CN115842151A - Power battery triaxial flexible stacking system and method - Google Patents
Power battery triaxial flexible stacking system and method Download PDFInfo
- Publication number
- CN115842151A CN115842151A CN202211459588.8A CN202211459588A CN115842151A CN 115842151 A CN115842151 A CN 115842151A CN 202211459588 A CN202211459588 A CN 202211459588A CN 115842151 A CN115842151 A CN 115842151A
- Authority
- CN
- China
- Prior art keywords
- axis module
- clamping jaw
- power battery
- plc
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Battery Mounting, Suspending (AREA)
Abstract
The invention provides a three-axis flexible stacking system and a method for power batteries in the technical field of large-scale power battery production equipment, wherein the system comprises the following steps: a gantry; the Y-axis module is horizontally arranged at the top end of the portal frame; the X-axis module is horizontally arranged at the moving end of the Y-axis module; the Z-axis module is vertically arranged at the moving end of the X-axis module; the clamping jaw is arranged at the moving end of the Z-axis module; the camera is arranged at the bottom end of the clamping jaw; the laser sensor is arranged at the bottom end of the clamping jaw; the pressure sensor is arranged on the inner side of the clamping jaw; a cylinder group arranged on the clamping jaw; the PLC is respectively connected with the Y-axis module, the X-axis module, the Z-axis module, the clamping jaw, the camera, the laser sensor, the pressure sensor and the cylinder group; and the display screen is connected with the PLC. The invention has the advantages that: the stacking capacity and precision of the large power battery are greatly improved, and the stacking cost is greatly reduced.
Description
Technical Field
The invention relates to the technical field of large-scale power battery production equipment, in particular to a power battery triaxial flexible stacking system and a power battery triaxial flexible stacking method.
Background
Nowadays, the traditional energy sources are increasingly exhausted and the environmental pollution is more serious, and the global energy structure is developing towards the direction of renewable energy sources. The new energy small-sized household vehicle gradually replaces the traditional fuel vehicle, and large-sized vehicles such as trucks, buses and the like also realize electromotion. The power battery of the large new energy vehicle is several times larger than that of a household vehicle, and the production procedures are more and more complex, so that the assembly production line of the large power battery has higher and more complex technical requirements.
Automatic stacking is an important link in power battery assembly, and conventionally, a robot is adopted for stacking large power batteries, but due to the fact that the working radius and the load bearing capacity of the robot are limited, the robot is difficult to complete tasks in automatic stacking of the large power batteries, and meanwhile, the robot has the defects of high purchase cost, high later maintenance cost and the like; and because there are a plurality of production links before piling up, lead to the piling up of power battery to produce the deviation easily.
Therefore, how to provide a three-axis flexible stacking system and method for power batteries to achieve the purpose of improving the stacking capability and precision of large power batteries and reducing the stacking cost becomes a technical problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a three-axis flexible stacking system and a three-axis flexible stacking method for power batteries, so that the stacking capacity and precision of large power batteries are improved, and the stacking cost is reduced.
In a first aspect, the present invention provides a triaxial flexible stacking system for power batteries, including:
a gantry;
the Y-axis module is horizontally arranged at the top end of the portal frame;
the X-axis module is horizontally arranged at the moving end of the Y-axis module;
the Z-axis module is vertically arranged at the moving end of the X-axis module;
the clamping jaw is arranged at the moving end of the Z-axis module;
the camera is arranged at the bottom end of the clamping jaw;
the laser sensor is arranged at the bottom end of the clamping jaw;
the pressure sensor is arranged on the inner side of the clamping jaw;
a cylinder set arranged on the clamping jaw;
the PLC is respectively connected with the Y-axis module, the X-axis module, the Z-axis module, the clamping jaw, the camera, the laser sensor, the pressure sensor and the cylinder group;
and the display screen is connected with the PLC.
Further, the cylinder group includes:
the stacking cylinder is arranged on the clamping jaw and is connected with the PLC;
the bottom pocket cylinder is arranged on the clamping jaw and is connected with the PLC;
the limiting cylinder is arranged on the clamping jaw and is connected with the PLC;
and the floating cylinder is arranged on the clamping jaw and is connected with the PLC.
Further, the display screen is a touch display screen.
Further, the method also comprises the following steps:
the feeding positioning mechanism is arranged below the Y-axis module and is connected with the PLC;
and the discharging positioning mechanism is arranged below the Y-axis module, is positioned on the edge of the feeding positioning mechanism and is connected with the PLC.
