Remodeling tool control method, control system and remodeling tool

Abstract

The invention discloses a remodeling tool control method and system and a remodeling tool, the control system is used for controlling the remodeling tool to adjust the position of at least one set of fixing assemblies, the remodeling tool comprises at least one set of remodeling assemblies, each remodeling assembly comprises two plug pins, and the method comprises the steps that the initial position of each set of fixing assemblies is determined, and according to the local position information of the target part of the target battery, the initial position information of the fixing assemblies, the position information of the bolts and the position information of the target battery, the target moving distance of each group of fixing assemblies is obtained. And then, according to the target moving distance, the fixed assembly is controlled to move through the bolts, the bolts at the left side move the assembly at the left side, and the bolts at the right side move the assembly at the right side. According to the method, two bolts and related control logics are used, so that the stroke range of a remodeling tool is expanded, and more accurate synchronous remodeling of multiple columns of assemblies is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of chemical fractionation equipment, and in particular to a changeover tooling control method, a control system and a changeover tooling. Background Art

[0002] In the chemical component production equipment, when producing batteries of different sizes, it is first necessary to adjust the position of the probe assembly and the negative pressure assembly on the mechanical unit in the warehouse to ensure that the positive and negative poles of the battery and the liquid filling port are in good contact with each component. However, after the mechanical unit is put on the cabinet, manual replacement poses a safety hazard and is difficult to operate.

[0003] Existing automated tooling often suffers from limited dimensions, unable to accommodate varying battery specifications and operational requirements. Furthermore, insufficient travel limits the flexibility of tooling changes. Furthermore, due to the multiple battery channels in a single-row module and the need for force analysis, more precise, simultaneous tooling changes across multiple rows of modules are impossible. Summary of the Invention

[0004] The embodiments of the present application disclose a mold changing tooling control method, a control system, and a mold changing tooling. On the basis of realizing automatic mold changing, a double-insertion mold changing method and related control logic are used to solve the problems of insufficient travel range of the mold changing tooling and insufficient precision in synchronous mold changing of multiple columns of components.

[0005] A first aspect of an embodiment of the present application discloses a method for controlling a mold changer, which is applied to a control system. The control system is used to control the mold changer to adjust the position of at least one group of fixed components so that the fixed components adapt to the position of a target battery. Each group of fixed components includes at least two components. The mold changer includes at least one group of mold changer components. The positions of the two mold changer components in each group of mold changer components correspond to each other. Each mold changer component includes two latches. The method includes:

[0006] Determine the starting position information of each group of fixed components;

[0007] Determining a target movement distance of the reference group fixed component based on preset first local position information of at least one target component of the target battery, starting position information of the reference group fixed component, and second local position information of the two latches in the corresponding target reshaping components, wherein the target reshaping component is one of the at least one group of reshaping components, and the at least one target component corresponds one-to-one to at least two components in the reference group fixed component;

[0008] Determining target moving distances of remaining fixed components in at least one group of fixed components except the reference group of fixed components according to the target moving distance of the reference group of fixed components and preset target battery position information;

[0009] According to the target moving distance of each group of fixed components in the at least one group of fixed components, the two pins of the changing tool are controlled to respectively drive at least two components in a group of fixed components to move the corresponding target moving distance until each group of fixed components moves the corresponding target moving distance, wherein the pin located at the left position of the two pins drives the component located at the left position of the at least two components, and the pin located at the right position of the two pins drives the component located at the right position of the at least two components.

[0010] As an optional implementation, in the first aspect of this embodiment, the at least one target component includes a first pole and a second pole, the at least two components include a first probe component and a second probe component, the first local position information includes a first distance between the first pole and the second pole, and the second local position information includes a first offset of the first latch relative to the center position of the corresponding target change component and a second offset of the second latch relative to the center position of the corresponding target change component; wherein the center position of the target change component is the position of the sensor on the target change component, the first probe component is the component located at the left position of the at least two components, the second probe component is the component located at the right position of the at least two components, the first latch is the latch located at the left position of the two latches, and the second latch is the latch located at the right position of the two latches;

[0011] The step of determining a target moving distance of the reference group fixing component based on preset first local position information of at least one target component of the target battery, starting position information of the reference group fixing component, and second local position information of the two latches in the corresponding target replacement component includes:

[0012] Obtaining, based on the starting position information of the reference group fixing component and the installation position information of the target battery, a first position offset from the servo origin of the target reshaping component to the center of the target battery when the target reshaping component is at the center of the first probe component, and a second position offset from the servo origin of the target reshaping component to the center of the target battery when the target reshaping component is at the center of the second probe component;

[0013] Correcting the first position offset according to the first distance and the first offset to obtain a target moving distance of the first probe assembly of the reference group fixed assembly;

[0014] The second position offset is corrected according to the first distance and the second offset to obtain a target moving distance of the second probe assembly of the reference group fixing assembly.

[0015] As an optional implementation manner, in the first aspect of this embodiment, the first position offset is corrected according to the first distance and the first offset to obtain the target movement distance of the first probe assembly of the reference group fixed assembly; comprising:

[0016] Obtaining an absolute value of a difference between the first position offset and a preset value as a first difference, wherein the preset value is half of the first distance;

[0017] The target moving distance of the first probe assembly of the reference group fixed assembly is obtained according to the first difference and the first offset, wherein the target moving distance of the first probe assembly of the reference group fixed assembly is the absolute value of the difference between the first difference and the first offset.

[0018] As an optional implementation manner, in the first aspect of this embodiment, the second position offset is corrected according to the first distance and the second offset to obtain the target movement distance of the second probe assembly of the reference group fixed assembly; comprising:

[0019] Obtaining a sum of the second position offset and the preset value as a first sum value;

[0020] The target moving distance of the second probe assembly of the reference group fixed assembly is obtained according to the first sum and the second offset, wherein the target moving distance of the second probe assembly of the reference group fixed assembly is the sum of the first sum and the second offset.

[0021] As an optional implementation manner, in the first aspect of this embodiment, the at least one target component further includes a liquid injection port, the at least two components further include a negative pressure component, and the first local position information further includes a second distance between the first electrode and the liquid injection port; determining the target movement distance of the reference group fixing component based on the preset first local position information of the at least one target component of the target battery, the starting position information of the reference group fixing component, and the second local position information of the two pins in the corresponding target conversion component includes:

[0022] Obtaining, based on the starting position information of the reference group fixing component and the installation position information of the target battery, a third position offset from the servo origin of the target reshaping component to the center of the target battery when the target reshaping component is at the center of the negative pressure component;

[0023] The third position offset is corrected according to the first distance, the first offset, and the second distance between the first pole and the liquid injection port to obtain a target moving distance of the negative pressure component of the reference group fixing component.

