A bending mechanism, a bending method, a bending system, and a readable storage medium

Abstract

The application discloses a bending mechanism, a bending method, a bending system and a readable storage medium, belongs to the technical field of tab bending mechanisms, and is provided with a bending lifting mechanism, a tab limiting mechanism is connected to the bending lifting mechanism, the tab limiting mechanism can move up and down along the bending lifting mechanism, and the bending lifting mechanism is used for compensating vertical displacement during bending. The angle of the adjustable bending can effectively prevent the product from being damaged during the bending process.

Description

Technical Field

[0001] This invention relates to the field of bending mechanism technology, and in particular to a bending mechanism, bending method, bending system and readable storage medium. Background Technology

[0002] Current bending mechanisms typically consist of a positioning cylinder that first positions the tabs and cover plate, and then another cylinder that flips the plate to perform the bending. While the existing structure is simple in operation, it results in long product changeover and debugging times. Furthermore, the bending process can easily damage the product, leading to defective products. Summary of the Invention

[0003] The main objective of this invention is to provide a bending mechanism, bending method, bending system, and readable storage medium, aiming to solve the technical problem that existing devices are prone to damaging products during the bending process.

[0004] A bending mechanism includes a cover plate positioning mechanism for clamping and positioning a battery cover plate and a tab limiting mechanism for defining the bending position of the tab. The cover plate positioning mechanism and the tab limiting mechanism are located above a bending rotation mechanism. The bottom of the bending rotation mechanism is connected to the upper part of a bending lateral movement mechanism. The bending rotation mechanism can move left and right along the bending lateral movement mechanism, which is used to compensate for lateral displacement during bending. A bending lifting mechanism is also provided, with the tab limiting mechanism connected to the bending lifting mechanism. The tab limiting mechanism can move up and down along the bending lifting mechanism, which is used to compensate for vertical displacement during bending.

[0005] A bending mechanism includes a cover plate positioning mechanism for clamping and positioning a battery cover plate and a tab limiting mechanism for defining the bending position of the tab. The cover plate positioning mechanism and the tab limiting mechanism are located above a bending rotation mechanism. The bottom of the bending rotation mechanism is connected to the upper part of a bending lateral movement mechanism. The bending rotation mechanism can move left and right along the bending lateral movement mechanism, which is used to compensate for lateral displacement during bending. A bending lifting mechanism is also provided, with the tab limiting mechanism connected to the bending lifting mechanism. The tab limiting mechanism can move up and down along the bending lifting mechanism, which is used to compensate for vertical displacement during bending. By simulating the bending trajectory of the product during the bending process, damage to the product is prevented.

[0006] Optionally, the cover plate positioning mechanism consists of a bent mounting base plate, a gripper cylinder, an auxiliary slide rail, a slider connecting plate, and a positioning clamping block;

[0007] The gripper cylinder is fixed on the bending mounting base plate. The gripper cylinder is equipped with a speed regulating connector. The speed regulating connector is connected to compressed air, and the intake or exhaust action is controlled by a solenoid valve, thereby controlling the opening or clamping of the gripper cylinder.

[0008] The slider connecting plate is connected to the gripper cylinder and the auxiliary slide rail by screws. The positioning clamp is fixed on the slider connecting plate. The positioning clamp moves open or close with the gripper cylinder to open or close the battery cover.

[0009] Optionally, the electrode limit mechanism comprises a limit mechanism mounting base plate, a limit cylinder, a guide rail mounting adapter plate, a guide rail mounting plate, an auxiliary guide rail, an electrode limit slider mounting plate, an electrode limit mounting plate, an electrode limit adapter plate, an electrode limit plate, an electrode limit clamping plate, a limit cylinder limit block, a limit cylinder buffer block, a limit cylinder stop block, and a speed regulating connector; the limit cylinder is fixed to the limit mechanism mounting base plate, the guide rail mounting adapter plate is connected to the limit cylinder by screws, the guide rail mounting plate is fixed to the guide rail mounting adapter plate, the auxiliary guide rail is fastened to the guide rail mounting plate, and the electrode limit slider... The mounting plate is fixed to the slider of the auxiliary guide rail, the tab limiting mounting plate is fixed to the tab limiting slider mounting plate, the tab limiting adapter plate is fixed to the tab limiting mounting plate, the tab limiting plate and the tab limiting clamp are fixed to the tab limiting adapter plate, the limiting cylinder limiting block is fixed to the tab limiting slider mounting plate, the limiting cylinder buffer block is fixed to the limiting cylinder limiting block, and the limiting cylinder stop block is fixed to the tab limiting slider mounting plate. Under the drive of the bending and rotating mechanism, the tab limiting plate rotates clockwise or counterclockwise by a certain angle, and the tab limiting plate drives the tab to rotate by a corresponding angle, thereby achieving bending.

