Battery monomer voltage measuring system and measuring method

Abstract

The invention belongs to the technical field of single battery voltage measurement. The battery monomer voltage measuring system comprises a battery monomer measuring module and a mechanical arm, the battery monomer measuring module comprises a control unit, a voltage sensor and a measuring probe located at the tail end of the mechanical arm, and the negative electrode end of a first measured battery monomer serves as a common grounding end; the positive electrode end of the voltage sensor is connected with the measuring probe, the negative electrode end of the voltage sensor is used for being connected with the common grounding end, and the voltage sensor is in communication connection with the control unit; the measuring probe is used for being driven by the mechanical arm to be sequentially connected with the positive end of each single battery to be measured, and the control unit determines the voltage measuring result of each single battery according to the voltage difference between the positive end of each single battery and the common grounding end. According to the invention, the consistency of multiple measurement positions and the consistency of each measurement contact force are ensured, and the precision of a measurement result is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of battery cell voltage measurement, and in particular to a battery cell voltage measurement system and a measurement method. Background Art

[0002] With the rapid development of urban rail transit industry, the manufacturing level and scientific and technological capabilities in the field of rail transit have been significantly improved, the number of vehicles and the technical content have been significantly improved, and the vehicle maintenance tasks have become increasingly heavy. Among the vehicle maintenance work, battery maintenance is the top priority.

[0003] In each battery maintenance work, the battery must be charged and discharged to evaluate the battery performance, ensure the normal operation of the battery, extend the battery life, and optimize the battery maintenance strategy. During charging and discharging, the single cell voltage is measured manually. The battery charging and discharging time is divided into eight stages: discharge stage, static stage, charging stage, secondary static stage, re-discharge stage, tertiary static stage, re-charging stage, and quaternary static stage. The eight stages are 5 hours of discharge, 2 hours of static, 8 hours of charging stage, 2 hours of secondary static, 5 hours of re-discharge, 2 hours of tertiary static, 8 hours of re-charging, and 2 hours of quaternary static, a total of 34 hours; during the charging and discharging process, the single cell voltage needs to be measured repeatedly, which is a huge workload, and the data is manually recorded, so it is impossible to conduct effective analysis immediately.

[0004] According to existing regulations, during the battery charging and discharging process, the single cell voltage of each battery in the battery pack must be measured every half an hour. The measurement workload is large and it is repetitive work. The measurement point is not fixed each time, the contact force is unstable, and the comparability of the measurement data needs to be improved. After the data measurement is completed, the subsequent data collation and analysis workload is large and the efficiency is low, resulting in a great waste of manpower and material resources.

[0005] Although the existing schemes have designed automatic single-cell voltage measurement devices, they are unable to achieve automated accurate measurement of battery single-cell voltage. For example, some researchers have designed a fixed-size fixture, which can only fix the model and size for an idealized single model, is not compatible with multiple battery models, does not take into account battery manufacturing errors, and requires the battery to be precisely placed in a fixed position, which is of poor practicality; some researchers clamp each battery cell with an alligator clip for measurement, which involves a lot of preparation work, manual wiring has the risk of errors and short circuits, and in actual use, the fixture lines are often loose and the contact is poor, resulting in low test efficiency and accuracy. Summary of the invention

[0006] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a battery cell voltage measurement system and method, which can quickly measure the voltage of multiple battery cells through the cooperation of a mechanical arm and a measuring probe, thereby ensuring the consistency of multiple measurement positions; combined with a pressure sensor, the consistency of the contact force in each measurement is guaranteed, greatly improving the accuracy of the measurement results.

[0007] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0008] In a first aspect, the present invention provides a battery cell voltage measurement system.

[0009] A battery cell voltage measurement system comprises: a battery cell measurement module and a mechanical arm, wherein the battery cell measurement module comprises a control unit, a voltage sensor and a measurement probe located at the end of the mechanical arm, and the negative terminal of the first battery cell to be measured is used as a common ground terminal;

[0010] The positive terminal of the voltage sensor is connected to the measuring probe, the negative terminal of the voltage sensor is used to be connected to the common ground terminal, and the voltage sensor is in communication connection with the control unit;

[0011] The measuring probe is used to connect to the positive terminal of each battery cell to be tested in sequence under the drive of the mechanical arm, and the control unit determines the voltage measurement result of each battery cell according to the voltage difference between the positive terminal of each battery cell and the common ground terminal.

[0012] As a further limitation of the first aspect of the present invention, the measuring probe is an elastic probe.

[0013] As a further limitation of the first aspect of the present invention, the battery cell measurement module further includes: a transition tool, a transmitter and a pressure sensor, the transition tool being connected to the end of the mechanical arm;

[0014] The pressure sensor is connected to the measuring probe to monitor the force applied to the measuring probe, and the pressure sensor is connected to the transmitter;

[0015] The transmitter is connected to the control unit, and the control unit is also used to control the downward pressure of the measuring probe according to the force data.

[0016] As a further limitation of the first aspect of the present invention, it further includes a robot body, the control unit, the voltage sensor and the transmitter are all arranged on the robot body, and the robot arm is connected to the robot body.

[0017] As a further limitation of the first aspect of the present invention, the transition tooling is connected to a vision module and a lighting module; or, the transition tooling is connected to a temperature measurement module for synchronously measuring the temperature of the battery cells during the voltage measurement process.

[0018] As a further limitation of the first aspect of the present invention, the control unit includes a display interface; or the control unit is connected to a display module; the display interface or the display module is used to display the calculated battery cell voltage and control process data during the charging and discharging process.

[0019] In a second aspect, the present invention provides a method for measuring battery cell voltage.

[0020] A battery cell voltage measurement method, using the battery cell voltage measurement system according to the first aspect of the present invention, comprises the following process:

[0021] Determine the size of the battery pack and each battery cell, determine the measurement sequence according to the connection method of the battery cells, and determine the distance and route of each movement of the robot arm;

[0022] The negative terminal of the voltage sensor is connected to the common ground terminal, and the mechanical arm drives the measuring probe to connect to the positive terminal of each battery cell in turn according to the determined measurement sequence, each moving distance and route;

[0023] Each connection of the measuring probe obtains a measurement value, and the voltage of each battery cell is calculated based on the obtained measurement value.

[0024] As a further limitation of the second aspect of the present invention, calculating the voltage of each battery cell according to the obtained measured value includes:

[0025] The negative terminal of the first battery cell serves as the common ground terminal, and the voltage of the first battery cell is a first voltage difference between the positive terminal of the first battery cell and the common ground terminal;

[0026] The voltage of the second battery cell is a second voltage difference between the positive terminal of the second battery cell and the common ground terminal minus the first voltage difference;

[0027] The voltage of the nth battery cell is the nth voltage difference between the positive terminal of the nth battery cell and the common ground terminal minus the n-1th voltage difference.

[0028] As a further limitation of the second aspect of the present invention, during the measurement process of any battery cell, the contact point position of the measurement probe of multiple repeated measurements is consistent with the positive terminal of the battery cell.

[0029] As a further limitation of the second aspect of the present invention, during the measurement of any battery cell, the mechanical arm drives the measuring probe to move to a set position, and then drives the measuring probe to descend, and the measuring probe contacts the positive terminal of the measured battery cell;

[0030] The test pressure of the measuring probe is sensed. If the pressure is within the set range, the measurement is performed. If the pressure is not within the set range, the robot arm adjusts the height until the pressure is within the set range and then the measurement is performed.

[0031] The beneficial effects of the present invention are as follows:

[0032] 1. The present invention innovatively proposes a battery cell voltage measurement system. Through the cooperation of a mechanical arm and a measuring probe, the negative terminal of the first battery cell to be measured is used as a common ground terminal. The voltage of multiple battery cells can be measured quickly, ensuring the consistency of multiple measurement positions, reducing the number of contact points by half, reducing manual workload, and improving test efficiency.

[0033] 2. The measuring probe of the present invention is an elastic probe, which is combined with a pressure sensor to ensure the consistency of contact force in each measurement, ensure the stability of the test data, improve the comparability of the test data, and greatly improve the accuracy of the measurement results.

[0034] 3. The present invention can realize image acquisition during the measurement process through the cooperation of the visual module and the illumination module, and can be used for positioning control of the robot arm or detection of the appearance of the battery cell.

[0035] 4. The present invention provides a temperature measurement module to synchronously measure the temperature of the battery cell during the voltage measurement process, thereby realizing synchronous monitoring of the temperature of each battery cell during the charging and discharging process.

[0036] 5. The measuring point position of each battery cell of the present invention is fixed, and the same group of batteries can be measured multiple times, and the robot can be used to achieve high-precision repeated positioning with high precision. The contact position is fixed each time, which improves the comparability of the values.

[0037] 6. By controlling the robotic arm, different types of battery packs or battery cells can be compatible, thereby improving the compatibility of the measuring equipment. The present invention directly generates electronic records of the measured data, which is convenient for later comparative analysis.

[0038] 7. Through accurate measurement of battery cell voltage, the generated voltage data can be used to set warning values, automatically protect the battery, and issue warnings for charging and discharging errors or faults.

[0039] 8. The present invention can provide basic support for the automated battery maintenance production line, can serve as a key step in the automated production line, provide support for interfaces with AGV, fire protection, auxiliary measurement, etc., and provide support for automated dispatching, unattended operation, fault prediction, and full life cycle management. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0041] Figure 1 A schematic diagram of a battery cell voltage measurement system provided in Embodiment 1 of the present invention;

[0042] Figure 2 Schematic diagram of the transition tooling provided in Example 1 of the present invention Figure 1 ;

[0043] Figure 3 Schematic diagram of the transition tooling provided in Example 1 of the present invention Figure 2 ;

[0044] Figure 4 This is a schematic diagram of electrical connections provided in Example 1 of the present invention;

[0045] Figure 5 This is a schematic diagram of the interface of the battery management system provided in Example 1 of the present invention;

[0046] Figure 6 A schematic diagram of a battery cell voltage measurement method provided in Embodiment 1 of the present invention;

[0047] Figure 7 A schematic diagram of the motion path of the robotic arm provided in Example 1 of the present invention;

[0048] Figure 8 A schematic diagram of a measurement flow of a voltage measurement sensor provided in Embodiment 1 of the present invention;

[0049] Fig. 9 A schematic diagram of voltage test results of each battery cell provided in Example 1 of the present invention;

[0050] Among them, 1. Robotic arm; 2. Battery pack; 3. Battery cell; 4. Transition tooling; 5. Pressure sensor; 6. Measuring probe; 7. Vision module; 8. Lighting module; 9. Temperature measurement module. DETAILED DESCRIPTION

[0051] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0052] As introduced in the background technology, the existing automatic battery cell voltage test solution has poor practicality and versatility, has not been applied on site, and cannot effectively solve the problem of heavy workload caused by manual operation on site.

[0053] In view of this, the present implementation provides a battery cell voltage measurement system, such as Figure 1 As shown, each battery pack 2 includes multiple battery cells, each of which is connected in series, and the measurement system of this implementation method tests each battery cell. The specific measurement system includes: a battery cell measurement module and a robotic arm 1, wherein the battery cell measurement module includes a control unit, a voltage sensor, and a measurement probe 6 located at the end of the robotic arm 1, with the negative terminal of the first battery cell to be tested as the common ground terminal.

[0054] This implementation method sets a common ground terminal, and the measuring probe 6 at the other end is driven by the robot arm 1 to make contact, which can automatically calculate and indirectly obtain the voltage of each single cell, reducing 50% of the contact points. Combined with the high repeatability positioning accuracy of the robot arm 1, the consistency of the contact points during multiple measurements can be guaranteed.

[0055] In this implementation, the voltage sensor is connected to the control unit for communication (a wired connection can be used here to ensure signal transmission stability, and of course a wireless connection can also be used in some special scenarios), the positive terminal of the voltage sensor is connected to the measuring probe 6, and the negative terminal of the voltage sensor is used to be connected to the common ground terminal;

[0056] The measuring probe 6 is used to be connected to the positive terminal of each battery cell to be tested in sequence under the drive of the robot arm 1, and the control unit determines the voltage measurement result of each battery cell according to the voltage difference between the positive terminal of each battery cell and the common ground terminal.

[0057] In this implementation, preferably, the control unit may be a host computer that integrates data processing, display and robot arm 1 control functions, or may be a separate control module, which will not be described in detail here.

[0058] In this implementation, preferably, the measuring probe 6 adopts an elastic probe (such as a spring probe). The use of the elastic probe can effectively avoid collision between the measuring probe 6 and the battery cell when in contact, reduce damage to the battery cell to be measured, and at the same time, better pressure monitoring can be achieved in combination with the pressure sensor 5.