[0024] As an optional implementation manner, in the first aspect of this embodiment, the third position offset is corrected based on the first distance, the first offset, and the second distance between the first pole and the liquid injection port to obtain a target movement distance of the negative pressure assembly of the reference group fixed assembly, including:

[0025] Obtaining an absolute value of a difference between the third position offset and a preset value as a second difference;

[0026] Obtain a second sum value as a sum of the second difference and the second distance;

[0027] The target moving distance of the negative pressure component of the reference group fixed component is obtained according to the second sum and the first offset, wherein the target moving distance of the negative pressure component of the reference group fixed component is the absolute value of the difference between the second sum and the first offset.

[0028] As an optional implementation manner, in the first aspect of this embodiment, the preset target battery installation position information includes a third distance between target battery columns, and the starting position information of each group of fixed components includes starting position information of at least two components in each group of fixed components;

[0029] The controlling of the two latches to respectively drive at least two components in a group of fixed components to move a corresponding target distance until each group of fixed components moves the corresponding target movement distance includes:

[0030] Determining types of the at least two components according to the starting position information of the at least two components and the third distance, wherein the types include a pole type or a negative pressure type, the pole type component includes a first probe component and a second probe component, and the negative pressure type component includes a negative pressure component;

[0031] Obtaining the battery size before the replacement according to the component of the pole type;

[0032] When the size of the battery before the replacement is larger than the size of the target battery, first controlling the first latch to drive the negative pressure assembly to move a corresponding target movement distance, and then controlling the two latches to respectively drive the first probe assembly or the second probe assembly to move a corresponding target movement distance, wherein the size of the target battery is the first distance;

[0033] When the battery size before the replacement is smaller than the target battery size, the two pins are first controlled to respectively drive the first probe assembly or the second probe assembly to move the corresponding target moving distance, and then the first pin is controlled to drive the negative pressure assembly to move the corresponding target moving distance.

[0034] As an optional implementation, in the first aspect of this embodiment, each of the transformation components includes a sensor and a probe shaft, and the method further includes:

[0035] Initializing the probe axis to position the probe axis to an initial position of the probe axis;

[0036] Controlling the sensor to be in a scanning state and controlling the probe shaft to move at a constant speed from an initial position of the probe shaft to a preset positive direction to drive the sensor to move;

[0037] obtaining final position information of each group of fixed components in the at least one group of fixed components according to the electrical signal obtained by the sensor during the movement;

[0038] When the final position information of each group of fixing components in the at least one group of fixing components is consistent with the preset installation position information of the target battery, it is determined that the replacement of each group of fixing components is successful.

[0039] A second aspect of an embodiment of the present application discloses a control method for a mold changer, which is applied to a mold changer, wherein the mold changer comprises at least one group of mold changer components, wherein two mold changer components in each group of mold changer components are positioned in correspondence with each other, and each mold changer component comprises two latches. The method comprises:

[0040] Under the control of the control system, the two latches respectively drive at least two components in a group of fixed components to move corresponding target movement distances, until each group of fixed components in the at least one group of fixed components moves the corresponding target movement distance, so that the fixed components adapt to the position of the target battery, wherein the control system is used to control the changeover tooling to adjust the position of the at least one group of fixed components, each group of fixed components includes at least two components, the latch located at the left position of the two latches drives the component located at the left position of the at least two components, and the latch located at the right position of the two latches drives the component located at the right position of the at least two components;

[0041] Among them, the target moving distance corresponding to each group of fixed components is determined by the control system based on the first local position information of at least one target component of the target battery, the starting position information of the reference group fixed component, the second local position information of the two pins in the corresponding target replacement component and the preset target battery position information. The target replacement component is one of the at least one group of replacement components, and the at least one target component corresponds one-to-one to at least two components in the reference group fixed component.

[0042] A third aspect of the embodiments of the present application discloses a control system, including a starting position acquisition module, a target distance acquisition module, and a control module, wherein:

[0043] The starting position acquisition module is used to determine the starting position information of each group of fixed components in at least one group of fixed components;

[0044] The target distance acquisition module is configured to determine a target moving distance of the reference group fixed component based on preset local position information of at least one target component of the target battery, initial position information of the reference group fixed component, and second local position information of two latches in corresponding transposable components, wherein the target transposable component is one of the at least one group of transposable components, and the at least one target component corresponds one-to-one to at least two components in the reference group fixed component; and

[0045] for determining target moving distances of remaining fixed components in at least one group of fixed components except the reference group of fixed components according to the target moving distance of the reference group of fixed components and preset target battery position information;

[0046] The control module is used to control the two pins to respectively drive at least two components in a group of fixed components to move the corresponding target moving distance according to the target moving distance of each group of fixed components in the at least one group of fixed components, until each group of fixed components moves the corresponding target moving distance, wherein the pin located at the left position of the two pins drives the component located at the left position of the at least two components, and the pin located at the right position of the two pins drives the component located at the right position of the at least two components.

[0047] According to a fourth aspect of the embodiments of the present application, a tool for changing molds includes at least one set of changing mold components, wherein the two changing mold components in each set of changing mold components are positioned correspondingly, and each of the changing mold components includes two latches, wherein:

[0048] The two latches are used to respectively drive at least two components in a group of fixed components to move corresponding target movement distances under the control of the control system, until each group of fixed components in the at least one group of fixed components moves the corresponding target movement distance, so that the fixed components adapt to the position of the target battery, wherein the control system is used to control the changeover tooling to adjust the position of the at least one group of fixed components, each group of fixed components includes at least two components, the latch located at the left position of the two latches drives the component located at the left position of the at least two components, and the latch located at the right position of the two latches drives the component located at the right position of the at least two components;

[0049] Among them, the target moving distance corresponding to each group of fixed components is determined by the control system based on the first local position information of at least one target component of the target battery, the starting position information of the reference group fixed component, the second local position information of the two pins in the corresponding target replacement component and the preset target battery position information. The target replacement component is one of the at least one group of replacement components, and the at least one target component corresponds one-to-one to at least two components in the reference group fixed component.

