Busbar assembly method, device and system, storage medium and program product

Abstract

The invention discloses a busbar assembly method, device and system, a storage medium and a program product, and relates to the technical field of battery pack busbar assembly.The method comprises the steps that assembly pose information of a robot is determined based on the battery pack stud position of a to-be-assembled vehicle; based on the assembly pose information, the robot is controlled to carry the battery pack bus bar to move to the top surface of the battery pack stud; the battery pack bus bar is provided with stud holes corresponding to the battery pack studs; the robot is controlled to execute the assembling action, and whether the battery pack studs and the stud holes in the current assembling posture meet the preset flexible assembling condition or not is judged; and under the condition that the battery pack stud and the stud hole in the current assembly posture do not meet the preset flexible assembly condition, the current assembly posture of the robot is adjusted based on the admittance control model until the battery pack busbar flexible assembly of the to-be-assembled vehicle is completed. The intelligent level and the assembly efficiency of vehicle battery pack assembly can be achieved.

Description

Technical Field

[0001] The present application relates to the technical field of battery pack busbar assembly, and in particular to a busbar assembly method, device, system, storage medium and program product. Background Art

[0002] In related technologies, manual operation is usually used when assembling the busbars of automotive battery packs. The assembly process relies heavily on the coordination of the operator's eyes, brain, and hands, resulting in low intelligence and efficiency in the assembly process. Summary of the Invention

[0003] The main purpose of this application is to provide a busbar assembly method, equipment, system, storage medium and program product, aiming to solve the technical problems of low intelligence level and efficiency of vehicle battery pack busbar assembly in related technologies.

[0004] To achieve the above objectives, the present application proposes a busbar assembly method that can be used in a control device of a busbar assembly system, wherein the busbar assembly system also includes a robot. The busbar assembly method includes:

[0005] Determine the robot's assembly posture based on the battery pack stud positions of the vehicle to be assembled;

[0006] Based on the assembly posture information, the robot is controlled to carry the battery pack busbar to the top surface of the battery pack stud; the battery pack busbar is provided with stud holes corresponding to the battery pack studs;

[0007] Control the robot to perform assembly actions and determine whether the battery pack studs and stud holes in the current assembly posture meet the preset flexible assembly conditions;

[0008] If the battery pack studs and stud holes in the current assembly posture do not meet the preset flexible assembly conditions, the current assembly posture of the robot is adjusted based on the admittance control model until the flexible assembly of the battery pack busbar of the vehicle to be assembled is completed.

[0009] In one embodiment, a six-dimensional force sensor is provided at the end of the robot's mechanical arm, and the six-dimensional force sensor is used to collect contact force data between the robot and the battery pack stud in real time;

[0010] The steps of determining whether the battery pack stud and the stud hole in the current assembly posture meet the preset flexible assembly conditions include:

[0011] Obtain contact force data; the contact force data includes contact force in the X-axis direction, contact force in the Y-axis direction, and contact force in the Z-axis direction. The Z-axis direction is perpendicular to the assembly surface, and the X-axis and Y-axis directions are parallel to the assembly surface. The assembly surface is the plane where the top surface of the battery pack stud is located.

[0012] When the contact force in the Z-axis direction is less than the first preset threshold and the contact force in the X-axis direction and / or the contact force in the Y-axis direction is greater than the second preset threshold, it is determined that the battery pack stud and the stud hole in the current assembly posture meet the preset flexible assembly conditions.

[0013] In one embodiment, the step of adjusting the current assembly posture of the robot based on the admittance control model includes:

[0014] The contact force data is input into the admittance control model to obtain the posture correction value; the admittance control model is used to generate the posture correction value of the robot based on the deviation force between the contact force data and the expected force data;

[0015] The current assembly posture of the robot is adjusted based on the posture correction amount to obtain the adjusted current assembly posture.

[0016] In one embodiment, the expression of the admittance control model is:

[0017] Among them, ΔF(s) is the deviation force between the contact force data and the expected force data, ΔX(s) is the posture correction, M is the virtual inertia parameter, B is the virtual damping parameter, K is the virtual stiffness parameter, and s is the Laplace operator.