[0010] Optional, the bending and rotating mechanism includes:

[0011] The servo motor and the reducer are connected by screws. The reducer is fixed on the mounting plate. The reducer and the drive shaft of the rotating mechanism are connected together by a coupling.

[0012] The drive shaft of the rotating mechanism is supported by a bearing and locked in axial position by a rotating mechanism locking nut; there are two shaft mounting plates B, one fixed on the drive shaft of the rotating mechanism and the other fixed on the shaft; the bearing is mounted and fixed on the bearing seat A and its axial position is fixed by the rotating mechanism bearing clamping cover; the mounting plate, the bearing seat A, and the bearing seat B are fixed on the base plate of the rotating mechanism.

[0013] Optionally, the bending mounting base plate of the cover plate positioning mechanism is mounted on the rotating shaft mounting plate B. The servo motor is used to transmit power to the reducer. After deceleration, the power is transmitted to the drive shaft of the rotating mechanism through the coupling. The drive shaft of the rotating mechanism drives the rotating shaft mounting plate B and the cover plate positioning mechanism to rotate. Three sensors are used to determine the origin and positive and negative limit positions of the cover plate positioning mechanism respectively.

[0014] Optionally, the bearing housing B is provided with a limit screw mounting block, and a limit screw is installed on the limit screw mounting block; the rotating shaft mounting plate B is provided with a first rotating mechanism buffer block, and the bearing housing B is provided with a first rotating mechanism buffer block corresponding to the first rotating mechanism buffer block. The first rotating mechanism buffer block and the first rotating mechanism buffer block are used to provide buffer protection when the servo motor and the sensor malfunction.

[0015] Optionally, a second rotation mechanism buffer block is provided on the rotating shaft mounting plate A, and a second rotation mechanism buffer block is installed on the bearing seat A; the second rotation mechanism buffer block and the rotation mechanism buffer block are used to provide buffer protection when the servo motor and the sensor malfunction, to prevent the cover plate positioning mechanism from colliding and being damaged.

[0016] Optionally, the bending lateral movement mechanism includes a lateral movement module, a cable chain groove, and a cable chain; the bending lifting mechanism includes a cable chain groove, a cable chain mounting plate, a lifting module mounting base, a cable chain, a lifting module, and a lifting shaft slider seat; the lateral movement module is fixed on the machine base plate and integrated with the entire machine; the lifting module mounting base is connected to the slide of the lateral movement module by screws, and the slide is driven by the servo motor of the lateral movement module to move laterally; the lifting module is fixed on the lifting module mounting base, and the lifting shaft slider seat is fixed on the slide of the lifting module, and is driven by the servo motor of the lifting module to move up and down.

[0017] Optionally, the bending rotation mechanism, bending lateral movement mechanism, and bending lifting mechanism are all connected to the PLC control module.

[0018] Optionally, the bending rotation mechanism, the bending lateral movement mechanism, and the bending lifting mechanism perform bending actions along a specific trajectory according to a pre-set program. The bending parameters and bending trajectory are adjustable during the bending action.

[0019] Optionally, a PLC control module is provided to prevent product damage by simulating the product's bending trajectory during the bending process;

[0020] The PLC control module is used to: acquire product information, select the optimal bending force point based on the product information, and send bending instructions;

[0021] Alternatively, the PLC control module is used to: acquire product information, select bending points based on the product information, simulate bending processes according to the bending points, and detect whether there is a conflict with other components to obtain obstacle points; and calculate and select the optimal bending path based on the obstacle points.

[0022] The product information includes bending width, bending angle, bending radius, material and thickness, and the bending process includes bending speed, angle and distance.

[0023] A bending method is provided, including:

[0024] Step S10: Collect product information, select the optimal bending stress point based on the product information, and send a bending instruction. The product information includes bending width, bending angle, bending radius, material, and thickness.

[0025] Optionally, in step S101, product information and the bending mechanism of the blade battery top cover pre-welding machine are obtained, and a mathematical model simulating the bending process is established based on the bending points selected by the product information.

[0026] Step S102: Collect current product information and determine whether the current product collides with the components of the blade battery top cover pre-welding machine bending mechanism through the mathematical model;

[0027] Step S103: If yes, then the obstacle point is obtained, the optimal bending path is selected based on the obstacle point, and the bending action is performed.

[0028] Step S104: If not, then perform the bending action.

[0029] Optionally, the step of calculating and selecting the optimal bending path based on the obstacle points includes:

[0030] Step S1031: Establish a virtual coordinate system, wherein the coordinate values ​​on the coordinate system are used to represent different obstacle points and bending paths;

[0031] Step S1032: Establish a one-to-many correspondence between obstacle points and bending paths;

[0032] Step S1033: Calculate the Euclidean distances P1, P2...PN between one of the obstacle points and multiple bending paths, and select the Euclidean distance with the smallest value to obtain the optimal bending path.