[0050] Compared with the related art, the embodiments of the present application have at least the following beneficial effects:

[0051] The present invention discloses a control method for a changeover tool, which is applied to a control system. The control system is used to control the changeover tool to adjust the position of at least one group of fixed components to adapt to the position of a target battery after the changeover. The changeover tool includes at least one group of changeover components, each of which includes two latches. The method includes: determining the starting position of each group of fixed components, and calculating the target movement distance of the reference group fixed components based on the local position information of the target component of the target battery, the starting position information of the reference group fixed components, and the position information of the latches. The target movement distance of each group of fixed components is obtained based on the target movement distance of the reference group fixed components and the preset installation position information of the target battery. Then, based on these target movement distances, the fixed components are controlled to move by the latches until all fixed components complete the specified movement. This method uses two latches, related control logic, and when moving each group of fixed components, the latch on the left position moves the components on the left position, and the latch on the right position moves the components on the right position. This method not only expands the travel range of the changeover tool, but also achieves more precise synchronous changeover of multiple columns of components. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0053] Figure 1 A schematic diagram of an implementation environment for a type of tooling provided in an embodiment of the present application;

[0054] Figure 2 A flowchart of a tool change control method provided in an embodiment of the present application;

[0055] Figure 3 A flowchart of another tool change control method provided in an embodiment of the present application;

[0056] Figure 4 A flow chart of calculating a target moving distance of a first probe assembly of a reference group fixed assembly provided in an embodiment of the present application;

[0057] Figure 5 A schematic structural diagram of a target moving distance of a first probe assembly of a calculation reference group fixed assembly provided in an embodiment of the present application;

[0058] Figure 6 A flow chart of calculating a target moving distance of a second probe assembly of a reference group fixed assembly provided in an embodiment of the present application;

[0059] Figure 7 A schematic structural diagram of a target moving distance of a second probe assembly of a calculation reference group fixed assembly provided in an embodiment of the present application;

[0060] Figure 8 A flowchart of another tool change control method provided in an embodiment of the present application;

[0061] Figure 9 A flow chart for calculating a target moving distance of a negative pressure component of a reference group fixed component provided in an embodiment of the present application;

[0062] Figure 10 A schematic structural diagram of a method for calculating a target moving distance of a negative pressure component of a reference group fixing component provided in an embodiment of the present application;

[0063] Figure 11 A flowchart of a method for sequentially changing components provided in an embodiment of the present application;

[0064] Figure 12 A flow chart of another control method for a tool changer provided in an embodiment of the present application;

[0065] Figure 13 A schematic structural diagram of a control system provided in an embodiment of the present application;

[0066] Figure 14 A schematic diagram of a double-insertion structure of a change tool provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0068] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are used to distinguish similar or different objects, and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0069] It should be noted that the terms "including," "having," and any variations thereof in the embodiments and drawings of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to the process, method, product, or apparatus.

[0070] In battery production equipment, the first step in the battery production process is to adjust the mechanical units within the warehouse, including the position of the probe assembly and the negative pressure assembly, to ensure that the battery's positive and negative poles and the liquid injection port are properly aligned with these components. This adjustment process requires a high degree of precision to avoid poor contact between the batteries during subsequent processing, which could affect product quality. However, when the mechanical unit cabinet needs to be changed, traditional manual changeover methods are not only operationally difficult but also pose significant safety risks due to the complex physical adjustments required, especially when mechanical adjustments and component replacements are involved during the changeover.

[0071] While existing automatic mold-changing tooling can improve operational efficiency to a certain extent, it often faces size limitations and insufficient travel range, making it difficult to meet the needs of different battery specifications. This is especially true when faced with a wide variety of battery types and significant size variations. The tooling cannot be flexibly adjusted to accommodate different battery specifications, nor can it support a wider range of adjustments, significantly reducing flexibility during the mold-changing process. Furthermore, because the design of single-column battery channels is influenced by multiple factors, such as mechanical analysis, existing automatic mold-changing technology struggles to achieve precise, synchronized mold changes between multiple battery modules. This leads to errors when changing across multiple battery channels, impacting production efficiency and product quality.

[0072] The present application discloses a control method and control system for a changeover tool. Based on the realization of automatic changeover, a double-insert changeover method and related control logic are used to solve the problems of insufficient travel range of the changeover tool and inaccurate simultaneous changeover of multiple columns of components. The following is a detailed description of each of the following:

[0073] The present application provides a method for controlling a changeover tooling, which is applied to a control system 10. The control system 10 is used to control a changeover tooling 20 to adjust the position of at least one set of fixed components 30 to accommodate the position of a target battery 41 after the changeover. The changeover tooling 20 includes at least one set of changeover components, with two changeover components in each set positioned in corresponding positions, and each changeover component includes two latches. The following describes the main embodiments of the present application using a set of changeover components as an example.

[0074] See also Figure 1 , Figure 1 A schematic diagram of the implementation environment of a mold changing tool provided in an embodiment of the present application includes a mold changing tool 20, a mold changing component 21, multiple groups of fixing components 30 and multiple target batteries 41, wherein the mold changing component 21 includes two mold changing components 21, and the positions of the two mold changing components 21 correspond to each other. Each mold changing component 21 includes two pins, namely a first pin 22 and a second pin 23. Each group of fixing components includes at least two components, namely, a first probe component 32 and a second probe component 33.

[0075] In this method, the host computer 11 determines the starting position information of each fixed component in at least one group of fixed components, and further determines the target movement distance of the reference group fixed component 31 based on the first local position information of at least one target component of the target battery 41, the starting position information of each fixed component group, and the second local position information of two latches in the corresponding target reshaping component 21. The target reshaping component 21 is one of the at least one group of reshaping components 21, and the at least one target component corresponds one-to-one to at least two components in each group of fixed components. Based on the target movement distance of the reference group fixed component 31 and the preset target battery position information, the target movement distance of the remaining fixed components in the at least one group of fixed components, excluding the reference group fixed component 31, is determined. Based on the target movement distance of each fixed component group in the at least one group of fixed components, the programmable controller 12 controls the first latch 22 located on the left side of the target reshaping component 21 to drive the first probe assembly 32 located on the left side of one of the fixed components to move the corresponding target distance, and the second latch 23 to drive the second probe assembly 33 located on the right side of one of the fixed components to move the corresponding target distance, until each group of fixed components moves the corresponding target distance.

[0076] Optionally, the positions of the first pin and the second pin correspond to each other on the left and right. The first pin may also refer to the pin located on the right side of the two pins, and the second pin may also refer to the pin located on the left side of the two pins. No specific limitation is made here and the judgment is made based on the actual position.

[0077] Optionally, the positions of the first probe assembly and the second probe assembly correspond to each other on the left and right. The first probe assembly can be the probe assembly located on the right side of the at least two components, or the probe assembly located on the left side of the at least two components. The second probe assembly can be the probe assembly located on the right side of the at least two components, or the probe assembly located on the left side of the at least two components. There is no specific restriction here, and the judgment is made based on the actual position.