[0018] In one embodiment, after determining whether the battery pack stud and the stud hole in the current assembly posture meet the preset flexible assembly conditions, the method further includes:

[0019] When the contact force in the Z-axis direction is continuously greater than the third preset threshold value within the preset time period, an assembly alarm message is output; and the third preset threshold value is greater than the first preset threshold value; and / or

[0020] When the contact force in the Z-axis direction is greater than the third preset threshold, the robot is controlled to search spirally on the assembly surface according to the preset step length until the contact force in the Z-axis direction is less than the first preset threshold.

[0021] In one embodiment, the step of determining the assembly posture information of the robot based on the battery pack stud positions of the vehicle to be assembled includes:

[0022] Capture images of the battery pack studs of the vehicle to be assembled using a 2D vision system;

[0023] Matching the battery pack stud image with a preset stud template image to determine the positional deviation between the battery pack stud position of the vehicle to be assembled and the theoretical position of the preset stud template image;

[0024] Based on the position deviation and theoretical position, the assembly pose information of the robot is determined.

[0025] In addition, to achieve the above-mentioned purpose, the present application also proposes a control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the busbar assembly method as described above.

[0026] In addition, to achieve the above objectives, the present application also proposes a busbar assembly system, which includes:

[0027] Control devices such as those described above;

[0028] The robot is in communication with the control device and is used to perform assembly actions.

[0029] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the busbar assembly method as described above are implemented.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the busbar assembly method as described above are implemented.

[0031] One or more technical solutions proposed in this application have at least the following technical effects:

[0032] The busbar assembly method proposed in this application can determine the assembly posture information of the robot based on the position of the battery pack studs of the vehicle to be assembled, and accordingly control the robot to carry the battery pack busbar to the top surface of the battery pack stud to perform the assembly action. During the assembly process, it can be judged in real time whether the battery pack studs and the stud holes on the battery pack busbar in the current assembly posture meet the preset flexible assembly conditions; if the preset flexible assembly conditions are not met, the current assembly posture of the robot can be adjusted based on the admittance control model to complete the flexible assembly of the battery pack busbar of the vehicle to be assembled. Through the synergy between the control device and the robot, the assembly posture information can be automatically determined. During the assembly process, the assembly conditions can be judged in real time and the robot assembly posture can be automatically adjusted using the admittance control model. The adjustment of the admittance control model can reduce the complexity and instability of manual adjustment, improve the flexibility and precision of the assembly, and realize the intelligence of the assembly process and the improvement of efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the busbar assembly method of the present application;

[0036] Figure 2 This is a detailed flowchart of step S300 of this application;

[0037] Figure 3 A schematic diagram of a simplified process of the busbar assembly method provided in Example 1 of the present application;

[0038] Figure 4 Schematic diagram of the equipment structure of the hardware operating environment involved in the busbar assembly method in the embodiment of the present application.

[0039] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0040] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0041] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0042] The main solution of the embodiment of the present application is: based on the position of the battery pack stud of the vehicle to be assembled, the assembly posture information of the robot is determined; based on the assembly posture information, the robot is controlled to carry the battery pack busbar to the top surface of the battery pack stud; the battery pack busbar is provided with stud holes corresponding to the battery pack studs; the robot is controlled to perform the assembly action, and it is determined whether the battery pack studs and stud holes in the current assembly posture meet the preset flexible assembly conditions; if the battery pack studs and stud holes in the current assembly posture do not meet the preset flexible assembly conditions, the current assembly posture of the robot is adjusted based on the admittance control model until the flexible assembly of the battery pack busbar of the vehicle to be assembled is completed.

[0043] In the related art, manual operation is usually used when assembling the busbars of automobile battery packs. The assembly process relies heavily on the coordination of the operator's eyes, brain, and hands. Although some automated equipment has gradually been put into the assembly process, these automated equipment have problems with strong repetitiveness and single trajectory, making it difficult to achieve complete automation and intelligence. Therefore, the assembly method in the related art still has problems with low intelligence level and assembly efficiency.