Further, feeding positioning mechanism and ejection of compact positioning mechanism all include:
the power output ends of the two jacking cylinders face upwards and are connected with the PLC;
the two positioning pins are vertically arranged at the power output end of the jacking cylinder;
and the magnetic sensors are symmetrically arranged above the jacking cylinder and are connected with the PLC.
In a second aspect, the invention provides a triaxial flexible stacking method for power batteries, which comprises the following steps:
s10, placing a tray for loading the power battery on a feeding positioning mechanism, and placing a battery box body on a discharging positioning mechanism;
step S20, the PLC drives the jacking cylinder to jack up the material tray based on a starting instruction sent by the display screen, and inserts the positioning pin into the pin hole of the material tray until the power battery is jacked in place by being sensed by the magnetic sensor;
s30, the PLC moves the clamping jaw above the power battery through the Y-axis module, the X-axis module and the Z-axis module, and the position of the power battery is verified through the camera;
s40, the PLC verifies the distance between the clamping jaw and the power battery through the laser sensor;
step S50, PLC passes through Y axle module, X axle module and Z axle module, and the power battery is got to the clamping jaw clamp of linkage, piles up in transplanting the battery box automatically with power battery.
Further, the step S30 specifically includes:
the PLC moves the clamping jaw to the position above the power battery through the Y-axis module, the X-axis module and the Z-axis module, a camera is used for shooting a battery photo of the power battery, the battery photo is analyzed through an artificial intelligence algorithm, whether the position of the power battery deviates from a preset position or not is judged, and if yes, the position of the power battery is adjusted through the clamping jaw; if not, the process proceeds to step S40.
Further, the step S40 specifically includes:
the PLC checks the distance between the clamping jaw and the power battery through the laser sensor, judges whether the distance is within a preset height range, and adjusts the height of the clamping jaw through the Z-axis module if the distance is not within the preset height range; if yes, the process proceeds to step S50.
Further, in step S50, the in-process of power battery is got to the clamping jaw clamp, gets through floating cylinder for the clamp of clamping jaw and provides the buffering, carries out the pocket end to power battery through the cylinder at the bottom of the pocket, carries on spacingly to power battery through spacing cylinder, through piling up the piling up state of cylinder response power battery.
The invention has the advantages that:
the Y-axis module, the X-axis module and the Z-axis module are arranged on the portal frame, and the clamping jaw carries out three-axis displacement through the Y-axis module, the X-axis module and the Z-axis module, so that the three-axis robot has a larger working radius and a load bearing capacity compared with the traditional robot stacking, and the hardware cost and the maintenance cost are lower than those of the robot, so that the stacking capacity of a large power battery is greatly improved, and the stacking cost is greatly reduced; the position and the distance of the power battery are judged by arranging the camera and the laser sensor on the clamping jaw, the positioning pin is arranged to position the material tray, the magnetic sensor is arranged to sense the jacking height of the power battery, and therefore the stacking precision of the large power battery is greatly improved.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is a front view of a triaxial flexible stacking system for power cells according to the present invention.
Fig. 2 is a side view of a triaxial flexible stacking system for power cells according to the present invention.
Fig. 3 is a top view of a triaxial flexible stacking system for power cells according to the present invention.
Fig. 4 is a schematic circuit block diagram of a triaxial flexible stacking system for power batteries according to the present invention.
Fig. 5 is a flow chart of a triaxial flexible stacking method of a power battery according to the present invention.
Description of the labeling:
100-a power battery triaxial flexible stacking system, 1-a portal frame, 2-a Y-axis module, 3-an X-axis module, 4-a Z-axis module, 5-a clamping jaw, 6-a camera, 7-a laser sensor, 8-a pressure sensor, 9-a cylinder group, 10-a PLC, 11-a display screen, 12-a feeding positioning mechanism, 13-a discharging positioning mechanism, 91-a stacking cylinder, 92-a bottom-pocket cylinder, 93-a limiting cylinder, 94-a floating cylinder, 121-a jacking cylinder, 122-a positioning pin, 123-a magnetic sensor.
Detailed Description
The technical scheme in the embodiment of the application has the following general idea: the gantry is provided with a Y-axis module, an X-axis module and a Z-axis module, and the clamping jaws perform three-axis displacement through the Y-axis module, the X-axis module and the Z-axis module to replace a traditional robot, so that the stacking capacity of large power batteries is improved, and the stacking cost is reduced; the position and the distance of the power battery are judged by arranging the camera and the laser sensor on the clamping jaw, the positioning pin is arranged to position the material tray, and the magnetic sensor is arranged to sense the jacking height of the power battery so as to improve the stacking precision of the large power battery.