[0078] To understand the above method flow more clearly, please refer to Figure 2 , Figure 2 This is a flow chart of a tool change control method provided in an embodiment of the present application, which includes at least the following steps S101-S104:

[0079] S101: Determine the starting position information of each group of fixed components;

[0080] S102: Determine a target moving distance of the reference group fixing component 31 based on the first local position information of at least one target component of the preset target battery 41, the starting position information of the reference group fixing component, and the second local position information of the two pins in the corresponding target change component 21.

[0081] Among them, the target replacement component 21 is one of the at least one group of replacement components 21, and at least one target component corresponds one-to-one to at least two components in each group of fixed components; the local position information of at least one column of target components of the target battery refers to the position information of each component after the replacement of the fixed components of the reference group.

[0082] In a specific embodiment, the at least one column of target components refers to the left pole, right pole, and liquid injection port of the target battery, and is not specifically limited here. The at least two components of the reference group fixed assembly refer to the left probe assembly, right probe assembly, and negative pressure assembly, and are not specifically limited here. That is, the position of the left pole of the target battery corresponds to the position of the left probe assembly of the reference group fixed assembly after the model is changed, the position of the right pole of the target battery corresponds to the position of the right probe assembly of the reference group fixed assembly after the model is changed, and the position of the liquid injection port of the target battery corresponds to the position of the negative pressure assembly of the reference group fixed assembly.

[0083] The electrode is the metal conductive part of the battery, usually made of materials with good conductivity such as copper or aluminum. The function of the electrode is to connect the positive and negative poles of the battery and to the external circuit. In the chemical composition equipment, the electrode needs to be in contact with the probe assembly to transmit current through the probe so that the battery can be charged and discharged. The probe assembly is a device used to contact the battery's electrode, usually composed of multiple probes. These probes need to be able to accurately contact the positive and negative electrodes of the battery to ensure that the battery's charging and discharging process can proceed normally. The design of the probe assembly needs to consider multiple factors, including the material, elasticity, contact pressure, etc. of the probe to ensure contact stability and avoid poor contact or damage to the battery electrode.

[0084] Step S103: determining target moving distances of the remaining fixed components in at least one group of fixed components except the reference group fixed component 31 according to the target moving distance of the reference group fixed component 31 and the preset target battery position information;

[0085] Since the distances between the preset target batteries are known, that is, the relative distances between the centers of the target batteries in adjacent and different columns are the same, an arithmetic progression is constructed with the center of the reference column battery as the reference. Therefore, as long as the target moving distances of at least two components in the reference group fixed components 31 in at least one group of fixed components that need to be replaced are calculated, the target moving distances of at least two components in other groups of fixed components can be obtained based on the corresponding preset distances between the target batteries.

[0086] Step S104: Based on the target movement distance of each fixed component in the at least one group of fixed components, controlling the two latches in the target change component 21 in the change tool to drive at least two components in one group of fixed components to move the corresponding target movement distance until each group of fixed components moves the corresponding target movement distance;

[0087] Among them, the latch located at the left position of the two latches drives the component located at the left position of at least two components, and the latch located at the right position of the two latches drives the component located at the right position of at least two components.

[0088] The above method uses the two pins on the changing tool 20 to perform the changing operation on the fixed component 31, so that the pin at the left position of the changing component 21 on the changing tool 20 corresponds to the left limit position of the changing tool 20, and the pin at the right position of the changing component 21 on the changing tool 20 corresponds to the right limit position of the changing tool 20, which solves the problem of limited tool size, thereby expanding the travel range of the changing tool 20. In addition, since the two pins can work simultaneously to change the fixed component 31, the efficiency of the change is improved. During the entire change process, the target moving distance of each group of fixed components is determined by the installation position information of the target battery 41, the first local position information of at least one target component of the target battery 41, the starting position information of each group of fixed components, and the second local position information of the two pins in the corresponding target changing component 21. Based on the known installation position information of the target battery 41, detailed logical calculation is performed to accurately determine the target position of the fixed component 31 for change, so that the change of multiple groups of fixed components 30 has more precise synchronization.

[0089] In some embodiments, please refer to Figure 1 At least one target component of the target battery 41 includes a first pole 42 and a second pole 43 , and at least one set of fixing components 31 includes a first probe component 32 and a second probe component 33 .

[0090] The first local position information of at least one target component of the target battery 41 includes a first distance between the first pole 42 and the second pole 43, and the second local position information includes the second local position information of the two pins in the corresponding target reshaping component 21. The second local position information includes the offsets of the two pins relative to the center position of the corresponding target reshaping component 21, respectively including the first offset of the first pin 22 relative to the center position of the target reshaping component 21 and the second offset of the second pin 23 relative to the center position of the target reshaping component 21.

[0091] The battery terminal is a metal conductive part, typically made of a highly conductive material such as copper or aluminum. It connects the positive and negative terminals of the battery and the external circuit. In the battery charging and discharging equipment, the terminal contacts the probe assembly, transmitting current through the probes to enable battery charge and discharge testing.

[0092] The probe assembly is a device used to contact the battery's terminals and typically consists of multiple probes. These probes must be able to precisely contact the battery's positive and negative terminals to ensure proper charging and discharging. The design of the probe assembly considers multiple factors, including the probe's material, elasticity, and contact pressure, to ensure contact stability and avoid poor contact or damage to the battery terminals.

[0093] Optionally, the control system includes a restriction interface for interaction with the user, and the user can set a first distance between the first pole 42 and the second pole 43 of the target battery 41, a first offset of the first latch 22 relative to the center position of the corresponding target reshaping component 21, and a second offset of the second latch 23 relative to the center position of the target reshaping component 21 through the display interface for interaction with the user on the control system; wherein the center position of the target reshaping component 21 is the position of the sensor 24 on the target reshaping component 21;

[0094] Optionally, the sensor 24 is a laser sensor 24, which is used to transmit a potential signal to the programmable logic controller whenever an obstruction appears in the monitoring area of ​​the laser sensor 24 during the movement of the target change component 21. The programmable controller 12 records the rising and falling edges of the potential signal of the laser sensor 24, records N data, and uploads the N data to the host computer 11. The host computer 11 defines every two data as 1 group, and uses the absolute value of the subtraction of each group of data to determine the type of each group of fixed components and the corresponding initial position of each group of fixed components.