[0044] The present application provides a solution that can automatically determine assembly posture information through the synergy between control equipment and robots. During the assembly process, the assembly conditions can be judged in real time and the robot assembly posture can be automatically adjusted using the admittance control model. The adjustment of the admittance control model can reduce the complexity and instability of manual adjustment, improve the flexibility and precision of the assembly, and realize the intelligence of the assembly process and improve the efficiency.

[0045] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of implementing the above functions. The following uses a control device as an example to illustrate this embodiment and the following embodiments.

[0046] Based on this, the embodiment of the present application provides a busbar assembly method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the busbar assembly method of the present application.

[0047] In this embodiment, the busbar assembly method includes steps S100 to S400:

[0048] Step S100 : determining the assembly posture information of the robot based on the battery pack stud positions of the vehicle to be assembled.

[0049] Step S200: Based on the assembly posture information, control the robot to carry the battery pack busbar and move it to the top surface of the battery pack stud; the battery pack busbar is provided with stud holes corresponding to the battery pack studs.

[0050] Step S300: Control the robot to perform an assembly action and determine whether the battery pack stud and the stud hole in the current assembly posture meet a preset flexible assembly condition.

[0051] Step S400: If the battery pack studs and stud holes in the current assembly posture do not meet the preset flexible assembly conditions, the current assembly posture of the robot is adjusted based on the admittance control model until the flexible assembly of the battery pack busbar of the vehicle to be assembled is completed.

[0052] Specifically, the assembly of the vehicle battery pack busbar refers to the installation of the battery pack busbar onto the vehicle battery pack. Usually, the battery pack busbar is provided with stud holes, which are usually arranged corresponding to the battery pack studs of the vehicle to be assembled. The stud holes on the battery pack busbar are precisely connected with the battery pack studs to complete the assembly of the vehicle's battery pack busbar and ensure the electrical conductivity of the vehicle's battery pack.

[0053] Therefore, the battery pack stud positions of the vehicle to be assembled can be determined first, so that the robot's assembly posture can be determined based on the battery pack stud positions and the assembly process can be executed. Generally, the positions of the battery pack studs of the vehicle to be inspected can be preliminarily measured by laser ranging sensors, visual sensors, etc. After the battery pack stud positions are determined, the robot's assembly posture can be determined with the help of inverse kinematics algorithms, etc. The inverse kinematics algorithm can use a given target position (battery pack stud position) to infer the assembly posture information (such as joint angle, horizontal displacement, etc.) required for the robot's end effector to reach the target position. Alternatively, in a feasible embodiment, a 2D vision system can be used to capture an image of the battery pack studs of the vehicle to be assembled; the battery pack stud image is matched with a preset stud template image to determine the positional deviation between the battery pack stud position of the vehicle to be assembled and the theoretical position of the preset stud template image; based on the positional deviation and the theoretical position, the robot's assembly posture information is determined.

[0054] That is, a 2D vision system (such as an industrial camera, etc.) can be used to capture images of the battery pack studs on the vehicle to be assembled to obtain images of the battery pack studs. On the automobile production line, due to the accuracy deviation of the trolley pallet, the position of the vehicle to be assembled transported thereon may deviate from the ideal position to a certain extent, which in turn causes a slight deviation between the actual battery pack stud position and the ideal assembly position. Therefore, in order to more accurately determine the assembly posture of the robot, the battery pack stud image of the vehicle to be assembled can be matched with the preset stud template image to determine the positional deviation between the battery pack stud position of the vehicle to be assembled and the theoretical position of the preset stud template image. The preset stud template image is a standard image containing the shape and position of the battery pack stud. During the battery pack production process, it can be obtained by taking pictures and modeling the stud position in the ideal state. The positional deviation is then superimposed on the theoretical position corresponding to the preset stud template image to determine the actual position of the vehicle to be assembled. The battery pack stud position can be used to calculate the robot's assembly posture information based on the battery pack stud position. Alternatively, a battery pack stud origin position template can be established through 2D vision, and the X, Y, and RZ deviation values ​​of each trolley pallet can be calculated by taking photos (wherein the X deviation range is generally -30mm to 30mm, the Y deviation range is generally -30mm to 30mm, and the RZ deviation range is generally -3° to 3°). The deviation value is added or subtracted from the battery pack stud origin position to obtain the battery pack stud position of the current vehicle to be assembled, and the robot's assembly posture information can be calculated based on this.

