CN115981226A - Battery module box-entering control system and method - Google Patents
Battery module box-entering control system and method Download PDFInfo
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- CN115981226A CN115981226A CN202211433819.8A CN202211433819A CN115981226A CN 115981226 A CN115981226 A CN 115981226A CN 202211433819 A CN202211433819 A CN 202211433819A CN 115981226 A CN115981226 A CN 115981226A
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- 238000004140 cleaning Methods 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims description 36
- 238000010801 machine learning Methods 0.000 claims description 4
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012856 packing Methods 0.000 claims 1
- 230000009194 climbing Effects 0.000 description 8
- 238000010408 sweeping Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
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Abstract
The invention provides a battery module boxing control system and a method in the technical field of battery pack assembly, wherein the system comprises: an upper computer; at least one PLC connected with the upper computer; at least one robot connected to the PLC; the at least one clamp is arranged at the tail end of the mechanical arm of the robot and is connected with the PLC; the CCD camera is arranged at the tail end of a mechanical arm of the robot and is connected with the PLC; at least one code scanning gun connected with the PLC; the at least one distance measuring instrument is arranged at the tail end of the mechanical arm of the robot and is connected with the PLC; at least one plasma cleaning machine connected with the PLC; at least one AGV trolley connected with the PLC; the at least one jacking mechanism is connected with the PLC; and the at least one in-place sensor is connected with the PLC. The invention has the advantages that: the quality and the efficiency of battery module income case have very big promotion, very big reduction the cost of getting into the case.
Description
Technical Field
The invention relates to the technical field of battery pack assembly, in particular to a battery module boxing control system and a battery module boxing control method.
Background
With the increasing exhaustion of traditional energy sources and the problems thereof in production and use, it has become a common consensus to develop new energy sources, wherein the battery pack is used as an important component of a new energy automobile, the demand is more and more large, and the production line of the battery pack has higher requirements.
The battery package is assembled by a plurality of battery module, when producing the battery package promptly, need PACK the battery module in the box. Aiming at the boxing of the battery module, a manual hoisting method is adopted in the prior art, and the method has the advantages of high labor cost, low efficiency and potential safety hazards to personnel; although some automatic boxing systems exist in the market, the battery modules cannot be accurately and safely placed in a PACK box body, the directions of the modules cannot be automatically identified, and manual matching is needed.
Therefore, how to provide a battery module boxing control system and method to achieve the purposes of improving the quality and efficiency of battery module boxing and reducing the boxing cost becomes a technical problem to be solved urgently.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a battery module boxing control system and method, so that the quality and the efficiency of battery module boxing are improved, and the boxing cost is reduced.
In a first aspect, the present invention provides a battery module boxing control system, including:
an upper computer;
the PLC is connected with the upper computer;
at least one robot connected to the PLC;
the at least one clamp is arranged at the tail end of the mechanical arm of the robot and is connected with the PLC;
the CCD camera is arranged at the tail end of a mechanical arm of the robot and is connected with the PLC;
at least one code scanning gun connected with the PLC;
the at least one distance measuring instrument is arranged at the tail end of the mechanical arm of the robot and is connected with the PLC;
at least one plasma cleaning machine connected with the PLC;
at least one AGV trolley connected with the PLC;
the at least one jacking mechanism is connected with the PLC;
and the at least one in-place sensor is connected with the PLC.
Further, the robot is a six-axis robot.
Further, the range finder is a laser range finder.
Further, the in-position sensor is a photoelectric sensor.
Furthermore, the AGV trolley is connected with the PLC through a wireless communication module.
Further, the wireless communication module is at least one of a 2G communication module, a 3G communication module, a 4G communication module, a 5G communication module, an NB-IOT communication module, a LORA communication module, a WIFI communication module, a Bluetooth communication module, a ZigBee communication module or a wired communication module.
In a second aspect, the invention provides a battery module boxing control method, which includes the following steps:
s10, the PLC controls the AGV carrying the PACK box body to move to an appointed station until the AGV moves in place through detection of an in-place sensor;
s20, controlling a jacking mechanism to jack up the AGV to reach a material receiving position by the PLC;
s30, controlling a robot and a clamp to clamp the battery module and move the battery module to the front of a code scanning gun after the battery module is positioned by a CCD camera through a box entering instruction sent by an upper computer by the PLC, and scanning a bar code on the battery module by the code scanning gun to acquire module information;
s40, the PLC moves the battery module to a cleaning position of the plasma cleaning machine through the robot so as to clean the bottom of the battery module;
s50, after the PLC checks the PACK box body through a range finder, the PLC positions the PACK box body through a CCD camera, and controls the robot and the clamp to place the battery module into the PACK box body by combining the module information;
and S60, after the PLC detects that the PACK box body is filled with the battery module through the distance measuring instrument, controlling the jacking mechanism to return, and controlling the AGV to move to the next station.