[0095] In some embodiments, each reshaping assembly 21 further includes a probe shaft 25. For example, the control system in step S101 determines the starting position information of each set of fixed assemblies, which may include: initializing the probe shaft 25 so that the probe shaft 25 is positioned at its initial position; controlling the sensor 24 to be in a scanning state and controlling the probe shaft 25 to move at a constant speed from the initial position of the probe shaft 25 to a preset positive direction to drive the sensor 24 to move; and obtaining the starting position information of each set of fixed assemblies in at least one set of fixed assemblies based on the electrical signal obtained by the sensor 24 during the movement. A target movement distance for each set of fixed assemblies is determined based on the preset installation position information of the target battery 41, the first local position information of at least one target component of the target battery 41, the starting position information of each set of fixed assemblies, and the second local position information of the two latches in the corresponding target reshaping assembly 21. Based on the target movement distance of each set of fixed assemblies, the first latch 22 or the second latch 23 in the target reshaping assembly 21 is controlled to drive one set of fixed assemblies 31 to move the corresponding target movement distance until each set of fixed assemblies has moved the corresponding target movement distance.

[0096] In some embodiments, after obtaining the initial position of each group of fixed components, the control system determines the target movement distance of the reference group fixed component 31 according to the first local position information of at least one target component of the preset target battery 41, the starting position information of each group of fixed components, and the second local position information of the two pins in the corresponding change component 21. This can be as follows: according to the starting position information of the reference group fixed component 31 and the installation position information of the target battery 41, a first position offset from the servo origin of the target change component 21 to the center of the target battery 41 when the target change component 21 is at the center of the first probe component 32 is obtained, and a second position offset from the servo origin of the target change component 21 to the center of the target battery 41 when the target change component 21 is at the center of the second probe component 33 is obtained; and the control system also corrects the first position offset according to the first distance and the first offset to obtain the target movement distance of the first probe component 32 of the reference group fixed component 31; and corrects the second position offset according to the first distance and the second offset to obtain the target movement distance of the second probe component 33 of the reference group fixed component 31.

[0097] Among them, the first probe assembly is the assembly located on the left side of at least two assemblies in the reference group fixing assembly 31, the second probe assembly is the assembly located on the right side of at least two assemblies in the reference column, the first pin is the pin located on the left side of the two pins, and the second pin is the pin located on the right side of the two pins.

[0098] For a more detailed understanding of the above method process, please refer to Figure 3 , Figure 3 A flowchart of another tool change control method provided in an embodiment of the present application, the flowchart at least includes the following steps S201-S205:

[0099] Step S201: The control system determines the starting position information of each group of fixed components;

[0100] Step S202: Obtaining a first position offset from the servo origin of the target reshaping component 21 to the center of the target battery 41 when the target reshaping component 21 is at the center of the first probe component 32 based on the starting position information of the reference group fixing component 31 and the installation position information of the target battery 41;

[0101] Step S203: correcting the first position offset according to the first distance and the first offset to obtain a target moving distance of the first probe assembly 32 of the reference group fixing assembly 31;

[0102] That is, according to step S203, the detailed steps of obtaining the target moving distance of the first probe assembly 32 can be referred to. Figure 4 , Figure 4A flowchart for calculating a target moving distance of a first probe assembly of a reference group fixing assembly 31 provided in an embodiment of the present application includes at least the following steps S2031-S2032:

[0103] Step S2031: obtaining an absolute value of a difference between a first position offset and a preset value as a first difference; wherein the preset value is half of the first distance;

[0104] Step S2032: Obtaining a target moving distance of the first probe assembly 32 of the reference group fixing assembly 31 according to the first difference and the first offset; wherein the target moving distance of the first probe assembly 32 of the reference group fixing assembly 31 is the absolute value of the difference between the first difference and the first offset;

[0105] For example, to understand the above calculation steps more clearly, please refer to Figure 5 , Figure 5 A schematic structural diagram of a method for calculating a target moving distance of a first probe assembly provided in an embodiment of the present application, wherein: Figure 5 The present invention is a schematic structural diagram for calculating the target moving distance of the first probe assembly when the first pin drives the first probe assembly. The first probe assembly 32 is a left probe assembly, the first pole 42 is a left pole 521, the left probe assembly is used to fix the left pole 521, the second pole 43 is a right pole 522, the first pin 22 is a left pin 531, and the second pin 23 is a right pin 532. The control system stores a first distance L between the left pole 521 and the right pole 522 of the target battery 41, a first offset B of the left pin 531 relative to the center position of the corresponding target change assembly 21, and a second offset CB of the right pin 532 relative to the center position of the target change assembly 21, wherein C is the distance between the first pin 22 and the second pin 23, wherein the left probe assembly, the right probe assembly and the negative pressure assembly 34 are in Figure 5 Not shown.

[0106] The control system determines the starting position information of each group of fixed components;

[0107] According to the starting position information of the reference group fixing component 31 and the installation position information of the target battery 41, a first position offset A1 from the servo origin of the target reshaping component 21 to the center of the target battery 41 is obtained when the target reshaping component 21 is at the center of the left probe component;

[0108] Then, the absolute value of the difference between the first position offset A1 and the preset value L / 2 is obtained as the first difference; that is, the first difference=|A1-L / 2|, where " / " represents a division sign.

[0109] When the left pin 531 drives the left probe assembly of the reference group fixing component 31, the target moving distance of the left probe assembly is obtained according to the first difference |A1-L / 2| and the first offset B; wherein the target moving distance of the left probe assembly is the absolute value of the difference between the first difference and the first offset; that is: when the left pin 531 drives the left probe assembly, the target moving distance of the left probe = ||AL / 2|-B|. Under normal circumstances, the first position offset A1 is greater than the preset value L / 2, and is much greater than the first offset B of the left pin 531 relative to the center position of the corresponding target change component 21. Therefore, the target moving distance of the left probe of the reference group fixing component 31 = A1-L / 2-B.

[0110] After the above step S202, it is also necessary to obtain the target moving distance of the second probe assembly 33 of the reference group fixing assembly 31, that is:

[0111] Step S204: Obtaining a second position offset from the servo origin of the target reshaping component 21 to the center of the target battery 41 when the target reshaping component 21 is at the center of the second probe component 33 based on the starting position information of the reference group fixing component 31 and the installation position information of the target battery 41;

[0112] Step S205 : Correcting the second position offset according to the first distance and the second offset to obtain a target moving distance of the second probe assembly 33 of the reference group fixing assembly 31 .

[0113] For specific steps of obtaining the target moving distance of the second probe assembly 33, refer to Figure 6 , Figure 6 A flowchart of calculating a target moving distance of a second probe assembly of a reference group fixing assembly 31 provided in an embodiment of the present application includes at least the following steps S2051-S2052:

[0114] Step S2051: obtaining a first sum value as a sum of the second position offset and the preset value;

[0115] Step S2052: Obtain the target moving distance of the second probe assembly 33 of the reference group fixing assembly 31 according to the first sum and the second offset, wherein the target moving distance of the second probe assembly 33 of the reference group fixing assembly 31 is the sum of the first sum and the second offset.