[0033] A bending system is provided, comprising:

[0034] The data acquisition module is used to collect product information, select the optimal bending stress point based on the product information, and send bending instructions. The product information includes bending width, bending angle, bending radius, material, and thickness.

[0035] Optional, including:

[0036] A model unit is established to acquire product information and the bending mechanism of the blade battery top cover pre-welding machine. Based on the bending points selected by the product information, a mathematical model simulating the bending process is established according to the bending points.

[0037] The data acquisition unit collects current product information and uses the mathematical model to determine whether the current product collides with the components of the bending mechanism of the blade battery top cover pre-welding machine.

[0038] The bending unit is used to identify the obstacle point when a collision occurs, calculate and select the optimal bending path based on the obstacle point, and perform the bending action; it is also used to perform the bending action when there is no obstacle point.

[0039] Optional, including:

[0040] A sub-unit for establishing a virtual coordinate system is used to establish the virtual coordinate system, and the coordinate values ​​on the coordinate system are used to represent different obstacle points and bending paths;

[0041] Sub-units that establish correspondences are used to establish a one-to-many correspondence between obstacle points and bending paths;

[0042] The distance calculation sub-unit is used to calculate the Euclidean distances P1, P2...PN between one of the obstacle points and multiple bending paths, respectively, and select the Euclidean distance with the smallest value to obtain the optimal bending path.

[0043] A computer-readable storage medium is provided, wherein instructions are stored on the computer-readable storage medium, and when executed by a processor, the instructions implement the steps of any of the methods described above.

[0044] The beneficial effects of this invention are: the bending angle and clamping force can be adjusted, and the machine can be quickly adjusted through parameter settings. At the same time, by simulating the bending trajectory of the product, damage to the product during the bending process can be effectively prevented. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0046] Figure 2 This is a schematic diagram of the cover plate positioning mechanism in this invention;

[0047] Figure 3This is a schematic diagram of the electrode limiting mechanism in this invention;

[0048] Figure 4 This is a schematic diagram of the bending and rotating mechanism in this invention;

[0049] Figure 5 This is a schematic diagram of the bending lateral movement mechanism and the bending lifting mechanism in this invention;

[0050] Figure 6 This is a schematic diagram of the structure of the computer device of the present invention. Implementation

[0051] The embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. In the description of the present invention, it should be understood that the terms "inner," "upper," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0052] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. In the description of this invention, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly; for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two elements or an interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0053] The following is in conjunction with the appendix Figure 1-6 The present invention will be further described as follows:

[0054] In one embodiment, the device includes a cover plate positioning mechanism 1 for clamping and positioning the battery cover plate and a tab limiting mechanism 2 for defining the bending position of the tab. The cover plate positioning mechanism 1 and the tab limiting mechanism 2 are located above the bending rotation mechanism 3. The bottom of the bending rotation mechanism 3 is connected to the upper part of the bending lateral movement mechanism 4. The bending rotation mechanism 3 can move left and right along the bending lateral movement mechanism 4. The bending lateral movement mechanism 4 is used to compensate for lateral displacement during bending. A bending lifting mechanism 5 is also provided. The tab limiting mechanism 2 is connected to the bending lifting mechanism 5. The tab limiting mechanism 2 can move up and down along the bending lifting mechanism 5. The bending lifting mechanism 5 is used to compensate for vertical displacement during bending. The bending lateral movement mechanism 4 and the bending lifting mechanism 5 are modules, or mechanisms that move the connected devices by a cylinder or motor.

[0055] In one embodiment, the device includes a cover plate positioning mechanism 1 for clamping and positioning the battery cover plate and a tab limiting mechanism 2 for defining the bending position of the tab. The cover plate positioning mechanism 1 and the tab limiting mechanism 2 are located above the bending rotation mechanism 3. The bottom of the bending rotation mechanism 3 is connected to the upper part of the bending lateral movement mechanism 4. The bending rotation mechanism 3 can move left and right along the bending lateral movement mechanism 4. The bending lateral movement mechanism 4 is used to compensate for lateral displacement during bending. A bending lifting mechanism 5 is also provided. The tab limiting mechanism 2 is connected to the bending lifting mechanism 5. The tab limiting mechanism 2 can move up and down along the bending lifting mechanism 5. The bending lifting mechanism 5 is used to compensate for vertical displacement during bending. The bending lateral movement mechanism 4 and the bending lifting mechanism 5 are modules, or mechanisms that move the connected devices by a cylinder or motor. During the bending process, the product's bending trajectory is simulated to prevent damage. Specifically, the PLC control module selects the optimal bending stress point based on the product's bending width, bending angle, bending radius, material, and thickness. The bending process is simulated based on the selected bending points, and the possibility of collisions with other components is detected to identify obstacle points. The optimal bending path is then calculated based on these obstacle points. For example, a virtual coordinate system is first established, where coordinate values ​​represent different obstacle points and bending paths. A one-to-many correspondence is established between obstacle points and bending paths. Then, the Euclidean distances P1, P2...PN between one obstacle point and multiple bending paths are calculated, and the smallest Euclidean distance is selected as the optimal bending path. Bending the product under the optimal bending path conditions reduces product damage.