Referring to fig. 1 to fig. 5, a preferred embodiment of a triaxial flexible stacking system 100 for power batteries according to the present invention includes:
a gantry 1 for carrying said triaxial flexible stacking system 100;
the Y-axis module 2 is horizontally arranged at the top end of the portal frame 1 and used for Y-axis displacement of the clamping jaw 5;
the X-axis module 3 is horizontally arranged at the moving end of the Y-axis module 2 and used for X-axis displacement of the clamping jaw 5;
the Z-axis module 4 is vertically arranged at the moving end of the X-axis module 3 and used for Z-axis displacement of the clamping jaw 5;
a clamping jaw 5, which is arranged at the moving end of the Z-axis module 4 and is used for transplanting and stacking power batteries (not shown);
the camera 6 is arranged at the bottom end of the clamping jaw 5 and is used for shooting a power battery picture so as to judge whether the placement position of the power battery is correct or not;
the laser sensor 7 is arranged at the bottom end of the clamping jaw 5 and used for sensing the distance between the clamping jaw 5 and the power battery;
a pressure sensor 8 arranged on the inner side of the clamping jaw 5 and used for preventing the power battery from being over-pressurized;
a cylinder block 9 provided on the holding jaw 5;
a PLC10, respectively connected to the Y-axis module 2, the X-axis module 3, the Z-axis module 4, the clamping jaw 5, the camera 6, the laser sensor 7, the pressure sensor 8 and the cylinder set 9, for controlling the operation of the stacking system 100, wherein in the specific implementation, the PLC capable of realizing this function is selected from the prior art, and is not limited to any model, and the control program is well known to those skilled in the art, which is available to those skilled in the art without creative work;
and the display screen 11 is connected with the PLC10 and used for sending an operation instruction to the PLC10 and displaying the operation data of the stacking system 100.
The cylinder group 9 includes:
a stacking cylinder 91, which is arranged on the clamping jaw 5 and connected with the PLC10, senses the stacking state of the power battery, namely the power battery extends out before stacking, and is pressed back to the initial position by a battery box body (not shown) in the stacking process to indicate that the stacking is finished;
the bottom-pocket cylinder 92 is arranged on the clamping jaw 5, is connected with the PLC10 and is used for bottom-pocket of the power battery;
the limiting cylinder 93 is arranged on the clamping jaw 5, is connected with the PLC10 and is used for limiting the power battery;
and the floating air cylinder 94 is arranged on the clamping jaw 5 and is connected with the PLC10, and is used for enabling the clamping jaw 5 to be in a flexible state, namely providing buffer for clamping of the clamping jaw 5.
The display screen 11 is a touch display screen.
Further comprising:
the feeding positioning mechanism 12 is arranged below the Y-axis module 2 and is connected with the PLC 10;
and the discharging positioning mechanism 13 is arranged below the Y-axis module 2, is positioned on the edge of the feeding positioning mechanism 12 and is connected with the PLC 10.
Feeding positioning mechanism 12 and ejection of compact positioning mechanism 13 all include:
the power output ends of the two jacking cylinders 121 face upwards and are connected with the PLC 10;
two positioning pins 122 vertically arranged at the power output end of the jacking cylinder 121 and used for positioning a material tray (not shown);
and the magnetic sensors 123 are symmetrically arranged above the jacking cylinder 121, are connected with the PLC10 and are used for sensing the jacking height of the power battery.
The invention discloses a preferred embodiment of a triaxial flexible stacking method of a power battery, which comprises the following steps of:
s10, placing a tray for loading the power battery on a feeding positioning mechanism, and placing a battery box body on a discharging positioning mechanism;
step S20, the PLC drives the jacking cylinder to jack up the material tray based on a starting instruction issued by the display screen, and inserts the positioning pin into the pin hole of the material tray until the power battery is jacked in place through induction of the magnetic sensor;
s30, the PLC moves the clamping jaw above the power battery through the Y-axis module, the X-axis module and the Z-axis module, and the position of the power battery is verified through the camera;
s40, the PLC verifies the distance between the clamping jaw and the power battery through the laser sensor;
step S50, PLC passes through Y axle module, X axle module and Z axle module, and the power battery is got to the clamping jaw clamp of linkage, piles up in transplanting the battery box automatically with power battery.