[0116] For example, to understand the above calculation steps more clearly, please refer to Figure 7 , Figure 7 This is a schematic structural diagram of a target moving distance of a second probe assembly of a calculation reference group fixing assembly 31 provided in an embodiment of the present application, wherein: Figure 7A schematic structural diagram of calculating the target moving distance of the second probe assembly when the second pin drives the second probe assembly. The first probe assembly 32 is the right probe assembly, the first pole 42 is the left pole 521, the second pole 43 is the right pole 522, the left probe assembly 512 is used to fix the right pole 522, the first latch 22 is the left latch 531, the second latch 23 is the right latch 532, and the control system stores the first distance L between the left pole 521 and the right pole 522 of the target battery 41, the first offset B of the left latch 531 relative to the center position of the corresponding target change assembly 21, and the second offset CB of the right latch 532 relative to the center position of the target change assembly 21, wherein C is the distance between the first latch 22 and the second latch 23, wherein the left probe assembly, the right probe assembly and the negative pressure assembly 34 are in Figure 7 Not shown.

[0117] The control system determines the starting position information of each group of fixed components;

[0118] According to the starting position information of the reference group fixing component 31 and the installation position information of the target battery 41, a second position offset A2 from the servo origin of the target reshaping component 21 to the center of the target battery 41 is obtained when the target reshaping component 21 is at the center of the right probe assembly;

[0119] Then, the sum of the second position offset A2 and the preset value L / 2 is obtained as a first sum; that is, the first sum=A2+L / 2, where “ / ” represents a division sign.

[0120] When the right pin 532 drives the left probe assembly of the reference group fixing assembly 31, the target moving distance of the left probe assembly is obtained based on the first sum (A2+L / 2) and the second offset (CB); wherein, the target moving distance of the right probe assembly is the sum of the first sum and the second offset; that is, when the right pin 532 drives the right probe assembly, the target moving distance of the right probe = A2+L / 2+C-B.

[0121] In some implementations, see further Figure 1 At least one target component of the target battery 41 further includes a liquid injection port 523 , and at least one set of fixing components 31 further includes a negative pressure component 34 , which is used to fix the liquid injection port.

[0122] The first local position information also includes a second distance between the first pole 42 and the liquid injection port 523.

[0123] The liquid injection port 523 is a critical component of the battery injection system within the formation and capacity separation equipment, responsible for injecting electrolyte into the battery. It is typically designed as a small opening to precisely control the amount of liquid flowing in. Throughout the injection process, the liquid injection port 523 works closely with the negative pressure assembly 34 to deliver electrolyte from the outside to the electrode materials within the battery through negative pressure suction. This ensures even distribution of the liquid within the battery, preventing excess or insufficient liquid, and ensuring stable battery performance during the subsequent formation and capacity separation processes.

[0124] The negative pressure assembly 34 is a crucial component of the battery's filling and dispensing equipment, primarily used to provide negative pressure to control liquid flow during battery filling. Typically consisting of a vacuum pump, negative pressure piping, and other components, the negative pressure assembly 34 evenly injects electrolyte into the battery through the injection port 523. The use of negative pressure helps prevent excessive electrolyte accumulation, bubbles, and uneven liquid filling, thereby improving battery quality and consistency.

[0125] In step S102, a target movement distance of the reference group fixing component 31 is determined based on the preset installation position information of the target battery 41, the first local position information of at least one target component of the target battery 41, the starting position information of the reference group fixing component 31, and the second local position information of the two latches in the corresponding mold-changing component 21. The target movement distance of the negative pressure component 34 is also determined. That is, based on the starting position information of the reference group fixing component 31 and the installation position information of the target battery 41, a third position offset from the servo origin of the target mold-changing component 21 to the center of the target battery 41 is obtained when the target mold-changing component 21 is at the center of the negative pressure component 34.

[0126] According to the first distance, the offset of the two pins relative to the center position of the target change component 21, and the second distance between the first pole 42 and the injection port 523, the third position offset is corrected to obtain the target movement distance of the negative pressure component 34 of the reference group fixing component 31.

[0127] Therefore, in the case where the fixed component also includes a negative pressure component, the target moving distance of the negative pressure component needs to be calculated. In order to more clearly understand the process steps of calculating the target moving distance of the negative pressure component 34, please refer to Figure 8 , Figure 8 A flowchart of another tool change control method provided in an embodiment of the present application includes at least the following steps S301-S303:

[0128] Step S301: The control system determines the starting position information of each group of fixed components;

[0129] Step S302: Obtaining a third position offset from the servo origin of the target reshaping component 21 to the center of the target battery 41 when the target reshaping component 21 is at the center of the negative pressure component 34 based on the starting position information of the reference group fixing component 31 and the installation position information of the target battery 41;

[0130] Step S303 : correcting the third position offset according to the first distance, the first offset, and the second distance between the first pole 42 and the liquid injection port 523 to obtain a target moving distance of the negative pressure assembly 34 of the reference group fixing assembly 31 .

[0131] Based on the above step S303, the detailed steps of obtaining the target moving distance of the negative pressure component 34 can be found in Figure 9 , Figure 9 A flowchart for calculating a target moving distance of a negative pressure assembly of a reference group fixing assembly 31 is provided in an embodiment of the present application. The flowchart includes at least steps S3031-S3033:

[0132] Step S3031: obtaining an absolute value of a difference between the third position offset and a preset value as a second difference;

[0133] Step S3032: obtaining a second sum value of the sum of the second difference and the second distance;

[0134] Step S3033: Obtaining a target moving distance of the negative pressure component 34 of the reference group fixing component 31 according to the second sum and the first offset, wherein the target moving distance of the negative pressure component 34 is the absolute value of the difference between the second sum and the first offset;

[0135] In the embodiment of the present application, with the center of the target battery row as the reference, the components on the left side of the target battery row are moved using the left latch, and the components on the right side of the target battery row are moved using the right latch. Since the negative pressure component is located on the left side of the target battery row in most cases, it is moved using the first latch on the left side.

[0136] Optionally, when the negative pressure assembly of the reference group fixing assembly 31 is located on the right side of the target battery column, a second latch located on the right side may be used for movement.

[0137] For example, see Figure 10 , Figure 10 This is a schematic structural diagram of a target moving distance of a negative pressure component of a calculation reference group fixing component 31 provided in an embodiment of the present application, wherein: Figure 10Schematic diagram of the target moving distance of the negative pressure component of the reference group fixing component 31 when the first pin drives the negative pressure component of the reference group fixing component 31. The two structural diagrams include: the left pole 521, the right pole 522, the liquid injection port 523, the left pin 531 and the right pin 532, wherein the left probe component, the right probe component and the negative pressure component 34 are Figure 12 Not shown.

