A curved battery cell alignment system and alignment method

Abstract

The present invention discloses a curved battery cell alignment system and an alignment method. A vision component is used to capture a side image of the curved battery cell and send it to a controller. The controller processes the side image, extracts the highest points at both ends of the arc-shaped contour of the curved battery cell in the side image, draws a perpendicular bisector of the line connecting the two end points, compares the perpendicular bisector with a reference vertical line to obtain an angle difference, and controls an alignment component to clamp the curved battery cell and perform gravity center alignment on the curved battery cell according to the angle difference, so that a robot transfers the curved battery cell with the gravity center aligned to the next station, ensuring that the curved battery cell maintains the correct form at the next station, and solving the technical problem that during the production process of the curved battery cell, the gravity center is prone to shift when the robot sucks the curved battery cell, resulting in a shape deviation when the curved battery cell is transferred to the next station, which affects the normal production progress of the curved battery cell.

Description

Technical Field

[0001] The present invention relates to the technical field of battery cell processing technology, and particularly relates to a curved battery cell alignment system and an alignment method. Background Art

[0002] A curved battery cell, also known as an arc-shaped battery. In order to make the layout of various types of electronic components inside an electronic device more compact, so as to more effectively utilize the space inside the electronic device, the industry has begun to use various special-shaped secondary batteries including arc-shaped batteries.

[0003] During the process of processing a curved battery cell, due to the fact that the curved battery cell has a certain arc-shaped surface, when the robot sucks the arc-shaped surface of the battery cell, the center of gravity of the curved battery cell may shift, resulting in the curved battery cell being in an inclined state. When the curved battery cell is sucked and transported to the next station, the position deviation will affect the execution efficiency of the next process. Therefore, it is necessary to correct the center of gravity position of the robot sucking the curved battery cell, so that the curved battery cell can be transported to the next station in the correct form, ensuring the normal progress of the production process of the curved battery cell. Summary of the Invention

[0004] The present invention provides a curved battery cell alignment system and an alignment method, which are used to solve the technical problem that during the production process of a curved battery cell, the center of gravity is prone to shift when the robot sucks the curved battery cell, resulting in a shape deviation when the curved battery cell is transferred to the next station, affecting the normal production progress of the curved battery cell.

[0005] In view of this, in the first aspect of the present invention, a curved battery cell alignment system is provided, including a vision component, an alignment component, and a controller;

[0006] The vision component is used to capture a side image of the arc-shaped contour of the curved battery cell and send the side image to the controller;

[0007] The controller is used to extract the highest points at both ends of the arc-shaped contour of the curved battery cell from the side image captured by the vision component, connect the highest points at both ends, draw the perpendicular bisector of the connection line, compare the perpendicular bisector with the reference vertical line, obtain the angle difference between the perpendicular bisector and the reference vertical line, and control the alignment component to clamp the curved battery cell and correct the center of gravity of the curved battery cell according to the angle difference;

[0008] The alignment component is used to clamp the curved battery cell and correct the center of gravity of the curved battery cell according to the control instruction of the controller.

[0009] Optionally, the alignment component includes a frame, a U-shaped mounting table, a supporting member, a fixed clamp, and a rotating motor;

[0010] The U-shaped mounting table is mounted on the frame. The rotating motor is mounted on one side of the U-shaped mounting table. The supporting member is mounted inside the U-shaped mounting table. Through holes are provided on both sides of the U-shaped mounting table. One end of the supporting member is connected to the rotating motor through the through hole on one side of the U-shaped mounting table, and the other end of the supporting member is movably connected to the through hole on the other side of the U-shaped mounting table;

[0011] The supporting member includes a supporting plate, a driving cylinder and a fixture base. Two through grooves are provided on the left and right of the supporting plate. Two driving cylinders are arranged at the bottom of the supporting plate. Each driving cylinder is connected to a fixture base. The fixing fixture passes through the through groove and is connected to the fixture base.

[0012] Optionally, the controller is specifically configured to:

[0013] Control the robot to suck the curved surface battery cell onto the rectifying component. According to the side image captured by the vision component, extract the highest points at both ends of the arc contour of the curved surface battery cell from the side image, connect the highest points at both ends, draw the perpendicular bisector of the connection line, compare the perpendicular bisector with the reference vertical line to obtain the angle difference between the perpendicular bisector and the reference vertical line, calculate the rotation angle of the rotating motor according to the angle difference, control the driving cylinder to drive the fixture base to drive the fixing fixture to move, clamp the curved surface battery cell, and control the rotating motor to rotate according to the rotation angle to perform center-of-gravity rectification on the curved surface battery cell.

[0014] Optionally, the rectifying component further includes a reset detection module for detecting whether the rectifying component is successfully reset;

[0015] The reset detection module includes a circular reference block and a transmissive sensor used in cooperation. A notch is provided at the lower edge of the circular reference block. The circular reference block is mounted on the outer side of the U-shaped mounting table away from the rotating electrode. The circular reference block is connected to the supporting member through the through hole passing through the U-shaped mounting table. The transmissive sensor is mounted below the circular reference block.

[0016] Optionally, the connection manner between the fixing fixture and the fixture base is a detachable connection.

[0017] Optionally, the fixture base is an L-shaped fixture base.

[0018] Optionally, the fixing fixture is made of a transparent material.

[0019] The second aspect of the present invention provides a rectifying method applied to the curved surface battery cell rectifying system according to any one of the first aspect, including:

[0020] The controller acquires the side image where the arc contour of the curved surface battery cell is located captured by the vision component;

[0021] The controller extracts the highest points at both ends of the arc contour of the curved surface battery cell from the side image;

[0022] The controller connects the highest points at both ends and makes the perpendicular bisector of the connection line;

[0023] The controller compares the perpendicular bisector with the reference vertical line to obtain the angle difference between the perpendicular bisector and the reference vertical line;

[0024] The controller controls the deviation correction component to clamp the curved surface battery cell and perform gravity center deviation correction on the curved surface battery cell according to the angle difference.

[0025] Optionally, the controller controls the deviation correction component to clamp the curved surface battery cell and perform gravity center deviation correction on the curved surface battery cell according to the angle difference, including:

[0026] The controller calculates the rotation angle according to the angle difference, controls the deviation correction component to clamp the curved surface battery cell, and controls the rotation of the curved surface battery cell according to the rotation angle to perform gravity center deviation correction on the curved surface battery cell.

[0027] Optionally, after the controller controls the deviation correction component to clamp the curved surface battery cell and perform gravity center deviation correction on the curved surface battery cell, it further includes:

[0028] After the gravity center deviation correction is completed, it is detected whether the deviation correction component is successfully reset. If not, the controller controls the deviation correction component to be reset again.

[0029] It can be seen from the above technical solutions that the curved surface battery cell deviation correction system and method provided by the present invention have the following advantages:

[0030] The curved surface battery cell deviation correction system provided by the present invention uses a vision component to capture the side image of the curved surface battery cell and send it to the controller. The controller processes the side image, extracts the highest points at both ends of the arc contour of the curved surface battery cell in the side image, makes the perpendicular bisector of the connection line between the two endpoints, compares the perpendicular bisector with the reference vertical line to obtain the angle difference, and controls the deviation correction component to clamp the curved surface battery cell and perform gravity center deviation correction on the curved surface battery cell according to the angle difference, so that the robot transfers the curved surface battery cell with the gravity center corrected to the next station, ensuring that the curved surface battery cell maintains the correct form at the next station, and solving the technical problem that during the production process of the curved surface battery cell, the gravity center is prone to shift when the robot sucks the curved surface battery cell, resulting in a form deviation when the curved surface battery cell is transferred to the next station, affecting the normal production progress of the curved surface battery cell.

[0031] At the same time, the curved surface battery cell deviation correction system provided by the present invention can detect the reset situation of the deviation correction component through a reset detection module composed of a circular reference block and a transmissive sensor, avoiding the deviation of the next deviation correction caused by the failure of the deviation correction component to be successfully reset after the deviation correction is completed, and affecting the accuracy of the next deviation correction.

[0032] The method for correcting the deviation of the curved surface battery cell provided by the present invention is used to be executed in the curved surface battery cell deviation correction system provided by the present invention. Its principle and the achieved technical effects are the same as those of the curved surface battery cell deviation correction system provided by the present invention, and will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0034] Figure 1 It is a schematic diagram of the overall structure of a curved surface battery cell deviation correction system provided in the present invention;

[0035] Figure 2 It is a schematic diagram of the structure of the deviation correction component of a curved surface battery cell deviation correction system provided in the present invention;

[0036] Figure 3 It is a simplified schematic diagram of a reference vertical line made for the curved surface battery cell in the normal position provided in the present invention;

[0037] Figure 4 It is a simplified schematic diagram of a perpendicular bisector made for the curved surface battery cell with a position offset provided in the present invention;

[0038] Figure 5 For Figure 3 and Figure 4 It is a schematic diagram of the angle difference between the reference vertical line and the perpendicular bisector;

[0039] Figure 6 It is a schematic diagram of the flow of a method for correcting the deviation of a curved surface battery cell provided in the present invention;

[0040] Among them, the reference numerals are:

[0041] 101, vision component; 102, deviation correction component; 103, robot; 21, frame; 22, fixed fixture; 23, fixture base; 24, driving cylinder; 25, circular reference block; 26, opposed sensor; 27, rotating motor; 28, supporting plate; 1, reference vertical line; 2, side image of the curved surface battery cell; 3, perpendicular bisector. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0043] For ease of understanding, please refer to Figure 1 , an embodiment of a curved battery cell alignment system is provided in the present invention, including a vision component 101, an alignment component 102, and a controller;

[0044] The vision component 101 is used to capture a side image of the arc profile of the curved battery cell and send the side image to the controller;

[0045] The controller is used to extract the highest points at both ends of the arc profile of the curved battery cell from the side image captured by the vision component 101, connect the highest points at both ends, draw the perpendicular bisector 3 of the connection line, compare the perpendicular bisector 3 with the reference vertical line 1, obtain the angle difference between the perpendicular bisector 3 and the reference vertical line 1, and control the alignment component 102 to clamp the curved battery cell and perform gravity center alignment on the curved battery cell according to the angle difference;

[0046] The alignment component 102 is used to clamp the curved battery cell and perform gravity center alignment on the curved battery cell according to the control instruction of the controller.

[0047] It should be noted that in the present invention, the robot 103 sucks the curved battery cell onto the alignment component 102. The way the robot 103 sucks the curved battery cell can be to suck the curved battery cell through a negative pressure adsorption fixture. Sucking the curved battery cell through the negative pressure adsorption fixture can avoid surface damage to the curved battery cell when the robot 103 sucks the curved battery cell. After the robot 103 places the curved battery cell on the alignment component 102, it returns to the avoidance position to avoid blocking the shooting field of view of the vision component 101. The vision component 101 captures a side image of the arc profile of the curved battery cell and sends the side image to the controller for processing. The controller processes the side image, extracts the highest points at both ends of the arc profile of the curved battery cell from the side image (if the gravity center of the curved battery cell does not shift, the highest points at both ends will be on the same horizontal plane; if the center of the curved battery cell shifts, the two endpoints will be one high and one low), connects the highest points at both ends, and draws the perpendicular bisector 3 of the connection line, as Figure 4 shown. The reference vertical line of the curved battery cell in the normal position is as Figure 3 shown. Compare the perpendicular bisector 3 with the reference vertical line 1 to obtain the angle difference between the perpendicular bisector 3 and the reference vertical line 1, as Figure 5As shown. In the actual application process, the captured side image of the curved surface battery cell has a certain curved surface thickness. Figures 3 to 5 The side image of the curved surface battery cell shown is a simplified schematic diagram. The deviation correction assembly 102 is controlled according to the angle difference to clamp the curved surface battery cell and perform gravity center deviation correction on the curved surface battery cell. After the deviation correction assembly 102 completes the gravity center deviation correction of the curved surface battery cell, the robot 103 is first controlled to pick up the curved surface battery cell, and then the deviation correction assembly 102 is controlled to release the curved surface battery cell, so that the robot 103 transfers the curved surface battery cell to the next station.

[0048] As Figure 2 As shown, the deviation correction assembly 102 includes a frame 21, a U-shaped mounting table, a supporting member, a fixed fixture 22 and a rotating motor 27. The U-shaped mounting table is mounted on the frame 21, the rotating motor 27 is mounted on one side of the U-shaped mounting table, the supporting member is mounted inside the U-shaped mounting table, through holes are provided on both sides of the U-shaped mounting table, one end of the supporting member is connected to the rotating motor 27 through the through hole on one side of the U-shaped mounting table, and the other end of the supporting member is movably connected to the through hole on the other side of the U-shaped mounting table. The supporting member includes a supporting plate 28, a driving cylinder 24 and a fixture base 23. Two through grooves are provided on the supporting plate 28. Two driving cylinders 24 are arranged at the bottom of the supporting plate 28. Each driving cylinder 24 is connected to a fixture base 23. The fixture base 23 is selected as an L-shaped fixture base 23. The fixed fixture 22 passes through the through groove and is connected to the fixture base 23. The connection mode between the fixed fixture 22 and the fixture base 23 is a detachable connection. The fixed fixture 22 can be detached from the fixture base 23. Under the driving action of the driving cylinder 24, the two fixed fixtures 22 can displace in the through groove, so as to clamp the curved surface battery cell on the supporting plate 28. The supporting member can rotate under the driving action of the rotating motor 27. To prevent the fixed fixture 22 from blocking the shooting of the curved surface battery cell located on the supporting plate 28 by the vision component 101, the fixed fixture 22 can be made of a transparent material. After the controller obtains the angle difference, the rotation angle of the rotating motor 27 required for correcting the gravity center of the curved surface battery cell is calculated according to the angle difference. After the rotating motor 27 drives the supporting member and the curved surface battery cell to rotate a set angle, the fixed fixture 22 remains in the state of clamping the curved surface battery cell. After the robot 103 sucks the curved surface battery cell, the fixed fixture 22 releases the curved surface battery cell again, so that the robot 103 transfers the curved surface battery cell to the next station.

[0049] In one embodiment, the deviation rectifying component 102 further includes a reset detection module for detecting whether the deviation rectifying component is successfully reset. The reset detection module includes a circular reference block 25 and a transmissive sensor used in cooperation. A notch is formed in the lower edge of the circular reference block 25. The circular reference block 25 is installed on the outer side of the U-shaped mounting table away from the rotating electrode. The circular reference block 25 is connected to the supporting member through a through hole passing through the U-shaped mounting table. The transmissive sensor is installed below the circular reference block 25. In the case of normal reset, the light beam of the transmissive sensor 26 is located within the notch on the circular reference block 25, and the light beam can transmit and receive signals. When the rotating motor 27 rotates, the light beam of the transmissive sensor 26 is transmitted to the entire surface of the circular reference block 25, and the light beam transmission cannot receive signals. Therefore, it can be detected whether the deviation rectifying component 102 is reset by the change in light beam induction.

[0050] The curved surface battery cell deviation rectifying system provided by the present invention uses the vision component 101 to capture the side image of the curved surface battery cell and send it to the controller. The controller processes the side image, extracts the highest points at both ends of the arc-shaped contour of the curved surface battery cell in the side image, makes a perpendicular bisector 3 of the line connecting the two end points, compares the perpendicular bisector 3 with the reference vertical line 1 to obtain an angle difference, and controls the deviation rectifying component 102 to clamp the curved surface battery cell and perform gravity deviation rectification on the curved surface battery cell according to the angle difference, so that the robot 103 transfers the curved surface battery cell with gravity deviation rectification to the next station, ensuring that the curved surface battery cell maintains the correct form at the next station, and solving the technical problem that during the production process of the curved surface battery cell, the gravity is easily shifted when the robot 103 sucks the curved surface battery cell, resulting in a shape deviation when the curved surface battery cell is transferred to the next station, affecting the normal production progress of the curved surface battery cell.

[0051] At the same time, the curved surface battery cell deviation rectifying system provided by the present invention can detect the reset situation of the deviation rectifying component 102 through the reset detection module composed of the circular reference block 25 and the transmissive sensor, avoiding the deviation rectifying component 102 not being successfully reset after the deviation rectification is completed, resulting in a deviation in the next deviation rectification and affecting the accuracy of the next deviation rectification.

[0052] For easy understanding, please refer to Figure 6 In the present invention, a deviation rectifying method applied to any one of the curved surface battery cell deviation rectifying systems provided by the present invention is provided, including:

[0053] Step 101, the controller acquires the side image where the arc-shaped contour of the curved surface battery cell is located captured by the vision component.

[0054] Step 102, the controller extracts the highest points at both ends of the arc-shaped contour of the curved surface battery cell from the side image.

[0055] Step 103, the controller connects the highest points at both ends and makes a perpendicular bisector of the connection line.

[0056] Step 104: The controller compares the vertical bisector with the reference vertical line to obtain the angular difference between the vertical bisector and the reference vertical line.

[0057] Step 105: The controller controls the rectification component to clamp the curved surface battery cell according to the angular difference and perform gravity center rectification on the curved surface battery cell.

[0058] It should be noted that the curved surface battery cell rectification method provided by the present invention is applied to the curved surface battery cell rectification system provided by the present invention. The vision component is used to capture the side image of the curved surface battery cell and send it to the controller. The controller processes the side image, extracts the highest points at both ends of the arc contour of the curved surface battery cell in the side image, makes a vertical bisector of the line connecting the two end points, compares the vertical bisector with the reference vertical line to obtain the angular difference, controls the rectification component to clamp the curved surface battery cell according to the angular difference and perform gravity center rectification on the curved surface battery cell. After the rectification component completes the gravity center rectification of the curved surface battery cell, the controller first controls the robot to pick up the curved surface battery cell, and then controls the rectification component to release the curved surface battery cell, so that the robot transfers the curved surface battery cell to the next station, thereby enabling the robot to transfer the curved surface battery cell with the gravity center rectified to the next station, ensuring that the curved surface battery cell maintains the correct form at the next station.

[0059] In one embodiment, the controller controls the rectification component to clamp the curved surface battery cell according to the angular difference and perform gravity center rectification on the curved surface battery cell, including:

[0060] The controller calculates the rotation angle according to the angular difference, controls the rectification component to clamp the curved surface battery cell, and controls the rotation of the curved surface battery cell according to the rotation angle to perform gravity center rectification on the curved surface battery cell.

[0061] After step 105, it further includes:

[0062] After the gravity center rectification is completed, it is detected whether the rectification component is successfully reset. If not, the controller controls the rectification component to be reset again.

[0063] The curved surface battery cell rectification method provided by the present invention is used to be executed in the curved surface battery cell rectification system provided by the present invention. Its principle and the achieved technical effects are the same as those of the curved surface battery cell rectification system provided by the present invention, and will not be elaborated here.