[0055] After determining the assembly posture information of the robot, the robot can be controlled to carry the battery pack busbar to the top surface of the battery pack stud, so that the stud holes on the battery pack busbar can be aligned with the battery pack stud to continue the assembly process. When controlling the robot to perform the assembly action, gradually release the battery pack busbar so that the stud holes and the battery pack studs are engaged. During the assembly process, there may be external environmental influences (such as external vibrations, etc.), which may cause the robot position to shift, resulting in a certain deviation in the position of the stud holes when the stud holes and the battery pack studs are engaged, and they cannot be fully aligned. Therefore, during the assembly process, it is possible to judge in real time whether the battery pack studs and the stud holes in the current assembly posture meet the preset flexible assembly conditions. In a feasible embodiment, a six-dimensional force sensor is provided at the end of the robot's robotic arm, and the six-dimensional force sensor is used to collect contact force data between the robot and the battery pack studs in real time; under this embodiment, judging in step S300 whether the battery pack studs and the stud holes in the current assembly posture meet the preset flexible assembly conditions can specifically include steps S310 to S320, such as Figure 2 As shown, Figure 2 This is a detailed flow chart of step S300:

[0056] Step S310, obtaining contact force data; the contact force data includes contact force in the X-axis direction, contact force in the Y-axis direction, and contact force in the Z-axis direction; the Z-axis direction is perpendicular to the assembly surface, and the X-axis direction and the Y-axis direction are parallel to the assembly surface, and the assembly surface is the plane where the top surface of the battery pack stud is located.

[0057] Step S320, when the contact force in the Z-axis direction is less than the first preset threshold, and the contact force in the X-axis direction and / or the contact force in the Y-axis direction is greater than the second preset threshold, it is determined that the battery pack stud and the stud hole in the current assembly posture meet the preset flexible assembly conditions.

[0058] Specifically, a six-axis force sensor can usually sense forces in three directions (X, Y, and Z axes) and moments in three directions (moments around the X, Y, and Z axes); the contact force in the X-axis direction and the contact force in the Y-axis direction are both parallel to the assembly surface, corresponding to the push or pull on the battery pack stud in the horizontal direction, respectively, while the contact force in the Z-axis direction is perpendicular to the assembly surface, mainly indicating the pressing or holding force between the battery pack stud and the stud hole during the assembly process, which is directly related to whether the battery pack stud enters the stud hole correctly. After obtaining the contact force data through the six-axis force sensor, the contact force situation can be used to determine whether the battery pack stud and the stud hole are smoothly assembled; when the contact force in the Z-axis direction is less than the first preset threshold, and the contact force in the X-axis direction and / or the contact force in the Y-axis direction is greater than the second preset threshold, it can be determined that the battery pack stud and the stud hole in the current assembly position meet the preset flexible assembly conditions. It can be understood that when the battery pack stud enters the stud hole smoothly, the resistance in the Z-axis direction is reduced; and during the docking process between the battery pack stud and the stud hole, the battery pack stud will be restricted by the four sides of the stud hole. Therefore, when the robot deviates slightly in the X-axis and Y-axis directions, its X-axis contact force and / or Y-axis contact force will also be relatively large. Therefore, when the Z-axis contact force is less than the first preset threshold and the X-axis contact force and / or Y-axis contact force is greater than the second preset threshold, it can be determined that the battery pack stud and the stud hole in the current assembly posture meet the preset flexible assembly conditions and assembly can continue.

[0059] However, if the battery pack studs and stud holes in the current assembly posture do not meet the preset flexible assembly conditions, it indicates that the robot's assembly posture is not yet optimal. Forced assembly may cause wear on the battery pack studs and screw holes, affecting assembly quality. Therefore, the robot's current assembly posture can be adjusted based on the admittance control model until the flexible assembly of the battery pack busbar of the vehicle to be assembled can be completed. The admittance control model can adjust the robot's end arm posture in real time based on the robot's current contact force to avoid damage to the battery pack busbar and screws during assembly. During the assembly process, the robot's movement posture can be dynamically adjusted based on the force feedback from the force sensor and the visual feedback from the 2D vision system to ensure that the battery pack studs are accurately inserted into the stud holes and avoid collisions. In a feasible embodiment, the above-mentioned step of adjusting the current assembly posture of the robot based on the admittance control model may specifically include: inputting the contact force data into the admittance control model to obtain the posture correction value; the admittance control model is used to generate the posture correction value of the robot based on the deviation force between the contact force data and the expected force data; and adjusting the current assembly posture of the robot based on the posture correction value to obtain the adjusted current assembly posture.

[0060] The basic principle of the admittance control model is to generate robot pose corrections (position, attitude, velocity, and other corrections) based on the deviation between contact force data and desired force data. This achieves force-pose mapping control, enabling the robot to smoothly adjust its motion during assembly tasks. The robot's end effector contacts the battery pack studs, and the six-axis force sensor collects contact force data in real time. This contact force data reflects the force applied by the robot end effector during contact with the battery pack studs, while the desired force data represents the force expected to be applied by the robot based on the assembly objectives and preset robot control standards. The deviation between the contact force data and the desired force data is the core input of the admittance control model. This deviation force represents the difference between the current assembly state and the target assembly state, helping to determine whether the robot's current assembly pose meets expectations. If a deviation force exists, it indicates a deviation in the current assembly process, requiring the robot's pose to be adjusted to compensate. The control device adjusts the position and attitude of the robot's end effector based on the pose corrections generated by the admittance control model to achieve the adjusted current assembly pose, thereby completing the assembly process. By continuously collecting force feedback through the six-dimensional force sensor and constantly correcting the posture, this closed-loop control can adjust the robot's posture in real time based on the deviation between the contact force and the expected force, ensuring the accuracy and smooth completion of the assembly process.

[0061] In a feasible implementation, the expression of the admittance control model can be Among them, ΔF(s) is the deviation force between the contact force data and the expected force data, ΔX(s) is the posture correction, M is the virtual inertia parameter, B is the virtual damping parameter, K is the virtual stiffness parameter, and s is the Laplace operator.

[0062] Specifically, the expression of the above admittance control model can be transformed into: According to the requirements of automatic control theory, we can make Among them, ω n is the undamped natural frequency, and ζ is the damping ratio. In practical applications, the damping ratio ζ is greater than 0.707. A larger ζ results in a slower force response, while a smaller ζ results in a faster force response, but with the risk of overshoot. Therefore, the value of ζ can be controlled within the range of [1, 2]. Based on practical experience, when the force to be adjusted is in the X, Y, or Z direction, the virtual inertia parameter M can be 20. When the force to be adjusted is in the RX, RY, or RZ (around the X, Y, or Z) direction, the virtual inertia parameter M can be 5. K is calculated using the formula F = K * ΔX, where F is the pressure in the Z-axis direction and ΔX is the robot's posture correction. For example, when a 1 mm compression in the Z direction generates a 1 N force, K is 1000. In robot assembly control, M and ζ can be determined based on actual conditions, and K can be preliminarily determined based on the robot's motion process. B is then further calculated to obtain the admittance control model for robot posture adjustment. In one example, M=20, ζ=1, and K=1000 is determined based on the relationship between the force in the Z-axis direction and the posture change (posture correction) during the robot's motion. ω can be calculated n ; Reuse Determine the value of B. The above parameters (such as virtual damping parameter B, virtual stiffness parameter K, etc.) can be continuously optimized and adjusted according to the actual assembly situation to improve the robot's adaptability to different assembly tasks and assembly results.