The step S30 specifically includes:
the PLC moves the clamping jaw to the position above the power battery through the Y-axis module, the X-axis module and the Z-axis module, a camera is used for shooting a battery photo of the power battery, the battery photo is analyzed through an artificial intelligence algorithm, whether the position of the power battery deviates from a preset position or not is judged, and if yes, the position of the power battery is adjusted through the clamping jaw; if not, the process proceeds to step S40.
The step S40 is specifically:
the PLC checks the distance between the clamping jaw and the power battery through the laser sensor, judges whether the distance is within a preset height range, and adjusts the height of the clamping jaw through the Z-axis module if the distance is not within the preset height range; if yes, the process proceeds to step S50.
In the step S50, the clamping jaw clamps the in-process of power battery, and the clamping jaw is pressed from both sides through floating cylinder and is provided with the buffering, carries out the pocket bottom to power battery through the cylinder at the bottom of the pocket, carries out spacingly to power battery through spacing cylinder, through piling up the pile up state of cylinder response power battery.
In summary, the invention has the advantages that:
the Y-axis module, the X-axis module and the Z-axis module are arranged on the portal frame, and the clamping jaw carries out three-axis displacement through the Y-axis module, the X-axis module and the Z-axis module, so that the three-axis robot has a larger working radius and a load bearing capacity compared with the traditional robot stacking, and the hardware cost and the maintenance cost are lower than those of the robot, so that the stacking capacity of a large power battery is greatly improved, and the stacking cost is greatly reduced; the position and the distance of the power battery are judged by arranging the camera and the laser sensor on the clamping jaw, the positioning pin is arranged to position the material tray, the magnetic sensor is arranged to sense the jacking height of the power battery, and therefore the stacking precision of the large power battery is greatly improved.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.
Claims (9)
1. The utility model provides a power battery triaxial flexible system of stacking which characterized in that: the method comprises the following steps:
a gantry;
the Y-axis module is horizontally arranged at the top end of the portal frame;
the X-axis module is horizontally arranged at the moving end of the Y-axis module;
the Z-axis module is vertically arranged at the moving end of the X-axis module;
the clamping jaw is arranged at the moving end of the Z-axis module;
the camera is arranged at the bottom end of the clamping jaw;
the laser sensor is arranged at the bottom end of the clamping jaw;
the pressure sensor is arranged on the inner side of the clamping jaw;
a cylinder set arranged on the clamping jaw;
the PLC is respectively connected with the Y-axis module, the X-axis module, the Z-axis module, the clamping jaw, the camera, the laser sensor, the pressure sensor and the cylinder group;
and the display screen is connected with the PLC.
2. The triaxial flexible stacking system for power batteries according to claim 1, wherein: the cylinder group includes:
the stacking cylinder is arranged on the clamping jaw and is connected with the PLC;
the bottom pocket cylinder is arranged on the clamping jaw and is connected with the PLC;
the limiting cylinder is arranged on the clamping jaw and is connected with the PLC;
and the floating cylinder is arranged on the clamping jaw and is connected with the PLC.
3. The triaxial flexible stacking system for power batteries according to claim 1, wherein: the display screen is a touch display screen.
4. The triaxial flexible stacking system for power batteries according to claim 1, wherein: further comprising:
the feeding positioning mechanism is arranged below the Y-axis module and is connected with the PLC;
and the discharging positioning mechanism is arranged below the Y-axis module, is positioned on the edge of the feeding positioning mechanism and is connected with the PLC.
5. The triaxial flexible stacking system for power batteries according to claim 4, wherein: feeding positioning mechanism and ejection of compact positioning mechanism all include:
the power output ends of the two jacking cylinders face upwards and are connected with the PLC;
the two positioning pins are vertically arranged at the power output end of the jacking cylinder;
and the magnetic sensors are symmetrically arranged above the jacking cylinder and are connected with the PLC.
6. A triaxial flexible stacking method for power batteries is characterized by comprising the following steps: the method entails using the stacking system of any of claims 1 to 5, comprising the steps of:
s10, placing a tray for loading the power battery on a feeding positioning mechanism, and placing a battery box body on a discharging positioning mechanism;
step S20, the PLC drives the jacking cylinder to jack up the material tray based on a starting instruction sent by the display screen, and inserts the positioning pin into the pin hole of the material tray until the power battery is jacked in place by being sensed by the magnetic sensor;
s30, the PLC moves the clamping jaw above the power battery through the Y-axis module, the X-axis module and the Z-axis module, and the position of the power battery is verified through the camera;
s40, the PLC verifies the distance between the clamping jaw and the power battery through the laser sensor;
and S50, the PLC clamps the power battery through the Y-axis module, the X-axis module and the Z-axis module, and automatically transplants the power battery into the battery box body to be stacked.
