positions is far away from the grabbing device relative to the other installation position.

15. The battery molding method according to claim 14, wherein the fixing of the battery module at the mounting position of the lower case comprises:

fixing the first battery module at a mounting position with a preset serial number which is the same as the grabbing sequence in the lower shell according to a second coordinate of a second mounting hole at the mounting position which is the same as the grabbing sequence;

and fixing the second battery module at the mounting position with the same preset serial number as the grabbing sequence in the lower shell according to the second coordinate of the second mounting hole at the mounting position with the same grabbing sequence.