[0064] As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A curved battery cell alignment system, characterized in that, it includes a vision component, an alignment component and a controller; The vision component is used to capture the side image of the arc contour of the curved battery cell and send the side image to the controller; The controller is used to extract the highest points at both ends of the arc contour of the curved battery cell from the side image according to the side image captured by the vision component, connect the highest points at both ends, draw the perpendicular bisector of the connection line, compare the perpendicular bisector with the reference vertical line, obtain the angle difference between the perpendicular bisector and the reference vertical line, and control the alignment component to clamp the curved battery cell and perform gravity center alignment on the curved battery cell according to the angle difference; The alignment component is used to clamp the curved battery cell and perform gravity center alignment on the curved battery cell according to the control instruction of the controller; The alignment component includes a frame, a U-shaped mounting table, a supporting member, a fixed clamp and a rotating motor; The U-shaped mounting table is installed on the frame, the rotating motor is installed on one side of the U-shaped mounting table, the supporting member is installed inside the U-shaped mounting table, through holes are opened on both sides of the U-shaped mounting table, one end of the supporting member is connected to the rotating motor through the through hole on one side of the U-shaped mounting table, and the other end of the supporting member is movably connected to the through hole on the other side of the U-shaped mounting table; The supporting member includes a supporting plate, a driving cylinder and a fixture base. There are two left and right through grooves on the supporting plate. There are two driving cylinders at the bottom of the supporting plate. Each driving cylinder is connected to a fixture base, and the fixed clamp passes through the through groove and is connected to the fixture base.

2. The curved battery cell alignment system according to claim 1, characterized in that, The controller is specifically used for: Controlling the robot to suck the curved battery cell onto the alignment component, extracting the highest points at both ends of the arc contour of the curved battery cell from the side image according to the side image captured by the vision component, connecting the highest points at both ends, drawing the perpendicular bisector of the connection line, comparing the perpendicular bisector with the reference vertical line, obtaining the angle difference between the perpendicular bisector and the reference vertical line, calculating the rotation angle of the rotating motor according to the angle difference, controlling the driving cylinder to drive the fixture base to drive the fixed clamp to move, clamp the curved battery cell, and control the rotating motor to rotate according to the rotation angle to perform gravity center alignment on the curved battery cell.

3. The curved battery cell alignment system according to claim 1, characterized in that, The alignment component further includes a reset detection module for detecting whether the alignment component is successfully reset; The reset detection module includes a circular reference block and a transmissive sensor used in cooperation. A notch is opened at the lower edge of the circular reference block. The circular reference block is installed on the outside of the side of the U-shaped mounting table away from the rotating electrode. The circular reference block is connected to the supporting member through the through hole passing through the U-shaped mounting table, and the transmissive sensor is installed below the circular reference block.

4. The curved battery cell alignment system according to claim 1, characterized in that, The connection method between the fixed clamp and the fixture base is a detachable connection.

5. The curved battery cell alignment system according to claim 1, characterized in that, The fixture base is an L-shaped fixture base.

6. The curved battery cell alignment system according to claim 1, characterized in that, The fixed clamp is made of a transparent material.

7. An alignment method applied to the curved battery cell alignment system according to any one of claims 1-6, characterized in that, Including: The controller acquires a side image of the arc profile of the curved battery cell captured by the vision component; The controller extracts the highest points at both ends of the arc profile of the curved battery cell from the side image; The controller connects the highest points at both ends and makes a perpendicular bisector of the connection line; The controller compares the perpendicular bisector with the reference vertical line to obtain the angle difference between the perpendicular bisector and the reference vertical line; The controller controls the alignment component to clamp the curved battery cell and perform gravity center alignment on the curved battery cell according to the angle difference.

8. The alignment method according to claim 7, wherein, The controller controls the alignment component to clamp the curved battery cell and perform gravity center alignment on the curved battery cell according to the angle difference, including: The controller calculates the rotation angle according to the angle difference, controls the alignment component to clamp the curved battery cell, and controls the curved battery cell to rotate according to the rotation angle to perform gravity center alignment on the curved battery cell.

9. The alignment method according to claim 7, wherein, After the controller controls the alignment component to clamp the curved battery cell and perform gravity center alignment on the curved battery cell according to the angle difference, it further includes: After the gravity center alignment is completed, it is detected whether the alignment component is successfully reset. If not, the controller controls the alignment component to be reset again.

Images