7. The triaxial flexible stacking method for power batteries according to claim 6, wherein: the step S30 specifically includes:
the PLC moves the clamping jaw above the power battery through the Y-axis module, the X-axis module and the Z-axis module, takes a picture of the power battery through the camera, analyzes the picture of the battery through an artificial intelligence algorithm, judges whether the position of the power battery deviates from a preset position or not, and if yes, adjusts the position of the power battery through the clamping jaw; if not, the process proceeds to step S40.
8. The triaxial flexible stacking method for power batteries according to claim 6, wherein: the step S40 is specifically:
the PLC checks the distance between the clamping jaw and the power battery through the laser sensor, judges whether the distance is within a preset height range, and adjusts the height of the clamping jaw through the Z-axis module if the distance is not within the preset height range; if yes, the process proceeds to step S50.
9. The triaxial flexible stacking method for power batteries according to claim 6, wherein: in the step S50, the clamping jaw clamps the in-process of power battery, and the clamping jaw is pressed from both sides through floating cylinder and is provided with the buffering, carries out the pocket bottom to power battery through the cylinder at the bottom of the pocket, carries out spacingly to power battery through spacing cylinder, through piling up the pile up state of cylinder response power battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211459588.8A CN115842151A (en) | 2022-11-16 | 2022-11-16 | Power battery triaxial flexible stacking system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211459588.8A CN115842151A (en) | 2022-11-16 | 2022-11-16 | Power battery triaxial flexible stacking system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115842151A true CN115842151A (en) | 2023-03-24 |
Family
ID=85575776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211459588.8A Pending CN115842151A (en) | 2022-11-16 | 2022-11-16 | Power battery triaxial flexible stacking system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115842151A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117059872A (en) * | 2023-10-13 | 2023-11-14 | 宁德时代新能源科技股份有限公司 | Stacking device, battery production line and stacking method |
-
2022
- 2022-11-16 CN CN202211459588.8A patent/CN115842151A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117059872A (en) * | 2023-10-13 | 2023-11-14 | 宁德时代新能源科技股份有限公司 | Stacking device, battery production line and stacking method |
| CN117059872B (en) * | 2023-10-13 | 2024-03-29 | 宁德时代新能源科技股份有限公司 | Stacking device, battery production line and stacking method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205406643U (en) | Production line of soft -packaged electrical core module | |
| CN115842151A (en) | Power battery triaxial flexible stacking system and method | |
| KR101124534B1 (en) | Secondary battery charging device for charging plural secondary battery | |
| CN104608128A (en) | Robot, control device, robot system and robot control method | |
| CN111375876B (en) | Solar cell series welding equipment and use method thereof | |
| CN115339841A (en) | High-compatibility battery cell feeding method and system | |
| CN109701889B (en) | Adjustable automatic force measuring device for jack of connector | |
| CN110009685A (en) | A kind of laser camera hand and eye calibrating method increasing material applied to electric arc | |
| CN205889383U (en) | Full automatic punching machine of flexible circuit board | |
| CN103681422B (en) | A kind of switching mechanism on transmission line | |
| CN208946146U (en) | A kind of removable stage background screen based on AGV Yu machine person cooperative work | |
| CN209887593U (en) | Electricity core unloading manipulator | |
| CN208307877U (en) | A kind of automatic positioning material grabbing mechanism of testing mobile phone camera module | |
| CN217200639U (en) | Electricity core sabot machine | |
| CN104576835A (en) | Orthogonal turnover mechanism | |
| CN213444977U (en) | Battery cell transferring platform | |
| CN216120420U (en) | Full-automatic two seal lines of soft packet of knot electricity lithium cell of TWS | |
| CN215287064U (en) | A loading attachment for transistor | |
| CN211265609U (en) | Liquid injection equipment for battery cell | |
| CN213194625U (en) | Electricity core outward appearance detection device | |
| CN111591750A (en) | Automatic battery feeding device | |
| CN109994771B (en) | Electric core stacking mechanism | |
| CN211062805U (en) | Electricity core loading attachment and become automation equipment | |
| CN218317511U (en) | Automatic braid equipment for packing of wafer ring | |
| CN218241317U (en) | Automatic storage chip testing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |