Machining platform based on battery pack metal shell and control method

Abstract

The invention relates to a machining platform based on a battery pack metal shell and a control method, the equipment comprises a controlled lifting end and an adjusting mechanism so as to perform dynamic adjustment according to collected position information, a clamping and positioning mechanism can stably fix battery pack accessories on a material placing plane of an assembling platform, and in addition, the clamping and positioning mechanism can clamp the battery pack accessories on the material placing plane of the assembling platform. And a transmitting unit matched with the sensing assembly is arranged at the butt joint opening, so that the position of the butt joint opening is monitored in real time, the controller can further accurately control movement of the lifting end and the adjusting end according to position information collected by the sensing assembly, the assembling platform is adjusted to the target posture, and it is ensured that the fixing hole and the butt joint opening are automatically and accurately aligned. By means of the technical scheme, the transferring equipment effectively solves the problems that in the prior art, when butt joint openings and fixing holes are manually aligned, the operation efficiency is low, the labor intensity is large, and the alignment precision is greatly influenced by human factors, then efficient automation of assembling operation is achieved, and the labor intensity of operators is reduced.

Description

Technical Field

[0001] The present invention relates to processing equipment, and in particular to a processing platform and a control method based on a metal shell of a battery pack. Background Art

[0002] With the rapid development of the new energy vehicle industry, battery packs, as an important component of new energy vehicles, have increasingly higher requirements for the assembly accuracy and efficiency of their accessories.

[0003] Existing assembly operation auxiliary equipment mostly adopts the form of a cart with a material placement surface, and usually has basic material placement and plane load-bearing functions for placing parts to be assembled. This type of cart provides a stable operating platform for the transportation and processing of parts.

[0004] However, this existing assembly auxiliary equipment has certain limitations when assembling battery pack accessories. In the assembly process of automotive battery pack crossbeams, brackets and other parts, operators need to manually align the docking interface (for example, docking interface, the muzzle of an electric screw gun, etc.) with the fixing hole on the part to complete the connection. However, due to the large size of battery pack accessories and the diverse distribution of fixing hole positions, manual assembly often has problems such as low work efficiency and high labor intensity, resulting in low assembly efficiency. Therefore, it is urgent to propose a processing platform and control method based on the metal shell of the battery pack to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a processing platform based on a battery pack metal shell that can achieve automatic and precise alignment of a docking interface with a fixing hole of a battery pack accessory, so as to improve the efficiency and quality of assembly operations and reduce the labor intensity of operators.

[0006] The technical solution adopted by the present invention to solve the above problems is: a processing platform based on the metal shell of the battery pack, comprising: The assembly platform includes a material placement plane for placing battery pack accessories; A clamping and positioning mechanism connected to the assembly platform to controllably restrict the battery pack accessories to a target position on the material placement plane; A base, the base including a controlled lifting end; An adjusting mechanism is arranged at the lifting end, the adjusting mechanism comprises an adjusting end with controlled movement, and the adjusting end is connected to the assembly platform; A launching unit is arranged at the docking interface; Testing agencies include: A travel component connected to the assembly platform, the travel component comprising a first moving end that moves in a controlled manner, wherein a moving track of the first moving end is parallel to the material placement plane; A lifting assembly connected to the first moving end, the lifting assembly comprising a second moving end that moves in a controlled manner, wherein a moving track of the second moving end is perpendicular to the material placement plane; A base plate connected to the second moving end, the base plate comprising an assembly groove extending therethrough, the assembly groove being configured to be coaxially arranged with a fixing hole of the battery pack accessory on the material placement plane during processing of the battery pack accessory; A sensor component is arranged on the substrate, the sensor component is arranged on the peripheral side of the assembly groove to form a monitoring area, and the sensor component is configured to continuously collect the position information of the transmitting unit when the transmitting unit enters the monitoring area; A controller is connected to the base, the adjustment mechanism and the detection mechanism, and the controller is configured to receive the position information and control the movement of the lifting end and the adjustment end according to the position information so that the fixing hole of the battery pack accessory on the placing plane is aligned with the docking port.

[0007] Preferably, the transmitting unit is a magnet or a controlled electromagnet.

[0008] Preferably, the sensing component is a magnetic sensing array, and the magnetic sensing array includes a plurality of magnetic sensors, each of the magnetic sensors is arranged in a two-dimensional array, and the center of the two-dimensional array coincides with the center of the assembly slot.

[0009] Preferably, the two-dimensional array is a rectangular array, and the distances between any two adjacent magnetic sensors are equal.

[0010] Preferably, the magnetic sensor is a three-axis magnetic sensor.

[0011] Preferably, a magnetic shielding layer is provided in the substrate.

[0012] Preferably, the adjustment mechanism comprises: A six-degree-of-freedom platform, connected to the controller, comprises: A first mounting seat connected to the lifting end; A second mounting seat, the second mounting seat being the adjustment end, and the second mounting seat being connected to a side of the assembly platform away from the material placement plane; A servo screw assembly is disposed between the first mounting seat and the second mounting seat to controllably adjust the relative posture of the assembly platform; A plurality of elastic support members, each of which is arranged between the assembly platform and the lifting end, and each of the elastic supports is arranged at equal intervals around the edge of the bottom of the assembly platform.

[0013] Preferably, the transmitting unit is a magnet or an electromagnet.

[0014] The sensing component is a magnetic sensor array, which includes a plurality of three-axis magnetic sensors, each of which is arranged in a rectangular two-dimensional array, the spacing between each pair of adjacent magnetic sensors is equal, and the center of the two-dimensional array coincides with the center of the assembly slot.

[0015] A magnetic shielding layer is arranged in the substrate.

[0016] In particular, a control method for the above-mentioned transfer equipment comprises: Acquire the size parameters of the battery pack accessory and the target position parameters of the center point of the fixing hole of the battery pack accessory in space when the battery pack accessory is fixed on the material placement plane by the clamping and positioning mechanism; Acquire real-time detection data of each of the three-axis magnetic sensors in the magnetic sensor array disposed in the detection mechanism of the transport device, wherein the real-time detection data includes a magnetic flux density value in each axial direction at a position corresponding to the three-axis magnetic sensor; Determine whether the real-time detection data of all the three-axis magnetic sensors in the magnetic sensor array meets a target matching condition, wherein the target matching condition includes: The distribution of the magnetic flux density values ​​of all the three-axis magnetic sensors meets the symmetry judgment condition, or; The distance between the real-time spatial position of the transmitting unit calculated based on the magnetic flux density values ​​of all the three-axis magnetic sensors and the spatial position of the center point of the target fixing hole on the battery pack accessory is less than a preset tolerance threshold; If the real-time detection data of all the three-axis magnetic sensors in the magnetic sensor array meet the target matching condition, the adjustment end of the adjustment mechanism is controlled to stop moving so that the target fixing hole on the battery pack accessory is coaxial with the docking interface space.

[0017] Preferably, the symmetry judgment condition includes: The standard deviation of the output values ​​of the three-axis magnetic sensors in the magnetic sensor array is less than a set threshold, or; The difference between the maximum value and the minimum value of the output value is less than a preset value; The preset tolerance threshold should be within 0.3 mm.

[0018] Beneficial effects of the embodiments of the present invention: 1. Since the present application adopts the cooperation of the lifting end and the adjusting mechanism of the base, the transmitting unit and the detecting mechanism are used to collect the position information of the docking interface in real time, and the movement of the lifting end and the adjusting end is precisely controlled by the controller, so that the fixing hole of the battery pack accessory on the assembly platform is automatically and accurately aligned with the docking interface. Therefore, the problems of low operating efficiency and high labor intensity when manually aligning the docking interface and the fixing hole in the prior art are effectively solved, thereby achieving a significant improvement in the processing efficiency of battery pack accessories, a significant reduction in labor intensity, and stable and reliable assembly quality.