[0063] In addition, after determining whether the battery pack stud and the stud hole in the current assembly posture meet the preset flexible assembly conditions, an assembly alarm message may be output if the Z-axis contact force is continuously greater than a third preset threshold value for a preset time period; the third preset threshold value is greater than the first preset threshold value; and / or if the Z-axis contact force is greater than the third preset threshold value, the robot is controlled to perform a spiral search on the assembly surface with the current contact point as the center of the circle according to a preset step size until the Z-axis contact force is less than the first preset threshold value. It is understandable that if the Z-axis contact force is continuously greater than the third preset threshold value for a preset time period during the assembly process, it indicates that the battery pack stud has not successfully entered the stud hole and there is significant resistance to assembly. If the assembly operation is forcibly continued, damage to the battery pack stud or the battery pack busbar may be caused. Therefore, an assembly alarm message may be output if the Z-axis contact force is continuously greater than the third preset threshold value for a preset time period, so that the operator can handle it in a timely manner. Alternatively, when it is detected that the contact force in the Z-axis direction is greater than the third preset threshold, the robot can be controlled to use the current contact point as the center of the circle and perform a spiral search on the assembly surface according to the preset step length until the contact force in the Z-axis direction is less than the first preset threshold, ensuring that the battery pack stud can be inserted into the stud hole on the battery pack busbar. The preset step length can be set according to actual needs. In order to ensure control accuracy, the preset step length can be set smaller (such as about 1mm). If the spiral search reaches the preset time or the cumulative step length exceeds the preset cumulative step length, the assembly alarm information can also be directly output for confirmation and processing by the operator.

[0064] It can be understood that the busbar assembly method provided in the embodiment of the present application can determine the assembly posture information of the robot according to the position of the battery pack stud of the vehicle to be assembled, and accordingly control the robot to carry the battery pack busbar to move to the top surface of the battery pack stud to perform the assembly action. During the assembly process, it can be judged in real time whether the battery pack stud and the stud hole on the battery pack busbar in the current assembly posture meet the preset flexible assembly conditions; and when the preset flexible assembly conditions are not met, the current assembly posture of the robot is adjusted based on the admittance control model to complete the flexible assembly of the battery pack busbar of the vehicle to be assembled. Through the synergy between the control device and the robot, the assembly posture information is automatically determined, and the assembly conditions are judged in real time during the assembly process and the robot assembly posture is automatically adjusted using the admittance control model. The adjustment of the admittance control model can reduce the complexity and instability of manual adjustment, improve the flexibility and precision of the assembly, and realize the intelligence of the assembly process and the improvement of efficiency.

[0065] For example, to help understand the implementation process of the busbar assembly method in the first embodiment, please refer to Figure 3 , Figure 3 A brief flow chart of a busbar assembly method is provided, specifically:

[0066] After entering the assembly process of the vehicle battery pack busbar, the robot's initial assembly posture can be determined based on the 2D vision system (refer to the description of the contents of the aforementioned embodiment), and then the robot can be controlled to move to the surface of the battery pack stud according to the assembly posture to perform the assembly action; Z-axis positioning is performed during the assembly process to determine whether the battery pack stud is inserted into the battery pack busbar; if successfully inserted, the assembly action can continue to be performed, and Z-axis positioning can be performed in real time until the end; the Z-axis contact force can be monitored in real time to determine whether the insertion is successful. If the Z-axis contact force is less than the first preset threshold value of 3N, and the X-axis contact force and / or Y-axis contact force are When the contact force is greater than the second preset threshold value of 8N, it can be determined that the battery pack stud is successfully inserted into the battery pack busbar; if the monitored contact force in the Z-axis direction is greater than the third preset threshold value of 5N, it indicates that the battery pack stud is not inserted into the battery pack busbar; when the battery pack stud is not inserted into the battery pack busbar, an XY-axis spiral search is performed on the assembly surface. Specifically, the spiral search can be performed according to a preset step size of 1mm, and during the search process, it is detected in real time whether the battery pack stud has been successfully found, so that the battery pack stud can be aligned with the stud hole; whether the spiral search has been accurately determined can be determined based on the contact force data of the six-dimensional force sensor and the visual feedback of the 2D vision system. Position the battery pack stud (if the 2D vision system detects that the battery pack stud is aligned with the stud hole, and the contact force in the Z-axis direction is less than the first preset threshold value of 3N at this time, it is determined that the battery pack stud has been accurately positioned). The fusion of force sensor data and visual data can improve the accuracy and stability of hole positioning. After locating the battery pack stud, insertion detection is performed and the assembly action is continued. The battery pack busbar is plugged into the battery pack stud to determine whether the battery pack stud is inserted into the battery pack busbar (when the contact force in the Z-axis direction is less than the first preset threshold value of 3N, and the contact force in the X-axis direction and / or the contact force in the Y-axis direction is greater than the second preset threshold value of 8N, Confirm insertion); if the insertion is unsuccessful (such as the contact force in the Z-axis direction is greater than 5N for 3 seconds), or the battery pack stud is not accurately located during the aforementioned XY-axis spiral search (for example, the battery pack stud is not found within 3 seconds, or the battery pack stud is still not located after the cumulative step length reaches 5mm during the spiral search), an assembly alarm message can be output to report the insertion failure, so that the operator can handle it as soon as possible; during the aforementioned assembly of the battery pack stud insertion process, the admittance control model can be used to fine-tune the robot posture in real time to ensure that the battery pack stud and the battery pack busbar do not collide significantly, causing device wear, so as to achieve smooth assembly.

[0067] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the busbar assembly method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0068] The present application provides a control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the busbar assembly method in the above-mentioned embodiment 1.

[0069] Reference below Figure 4 , which shows a schematic diagram of the structure of a control device suitable for implementing the embodiments of the present application. The control device in the embodiments of the present application may include, but is not limited to, mobile terminals such as laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), and PADs (Portable Application Descriptions), as well as fixed terminals such as desktop computers. Figure 4 The control device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0070] like Figure 4 As shown, the control device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the control device. Processing device 1001, ROM 1002, and RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003 including, for example, a magnetic tape, hard disk, etc.; and communication device 1009. The communication device 1009 can allow the control device to communicate with other devices wirelessly or wired to exchange data. Although the figure shows a control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have instead.

[0071] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0072] The control device provided in this application, utilizing the busbar assembly method described in the aforementioned embodiment, can address the technical issues of low intelligence and efficiency in vehicle battery pack busbar assembly in related technologies. Compared to related technologies, the control device provided in this application offers the same beneficial effects as the busbar assembly method described in the aforementioned embodiment. Other technical features of the control device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0073] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0074] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0075] The present application also provides a busbar assembly system, which may include a control device and a robot as described above; the robot and the control device may be communicatively connected, and the control device may control the robot to perform assembly actions.

[0076] The busbar assembly system provided by this application, utilizing the busbar assembly method described in the aforementioned embodiment, can address the technical issues of low intelligence and efficiency in vehicle battery pack busbar assembly in related technologies. Compared to related technologies, the busbar assembly system provided by this application offers the same beneficial effects as the busbar assembly method described in the aforementioned embodiment. Other technical features of this busbar assembly system are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0077] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, wherein the computer-readable program instructions are used to execute the busbar assembly method in the above-mentioned embodiment.

[0078] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0079] The computer-readable storage medium may be included in the control device, or may exist independently without being assembled into the control device.

[0080] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the control device, the control device: determines the assembly posture information of the robot based on the position of the battery pack stud of the vehicle to be assembled; based on the assembly posture information, controls the robot to carry the battery pack busbar to the top surface of the battery pack stud; the battery pack busbar is provided with stud holes corresponding to the battery pack studs; controls the robot to perform assembly actions, and determines whether the battery pack studs and stud holes in the current assembly posture meet the preset flexible assembly conditions; if the battery pack studs and stud holes in the current assembly posture do not meet the preset flexible assembly conditions, adjusts the current assembly posture of the robot based on the admittance control model until the flexible assembly of the battery pack busbar of the vehicle to be assembled is completed.

[0081] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0082] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0083] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0084] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned busbar assembly method. This computer-readable storage medium can address the technical issues of low intelligence and efficiency in vehicle battery pack busbar assembly in related art. Compared to related art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the busbar assembly method provided in the aforementioned embodiments and are not further elaborated here.

[0085] The present application also provides a computer program product, comprising a computer program, which implements the steps of the busbar assembly method as described above when executed by a processor.

[0086] The computer program product provided in this application can address the technical issues of low intelligence and efficiency in vehicle battery pack busbar assembly in related technologies. Compared to related technologies, the beneficial effects of the computer program product provided in this application are the same as those of the busbar assembly method provided in the above-mentioned embodiments, and are not further elaborated here.