[0056] In one embodiment, the cover plate positioning mechanism 1 consists of a bent mounting base plate 1-1, a gripper cylinder 1-2, an auxiliary slide rail 1-3, a slider connecting plate 1-4, and a positioning clamping block 1-5;

[0057] The gripper cylinder 1-2 is fixed on the bending mounting base plate 1-1. The gripper cylinder 1-2 is equipped with a speed regulating connector 1-6. The speed regulating connector 1-6 is connected to compressed air and the intake or exhaust action is controlled by a solenoid valve, thereby controlling the opening or clamping of the gripper cylinder 1-2.

[0058] The slider connecting plate 1-4 is connected to the gripper cylinder 1-2 and the auxiliary slide rail 1-3 by screws. The positioning clamping block 1-5 is fixed on the slider connecting plate 1-4. The positioning clamping block 1-5 opens or clamps with the gripper cylinder 1-2 to open or clamp the battery cover.

[0059] In one embodiment, the electrode limiting mechanism 2 comprises a limiting mechanism mounting base plate 2-1, a limiting cylinder 2-2, a guide rail mounting adapter plate 2-3, a guide rail mounting plate 2-4, an auxiliary guide rail 2-5, an electrode limiting slider mounting plate 2-6, an electrode limiting mounting plate 2-7, an electrode limiting adapter plate 2-8, an electrode limiting plate 2-9, an electrode limiting clamping plate 2-10, a limiting cylinder limiting block 2-11, a limiting cylinder buffer block 2-12, a limiting cylinder stop block 2-13, and a speed regulating connector; the limiting cylinder 2-2 is fixed on the limiting mechanism mounting base plate 2-1, the guide rail mounting adapter plate 2-3 is connected to the limiting cylinder 2-2 by screws, the guide rail mounting plate 2-4 is fixed on the guide rail mounting adapter plate 2-3, and the auxiliary guide rail 2-5 is fastened to the guide rail mounting plate 2-4. The tab limiting slider mounting plate 2-6 is fixed on the slider of the auxiliary guide rail 2-5. The tab limiting mounting plate 2-7 is fixed on the tab limiting slider mounting plate 2-6. The tab limiting adapter plate 2-8 is fixed on the tab limiting mounting plate 2-7. The tab limiting plate 2-9 and the tab limiting clamping plate 2-10 are fixed on the tab limiting adapter plate 2-8. The limiting cylinder limiting block 2-11 is fixed on the tab limiting slider mounting plate 2-6. The limiting cylinder buffer block 2-12 is fixed on the limiting cylinder limiting block 2-11. The limiting cylinder stop block 2-13 is fixed on the tab limiting slider mounting plate 2-6. Under the drive of the bending and rotating mechanism 3, the tab limiting plate 2-9 rotates clockwise or counterclockwise by a certain angle. The tab limiting plate 2-9 drives the tab to rotate by a corresponding angle, thus achieving bending.

[0060] In one embodiment, the bending and rotating mechanism 3 includes: a servo motor 3-1 and a reducer 3-2 connected by screws, the reducer 3-2 being fixed on a mounting plate 3-3, and the reducer 3-2 being connected to the rotating mechanism drive shaft 3-5 by a coupling 3-18;

[0061] The rotating mechanism's drive shaft 3-5 is supported by bearing 3-17 and its axial position is locked by the rotating mechanism's locking nut 3-4. The rotating shaft mounting plate B3-13 consists of two pieces, one fixed to the rotating mechanism's drive shaft 3-5 and the other fixed to the rotating shaft 3-11. The bearing 3-17 is mounted and fixed to the bearing seat 3-7 and its axial position is fixed by the rotating mechanism's bearing clamping cover 3-6. The mounting plate 3-3, the bearing seat A3-7, and the bearing seat B3-8 are fixed to the rotating mechanism's base plate 3-14.

[0062] In one embodiment, the bending mounting base plate 1-1 of the cover plate positioning mechanism 1 is mounted on the rotating shaft mounting plate B3-13. The servo motor 3-1 is used to transmit power to the reducer 3-2. After deceleration, the power is transmitted to the rotating mechanism drive shaft 3-5 through the coupling 3-18. The rotating mechanism drive shaft 3-5 drives the rotating shaft mounting plate B3-13 and the cover plate positioning mechanism 1 to rotate. Three sensors 3-12 are used to determine the origin and positive and negative limit positions of the cover plate positioning mechanism 1, respectively.

[0063] Optionally, the bearing housing B3-8 is provided with a limit screw mounting block 3-9, and a limit screw 3-10 is installed on the limit screw mounting block 3-9; the rotating shaft mounting plate B3-13 is provided with a first rotating mechanism buffer block, and the bearing housing B3-8 is provided with a first rotating mechanism buffer block corresponding to the first rotating mechanism buffer block. The first rotating mechanism buffer block and the first rotating mechanism buffer block are used to provide buffer protection when the servo motor 3-1 and the sensor 3-12 malfunction.

[0064] In one embodiment, a second rotation mechanism buffer block 3-15 is provided on the rotating shaft mounting plate A3-19, and a second rotation mechanism buffer block 3-16 is installed on the bearing seat A3-7; the second rotation mechanism buffer block 3-15 and the rotation mechanism buffer block 3-16 are used to provide buffer protection when the servo motor 3-1 and the sensor 3-12 malfunction, to prevent the cover plate positioning mechanism 1 from colliding and being damaged.

[0065] Optionally, the bending lateral movement mechanism 4 includes a lateral movement module 4-1, a cable chain groove 4-2, and a cable chain 4-3; the bending lifting mechanism 5 includes a cable chain groove 5-1, a cable chain mounting plate 5-2, a lifting module mounting base 5-3, a cable chain 5-4, a lifting module 5-5, and a lifting shaft slider seat 5-6; the lateral movement module 4-1 is fixed on the machine base plate and integrated with the entire machine base; the lifting module mounting base 5-3 is connected to the slide of the lateral movement module 4-1 by screws, and the slide is driven by the servo motor of the lateral movement module 4-1 to move laterally; the lifting module 5-5 is fixed on the lifting module mounting base 5-3, and the lifting shaft slider seat 5-6 is fixed on the slide of the lifting module 5-5, and is driven by the servo motor of the lifting module 5-5 to move up and down.

[0066] In one embodiment, the bending rotation mechanism 3, the bending lateral movement mechanism 4, and the bending lifting mechanism 5 are all connected to the PLC control module.

[0067] In one embodiment, the bending rotation mechanism 3, the bending lateral movement mechanism 4, and the bending lifting mechanism 5 perform bending actions along a specific trajectory according to a pre-set program. The bending parameters and bending trajectory are adjustable during the bending action.

[0068] In one embodiment, a PLC control module is provided to prevent damage to the product by simulating the product's bending trajectory during the bending process.

[0069] The PLC control module is used to: acquire product information, select the optimal bending force point based on the product information, and send bending instructions;

[0070] Alternatively, the PLC control module is used to: acquire product information, select bending points based on the product information, simulate bending processes according to the bending points, and detect whether there is a conflict with other components to obtain obstacle points; and calculate and select the optimal bending path based on the obstacle points.

[0071] The product information includes bending width, bending angle, bending radius, material and thickness, and the bending process includes bending speed, angle and distance.

[0072] In one embodiment, a bending method is provided, comprising:

[0073] Step S10: Collect product information, select the optimal bending stress point based on the product information, and send a bending instruction. The product information includes bending width, bending angle, bending radius, material, and thickness.

[0074] In one embodiment, step S101 involves obtaining product information and the bending mechanism of the blade battery top cover pre-welding machine, selecting bending points based on the product information, and establishing a mathematical model simulating the bending process based on the bending points.

[0075] Step S102: Collect current product information and determine whether the current product collides with the components of the blade battery top cover pre-welding machine bending mechanism through the mathematical model;

[0076] Step S103: If yes, then the obstacle point is obtained, the optimal bending path is selected based on the obstacle point, and the bending action is performed.

[0077] Step S104: If not, then perform the bending action.

[0078] In one embodiment, the step of calculating and selecting the optimal bending path based on the obstacle point includes:

[0079] Step S1031: Establish a virtual coordinate system, wherein the coordinate values ​​on the coordinate system are used to represent different obstacle points and bending paths;

[0080] Step S1032: Establish a one-to-many correspondence between obstacle points and bending paths;

[0081] Step S1033: Calculate the Euclidean distances P1, P2...PN between one of the obstacle points and multiple bending paths, and select the Euclidean distance with the smallest value to obtain the optimal bending path.

[0082] A bending system is provided, comprising:

[0083] The data acquisition module is used to collect product information, select the optimal bending stress point based on the product information, and send bending instructions. The product information includes bending width, bending angle, bending radius, material, and thickness.

[0084] In one embodiment, it includes:

[0085] A model unit is established to acquire product information and the bending mechanism of the blade battery top cover pre-welding machine. Based on the bending points selected by the product information, a mathematical model simulating the bending process is established according to the bending points.