[0059] In this implementation, more specifically, the battery cell measurement module further includes: a transition tool 4, a voltage sensor, a transmitter and a pressure sensor 5, and the transition tool 4 is connected to the end of the mechanical arm 1;

[0060] The pressure sensor 5 is connected to the measuring probe 6 to measure the force of the measuring probe 6, and the pressure sensor 5 is connected to the transmitter;

[0061] The transmitter is connected to the control unit, the positive terminal of the voltage sensor is connected to the measuring probe 6, the negative terminal of the voltage sensor is connected to the common ground terminal, the voltage sensor is communicatively connected to the control unit, and the control unit is used to receive the voltage difference measurement results of each battery cell to be tested, and calculate the voltage of each battery cell to be tested according to the voltage difference measurement results.

[0062] In this implementation, more specifically, Figure 2 and Figure 3 As shown, the pressure sensor 5 may be a pressure switch, which is connected to the measuring probe 6. The pressure switch can monitor the pressure change of the measuring probe 6 in real time, and is further used for pressure consistency control in subsequent measurement processes.

[0063] In this implementation, by utilizing the cooperation of the measuring probe 6, the pressure sensor 5, and the robotic arm 1, the consistency of the contact force can be guaranteed for each measurement, and the battery cell voltage can be automatically calculated to realize automatic data recording; through the design of the above system, it can adapt to the measurement of battery cell voltages of different models and specifications and different sizes, and solve the problems of large workload of manual (every half an hour) battery cell voltage measurement method and inconsistent contact force and basic position of existing methods in battery maintenance and charging and discharging tests, which can reduce manual labor intensity and workload, improve test efficiency, and eliminate faults such as single cell voltage error caused by inconsistent contact force.

[0064] The robot arm 1 in this implementation can be driven by multi-axis linkage, and the movement accuracy can reach 0.1 mm, providing a movement basis for precise movement positioning, fast and stable movement speed, high repeated positioning accuracy, consistent contact force, and can quickly complete the test of a group of batteries (for example, 76 battery cells).

[0065] In some other implementations, the robotic arm 1 may be a part of a robot, that is, the robot includes a robot body and the robotic arm 1, and the control unit, the voltage sensor, the transmitter and the voltage sensor are all arranged on the robot body (for example, they can be arranged on the head of the robot or the torso of the robot).

[0066] In this implementation, the robotic arm 1 can be fixed on the ground or a wall, or fixed on a mobile robot. Those skilled in the art can make a choice based on specific working conditions, which will not be described in detail here.

[0067] In the present implementation, preferably, the transition tooling 4 is connected with a vision module 7 (such as a camera or a video camera) and an illumination module 8 (such as an automatic lighting module or a manual lighting module). The cooperation between the vision module 7 and the illumination module 8 can realize image acquisition during the measurement process, which can be used for positioning control of the robot arm 1 or detection of the appearance of the battery cell; for example, more accurate recognition can be performed based on the image captured by the vision module 7 to ensure the path planning of the robot arm 1, or the size of the battery pack and the battery cell can be calculated based on the image captured by the vision module 7 to realize automatic movement distance and route design.

[0068] In the present implementation, preferably, the transition tooling 4 is connected with a temperature measurement module 9 for synchronously measuring the temperature of the battery cell during the voltage measurement process. The preferred temperature measurement module 9 here can be an infrared temperature measurement module 9. Of course, those skilled in the art can also select various contact or non-contact temperature measurement modules 9 to implement it, which will not be repeated here.

[0069] It is understandable that in some other implementations, multiple measuring probes (which may be elastic probes) can also be arranged on the transition tooling 4. After fixing a battery pack of one model (that is, the size and position of each battery cell are fixed), the measuring probes are driven by the robotic arm 1 to complete the measurement of multiple battery cells at one time, thereby achieving fast and accurate measurement through the robotic arm 1.

[0070] like Figure 4 As shown, it is a specific electrical connection schematic diagram. An infrared distance measurement module can also be set to perform preliminary measurement of the distance between the measuring probe 6 and the battery cell to avoid hard collision between the measuring probe 6 and the battery cell, thereby improving the overall service life and control accuracy.

[0071] In this implementation, preferably, the control unit includes a display interface; or the control unit is connected to a display module; the display interface or the display module is used to display the calculated battery cell voltage and control process data during the charging and discharging process. Figure 5 As shown, it is a schematic diagram of the interface of the battery management system on the control unit. It can be seen that the schematic diagram of the interface includes the voltage, temperature and measurement time of each battery cell.