Further, PLC carries out intelligent analysis to the video that the CCD camera was shot based on machine learning technique, and then fixes a position battery module and PACK box.
Further, in the step S30, the module information at least includes a battery module number, a box entering position, and a box entering direction.
Further, the step S50 specifically includes:
the PLC judges whether the PACK box body has a vacancy or not through the range finder, if so, the PACK box body is positioned through the CCD camera, the robot is controlled to adjust the direction of the battery module based on the module information, and then the robot and the clamp are controlled to place the battery module into a preset box entering position in the PACK box body; if not, the process proceeds to step S60.
The invention has the advantages that:
through setting up PLC, the robot, anchor clamps, the CCD camera, sweep a yard rifle, the distancer, plasma cleaning machine, the AGV dolly, climbing mechanism and the sensor that targets in place, and PLC and robot, anchor clamps, the CCD camera, sweep a yard rifle, the distancer, plasma cleaning machine, the AGV dolly, climbing mechanism and the sensor connection that targets in place, PLC transmits the PACK box through the AGV and carries out the jacking to climbing mechanism's station, carry out centre gripping and transplanting through robot and anchor clamps to the battery module, fix a position battery module and PACK box through the CCD camera, acquire module information through sweeping the bar code that yard rifle scanned the battery module, judge whether the vacancy exists in the PACK box through the distancer, wash the bottom of battery module through plasma cleaning machine, realize carrying out self-cleaning to the battery module promptly, and carry out the automatic positioning vanning according to module information, for traditional manual hoisting, it is with low costs, high efficiency, unmanned safety, and positioning accuracy is high for traditional automatic vanning system, need not artifical cooperation, final very big promotion the quality and the efficiency of battery module vanning, the cost of having greatly reduced the battery of the vanning.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is a schematic circuit block diagram of a battery module binning control system according to the present invention.
Fig. 2 is a flowchart of a battery module boxing control method of the invention.
Detailed Description
The technical scheme in the embodiment of the application has the following general idea: set up PLC and robot, anchor clamps, the CCD camera, sweep a yard rifle, the distancer, plasma cleaning machine, the AGV dolly, climbing mechanism and the sensor connection that targets in place, PLC carries out the jacking through AGV dolly transmission PACK box to climbing mechanism's station, carry out the centre gripping and transplant to the battery module through robot and anchor clamps, fix a position battery module and PACK box through the CCD camera, obtain module information through the bar code of sweeping yard rifle scanning battery module, judge whether there is the vacancy in the PACK box through the distancer, realize carrying out the automatic positioning vanning to the battery module promptly, with quality and the efficiency that promotes the battery module vanning, reduce the vanning cost.
Referring to fig. 1 to 2, a preferred embodiment of a battery module boxing control system of the present invention includes:
the upper computer is used for controlling the work of the battery module boxing control system;
at least one PLC (programmable logic controller) connected with the upper computer and used for executing the box entering instruction sent by the upper computer;
the robot is connected with the PLC and used for controlling the clamp to move so as to transplant the battery module;
the at least one clamp is arranged at the tail end of a mechanical arm of the robot, is connected with the PLC and is used for clamping the battery module;
the CCD camera is arranged at the tail end of a mechanical arm of the robot, is connected with the PLC and is used for positioning the battery module and the PACK box body so as to improve the box entering precision;
the code scanning gun is connected with the PLC and used for scanning a bar code of the battery module to acquire module information;
the at least one distance measuring instrument is arranged at the tail end of a mechanical arm of the robot, is connected with the PLC and is used for judging whether the PACK box body has a vacancy or not;
the plasma cleaning machine is connected with the PLC and used for cleaning the bottom of the battery module so as to improve the assembly quality of the battery pack;
the AGV comprises at least one AGV trolley, a PLC and a data processing module, wherein the AGV trolley is connected with the PLC and is used for transmitting a PACK box body;
the jacking mechanism is connected with the PLC and used for jacking the AGV trolley to the receiving position of the battery module;
and the in-place sensor is connected with the PLC and used for sensing whether the AGV trolley moves in place or not.
The robot is a six-axis robot.
The distance measuring instrument is a laser distance measuring instrument.
The in-place sensor is a photoelectric sensor.
The AGV trolley is connected with the PLC through a wireless communication module (not shown).
The wireless communication module is at least one of a 2G communication module, a 3G communication module, a 4G communication module, a 5G communication module, an NB-IOT communication module, an LORA communication module, a WIFI communication module, a Bluetooth communication module, a ZigBee communication module or a wired communication module.
The invention discloses a better embodiment of a battery module boxing control method, which comprises the following steps:
s10, the PLC controls the AGV carrying the PACK box body to move to an appointed station until the AGV moves in place through detection of an in-place sensor;
s20, the PLC controls a jacking mechanism to jack the AGV to reach a material receiving position through a positioning pin;
s30, controlling a robot and a clamp to clamp the battery module and move the battery module to the front of a code scanning gun after the battery module is positioned by a CCD camera through a box entering instruction sent by an upper computer through a PLC (programmable logic controller), and scanning a bar code on the battery module through the code scanning gun to acquire module information;
step S40, the PLC moves the battery module to a cleaning position of the plasma cleaning machine through the robot so as to clean the bottom of the battery module, and the battery module is prevented from carrying dirt such as sand into the PACK box body, so that the assembly quality is further influenced;
s50, after the PLC checks the PACK box body through a range finder, the PLC positions the PACK box body through a CCD camera, and controls the robot and the clamp to place the battery module into the PACK box body by combining the module information;
and S60, after the PLC detects that the PACK box body is filled with the battery module through the range finder, controlling the jacking mechanism to return to the original position, and controlling the AGV to move to the next station.
PLC carries out intelligent analysis to the video that the CCD camera was shot based on machine learning technique, and then fixes a position battery module and PACK box, fixes a position through machine learning technique, very big promotion positioning accuracy.
In step S30, the module information at least includes a battery module number, a boxing position, and a boxing direction.
The step S50 is specifically:
the PLC judges whether the PACK box body has a vacancy or not through the range finder, if so, the PACK box body is positioned through the CCD camera, the robot is controlled to adjust the direction of the battery module based on the module information, and then the robot and the clamp are controlled to place the battery module into a preset box entering position in the PACK box body; if not, the step S60 is executed; the distance between each module position in the PACK box body is measured through the distance measuring instrument, and if the distance is shorter than the standard distance, the corresponding module position is indicated to have the battery module.
In conclusion, the invention has the advantages that:
through setting up PLC, the robot, anchor clamps, the CCD camera, sweep a yard rifle, the distancer, plasma cleaning machine, the AGV dolly, climbing mechanism and the sensor that targets in place, and PLC and robot, anchor clamps, the CCD camera, sweep a yard rifle, the distancer, plasma cleaning machine, the AGV dolly, climbing mechanism and the sensor connection that targets in place, PLC transmits the PACK box through the AGV and carries out the jacking to climbing mechanism's station, carry out centre gripping and transplanting through robot and anchor clamps to the battery module, fix a position battery module and PACK box through the CCD camera, acquire module information through sweeping the bar code that yard rifle scanned the battery module, judge whether the vacancy exists in the PACK box through the distancer, wash the bottom of battery module through plasma cleaning machine, realize carrying out self-cleaning to the battery module promptly, and carry out the automatic positioning vanning according to module information, for traditional manual hoisting, it is with low costs, high efficiency, unmanned safety, and positioning accuracy is high for traditional automatic vanning system, need not artifical cooperation, final very big promotion the quality and the efficiency of battery module vanning, the cost of having greatly reduced the battery of the vanning.
While specific embodiments of the invention have been described, 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, as equivalent modifications and variations as will be made by those skilled in the art in light of the spirit of the invention are intended to be included within the scope of the appended claims.
Claims (10)
1. The utility model provides a battery module control system that goes into case which characterized in that: the method comprises the following steps:
an upper computer;
the PLC is connected with the upper computer;
at least one robot connected to the PLC;
the at least one clamp is arranged at the tail end of the mechanical arm of the robot and is connected with the PLC;
the CCD camera is arranged at the tail end of the mechanical arm of the robot and is connected with the PLC;
at least one code scanning gun connected with the PLC;
the at least one distance measuring instrument is arranged at the tail end of the mechanical arm of the robot and is connected with the PLC;
at least one plasma cleaning machine connected with the PLC;
at least one AGV trolley connected with the PLC;
the at least one jacking mechanism is connected with the PLC;
and the at least one in-place sensor is connected with the PLC.