[0086] The data acquisition unit collects current product information and uses the mathematical model to determine whether the current product collides with the components of the bending mechanism of the blade battery top cover pre-welding machine.

[0087] The bending unit is used to identify the obstacle point when a collision occurs, calculate and select the optimal bending path based on the obstacle point, and perform the bending action; it is also used to perform the bending action when there is no obstacle point.

[0088] In one embodiment, it includes:

[0089] A sub-unit for establishing a virtual coordinate system is used to establish the virtual coordinate system, and the coordinate values ​​on the coordinate system are used to represent different obstacle points and bending paths;

[0090] Sub-units that establish correspondences are used to establish a one-to-many correspondence between obstacle points and bending paths;

[0091] The distance calculation sub-unit is used to calculate the Euclidean distances P1, P2...PN between one of the obstacle points and multiple bending paths, respectively, and select the Euclidean distance with the smallest value to obtain the optimal bending path.

[0092] A computer-readable storage medium is provided, wherein instructions are stored on the computer-readable storage medium, and when executed by a processor, the instructions implement the steps of any of the methods described above.

[0093] The computer device includes at least one processor 101, a communication bus 102, a memory 103, and at least one communication interface 104.

[0094] The processor 101 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of programs according to the present application.

[0095] The communication bus 102 may include a path for transmitting information between the aforementioned components.

[0096] The memory 103 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or it may be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. The memory 103 may exist independently and be connected to the processor 101 via the communication bus 102. The memory 103 may also be integrated with the processor 101.

[0097] Communication interface 104 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Networks (WLAN), etc.

[0098] In a specific implementation, as one embodiment, the processor 201 may include one or more CPUs, for example... Figure 1 CPU0 and CPU1 are shown in the diagram.

[0099] In a specific implementation, as one example, a computer device may include multiple processors, for example... Figure 1 The processors 101 and 105 shown are illustrated. Each of these processors can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. Here, "processor" can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0100] In a specific implementation, as one embodiment, the computer device may further include an output device 106 and an input device 107. The output device 106 communicates with the processor 101 and can display information in various ways. For example, the output device 106 may be a liquid crystal display (LCD), a light-emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector, etc. The input device 107 communicates with the processor 101 and can receive user input in various ways. For example, the input device 107 may be a mouse, keyboard, touchscreen device, or sensing device, etc.

[0101] The aforementioned computer device can be a general-purpose computer device or a special-purpose computer device. In specific implementations, the computer device can be a desktop computer, a portable computer, a network server, a PDA (Personal Digital Assistant), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. This application does not limit the type of computer device.

[0102] The memory 103 stores the program code for executing this solution, and its execution is controlled by the processor 101. The processor 101 executes the program code 108 stored in the memory 103. The program code 108 may include one or more software modules. The aforementioned storage system can determine the data used for application development through the processor 101 and the one or more software modules in the program code 108 in the memory 103.

[0103] It should be noted that the storage medium management device provided in the above embodiments is only illustrated by the division of the above functional modules when implementing the storage medium management method. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the storage medium management device and the storage medium management method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0104] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).

[0105] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0106] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without any inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A bending method, characterized in that, The bending step is achieved by a bending mechanism, which includes a cover plate positioning mechanism (1) for clamping and positioning the battery cover plate and a tab limiting mechanism (2) for limiting the bending position of the tab. The cover plate positioning mechanism (1) and the tab limiting mechanism (2) are located above the bending rotation mechanism (3). The bottom of the bending rotation mechanism (3) is connected to the upper part of the bending lateral movement mechanism (4). The bending rotation mechanism (3) can move left and right along the bending lateral movement mechanism (4). The bending lateral movement mechanism (4) is used to compensate for lateral displacement during bending. There is a bending lifting mechanism (5), and the tab limiting mechanism (2) is connected to the bending lifting mechanism (5). The tab limiting mechanism (2) can move up and down along the bending lifting mechanism (5). The bending lifting mechanism (5) is used to compensate for vertical displacement during bending. During the bending process, the bending trajectory of the product is simulated to reduce product damage. The bending rotation mechanism (3), the bending lateral movement mechanism (4) and the bending lifting mechanism (5) perform bending actions with a specific trajectory according to a pre-set program. The bending parameters and bending trajectory can be adjusted during the bending action. The bending and rotating mechanism (3) includes: The servo motor (3-1) and the reducer (3-2) are connected by screws. The reducer (3-2) is fixed on the mounting plate (3-3). The reducer (3-2) and the drive shaft (3-5) of the rotating mechanism are connected together by a coupling (3-18). The drive shaft (3-5) of the rotating mechanism is supported by a bearing (3-17) and its axial position is locked by a locking nut (3-4). There are two shaft mounting plates: shaft mounting plate A (3-19) and shaft mounting plate B (3-13). Shaft mounting plate A (3-19) is fixed to the drive shaft (3-5), and shaft mounting plate B (3-13) is fixed to the shaft (3-11). The shaft (3-11) is mounted on bearing seat B (3-8), and the bearing (3-17) is fixed to bearing seat A. On (3-7), the axial position is fixed by the bearing pressure cover (3-6) of the rotating mechanism. The mounting plate (3-3), bearing seat A (3-7), and bearing seat B (3-8) are fixed on the base plate (3-14) of the rotating mechanism. One end of the bent mounting base plate (1-1) of the cover plate positioning mechanism (1) is mounted on the rotating shaft mounting plate B (3-13), and the other end is mounted on the rotating shaft mounting plate A (3-19). The rotating mechanism drive shaft (3-5) can drive the rotating shaft mounting plate (3-13) and the cover plate positioning mechanism (1) to rotate. The electrode limiting mechanism (2) includes an electrode limiting plate (2-9). The electrode limiting plate (2-9) rotates clockwise or counterclockwise by a certain angle under the drive of the bending and rotating mechanism (3). The electrode limiting plate (2-9) drives the electrode to rotate by the corresponding angle to achieve bending. The bending method includes: step S10, collecting product information, selecting the optimal bending force point based on the product information, sending a bending command, and executing the bending action. The product information includes bending width, bending angle, bending radius, material, and thickness.

2. The bending method as described in claim 1, characterized in that, The cover plate positioning mechanism (1) consists of a bent mounting base plate (1-1), a gripper cylinder (1-2), an auxiliary slide rail (1-3), a slider connecting plate (1-4), and a positioning clamping block (1-5); The gripper cylinder (1-2) is fixed on the bending mounting base plate (1-1). The gripper cylinder (1-2) is equipped with a speed regulating connector (1-6). The speed regulating connector (1-6) is connected to compressed air and the intake or exhaust action is controlled by a solenoid valve, thereby controlling the gripper cylinder (1-2) to open or clamp. The slider connecting plate (1-4) is connected to the gripper cylinder (1-2) and the auxiliary slide rail (1-3) by screws. The positioning clamp (1-5) is fixed on the slider connecting plate (1-4). The positioning clamp (1-5) opens or clamps with the gripper cylinder (1-2) to open or clamp the battery cover.

3. The bending method as described in claim 1, characterized in that, The electrode limit mechanism (2) consists of a limit mechanism mounting base plate (2-1), a limit cylinder (2-2), a guide rail mounting adapter plate (2-3), a guide rail mounting plate (2-4), an auxiliary guide rail (2-5), an electrode limit slider mounting plate (2-6), an electrode limit mounting plate (2-7), an electrode limit adapter plate (2-8), an electrode limit plate (2-9), an electrode limit clamping plate (2-10), a limit cylinder limit block (2-11), a limit cylinder buffer block (2-12), a limit cylinder stop block (2-13), and a speed regulating connector; the limit cylinder (2-2) is fixed on the limit mechanism mounting base plate (2-1), the guide rail mounting adapter plate (2-3) is connected to the limit cylinder (2-2) by screws, and the guide rail mounting plate (2-4) is fixed on the guide rail mounting adapter plate (2-3). On the auxiliary guide rail (2-5), the auxiliary guide rail (2-5) is fastened to the guide rail mounting plate (2-4). The electrode tab limiting slider mounting plate (2-6) is fixed on the slider of the auxiliary guide rail (2-5). The electrode tab limiting mounting plate (2-7) is fixed on the electrode tab limiting slider mounting plate (2-6). The electrode tab limiting adapter plate (2-8) is fixed on the electrode tab limiting mounting plate (2-7). The electrode tab limiting plate (2-9) and the electrode tab limiting clamping plate (2-10) are fixed on the electrode tab limiting adapter plate (2-8). The limiting cylinder limiting block (2-11) is fixed on the electrode tab limiting slider mounting plate (2-6). The limiting cylinder buffer block (2-12) is fixed on the limiting cylinder limiting block (2-11). The limiting cylinder stop block (2-13) is fixed on the electrode tab limiting slider mounting plate (2-6).

4. The bending method as described in claim 1, characterized in that, The servo motor (3-1) is used to transmit power to the reducer (3-2). After deceleration, the power is transmitted to the drive shaft (3-5) of the rotating mechanism through the coupling (3-18). The drive shaft (3-5) of the rotating mechanism drives the rotating shaft mounting plate (3-13) and the cover plate positioning mechanism (1) to rotate. Three sensors (3-12) are used to determine the origin and positive and negative limit positions of the cover plate positioning mechanism (1) respectively.