[0138] Among them, the control system stores a first distance L between the left pole 521 and the right pole 522 of the target battery 41, a second distance D between the first pole 42 and the injection port 523, a first offset B of the left pin 531 relative to the center position of the corresponding target replacement component 21, and a second offset CB of the right pin 532 relative to the center position of the target replacement component 21, wherein C is the distance between the first pin 22 and the second pin 23.

[0139] The control system determines the starting position information of each group of fixed components;

[0140] Obtaining, based on the starting position information of the reference group fixing component 31 and the installation position information of the target battery 41, a third position offset A3 from the servo origin of the target reshaping component 21 to the center of the target battery 41 when the target reshaping component 21 is at the center of the negative pressure component 34;

[0141] Then, the absolute value of the difference between the third position offset A3 and the preset value L / 2 is obtained as the second difference; that is, the second difference=|A3−L / 2|, where “ / ” represents a division sign.

[0142] Obtaining a second sum value of the sum of the second difference |A3-L / 2| and the second distance D; that is, the second sum value = |A3-L / 2| + D;

[0143] When the negative pressure assembly of the reference group fixing assembly 31 is located to the left of the center line of the target battery column, the left pin 531 drives the negative pressure assembly 34 to obtain the target movement distance of the negative pressure assembly 34 based on the second sum |A3+L / 2|+D and the first offset B; wherein the target movement distance of the negative pressure assembly 34 is the absolute value of the difference between the second sum and the first offset; that is: when the left pin 531 drives the right probe assembly, the target movement distance of the right probe = |A3-L / 2|+D-B. Under normal circumstances, the third position offset A3 is greater than the preset value L / 2 and is much greater than the first offset B of the left pin 531 relative to the center position of the corresponding target change assembly 21. Therefore, the target movement distance of the negative pressure of the reference group fixing assembly 31 = A3-L / 2+D-B.

[0144] In some embodiments, in the process of the control system controlling the first pin 22 or the second pin 23 in the target change component to drive the fixed component 31 to move the corresponding target moving distance, if the fixed component 31 to be moved includes a negative pressure component 34, in order to avoid interference problems caused by the close distance between the negative pressure component 34 and the probe component during the change of target batteries 41 of different sizes, it is necessary to determine the order in which the probe component and the negative pressure component 34 are changed. Among them, the preset target battery 41 installation position information stored on the control system also includes the third distance between the target battery 41 columns, and the starting position information of each group of fixed components includes the starting position information of at least two components in each group of fixed components. In order to introduce in detail the specific steps of how to determine the order in which the probe component and the negative pressure component 34 are changed, please refer to Figure 11 , Figure 11 A flowchart of a method for fixing the order of component replacement provided in an embodiment of the present application includes at least the following steps S401-S406:

[0145] Step S401: Determine the types of at least two components based on the starting position information of at least two components and the third distance, the types including pole type or negative pressure type; the pole type components include a first probe component and a second probe component, and the negative pressure type components include a negative pressure component.

[0146] Step S402: obtaining the battery size before the replacement according to the pole type assembly;

[0147] Among them, obtaining the battery size before the replacement based on the pole type component 31 can be: obtaining the distance between adjacent components based on the starting position information of each group of fixed components; when the distances between the component and its two adjacent components are not equal to the third distance, determining that the component is a negative pressure type and its two adjacent components 31 are pole types; obtaining the difference between the starting position information of the two adjacent components 31 as the battery size before the replacement.

[0148] Among them, since the third distance is a fixed distance between the target battery columns, that is, the distance between the probe assembly of one column of target batteries and the probe assembly of another adjacent column of target batteries, the third distance is stored in the host computer. When the fixed component includes a negative pressure component, according to the characteristics of the battery itself, the negative pressure component is located between the two probe assemblies, and the distance to one of the probe assemblies is closer. Therefore, when the distance between a group of fixed components and the adjacent probe assemblies is not the third distance, it can be determined that the fixed component is a negative pressure type negative pressure component;

[0149] Optionally, the judgment method may also be that when the distances between the fixed component and its two adjacent groups of fixed components are not equal to the third distance, and the distances between the fixed component and its two adjacent groups of fixed components are not equal, the fixed group is determined to be a negative pressure component, thereby being able to more accurately judge the type of the fixed component.

[0150] Step S403: When the battery size before replacement is larger than the size of the target battery 41, first control the first pin to drive the negative pressure assembly to move the corresponding target moving distance, and then control the two pins to respectively drive the first probe assembly or the second probe assembly to move the corresponding target moving distance, wherein the size of the target battery is the first distance.

[0151] Step S404: When the battery size before replacement is smaller than the size of the target battery 41, first control the two pins to respectively drive the first probe assembly or the second probe assembly to move the corresponding target moving distance, and then control the first pin to drive the negative pressure assembly to move the corresponding target moving distance.

[0152] In some implementation examples, in order to ensure that the position of each set of fixed components after the replacement is consistent with the preset target battery 41 installation position, the following steps may also be included. Figure 12 , Figure 12 Another control method flow chart provided for the embodiment of the present application includes at least the following steps S501-S507:

[0153] Step S501: The control system determines the starting position information of each group of fixed components;

[0154] Step S502: The control system determines the target moving distance of the reference group fixing component 31 based on the first local position information of at least one target component of the preset target battery 41, the starting position information of the reference group fixing component, and the second local position information of the two pins in the corresponding target change component 21.

[0155] The target change component 21 is one of the at least one set of change components 21 , and at least one target component corresponds one-to-one to at least two components in each set of fixed components;

[0156] Step S503: determining target moving distances of the remaining fixed components in at least one group of fixed components except the reference group fixed component 31 according to the target moving distance of the reference group fixed component 31 and the preset target battery position information;

[0157] Step S504: The control system controls the two latches in the target change assembly 21 to respectively drive one of the groups of fixed assemblies 31 to move the corresponding target movement distance according to the target movement distance of each group of fixed assemblies in the at least one group of fixed assemblies, until each group of fixed assemblies moves the corresponding target movement distance.

[0158] Step S505: the control system initializes the probe shaft 25 so as to position the probe shaft 25 to an initial position of the probe shaft 25;

[0159] Step S506: The control system controls the sensor 24 to be in a scanning state and controls the probe shaft 25 to move at a constant speed from the initial position of the probe shaft 25 to a preset positive direction, thereby driving the sensor 24 to move;

[0160] The positive direction may be from left to right or from right to left.

[0161] Step S507: The control system obtains the final position information of each group of fixed components in the at least one group of fixed components according to the electrical signal obtained by the sensor 24 during the movement;

[0162] Step S508 : when the final position information of each group of fixing components in at least one group of fixing components is consistent with the preset installation position information of the target battery 41 , it is determined that the type change of each group of fixing components is successful.