[0087] The above descriptions are only some embodiments of the present application and do not limit the scope of protection. All equivalent structural transformations made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the scope of protection.

Claims

1. A busbar assembly method, characterized in that: A control device for a busbar assembly system, wherein the busbar assembly system further comprises a robot; and the busbar assembly method comprises: Determining assembly posture information of the robot based on the battery pack stud positions of the vehicle to be assembled; Based on the assembly posture information, control the robot to carry the battery pack busbar to move to the top surface of the battery pack stud; the battery pack busbar is provided with stud holes corresponding to the battery pack studs; Controlling the robot to perform an assembly action and determining whether the battery pack stud and the stud hole in the current assembly posture meet a preset flexible assembly condition; When the battery pack stud and the stud hole in the current assembly posture do not meet the preset flexible assembly conditions, the current assembly posture of the robot is adjusted based on the admittance control model until the flexible assembly of the battery pack busbar of the vehicle to be assembled is completed.

2. The busbar assembly method according to claim 1, wherein: A six-dimensional force sensor is provided at the end of the robot's mechanical arm, and the six-dimensional force sensor is used to collect contact force data between the robot and the battery pack stud in real time; The step of determining whether the battery pack stud and the stud hole in the current assembly posture meet the preset flexible assembly conditions includes: Acquire the contact force data; the contact force data includes contact force in the X-axis direction, contact force in the Y-axis direction, and contact force in the Z-axis direction; the Z-axis direction is perpendicular to the assembly surface, and the X-axis direction and the Y-axis direction are parallel to the assembly surface, and the assembly surface is the plane where the top surface of the battery pack stud is located; When the contact force in the Z-axis direction is less than a first preset threshold value, and the contact force in the X-axis direction and / or the contact force in the Y-axis direction is greater than a second preset threshold value, it is determined that the battery pack stud and the stud hole in the current assembly posture meet the preset flexible assembly conditions.

3. The busbar assembly method according to claim 2, wherein: The step of adjusting the current assembly posture of the robot based on the admittance control model includes: Inputting the contact force data into the admittance control model to obtain a posture correction value; the admittance control model is used to generate the posture correction value of the robot based on the deviation force between the contact force data and the expected force data; The current assembly posture of the robot is adjusted based on the posture correction amount to obtain an adjusted current assembly posture.

4. The busbar assembly method according to claim 3, wherein: The expression of the admittance control model is: Among them, ΔF(s) is the deviation force between the contact force data and the expected force data, ΔX(s) is the posture correction amount, M is the virtual inertia parameter, B is the virtual damping parameter, K is the virtual stiffness parameter, and s is the Laplace operator.

5. The busbar assembly method according to claim 2, wherein: After the step of determining whether the battery pack stud and the stud hole in the current assembly posture meet a preset flexible assembly condition, the method further includes: When the Z-axis contact force is continuously greater than a third preset threshold value within a preset time period, an assembly alarm message is output; and the third preset threshold value is greater than the first preset threshold value; and / or When the contact force in the Z-axis direction is greater than the third preset threshold, the robot is controlled to perform a spiral search on the assembly surface with the current contact point as the center of the circle according to a preset step size until the contact force in the Z-axis direction is less than the first preset threshold.

6. The busbar assembly method according to any one of claims 1 to 5, characterized in that: The step of determining the assembly posture information of the robot based on the battery pack stud positions of the vehicle to be assembled includes: Capture images of battery pack studs on vehicles to be assembled using a 2D vision system; Matching the battery pack stud image with a preset stud template image to determine a positional deviation between the battery pack stud position of the vehicle to be assembled and the theoretical position of the preset stud template image; Based on the position deviation and the theoretical position, assembly posture information of the robot is determined.

7. A control device, characterized in that: The control device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the busbar assembly method according to any one of claims 1 to 6.

8. A busbar assembly system, characterized in that: The busbar assembly system includes: The control device according to claim 7; The robot is in communication with the control device and is used to perform assembly actions.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the busbar assembly method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the busbar assembly method according to any one of claims 1 to 6 are implemented.

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