[0019] 2. The magnetic sensor array is used to collect the position information of the docking interface in real time, and the spatial position deviation between the docking interface and the fixing hole of the battery pack accessory is accurately calculated. The posture of the material placement platform is adjusted in real time according to the position deviation, so that the fixing hole of the battery pack accessory automatically moves toward the docking interface until the real-time detection data reaches a fixed value. This effectively solves the problems of poor manual alignment accuracy, low efficiency and high labor intensity in the prior art, thereby realizing the automation and high-precision alignment of the assembly operation, improving the assembly operation efficiency and ensuring the stability and reliability of the assembly quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic structural diagram of a processing platform based on a metal shell of a battery pack proposed in one embodiment of the present invention is shown.

[0021] Figure 2 Shows Figure 1 Enlarged view of point A in the middle.

[0022] Figure 3 A schematic structural diagram showing an assembly platform and an adjustment mechanism in a connected state in one embodiment of the present invention is shown.

[0023] Figure 4 A schematic structural diagram of a six-degree-of-freedom platform in one embodiment of the present invention is shown.

[0024] Figure 5 A schematic flow chart of a control method for controlling a transfer device proposed in an embodiment of the present invention is shown.

[0025] Among them: 10, base; 110, lifting end; 20, assembly platform; 210, material placement plane; 30, clamping and positioning mechanism; 40, adjustment mechanism; 410, six-degree-of-freedom platform; 411, first mounting seat; 412, second mounting seat; 413, servo screw assembly; 420, elastic support member; 50, detection mechanism; 510, stroke assembly; 520, lifting assembly; 530, substrate; 531, assembly slot; 540, sensor assembly. DETAILED DESCRIPTION

[0026] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0027] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description created by the present application, unless otherwise specified, "multiple" means two or more.

[0028] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0029] See also Figures 1 to 3 In a preferred embodiment of the present application, a processing platform is proposed, which is used for assembling battery pack accessories and provides a movable assembly station for the assembly of battery pack accessories. The processing platform includes an assembly platform 20, a clamping and positioning mechanism 30 and a base 10. Among them, the assembly platform 20 includes a material placement plane 210 for placing battery pack accessories. The clamping and positioning mechanism 30 is connected to the assembly platform 20 to controllably limit the battery pack accessories to a target position on the material placement plane 210.

[0030] Specific: The assembly platform 20 provides a placement platform for the battery pack accessories, which can be embodied as a flat plate in a specific manner. The shape of the flat plate should be adapted to the battery pack accessories so that the material placement plane 210 has sufficient bearing area. Taking a rectangular flat plate as an example, Figure 1As shown, the rectangular flat plate is composed of two parallel planes consisting of length and width, which are the top and bottom surfaces respectively. The top surface is the material placement plane 210, and the center point of the material placement plane 210 can be used as the origin of the spatial coordinates. The material of the assembly platform 20 can be selected from high-strength metal plates, which have the characteristics of wear resistance and corrosion resistance. In some embodiments, the material placement plane 210 can be designed as a modular structure (not shown in the figure) to facilitate adjustment or expansion according to the sizes of different battery pack accessories.

[0031] The clamping and positioning mechanism 30 can achieve stable fixation of the battery pack accessories by being tightly connected to the assembly platform 20, thereby limiting the battery pack accessories to the target position on the material placement plane 210 of the assembly platform 20. The target position is determined by the clamping and positioning mechanism 30, and the design of the clamping and positioning mechanism 30 needs to be adapted to the battery pack accessories to be transported. When the target position is determined, the spatial coordinates of the center points of the fixing holes on the battery pack accessories limited therein are also determined.

[0032] The clamping mechanism can be embodied in a specific manner as a plurality of symmetrically arranged claws, springs or cylinder clamping units, and move in coordination according to a predetermined trajectory, so as to apply uniform pressure to the battery pack during operation. In some embodiments, the clamping and positioning mechanism 30 is connected to a sensor (such as a displacement sensor, a pressure sensor) and an actuator (such as a servo motor or a cylinder), which can monitor the clamping state in real time, and automatically adjust the clamping force according to preset parameters (pressure, angle, etc.) to ensure that the parts do not move during transportation and assembly. Moreover, in order to adapt to the batch operation of the production line, the clamping and positioning mechanism 30 can also be designed as a quick locking / release structure, so that the state can be quickly switched between different working stages (loading, processing, unloading).

[0033] The base 10 is a basic support platform for the transfer equipment. Specifically, it is a hollow frame structure formed by splicing profiles. The frame is usually a rectangular frame. The assembly platform 20 is set on the top of the rectangular frame. In addition, in order to realize the flexible movement or fixation of the equipment in the production line, a number of casters or guide rails can be installed at the bottom of the rectangular frame and cooperate with the workshop fixture. Moreover, because the base 10 is a hollow frame structure, a large number of wire troughs and cable ducts can be arranged inside the base 10 to transmit signals from various actuators and control systems to ensure the communication stability and electrical safety of the entire system.

[0034] In the prior art, this auxiliary assembly equipment for the transfer of battery pack accessories has certain limitations when assembling battery pack accessories. In particular, in the assembly process of components such as the crossbeam and bracket of the automobile battery pack, the operator needs to manually align the docking interface (the docking interface can be a docking interface or a screwdriver blade, etc.) with the fixing hole on the component during the operation to complete the assembly. However, due to the large size of the battery pack accessories and the diverse distribution of the fixing hole positions, manual assembly operations often have problems such as low operating efficiency and high labor intensity, resulting in low assembly efficiency.

[0035] Different from the prior art, the base 10 in the transfer device should also include a controlled lifting end 110, and the transfer device should also include an adjustment mechanism 40, a launch unit, a detection mechanism 50 and a controller. The adjustment mechanism 40 is arranged at the lifting end 110, and the adjustment mechanism 40 includes a controlled moving adjustment end, and the adjustment end is connected to the assembly platform 20. The launch unit is arranged at the docking interface. The detection mechanism 50 includes a stroke component 510, a lifting component 520, a substrate 530 and a sensor component 540; wherein the stroke component 510 is connected to the assembly platform 20, the stroke component includes a first moving end for controlled movement, and the moving trajectory of the first moving end is parallel to the material loading plane 210; the lifting component 520 is connected to the first moving end, the lifting component 520 includes a second moving end for controlled movement, and the moving trajectory of the second moving end is perpendicular to the material loading plane 210; the substrate 530 is connected to the second moving end, the substrate 530 includes an assembly groove 531 that is arranged through, and the assembly groove 531 is configured to be coaxially arranged with the fixing hole of the battery pack accessory on the material loading plane 210 during the processing of the battery pack accessory; the sensor component 540 is arranged on the substrate 530, and the sensor component 540 is arranged on the surrounding side of the assembly groove 531 to form a monitoring area, and the sensor component 540 is configured to continuously collect the position information of the transmitting unit when the transmitting unit enters the monitoring area. The controller is connected to the base 10, the adjustment mechanism 40 and the detection mechanism 50, and the controller is configured to receive the position information and control the movement of the lifting end 110 and the adjustment end according to the position information, so that the fixing hole of the battery pack accessory on the material placement plane 210 is aligned with the docking port. In summary, the lifting end 110 of the base 10 cooperates with the adjustment mechanism 40, and the position information of the docking port is collected in real time by using the transmitting unit and the detection mechanism 50, and the movement of the lifting end 110 and the adjustment end is precisely controlled by the controller, so that the fixing hole of the battery pack accessory on the assembly platform 20 is automatically and precisely aligned with the docking port, thereby effectively solving the problems of low operating efficiency and high labor intensity when manually aligning the docking port and the fixing hole in the prior art, thereby achieving a significant improvement in the processing efficiency of battery pack accessories, a significant reduction in labor intensity, and stable and reliable assembly quality.