5. The bending method as described in claim 4, characterized in that, The bearing housing B (3-8) is provided with a limit screw mounting block (3-9), and a limit screw (3-10) is installed on the limit screw mounting block (3-9); the rotating shaft mounting plate B (3-13) is provided with a first rotating mechanism buffer block, and the bearing housing B (3-8) is provided with a first rotating mechanism buffer block corresponding to the first rotating mechanism buffer block. The first rotating mechanism buffer block and the first rotating mechanism buffer block are used to provide buffer protection when the servo motor (3-1) and the sensor (3-12) malfunction.

6. The bending method as described in claim 5, characterized in that, The rotating shaft mounting plate A (3-19) is provided with a second rotating mechanism buffer block (3-15), and the bearing seat A (3-7) is provided with a second rotating mechanism buffer block (3-16); the second rotating mechanism buffer block (3-15) and the rotating mechanism buffer block (3-16) are used to provide buffer protection when the servo motor (3-1) and the sensor (3-12) are abnormal, to prevent the cover plate positioning mechanism (1) from colliding and being damaged.

7. The bending method as described in claim 1, characterized in that, The bending and traversing mechanism (4) includes a traversing module (4-1), a drag chain groove (4-2), and a drag chain (4-3); the bending and lifting mechanism (5) includes a drag chain groove (5-1), a drag chain mounting plate (5-2), a lifting module mounting base (5-3), a drag chain (5-4), a lifting module (5-5), and a lifting shaft slider seat (5-6); the traversing module (4-1) is fixed on the machine base plate and is integrated with the entire machine base; the lifting module mounting base (5-3) is connected to the slide of the traversing module (4-1) by screws, and the slide is driven by the servo motor of the traversing module (4-1) to move laterally; the lifting module (5-5) is fixed on the lifting module mounting base (5-3), and the lifting shaft slider seat (5-6) is fixed on the slide of the lifting module (5-5), and is driven by the servo motor of the lifting module (5-5) to move up and down.

8. The bending method as described in claim 1, characterized in that, The bending and rotating mechanism (3), the bending and lateral movement mechanism (4), and the bending and lifting mechanism (5) are all connected to the PLC control module.

9. The bending method as described in claim 1, characterized in that, It is equipped with a PLC control module, which simulates the bending trajectory of the product during the bending process to prevent damage to the product; The PLC control module is used to: acquire product information, select the optimal bending force point based on the product information, and send bending instructions; Alternatively, the PLC control module is used to: acquire product information, select bending stress points based on the product information, simulate the bending process according to the bending stress points, and detect whether there is a conflict with other components to obtain obstacle points; and calculate and select the optimal bending path based on the obstacle points. The product information includes bending width, bending angle, bending radius, material and thickness, and the bending process includes bending speed, angle and distance.

10. The bending method as described in claim 1, characterized in that, include: Step S101: Obtain product information and bending mechanism; select bending stress points based on the product information; and establish a mathematical model simulating the bending process based on the bending stress points. Step S102: Collect current product information and determine whether the current product collides with the components of the bending mechanism using the mathematical model; Step S103: If yes, then the obstacle point is obtained, the optimal bending path is selected based on the obstacle point, and the bending action is performed. Step S104: If not, then perform the bending action.

11. The bending method as described in claim 10, characterized in that, The step of calculating and selecting the optimal bending path based on the obstacle points includes: Step S1031: Establish a virtual coordinate system, wherein the coordinate values ​​on the coordinate system are used to represent different obstacle points and bending paths; Step S1032: Establish a one-to-many correspondence between obstacle points and bending paths; Step S1033: Calculate the Euclidean distances P1, P2...PN between one obstacle point and multiple bending paths, and select the Euclidean distance with the smallest value to obtain the optimal bending path.

12. A bending system, characterized in that, The method applied to the bending method as described in any one of claims 1-11 includes: The data acquisition module is used to collect product information, select the optimal bending stress point based on the product information, and send bending instructions. The product information includes bending width, bending angle, bending radius, material, and thickness. A model unit is established to acquire product information and bending mechanism. Based on the product information, bending stress points are selected, and a mathematical model simulating the bending process is established according to the bending stress points. The data acquisition unit collects current product information and uses the mathematical model to determine whether the current product collides with the components of the bending mechanism. The bending unit is used to identify the obstacle point when a collision occurs, calculate and select the optimal bending path based on the obstacle point, and perform the bending action; it is also used to perform the bending action when there is no obstacle point.

13. The bending system according to claim 12, characterized in that, Also includes: A sub-unit for establishing a virtual coordinate system is used to establish the virtual coordinate system, and the coordinate values ​​on the coordinate system are used to represent different obstacle points and bending paths; Sub-units that establish correspondences are used to establish a one-to-many correspondence between obstacle points and bending paths; The distance calculation sub-unit is used to calculate the Euclidean distances P1, P2...PN between one of the obstacle points and multiple bending paths, respectively, and select the Euclidean distance with the smallest value to obtain the optimal bending path.

14. A computer-readable storage medium storing instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the steps of the bending method according to any one of claims 1-11.

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