2. The battery module boxing control system of claim 1, wherein: the robot is a six-axis robot.
3. The battery module boxing control system of claim 1, wherein: the distance measuring instrument is a laser distance measuring instrument.
4. The battery module boxing control system of claim 1, wherein: the in-place sensor is a photoelectric sensor.
5. The battery module boxing control system of claim 1, wherein: the AGV trolley is connected with the PLC through the wireless communication module.
6. The battery module boxing control system of claim 5, wherein: the wireless communication module is at least one of a 2G communication module, a 3G communication module, a 4G communication module, a 5G communication module, an NB-IOT communication module, an LORA communication module, a WIFI communication module, a Bluetooth communication module, a ZigBee communication module or a wired communication module.
7. A battery module packing control method is characterized in that: the method entails using the control system of any of claims 1 to 6, comprising the steps of:
s10, the PLC controls the AGV carrying the PACK box body to move to an appointed station until the AGV moves in place through detection of an in-place sensor;
s20, controlling a jacking mechanism to jack the AGV to reach a receiving position by the PLC;
s30, controlling a robot and a clamp to clamp the battery module and move the battery module to the front of a code scanning gun after the battery module is positioned by a CCD camera through a box entering instruction sent by an upper computer by the PLC, and scanning a bar code on the battery module by the code scanning gun to acquire module information;
s40, the PLC moves the battery module to a cleaning position of the plasma cleaning machine through the robot so as to clean the bottom of the battery module;
s50, after the PLC checks the PACK box body through a range finder, the PLC positions the PACK box body through a CCD camera, and controls the robot and the clamp to place the battery module into the PACK box body by combining the module information;
and S60, after the PLC detects that the PACK box body is filled with the battery module through the distance measuring instrument, controlling the jacking mechanism to return, and controlling the AGV to move to the next station.
8. The battery module boxing control method of claim 7, wherein: PLC carries out intelligent analysis to the video that the CCD camera was shot based on machine learning technique, and then fixes a position battery module and PACK box.
9. The battery module boxing control method of claim 7, wherein: in step S30, the module information at least includes a battery module number, a box entering position, and a box entering direction.
10. The battery module boxing control method of claim 7, wherein: the step S50 is specifically:
the PLC judges whether the PACK box body has a vacancy or not through the range finder, if so, the PACK box body is positioned through the CCD camera, the robot is controlled to adjust the direction of the battery module based on the module information, and then the robot and the clamp are controlled to place the battery module into a preset box entering position in the PACK box body; if not, the process proceeds to step S60.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211433819.8A CN115981226A (en) | 2022-11-16 | 2022-11-16 | Battery module box-entering control system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211433819.8A CN115981226A (en) | 2022-11-16 | 2022-11-16 | Battery module box-entering control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120039451A (en) * | 2025-04-07 | 2025-05-27 | 宁德时代新能源科技股份有限公司 | Grabbing device and box loading equipment |
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| CN112928324A (en) * | 2021-01-29 | 2021-06-08 | 蜂巢能源科技有限公司 | Module component assembling method and module component assembling device |
| CN115106762A (en) * | 2022-07-25 | 2022-09-27 | 武汉德宝装备股份有限公司 | Automatic assembling system and method for automobile power battery module |
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- 2022-11-16 CN CN202211433819.8A patent/CN115981226A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106450414A (en) * | 2016-10-25 | 2017-02-22 | 东莞市大族骏卓自动化科技有限公司 | Aluminum battery module assembly line and assembly process |
| CN110931838A (en) * | 2019-12-27 | 2020-03-27 | 昆山华誉自动化科技有限公司 | Automatic assembly system for battery entering shell |
| CN111606033A (en) * | 2020-05-19 | 2020-09-01 | 芜湖奇达动力电池系统有限公司 | New energy automobile power battery module placing equipment and placing method |
| CN212311337U (en) * | 2020-05-19 | 2021-01-08 | 芜湖奇达动力电池系统有限公司 | Be suitable for new energy automobile power battery package module snatch anchor clamps |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN120039451A (en) * | 2025-04-07 | 2025-05-27 | 宁德时代新能源科技股份有限公司 | Grabbing device and box loading equipment |
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