[0036] Specific: A controlled lifting end 110 is integrated in the base 10. The structure of the lifting end 110 can be embodied as a hydraulic, electric or servo drive system in a specific manner, so as to finely adjust the assembly platform 20 in the vertical direction. The lifting end 110 establishes a controllable height adjustment mechanism between the assembly platform 20 and the screwdriver or docking port, thereby providing a basis for subsequent alignment actions. It should be noted that the lifting range of the lifting end 110 is much larger than the movable range of the six-degree-of-freedom platform 410 described later in the vertical direction (Z-axis direction).

[0037] The purpose of the adjustment mechanism 40 is to adjust the relative posture of the assembly platform 20 to ensure that the pre-positioning of the battery pack accessories on the material plane 210 can meet the alignment requirements, that is, the axis of the fixing hole of the battery pack accessories restricted on the material plane 210 can be coaxially aligned with the interface. In addition, the adjustment end can be finely adjusted within the predetermined trajectory to implement real-time correction in conjunction with the position information collected by the detection mechanism 50. In one embodiment, Figure 3 As shown, the adjustment mechanism 40 includes a six-degree-of-freedom platform 410, which is connected to the controller and controlled by the controller, and includes a first mounting seat 411, a second mounting seat 412 and a servo screw assembly 413, wherein the first mounting seat 411 is connected to the lifting end 110; the second mounting seat 412 is the adjustment end, and the second mounting seat 412 is connected to the side of the assembly platform 20 away from the material placement plane 210; the servo screw assembly 413 is arranged between the first mounting seat 411 and the second mounting seat 412 to controllably adjust the relative posture of the assembly platform 20. It should be noted that the six-degree-of-freedom platform 410 is a prior art, so there is no need to elaborate on it.

[0038] The firing unit is installed at the docking interface, and its structure adopts a precision positioning unit, which can associate the action of the docking interface with the collected data of the detection mechanism 50. The firing unit feeds back the muzzle position in real time through the built-in position sensor, providing data input for subsequent control. It should be noted that the relative position relationship between the center position of the docking interface and the firing unit is a known quantity. Specifically, it can be understood that when the center of the docking interface is set as a relative origin, the spatial coordinates of the firing unit in the coordinate system are known quantities. This provides support for eliminating the deviation caused by the position difference between the firing unit and the center of the docking interface in the subsequent control method.

[0039] The base plate 530 is directly connected to the second moving end, and is provided with a mounting groove 531. The mounting groove 531 is structurally designed to be coaxially arranged with each fixing hole on the battery pack accessory to achieve the determination of the workpiece hole position.

[0040] The sensor assembly 540 is arranged on the substrate 530, and is mainly installed around the assembly slot 531, so as to form a complete monitoring area. When the transmitting unit enters this monitoring area, the sensor assembly 540 continuously collects the position information of the docking interface to ensure the real-time and accuracy of the data.

[0041] The stroke assembly 510 is used to drive the substrate 530 to move on a plane parallel to the material plane 210, while the lifting assembly 520 is used to drive the substrate 530 to move in a direction perpendicular to the material plane 210. In a preferred embodiment, the stroke assembly 510 can be specifically in the form of a linear slide rail, a lead screw pair and a servo motor, which is fixed on the base 10 and drives the lifting assembly 520 to move in a direction parallel to the material plane 210 to achieve the positioning of the substrate 530 in the XY plane (a plane parallel to the material plane 210). The lifting assembly 520 can use a Z-axis (vertical to the material plane 210) electric slide or a servo-driven lead screw structure, which is installed on the first moving end of the stroke assembly 510 and drives the substrate 530 to move up and down in a direction perpendicular to the material plane 210 to achieve the height alignment of the assembly position. Under the cooperation of the stroke assembly 510 and the lifting assembly 520, the assembly groove 531 on the substrate 530 can be aligned with the fixing hole to be assembled on the battery pack accessory. It should be noted that the travel component 510 cooperates with the lifting component 520 to be suitable for battery pack accessories whose fixing holes are opened on a plane and when placed on the loading plane 210, the plane is parallel or perpendicular to the loading plane 210.

[0042] It should be further explained that the cooperation between the travel assembly 510 and the lifting assembly 520 is applicable to a variety of fixing hole arrangements, especially when the fixing holes are opened on different planes of the battery pack accessories. Take a typical structure as an example: In some battery pack accessories (such as battery pack side frames, crossbeams or reinforcement plates), the fixing holes are often arranged on the plane of the component. For example, the fixing holes are opened on the outer plate surface parallel to the battery pack installation direction. When the battery pack accessory is placed on the loading plane 210, the plane where the fixing holes are located is usually parallel to the loading plane 210. At this time, the base plate 530 is driven by the stroke component 510 to move in the plane of the XY direction to achieve precise alignment of the fixing holes and the docking interface on the horizontal plane; the lifting component 520 is used to fine-tune the height of the assembly groove 531 to ensure that the muzzle and the fixing hole are coaxial in the vertical direction. Alternatively, the fixing holes are opened in the end cover plate of the accessory, which is a structural component perpendicular to the main bearing surface. When the accessory is placed on the loading plane 210, the plane where the fixing holes are located is usually perpendicular to the loading plane 210. At this time, the clamping and positioning mechanism 30 of the assembly platform 20 positions the battery pack accessory with the vertical surface facing the direction of the detection mechanism 50. The lifting assembly 520 can drive the base plate 530 to move along the Z axis to achieve vertical adjustment of the fixing holes at different heights. At the same time, the stroke assembly 510 ensures that the assembly slot 531 can move in the horizontal direction (such as the Y axis), so that the muzzle scans along the vertical surface of the accessory and is finally positioned above the target fixing hole, thereby completing precise alignment.

[0043] In summary, in the assembly process of the battery pack bracket, it is often necessary to position the multiple fixing holes opened on the side of the frame one by one. In this application, the stroke component 510 and the lifting component 520 form a three-dimensional adjustable platform, which drives the assembly slot 531 on the base plate 530 to be precisely adjusted horizontally and vertically to ensure coordination with the real-time position of the launch unit, so that each fixing hole can achieve high-precision automatic alignment. It should be noted that when assembling the fixing holes on the battery pack accessories, each fixing hole can be numbered in sequence, and the position information of the fixing holes corresponding to the number can be input into the controller, and then, the assembly is performed in sequence according to the size of the numbering sequence, and the stroke component 510 and the lifting component 520 under the action of the controller will make the assembly holes on the base plate 530 align with each fixing hole in sequence according to the pre-set numbering sequence, thereby realizing the limitation of the assembly sequence of the operator.

[0044] The controller is connected to the base 10, the adjustment mechanism 40 and the detection mechanism 50 through a bus or a field bus. A data processing module, a feedback control module and a communication interface are integrated inside it. The controller can use a preset control algorithm to coordinately control the movement of the lifting end 110 and the adjustment end according to the real-time position information collected by the detection mechanism 50, so that the fixing hole of the battery pack accessory on the assembly platform 20 is always accurately aligned with the docking port. In a specific embodiment, the controller can use Siemens S7-1215C series PLC, which is equipped with multiple digital input and output ports, analog input ports and Ethernet communication interfaces. The controller establishes a high-speed data channel with the adjustment mechanism 40, the lifting end 110 and the sensor component 540 through the EtherCAT or PROFINET bus, and realizes precise position control of the adjustment end and the lifting end 110 through the integrated PID control instructions. The controller receives the position information input from the sensor component 540, and calculates the deviation data between the docking port and the battery pack accessory fixing hole in real time, and then outputs accurate control instructions to the adjustment mechanism 40, thereby realizing automatic alignment of the assembly position. In addition, the controller can also be connected to the touch screen HMI to support graphical monitoring and parameter setting of information such as the motion status of each axis, position information, and alarm log.

[0045] Before the assembly tool is put into operation, the operator first places the battery pack parts on the material placement plane 210 on the assembly platform 20 of the transfer equipment, and performs preliminary fixation through the clamping and positioning mechanism 30. The mechanism can achieve flexible positioning and multi-point clamping according to the shape of the parts, thereby ensuring that the fixing holes are in a stable state near the preset target position, providing a basis for subsequent automatic calibration.

[0046] The docking port is equipped with a transmitting unit, which is integrated with a precision position sensor. In the startup state, the transmitting unit enters the monitoring area constructed by the detection mechanism 50, and the sensor component 540 collects the position data of the transmitting unit in real time. Since the position relationship between the center of the docking port and the transmitting unit is a fixed known quantity, the controller can use this to calculate the spatial coordinates of the actual working end of the docking port.

[0047] The controller is the core control unit of the entire alignment process, which integrates a data acquisition module, a feedback control module, a position calculation module and a motion control module.

[0048] During the data collection and processing, the controller receives real-time position information from the sensor assembly 540, and calculates the current position of the docking interface in the three-dimensional coordinate system in combination with the fixed offset between the docking interface and the transmitting unit.

[0049] The controller first controls the lifting end 110 to drive the assembly platform 20 to perform a rough adjustment along the Z axis as a whole, to ensure that the assembly platform 20 enters the adjustable range of the six-degree-of-freedom platform 410 .

[0050] Subsequently, the controller implements fine posture adjustment through the six-degree-of-freedom adjustment mechanism 40, with the goal of making the central axis of the fixing hole on the accessory completely coaxial with the axis of the docking port in space. The adjustment process is based on closed-loop control logic, and commonly used algorithms include PID control or adaptive coordinate correction algorithm.

[0051] In actual operation, the fixing holes on each accessory can be numbered (e.g., A1, A2, ... An), and their corresponding spatial coordinates can be pre-entered into the controller. The controller controls the travel assembly 510 and the lifting assembly 520 to move in linkage according to the numbered sequence, so that the assembly slots 531 on the base plate 530 are aligned with the numbered holes in sequence. This sequential control not only ensures that the assembly sequence is controllable, but also avoids manual judgment errors, thereby improving overall work efficiency and consistency.

[0052] When the controller determines that the current fixing hole and the muzzle are within an acceptable error range (e.g., less than ±0.3mm), the system issues an assembly start command. The assembly process is monitored in real time. If a micro-displacement of the assembly platform 20 is detected during the process (e.g., due to vibration), the controller can immediately issue a subtle correction command and perform dynamic compensation through the six-degree-of-freedom platform 410 to ensure that precise coaxiality is always maintained during the assembly process.

[0053] After assembly is completed, the controller instructs the clamping mechanism to release the workpiece, and the equipment can be pushed to the next process via casters / guide rails. The controller automatically switches to the task parameters of the next accessory and executes repeated inspection-alignment-assembly processes to achieve batch automation and continuous operation.

[0054] In summary, the controller is configured to receive the docking port position information collected by the detection mechanism 50, and perform real-time comparison according to the preset spatial coordinates corresponding to the fixing hole numbers. The controller first controls the lifting end 110 to make initial adjustments to the assembly platform 20 in the Z direction, and then the six-degree-of-freedom adjustment mechanism 40 connected thereto finely adjusts the relative posture of the assembly platform 20, so that the central axis of the fixing hole on the battery pack accessory is coaxial with the axis of the docking port. The controller is integrated with a motion control algorithm and a path planning module, which supports automatic alignment of multiple fixing holes by numbering sequence.

[0055] In this embodiment, the lifting end 110 of the base 10 cooperates with the adjustment mechanism 40, the transmitting unit and the detection mechanism 50 are used to collect the position information of the docking port in real time, and the movement of the lifting end 110 and the adjustment end is precisely controlled by the controller, so that the fixing hole of the battery pack accessory on the assembly platform 20 is automatically and precisely aligned with the docking port. Therefore, the problems of low operating efficiency and high labor intensity in the manual alignment of the docking port and the fixing hole in the prior art are effectively solved, thereby achieving a significant improvement in the processing efficiency of the battery pack accessories, a significant reduction in labor intensity, and stable and reliable assembly quality.

[0056] In some embodiments, Figure 3 As shown, the adjustment mechanism 40 also includes a plurality of elastic support members 420, each of which is arranged between the assembly platform 20 and the lifting end 110, and each of the elastic supports is arranged at equal intervals around the edge of the bottom of the assembly platform 20. In a specific manner, the number of elastic support members 420 is determined according to the shape of the assembly platform 20. Taking the assembly platform 20 as a rectangular flat plate as an example, the number of elastic support members 420 is four, and the four elastic support members 420 are respectively arranged at the four corners of the side of the assembly platform 20 away from the material loading platform, thereby further ensuring that the assembly platform 20 remains stable when the posture is adjusted. The elastic support members 420 can be specifically embodied as high-strength springs. When the posture of the assembly platform 20 changes, each elastic support member 420 undergoes tension and compression changes to apply a reaction force to the bottom of the assembly platform 20, thereby making the assembly platform 20 run more stably.

[0057] In some embodiments, Figure 2 As shown, the transmitting unit is a magnet or a controlled electromagnet. The sensor assembly 540 is a magnetic sensor array, which includes a plurality of three-axis magnetic sensors, each of which is arranged in a two-dimensional array, and the center of the two-dimensional array coincides with the center of the assembly slot 531. Further, the two-dimensional array is a rectangular array, and the spacing between each pair of adjacent magnetic sensors is equal.

[0058] In this embodiment, the launch unit is installed near the docking port in the form of a permanent magnet or a controlled electromagnet. Its shape can be cylindrical, rectangular or flat block structure, and its size design should ensure that it does not affect the normal operation of the docking port. The launch unit is used to generate a magnetic field that can be sensed by the magnetic sensor. Its installation position is accurately calibrated to ensure that it has a fixed and known spatial offset vector (such as offset vector Δx, Δy, Δz) relative to the center of the muzzle. The offset can be pre-set in the controller for compensation calculation.

[0059] The sensor assembly 540 in the detection mechanism 50 adopts a magnetic sensor array structure, which is specifically composed of a plurality of three-axis magnetic sensors arranged to form a two-dimensional rectangular array. Each three-axis magnetic sensor can detect the magnetic field strength in the three directions of X, Y, and Z respectively, and has high sensitivity and low noise characteristics. The magnetic sensor can be a Hall effect sensor or a GMR (giant magnetoresistance) sensor, both of which have the ability to sense tiny magnetic fields. The center of the array coincides with the center of the assembly slot 531 of the substrate 530, ensuring that when the docking interface is vertically aligned with the center position of the assembly slot 531, its transmitting unit will also be in the central area of ​​the magnetic sensor array, which is convenient for position calculation.

[0060] The spacing between adjacent sensors in the array is kept consistent (e.g., 10 mm to 15 mm) to achieve an equidistant grid distribution. The entire array is integrated in or on the surface of the substrate 530 and isolated from the external magnetic field by shielding materials to improve the signal-to-noise ratio and anti-interference capability.

[0061] When the docking port approaches the monitoring area formed by the detection mechanism 50 during operation, the magnetic field generated by the magnetic launch unit at the muzzle will generate an induction signal in the magnetic sensor array. Since the three-axis magnetic sensor can simultaneously output the magnetic flux density values ​​in the X, Y, and Z directions, the controller can use the magnetic field distribution fitting algorithm or the inverse solution algorithm to calculate the precise three-dimensional coordinates of the launch unit in space according to the difference and distribution law of the magnetic field intensity detected by each sensor.

[0062] The controller further calculates the real-time spatial position of the docking port in combination with the offset parameters of the launch unit relative to the docking port. Subsequently, the controller compares the position with the preset coordinates of the fixing hole on the battery pack accessory, calculates the position deviation, drives the lifting end 110 of the base 10 and the six-degree-of-freedom adjustment mechanism 40 to work in conjunction, and finely adjusts the assembly platform 20, ultimately making the central axis of the fixing hole coaxial with the muzzle axis.

[0063] During the entire process, the magnetic sensor array provides real-time, multi-dimensional, non-contact position perception, with the advantages of fast response, high accuracy, and no influence from light / dust / oil, which is extremely suitable for high-precision positioning requirements in complex production environments.

[0064] This embodiment uses a magnetic sensor array to detect the position of the transmitting unit. Compared with traditional manual aiming methods, it is non-contact, has a high response speed, and has strong anti-interference ability. It is suitable for complex industrial environments such as dust / oil / vibration, and realizes three-dimensional real-time positioning of the interface position, which is convenient for dynamic adjustment and error compensation. Moreover, it can also support batch automation operation processes, greatly improve assembly efficiency, and reduce the labor intensity of operators.

[0065] In some embodiments, in order to improve the accuracy and stability of magnetic field monitoring, a magnetic shielding layer is integrated inside the substrate 530 to shield the interference of the material of the battery pack accessories themselves on the magnetic field distribution.

[0066] The magnetic shielding layer is arranged below the magnetic sensor array of the substrate 530 or in its surrounding area, between the magnetic sensor and the battery pack accessory, so as to effectively isolate the magnetic influence from the battery pack accessory body. The shielding layer can be a whole structure, or it can be cut into local rectangular blocks according to the sensor array area. The material of the magnetic shielding layer can be selected from soft magnetic alloys with high magnetic permeability and low remanence, such as μ-metal, Permalloy, iron-silicon alloy, etc. Its thickness is generally 0.1mm to 0.5mm, and it is designed according to the required shielding strength and structural space.

[0067] In practical applications, battery pack accessories are usually made of aluminum alloy, stainless steel or steel materials with weak magnetism. These materials may have a certain magnetic conductivity or be magnetized during processing, which may cause local disturbances to the external magnetic field (from the transmitting unit) detected by the magnetic sensor. For example, when the edge of the aluminum profile is close to the magnetic sensor, irregular magnetic flux distortion will be generated in the sensor area, causing measurement errors. The magnetic shielding layer, through its strong absorption and guidance of magnetic flux, guides these interfering magnetic fields from the workpiece to the inside of the shielding layer, so that it no longer enters the effective sensing area of ​​the magnetic sensor array, thereby greatly reducing the background interference noise output by the magnetic sensor.

[0068] During the operation of the device, the transmitting unit releases the magnetic field after entering the monitoring area above the assembly slot 531, and the magnetic field passes through the monitoring area and enters the sensing layer of the magnetic sensor array. In the structure with the magnetic shielding layer, the disturbance of the magnetic field caused by the measured object is absorbed and isolated by the shielding layer, so that the sensor only senses the main magnetic field distribution from the transmitting unit, thereby improving the resolution and repeatability of position detection.

[0069] The magnetic shielding layer in this embodiment effectively suppresses the background interference of the battery pack accessories or the assembly platform 20 on the magnetic field measurement, improves the signal-to-noise ratio of the magnetic sensor array, makes the positioning data more stable and reliable, and reduces the system calibration error caused by the difference in the properties of different accessories. It is beneficial for the transmitting unit to use magnets with lower magnetic strength, thereby improving the energy efficiency and safety of the overall system.

[0070] In summary, the provision of the magnetic shielding layer effectively improves the working stability and positioning accuracy of the magnetic sensor array in a complex metal environment, and is an indispensable component for achieving high-reliability assembly automatic alignment detection.

[0071] In order to better control the operation of the above-mentioned transfer equipment, so that the detection mechanism 50 on the transfer equipment and the transmitting unit at the interface can cooperate better, a control method is also proposed. Figure 5 , including: Step S100: acquiring the size parameters of the battery pack accessory and the target position parameters of the center point of the fixing hole of the battery pack accessory in space when the battery pack accessory is fixed on the material placement plane 210 by the clamping and positioning mechanism 30; Step S200 acquires real-time detection data of each of the three-axis magnetic sensors in the magnetic sensor array disposed in the detection mechanism 50 of the transfer device, wherein the real-time detection data includes magnetic flux density values ​​in each axial direction corresponding to the position of the three-axis magnetic sensor; Step S300 determines whether the real-time detection data of all the three-axis magnetic sensors in the magnetic sensor array meets a target matching condition, where the target matching condition includes: The distribution of the magnetic flux density values ​​of all the three-axis magnetic sensors meets the symmetry judgment condition, or; The distance between the real-time spatial position of the transmitting unit calculated based on the magnetic flux density values ​​of all the three-axis magnetic sensors and the spatial position of the center point of the target fixing hole on the battery pack accessory is less than a preset tolerance threshold; In step S400, if the real-time detection data of all the three-axis magnetic sensors in the magnetic sensor array meet the target matching condition, the adjustment end of the adjustment mechanism 40 is controlled to stop moving so that the target fixing hole on the battery pack accessory is coaxial with the docking interface space.

[0072] Wherein, step S100 of obtaining the size parameters of the battery pack accessory and the target position parameters of the center point of the fixing hole of the battery pack accessory in space when the battery pack accessory is fixed on the material placement plane 210 by the clamping and positioning mechanism 30 includes the following steps: S101 inputs or imports the CAD model or structural drawing information of the battery pack accessories to obtain its global size parameters and the structural layout position of the fixing holes in the body coordinate system.

[0073] Dimensional parameters include but are not limited to the length, width, height, hole diameter, hole spacing, edge distance and other geometric parameters of the accessories; The CAD model may be a three-dimensional model (such as STEP, IGES format) or a two-dimensional engineering drawing (such as DXF, DWG, etc.); The acquisition method can be through data interface, MES system, cloud platform data call, user manual input, etc.

[0074] S102 establishes a fixed reference coordinate system on the assembly platform 20 according to the structural parameters and constraint mode of the clamping and positioning mechanism 30 , and transforms the hole position coordinates in the CAD model into the spatial reference system of the assembly platform 20 .

[0075] Assuming that the clamping mechanism is a 4-point symmetrical jaw clamping method, its contact surface can be defined as an XY plane that coincides with the material placement plane 210, and the center point of the material placement plane 210 is the coordinate origin; The local coordinate system in the CAD model (such as the center or corner of the accessory) is converted into a coordinate system associated with the assembly platform 20, and the target spatial coordinates Pn (xn, yn, zn) of each fixing hole are calculated.

[0076] S103 writes the spatial coordinate parameters (including numbers and corresponding spatial coordinates) of the centers of all target fixing holes obtained above into a controller data module or a memory as target reference points for subsequent automatic adjustment.

[0077] This data may be stored in the controller in a tabular form.

[0078] To sum up, the core of step S100 is to map the theoretical structural coordinates of the accessory to the actual space coordinate system of the assembly platform 20, and determine the spatial center point of each fixing hole according to the clamping positioning structure, so as to provide a coordinate reference for the subsequent magnetic sensor data inversion, and ensure that the control logic has a mathematical relationship between the "target point" and the "detection point".

[0079] Wherein, step S200 acquires the real-time detection data of each of the three-axis magnetic sensors in the magnetic sensor array disposed in the detection mechanism 50 of the transfer device, wherein the real-time detection data includes the magnetic flux density value in each axial direction at the position where the three-axis magnetic sensor is located, and includes the following steps: Step S201 initializes the magnetic sensor array and the data reading module of the controller: After the controller starts the detection mechanism 50, it establishes communication with the magnetic sensor array arranged on the substrate 530 through the bus interface; Each magnetic sensor is configured in three-axis mode to output the magnetic flux density values ​​in three directions (X, Y, and Z axes) of its current spatial point, usually in Gauss (Gs) or microtesla (µT); The controller sets the reading frequency (eg, 100 Hz to 1 kHz) to achieve real-time high-frequency sampling.

[0080] Step S202: The three-axis magnetic sensor continuously collects the magnetic flux density value at the spatial point: Each magnetic sensor is embedded with a Hall element or a giant magnetoresistance (GMR) element, which generates perceptible electrical signals in the X, Y, and Z directions when an external magnetic field passes through the sensor; The internal circuit of the sensor amplifies, filters and converts the original signal into a digital signal, and outputs the magnetic flux density values ​​in the three axes Bx, By and Bz (unit: µT). Each magnetic sensor periodically sends back its current coordinates and magnetic flux density value to the controller, for example: Sensor #1: , , ; Sensor #2: , , ; ... In step S203, the controller collects, caches and uniformly calibrates the data sent back by all magnetic sensors, and establishes a data matrix according to the spatial position for subsequent calculation of the spatial position of the transmitting unit.

[0081] The controller constructs a three-dimensional magnetic field distribution map (magnetic field vector field), and each sensor corresponds to a vector ; The controller can optionally calculate the modulus value (i.e. magnetic field strength): . To determine the proximity of the transmitting unit; The controller may also use the various directional values ​​to perform three-dimensional fitting respectively, and inversely solve the precise position of the transmitting unit in space (see the subsequent step S300); At the same time, spatial constraint relationships such as "symmetry", "peak distribution center", and "multi-point difference" can also be established.

[0082] It should be noted that the three-axis magnetic flux density values ​​Bx, By, and Bz in step S200 represent the components of the magnetic field in three orthogonal directions at the location of the sensor, and their units are µT (micro Tesla). Together, they form a magnetic field vector , describing the strength and direction of the magnetic field. Among them, Bx is the component of the magnetic field on the X axis (usually the left and right direction), By is the component of the magnetic field on the Y axis (usually the front and back direction), and Bz is the component of the magnetic field on the Z axis (usually the vertical direction). Represents the total strength (mode length) of the magnetic field at that point.

[0083] Moreover, in this transfer equipment control method, the three-axis magnetic flux density value plays a vital role, which is specifically reflected in the following aspects: First, since the transmitting unit is a magnetic body (magnet or electromagnet), when it enters the magnetic sensor array area, it will induce different magnetic flux density values ​​at different positions in the array. The controller can infer the spatial position change of the magnetic source by comparing the changes in the Bx, By, and Bz values ​​output by the sensor; Secondly, by constructing a magnetic field distribution map, the controller uses a spatial inverse solution algorithm (such as the least squares method, multi-point interpolation method, neural network fitting, etc.) to fit the "magnetic peak center" in the distribution into a spatial coordinate, thereby determining the current three-dimensional position of the transmitting unit; Then, by comparing the symmetry, gradient change, uniformity or deviation of the center peak from the target point among the magnetic flux density values ​​of multiple sensors, it is determined whether the docking interface has reached a coaxial state with the fixing hole of the battery pack accessory; Next, the three-axis data can be used to determine whether there is a non-coplanar attitude deviation, for example, the launch unit deviates from the center of the XY plane but the magnetic field strength does not drop significantly, and the change in the Z-axis value can be used to detect whether the muzzle is too high / low; Finally, the three-axis joint measurement avoids the problem of single-axis measurement being allergic to errors, and can make redundant judgments based on the stability of certain axis data to improve robustness.

[0084] In some embodiments of the present invention, the control method includes step S300, i.e., determining whether the real-time detection data of all the three-axis magnetic sensors in the magnetic sensor array meets a target matching condition. The target matching condition includes any one of the following two determination methods: First, the distribution of the magnetic flux density values ​​of all three-axis magnetic sensors meets the symmetry judgment condition. This method is based on the following principle: when the transmitting unit is near the center of the magnetic sensor array, the magnetic field it generates is approximately symmetrically distributed in the sensor array, that is, the difference in the magnetic flux density intensity measured at each sensor is small.

[0085] The specific steps include: S301: The controller collects the Bx, By, and Bz values ​​output by each three-axis magnetic sensor and calculates the modulus of its magnetic field strength: .

[0086] S302: Constructing a magnetic field strength set of all sensors , calculate the range D and standard deviation σ of the magnetic field intensity: ; ; .

[0087] S303: Compare D with the first threshold ε, and σ with the second threshold δ. If D≤ε and σ≤δ (for example, ε=3μT, δ=1.5μT), it is determined that the magnetic flux density is symmetrically distributed in the array, indicating that the transmitting unit is located near the center area of ​​the array, and the corresponding docking port is close to the coaxial position of the target fixing hole.

[0088] In practical applications, the first threshold ε and the second threshold δ can be set by experimental calibration, that is, when the transmitting unit is in a coaxial state, multiple sets of magnetic sensor magnetic flux density data are collected, the magnetic field intensity range and standard deviation are calculated, and the threshold is determined by adding a margin based on the maximum value. This setting method ensures that the symmetry judgment is stable and robust, and adapts to signal fluctuations in the production environment.

[0089] The first threshold ε is the extreme difference threshold of magnetic field strength; the second threshold δ is the standard deviation threshold of magnetic field strength. Their function is to determine whether the distribution of magnetic flux density in the magnetic sensor array is "sufficiently symmetrical", that is, to determine whether the transmitting unit is in the center of the magnetic sensor array. The following is the method for determining the threshold: This method is suitable for the system initialization stage in the laboratory or production site, using actual transmitting units and multiple sampling to establish the upper and lower threshold limits.

[0090] The first step is to build a test environment, install the magnetic sensor array on the target detection platform, use the actual docking interface and launch unit, and set 5 to 10 launch unit alignment points at different locations (including the center and periphery).

[0091] The second step is to record the sensor data in the coaxial state, control the moving mechanism to align the center of the transmitting unit with the center of the assembly slot 531 (i.e., the ideal position), and record the magnetic flux density Bi (calculated modulus) of all three-axis magnetic sensors in the magnetic sensor array in this state. And record multiple sets of data (such as 30 times) to absorb the impact of environmental noise.

[0092] The third step is to calculate the ideal range of D and σ values, once for each set of samples.

[0093] Range D = max (Bi) – min (Bi); standard deviation ; Count all the values ​​of D and σ and find the mean respectively , And maximum values ​​Dmax, σmax.

[0094] Furthermore, a margin Δε (for example, a margin of Δε=10% to 20%) and a margin Δδ (a margin of Δδ=10% to 20%) may also be set. In this case, the first threshold ε=Dmax+Δε; and the second threshold δ=δmax+Δδ.

[0095] For example: when sampling 30 times in the coaxial state, the maximum D value measured is 2.8μT and the maximum σ is 1.3μT.

[0096] Then we can set: the first threshold ε=2.8+0.5=3.3μT (rounded up to 3.5μT); the second threshold δ=1.3+0.3=1.6μT (rounded up to 1.8μT).

[0097] The fourth step is to verify the robustness of the threshold. Test 20 to 50 times in a non-coaxial state (eccentricity ±1mm, ±2mm, etc.) to confirm that the calculated D and σ are significantly larger than the set threshold. If there is a crossover misjudgment, the margin needs to be adjusted appropriately. , .

[0098] Secondly, the real-time spatial position of the launch unit is calculated based on the magnetic flux density value and compared with the spatial coordinates of the target fixed hole. This method is suitable for higher-precision alignment control, and its specific implementation is as follows: S310: The controller collects the spatial coordinates Pi=(xi,yi,zi)of each sensor and the corresponding magnetic flux density vector Bi=(Bxi,Byi,Bzi), and constructs a magnetic field distribution point set: .

[0099] S311: Based on the magnetic field distribution, the controller uses a fitting inverse algorithm to calculate the spatial position Pm=(Xm, Ym, Zm) of the transmitting unit. The calculation method includes the weighted center method: , , ; Or reversely deduce the magnetic source coordinates Pm based on the magnetic dipole physical model.

[0100] S312: Compare the real-time transmitting unit position Pm with the preset target fixing hole center position Pt=(Xt, Yt, Zt) to calculate the spatial distance: .

[0101] S313: If d≤set tolerance threshold T (for example, T=0.3 mm), it is determined that the docking interface and the central axis of the target fixing hole have achieved spatial coaxiality, thereby satisfying the target matching condition.

[0102] Among them, the setting of the tolerance threshold T is related to the judgment of the spatial coaxial accuracy of the docking interface and the fixing hole on the battery pack accessory. In the present application, T is used to judge whether the spatial distance between the real-time position Pm of the transmitting unit obtained by inverse solution of the magnetic flux density and the center point Pt of the target fixing hole meets the accuracy requirements. In order to ensure the spatial coaxiality of the docking interface and the central axis of the target fixing hole, the tolerance threshold T can be determined based on the assembly process tolerance, the error capability of the magnetic positioning system and the control accuracy of the actuator. Specifically, the allowable deviation ΔP is first determined by the assembly and installation standard, and then the system inverse error ΔM is obtained through actual testing. Combined with the minimum response granularity ΔC of the adjustment mechanism 40, the maximum value of the three is taken and a safety margin is added to obtain the tolerance threshold T. For example, when ΔP and ΔM are 0.3mm, ΔC is 0.05mm, and the safety margin is 0.05mm, T=0.4mm can be set to judge whether the spatial alignment meets the requirements. The following are the detailed steps and methods for determining the tolerance threshold T: T is the maximum spatial error threshold allowed by the system. If d≤T is satisfied, it can be considered that the "gun muzzle and the fixing hole are coaxial". The setting of T needs to take into account the following three aspects: Assembly process (e.g. rivet process) requirements for coaxial accuracy (source of accuracy requirements).

[0103] The actual ability of the system to locate the error (source of measurement accuracy).

[0104] Controls the minimum resolution for execution accuracy (source of response accuracy).

[0105] The determination of T specifically includes the following steps: The first step is to obtain the maximum deviation ΔP (precision requirement) allowed by the assembly process. You can refer to the assembly manufacturer or mechanical structure tolerance specifications. Obtain the "maximum positioning deviation of the fixing hole" or "assembly insertion centering requirements"; for example, for common blind rivets with a diameter of 4.8mm to 6.4mm, the recommended hole alignment deviation is ≤±0.3mm to 0.4mm, and the specific option is ΔP=0.3mm (the maximum deviation tolerance between the center axis of the interface and the hole axis).

[0106] The second step is to evaluate the actual solution error ΔM (positioning accuracy capability) of the system. After the system is built, control the transmitter unit to move to multiple known positions (such as 10), and record the error di between the position Pm solved by the magnetic sensor array and the actual position each time. Statistical error mean μ and standard deviation σ, for example: μ=0.15mm, σ=0.05mm, maximum error dmax=0.25mm. Assume ΔM=dmax+Δ safety margin (for example, Δ=0.05mm), and deduce ΔM≈0.30mm.

[0107] The third step is to confirm the system execution accuracy ΔC (the six-degree-of-freedom platform 410 or the slide control accuracy), which can be checked by the minimum stepping accuracy of the adjustment mechanism 40 (such as the six-axis platform, the lead screw module) or the lifting platform. For example, if the positioning resolution of the control platform is 0.05mm and the repeat positioning accuracy is ±0.02mm, ΔC=0.05mm can be set as the minimum response granularity of the control system.

[0108] The fourth step is to comprehensively determine the tolerance threshold T.

[0109] T should simultaneously satisfy: T≥ΔP (satisfy process); T≥ΔM (cover error); T≥ΔC (ensure control response). In addition, it is recommended to take the maximum value and add a safety margin: T=max{ΔP,ΔM,ΔC}+Δsafety.

[0110] For example: ΔP=0.3mm, ΔM=0.3mm, ΔC=0.05mm, Δsafety=0.05mm.

[0111] The final tolerance threshold is set to: T=0.3+0.05=0.35mm (rounded up to 0.4mm).

[0112] Furthermore, the above two types of judgment methods can be used in combination. The controller can first achieve rapid and rough positioning based on symmetry, and then accurately determine whether spatial coaxiality is achieved through spatial distance comparison. In this way, both judgment speed and accuracy can be taken into account, and the robustness and efficiency of the control system can be improved.

[0113] It should be noted that the aforementioned "relative position relationship between the center position of the docking port and the transmitting unit is a known quantity" needs to be processed in combination with a coordinate conversion mechanism to infer the real spatial coordinates of the docking port from the position detected by the transmitting unit through the magnetic sensor array. This is a typical spatial geometry transformation problem, which essentially uses coordinate system transformation to map the position of the transmitting unit to the position of the docking port, thereby achieving precise alignment of the fixed hole. The following is a detailed processing method: Assume that the real-time position of the transmitting unit in space is Pf=(X f ,Y f ,Z f ), calculated by the magnetic sensor array.

[0114] Assume that the spatial offset of the transmitting unit relative to the docking interface is Δ= (Δx, Δy, Δz). This value is a design parameter and has been determined during installation.

[0115] Assume the center position of the docking port is Pg=(Xg,Yg,Zg), which is the target alignment coordinate required by the controller. Then: This relationship indicates that the true position of the muzzle is obtained by deducting the known offset Δ from the calculated position Pf of the firing unit.

[0116] Among them, Δ can be obtained through a one-time measurement after the launch unit leaves the factory or is assembled, for example: align the docking interface with the center of the tooling on the test bench, and record the launch unit position Pf calculated by the magnetic sensor array at this time. . Δ is written into the controller's internal configuration parameter table and used as a coordinate offset during the entire operation process.

[0117] Among them, in step S400, if the real-time detection data of all the three-axis magnetic sensors in the magnetic sensor array meet the target matching condition, the adjustment end of the adjustment mechanism 40 is controlled to stop moving so that the target fixing hole on the battery pack accessory is coaxial with the docking interface space.

[0118] Specifically, in step S400, when the controller determines through step S300 that the real-time spatial position of the transmitting unit satisfies the preset target matching conditions (including that the magnetic field intensity distribution satisfies the symmetry or the spatial distance between the real-time position and the center point of the target fixing hole is less than the tolerance threshold T), it is considered that the current docking interface position has achieved spatial coaxiality with the central axis of the target fixing hole, and the position locking state is entered at this time.

[0119] The controller sends a motion stop instruction to the adjustment mechanism 40 according to the judgment result, which specifically includes: For the adjustment mechanism 40 based on the six-degree-of-freedom platform 410, the controller sends a stop command to each servo screw assembly 413 or the execution motor to keep the position of each degree of freedom at the current state.

[0120] For the slide structure or other linear adjustment mechanism 40, its driving device (such as a servo motor or a stepper motor) is controlled to turn off the output and enter the position holding mode.

[0121] The purpose of stopping the movement of the adjustment end of the adjustment mechanism 40 is to ensure that the battery pack assembly is in an aligned state and to prevent it from causing an offset error due to continued movement during the assembly process.

[0122] Furthermore, if the system is integrated with a position-keeping function (such as a platform brake device, a holding brake device, etc.), the controller can also send a locking control signal to ensure the stability of the platform in a stationary state. In addition, if the controller has real-time error monitoring capabilities, it can maintain real-time collection of magnetic sensor data after stopping movement. If it is detected that the position offset exceeds the set tolerance, the fine-tuning command is triggered again for dynamic compensation.

[0123] In summary, the above control method can ensure that the spatial center axis of the target fixing hole and the center axis of the docking interface remain collinear in the three-dimensional coordinate system, providing a precise hole position matching basis for subsequent high-quality assembly.

[0124] In some optional embodiments, the control method further includes: step S500, in order to enhance the accuracy of the determination, an assembly part (e.g., screw, rivet, etc.) insertion detection unit (not shown in the figure) may be provided in the docking interface, and when the assembly part insertion detection unit feedbacks that the assembly part has entered the fixing hole and the insertion depth reaches the threshold, the controller determines that the alignment and insertion actions have been completed, stops the action of the adjustment mechanism 40 and starts assembly. This step provides a multiple confirmation mechanism for the installation of the assembly part.

[0125] This step introduces a physical action confirmation mechanism based on steps S300 and S400 as a redundant verification path for the magnetic field detection results, which is used to enhance the accuracy and robustness of the system under complex working conditions (such as slight deviations, vibrations, etc.).

[0126] The assembly insertion detection unit can use photoelectric detection sensors (transmissive or reflective) or contact micro switches / pressure sensors or resistance / capacitance change sensors or displacement / travel encoders, etc. Among them, the photoelectric detection sensor refers to the photoelectric sensor arranged inside the docking port or near the assembly outlet. When the assembly enters the muzzle from the feed channel and partially extends, blocking the light beam or reflecting the signal, it means that it has been inserted. Its setting method is to install a one-to-one photoelectric opposite installation on both sides of the assembly rail, or to fit the inner wall of the assembly outlet. It has the advantages of fast response speed, suitable for small diameter assemblies, non-contact and wear-free. The contact micro switch / pressure sensor refers to the spring-loaded micro structure set at the assembly outlet. When the front end of the assembly touches the bottom of the hole or the edge of the hole, the stroke detection signal is triggered. Its setting method is that the sensor head is embedded in the side wall or bottom of the end of the docking head, and cooperates with the compressible contact structure. It has the advantages of simple structure and suitable for detection and confirmation of holes of known sizes. Resistance / capacitance change sensing refers to the formation of a closed loop or capacitance / resistance change after the assembly is inserted into the hole. For example, a metal assembly (screw, rivet) forms a loop when it contacts the metal hole wall. The setting method is to set an electrode or detection needle at the muzzle, and connect it with the assembly platform 20 potential to form an electrical closed monitoring, which has the advantage of being able to realize obvious electrical difference feedback between the "inserted" and "uninserted" states. The displacement / stroke encoder uses the encoder to record the displacement of the assembly in real time by cooperating with the assembly push rod action; when the push rod reaches the set insertion stroke value (such as 8mm), it is determined that the insertion is complete. The setting method is to install the displacement sensor inside the docking port, and the encoder is connected to the power unit (cylinder / servo) that pushes the assembly.

[0127] Step S500 includes the following steps: S510: When the magnetic sensor array has determined that the muzzle is aligned with the fixing hole (step S400), the controller triggers the assembly part pushing instruction to execute the insertion action; S520: During the pushing process of the assembly part, the assembly part insertion detection unit starts to collect signals in real time and feedback the current insertion status; S530: When the detection signal satisfies the following two conditions, it can be determined that the insertion is completed.

[0128] Among them, the insertion detection signal is valid (such as shading, triggering, closing, capacitance change, etc.), and the insertion depth reaches the preset value L (such as L≥7mm, which can be set by the system).

[0129] S540: After receiving the completion signal, the controller immediately controls the adjustment mechanism 40 to stop moving, and activates the assembly program to enter the next process.

[0130] The above contents described in this specification are merely examples of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, as long as they do not deviate from the contents of the present specification or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

Claims

1. A processing platform based on a metal shell of a battery pack, characterized in that: include: The assembly platform includes a material placement plane for placing battery pack accessories; A clamping and positioning mechanism connected to the assembly platform to controllably restrict the battery pack accessories to a target position on the material placement plane; A base, the base including a controlled lifting end; An adjusting mechanism is arranged at the lifting end, the adjusting mechanism comprises an adjusting end with controlled movement, and the adjusting end is connected to the assembly platform; The transmitting unit is arranged at the docking interface where the connecting piece is installed; Testing agencies include: A travel component connected to the assembly platform, the travel component comprising a first moving end that moves in a controlled manner, wherein a moving track of the first moving end is parallel to the material placement plane; A lifting assembly connected to the first moving end, the lifting assembly comprising a second moving end that moves in a controlled manner, wherein a moving track of the second moving end is perpendicular to the material placement plane; A base plate connected to the second moving end, the base plate comprising an assembly groove extending therethrough, the assembly groove being configured to be coaxially arranged with a fixing hole of the battery pack accessory on the material placement plane during processing of the battery pack accessory; A sensor component is arranged on the substrate, the sensor component is arranged on the peripheral side of the assembly groove to form a monitoring area, and the sensor component is configured to continuously collect the position information of the transmitting unit when the transmitting unit enters the monitoring area; A controller is connected to the base, the adjustment mechanism and the detection mechanism, and the controller is configured to receive the position information and control the movement of the lifting end and the adjustment end according to the position information so that the fixing hole of the battery pack accessory on the placing plane is aligned with the docking port.

2. A battery pack metal shell processing platform according to claim 1, characterized in that: The transmitting unit is a magnet or a controlled electromagnet.

3. A battery pack metal shell processing platform according to claim 2, characterized in that: The sensing component is a magnetic sensing array, which includes a plurality of magnetic sensors. The magnetic sensors are arranged in a two-dimensional array, and the center of the two-dimensional array coincides with the center of the assembly slot.

4. A battery pack metal shell processing platform according to claim 3, characterized in that: The two-dimensional array is a rectangular array, and the spacings between the magnetic sensors adjacent to each other are equal.

5. A battery pack metal shell processing platform according to claim 3 or 4, characterized in that: The magnetic sensor is a three-axis magnetic sensor.

6. A battery pack metal shell processing platform according to claim 1, characterized in that: A magnetic shielding layer is arranged in the substrate.

7. A battery pack metal shell processing platform according to claim 1, characterized in that: The regulating mechanism comprises: A six-degree-of-freedom platform, connected to the controller, comprises: A first mounting seat connected to the lifting end; A second mounting seat, the second mounting seat being the adjustment end, and the second mounting seat being connected to a side of the assembly platform away from the material placement plane; A servo screw assembly is disposed between the first mounting seat and the second mounting seat to controllably adjust the relative posture of the assembly platform; A plurality of elastic support members, each of which is arranged between the assembly platform and the lifting end, and each of which is arranged at equal intervals around the edge of the bottom of the assembly platform.

8. A battery pack metal shell processing platform according to claim 7, characterized in that: The transmitting unit is a magnet or an electromagnet; The sensing component is a magnetic sensing array, and the magnetic sensing array includes a plurality of three-axis magnetic sensors, each of which is arranged in a rectangular two-dimensional array, and the distances between each two adjacent magnetic sensors are equal, and the center of the two-dimensional array coincides with the center of the assembly slot; A magnetic shielding layer is arranged in the substrate.

9. A control method for a processing platform as claimed in claim 8, characterized in that: include: Acquire the size parameters of the battery pack accessory and the target position parameters of the center point of the fixing hole of the battery pack accessory in space when the battery pack accessory is fixed on the material placement plane by the clamping and positioning mechanism; Acquire real-time detection data of each of the three-axis magnetic sensors in the magnetic sensor array in the detection mechanism of the processing platform, wherein the real-time detection data includes a magnetic flux density value in each axial direction at a position corresponding to the three-axis magnetic sensor; Determine whether the real-time detection data of all the three-axis magnetic sensors in the magnetic sensor array meets a target matching condition, wherein the target matching condition includes: The distribution of the magnetic flux density values ​​of all the three-axis magnetic sensors meets the symmetry judgment condition, or; The distance between the real-time spatial position of the transmitting unit calculated based on the magnetic flux density values ​​of all the three-axis magnetic sensors and the spatial position of the center point of the target fixing hole on the battery pack accessory is less than a preset tolerance threshold; If the real-time detection data of all the three-axis magnetic sensors in the magnetic sensor array meet the target matching condition, the adjustment end of the adjustment mechanism is controlled to stop moving so that the target fixing hole on the battery pack accessory is coaxial with the docking interface space.

10. The processing platform according to claim 9, characterized in that: The symmetry judgment conditions include: The standard deviation of the output values ​​of the three-axis magnetic sensors in the magnetic sensor array is less than a set threshold, or; The difference between the maximum value and the minimum value of the output value is less than a preset value; The preset tolerance threshold should be within 0.3 mm.

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