[0072] In this implementation, based on the above-mentioned battery cell voltage measurement system, the present invention provides a battery cell voltage measurement method, such as Figure 6 and Figure 7 As shown, the following process is included:

[0073] Determine the size of the battery pack and each battery cell (here, it can be programmed after manual measurement, or it can be automatically identified according to the image collected by the visual module 7), determine the measurement order according to the connection method of the battery cells, and determine the movement distance and route of the robot arm 1 each time;

[0074] Connect the negative terminal of the voltage sensor to the common ground terminal, and the robot arm 1 drives the measuring probe 6 to connect to the positive terminal of each battery cell in turn according to the determined measurement sequence, each moving distance and route;

[0075] Each connection of the measuring probe 6 obtains a measurement value, and the voltage of each battery cell is calculated based on the obtained measurement value.

[0076] More specifically, Figure 6 As shown, the length of each row and column in the battery pack, the height of the battery cell, the marking point and the gap, etc. are measured to configure the information of the battery pack; then the program setting for the battery cell measurement is performed, the control unit performs program selection and then starts the operation, the robot arm 1 first returns to the base coordinate, and then the robot arm 1 enters the corresponding position of the first battery cell (at this time, visual position correction can be used), the robot arm 1 is adjusted to the best measurement point, the robot arm 1 performs a downward pressure action to measure the battery voltage (the pressure sensor 5 is used to ensure that the downward pressure is in place), and the in-place pulse is output to the control unit, the control unit reads the voltage and temperature signals multiple times within 1s (the time here can be set, such as 0.5s, etc.) and takes the average value (if it is a new round of testing, the variance and average value will be taken to calculate the actual voltage); determine whether it is the last battery cell, if so, the robot arm 1 returns to the base coordinate and continues the cycle detection; if not, the host computer notifies the robot arm 1 that the measurement of the current battery cell is completed, and the robot arm 1 continues to move to the next battery cell position and continue the test.

[0077] Specifically, the measurement sequence is set as follows: Figure 7 As shown, Figure 7 There are four battery packs included, and corresponding measurement sequences are set accordingly. The robot arm 1 performs tests in sequence according to the preset measurement sequence.

[0078] In this implementation, the voltage sensor sends the battery series voltage to the control unit through a signal line. After receiving these signals, the control unit calculates the actual voltage of the battery using a preset calculation method, and dynamically displays it on the interface of the battery management system of the control unit (or host computer), reflecting the battery voltage changes in the form of a bar graph or a list.

[0079] In this implementation, preferably, the preset calculation method includes:

[0080] The negative terminal of the first battery cell is used as the common ground terminal, and the voltage of the first battery cell is the positive terminal B1 of the first battery cell. + With common ground terminal B - A first voltage difference △V1 between

[0081] The voltage of the second battery cell is the positive terminal B2 of the second battery cell + With common ground terminal B - The second voltage difference △V2 between them is subtracted from the first voltage difference △V1;

[0082] The voltage of the nth battery cell is the nth voltage difference △Vn between the positive terminal of the nth battery cell and the common ground terminal minus the n-1th voltage difference △Vn-1.

[0083] In this implementation, based on the measurement of battery size, the robot's high repeatability positioning accuracy is used to call a program and parameters for each repeated measurement of any battery cell, ensuring that the contact point position is consistent for multiple repeated measurements of the same contact point. It is understandable that when multiple cycles of testing are performed on each battery cell, the contact point position and contact pressure of each test should be kept consistent to ensure that the test conditions of multiple tests of each battery cell are consistent, thereby making the data obtained from each round of measurement comparable.

[0084] Specifically in this implementation, the control of the contact pressure includes the following processes:

[0085] During the measurement of any battery cell, the robot arm 1 drives the measuring probe to move to the set position, drives the measuring probe down, and the measuring probe contacts the positive terminal of the battery cell being measured; it senses the test pressure of the measuring probe, and performs the measurement if the pressure is within the set range; if the pressure is not within the set range, the robot arm 1 adjusts the height until the pressure is within the set range and then performs the measurement.

[0086] A more specific process includes: the robot arm 1 moves to the top of the battery cell to be tested, the robot arm 1 drives the measuring probe 6 to descend and contact the tested point (the height and position are initially set by the program), the pressure sensor 5 senses the pressure between the test pin 6 and the tested point, and forms a voltage difference between the tested point (i.e. the positive terminal of the battery cell to be tested) and the common ground terminal within a qualified pressure range, which is transmitted to the control unit to automatically calculate the battery cell voltage.

[0087] like Figure 8As shown in the figure, it is a schematic diagram of the specific process of voltage sensor for voltage measurement. At the beginning of measurement, the voltage sensor contacts the metal contacts of the battery cell, triggers the signal pulse, and the voltage sensor measures the battery voltage. The voltage is sent to the control unit through the signal line. The control unit processes and displays the voltage value, and the measurement is repeated until the measurement is completed. Fig. 9 As shown, it is the specific voltage value of each battery cell, wherein the horizontal axis X is the serial number of each battery cell, and the vertical axis Y is the normalized voltage of the battery cell.

[0088] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A battery cell voltage measurement system, characterized in that: include: A battery cell measurement module and a mechanical arm, wherein the battery cell measurement module includes a control unit, a voltage sensor, and a measurement probe located at the end of the mechanical arm, with the negative terminal of the first battery cell to be measured as a common ground terminal; The positive terminal of the voltage sensor is connected to the measuring probe, the negative terminal of the voltage sensor is used to be connected to the common ground terminal, and the voltage sensor is in communication connection with the control unit; The measuring probe is used to connect to the positive terminal of each battery cell to be tested in sequence under the drive of the mechanical arm, and the control unit determines the voltage measurement result of each battery cell according to the voltage difference between the positive terminal of each battery cell and the common ground terminal.

2. The battery cell voltage measurement system according to claim 1, characterized in that: The measuring probe is an elastic probe.

3. The battery cell voltage measurement system according to claim 1 or 2, characterized in that: The battery cell measurement module further includes: a transition tool, a transmitter and a pressure sensor, wherein the transition tool is connected to the end of the mechanical arm; The pressure sensor is connected to the measuring probe to monitor the force applied to the measuring probe, and the pressure sensor is connected to the transmitter; The transmitter is connected to the control unit, and the control unit is also used to control the downward pressure of the measuring probe according to the force data.

4. The battery cell voltage measurement system according to claim 3, characterized in that: It also includes a robot body, the control unit, the voltage sensor and the transmitter are all arranged on the robot body, and the mechanical arm is connected to the robot body.

5. The battery cell voltage measurement system according to claim 3, characterized in that: The transition tooling is connected to a vision module and an illumination module; or, the transition tooling is connected to a temperature measurement module for synchronously measuring the temperature of the battery cell during the voltage measurement process.

6. The battery cell voltage measurement system according to claim 3, characterized in that: The control unit includes a display interface; or the control unit is connected to a display module; the display interface or the display module is used to display the calculated battery cell voltage and control process data during the charging and discharging process.

7. A method for measuring battery cell voltage, characterized in that: The battery cell voltage measurement system according to any one of claims 1 to 6 comprises the following process: Determine the size of the battery pack and each battery cell, determine the measurement sequence according to the connection method of the battery cells, and determine the distance and route of each movement of the robot arm; The negative terminal of the voltage sensor is connected to the common ground terminal, and the mechanical arm drives the measuring probe to connect to the positive terminal of each battery cell in turn according to the determined measurement sequence, each moving distance and route; Each connection of the measuring probe obtains a measurement value, and the voltage of each battery cell is calculated based on the obtained measurement value.

8. The battery cell voltage measurement method according to claim 7, characterized in that: The voltage of each battery cell is calculated based on the measured values, including: The negative terminal of the first battery cell serves as the common ground terminal, and the voltage of the first battery cell is a first voltage difference between the positive terminal of the first battery cell and the common ground terminal; The voltage of the second battery cell is a second voltage difference between the positive terminal of the second battery cell and the common ground terminal minus the first voltage difference; The voltage of the nth battery cell is the nth voltage difference between the positive terminal of the nth battery cell and the common ground terminal minus the n-1th voltage difference.

9. The battery cell voltage measurement method according to claim 7 or 8, characterized in that: During the measurement of any battery cell, the contact point position of the measuring probe and the positive terminal of the battery cell is consistent with each other during repeated measurements.

10. The battery cell voltage measurement method according to claim 7 or 8, characterized in that: During the measurement of any battery cell, the mechanical arm drives the measuring probe to move to the set position, drives the measuring probe down, and the measuring probe contacts the positive terminal of the measured battery cell; The test pressure of the measuring probe is sensed. If the pressure is within the set range, the measurement is performed. If the pressure is not within the set range, the robot arm adjusts the height until the pressure is within the set range and then the measurement is performed.

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