[0163] The above method obtains the final position information of each group of fixed components after the replacement by rescanning the sensor 24 on the replacement component 21, and compares the final position information with the installation position information of the target battery 41. When the two are consistent, it is determined that the replacement of each group of fixed components is successful, further ensuring the accuracy of the replacement of the replacement tooling 20 control method.

[0164] Based on the above-mentioned tool change control method, the present application embodiment also discloses a control system, see Figure 13 , including a starting position acquisition module 121, a target distance acquisition module 122 and a control module 123, wherein:

[0165] The starting position acquisition module 121 is used to determine the starting position information of each group of fixed components in at least one group of fixed components;

[0166] The target distance acquisition module 122 is configured to determine a target moving distance of the reference group fixed component based on preset local position information of at least one target component of the target battery, initial position information of the reference group fixed component, and second local position information of the two latches in the corresponding transposable components, wherein the target transposable component is one of the at least one group of transposable components, and the at least one target component corresponds one-to-one to at least two components in the reference group fixed component; and

[0167] for determining target moving distances of remaining fixed components in at least one group of fixed components except the reference group of fixed components according to the target moving distance of the reference group of fixed components and preset target battery position information;

[0168] The control module 123 is used to control the two pins to respectively drive at least two components in a group of fixed components to move the corresponding target moving distance according to the target moving distance of each group of fixed components in the at least one group of fixed components, until each group of fixed components moves the corresponding target moving distance, wherein the pin located at the left position of the two pins drives the component located at the left position of the at least two components, and the pin located at the right position of the two pins drives the component located at the right position of the at least two components.

[0169] Optionally, a target distance acquisition module 122 is configured to acquire, based on the starting position information of the reference group fixing component and the installation position information of the target battery, a first position offset from the servo origin of the target reshaping component to the center of the target battery when the target reshaping component is at the center of the first probe component, and a second position offset from the servo origin of the target reshaping component to the center of the target battery when the target reshaping component is at the center of the second probe component; and

[0170] for correcting the first position offset according to the first distance and the first offset to obtain a target moving distance of the first probe assembly of the reference group fixed assembly; and

[0171] It is used to correct the second position offset according to the first distance and the second offset to obtain the target moving distance of the second probe assembly of the reference group fixing assembly.

[0172] Optionally, the target distance acquisition module 122 is configured to acquire an absolute value of a difference between the first position offset and a preset value as a first difference, wherein the preset value is half of the first distance; and

[0173] Used to obtain the target moving distance of the first probe assembly of the reference group fixed assembly based on the first difference and the first offset, wherein the target moving distance of the first probe assembly of the reference group fixed assembly is the absolute value of the difference between the first difference and the first offset.

[0174] Optionally, the target distance acquisition module 122 is configured to acquire a sum of the second position offset and the preset value as a first sum; and

[0175] Used to obtain the target movement distance of the second probe assembly of the reference group fixed assembly according to the first sum value and the second offset, wherein the target movement distance of the second probe assembly of the reference group fixed assembly is the sum of the first sum value and the second offset.

[0176] Optionally, a target distance acquisition module 122 is configured to acquire, based on the starting position information of the reference group fixed component and the installation position information of the target battery, a third position offset from the servo origin of the target reshaping component to the center of the target battery when the target reshaping component is at the center of the negative pressure component; and

[0177] It is used to correct the third position offset according to the first distance, the first offset and the second distance between the first pole and the liquid injection port to obtain the target moving distance of the negative pressure component of the reference group fixing component.

[0178] Optionally, the target distance acquisition module 122 is configured to acquire an absolute value of a difference between the third position offset and a preset value as a second difference; and

[0179] for obtaining a sum of the second difference and the second distance as a second sum; and

[0180] Used to obtain the target moving distance of the negative pressure component of the reference group fixing component based on the second sum value and the first offset, wherein the target moving distance of the negative pressure component of the reference group fixing component is the absolute value of the difference between the second sum value and the first offset.

[0181] Optionally, the control module 123 is configured to determine the types of the at least two components based on the starting position information of the at least two components and the third distance, where the types include a pole type or a negative pressure type, the pole type components include a first probe component and a second probe component, and the negative pressure type components include a negative pressure component; and

[0182] Used to obtain the battery size before the replacement according to the component of the pole type; and

[0183] for, when the size of the battery before the replacement is larger than the size of the target battery, first controlling the first latch to drive the negative pressure assembly to move the corresponding target moving distance, and then controlling the two latches to respectively drive the first probe assembly or the second probe assembly to move the corresponding target moving distance, wherein the size of the target battery is the first distance; and

[0184] When the size of the battery before the replacement is smaller than the size of the target battery, the two pins are first controlled to respectively drive the first probe assembly or the second probe assembly to move the corresponding target moving distance, and then the first pin is controlled to drive the negative pressure assembly to move the corresponding target moving distance.

[0185] Optionally, the control module 123 is configured to initialize the probe axis so as to position the probe axis to an initial position of the probe axis; and

[0186] It is used to control the sensor to be in a scanning state and control the probe axis to move at a constant speed from the initial position of the probe axis to a preset positive direction, so as to drive the sensor to move.

[0187] The optional starting position acquisition module 121 is further configured to acquire final position information of each group of fixed components in the at least one group of fixed components based on the electrical signal acquired by the sensor during the movement;

[0188] In some embodiments, the control system may further include a confirmation module for determining that the replacement of each group of fixing components in the at least one group of fixing components is successful when the final position information of each group of fixing components in the at least one group of fixing components is consistent with the preset installation position information of the target battery.

[0189] In some embodiments, the control system may include a host computer and a programmable controller, the host computer is connected to the programmable controller, and the programmable controller is connected to the changing tooling. The host computer can realize the functions of the starting position acquisition module 121 and the target distance acquisition module 122, and the programmable controller can realize the function of the control module 123.

[0190] Optionally, the host computer can also realize the function of the confirmation module.

[0191] Exemplarily, the host computer is used to send control instructions to the programmable controller, and

[0192] for determining the starting position information of each fixed component in at least one group of fixed components 31, and for determining the target movement distance of the reference group fixed component 31 based on the local position information of at least one target component of the preset target battery, the starting position information of the reference group fixed component 31, and the second local position information of the two latches in the corresponding transposable component 21, wherein the target transposable component 21 is one of the at least one group of transposable components 21, and the at least one target component corresponds one-to-one to at least two components in each group of fixed components; and

[0193] for determining target moving distances of remaining fixed components in at least one group of fixed components 31 except the reference group fixed component 31 according to the target moving distance of the reference group fixed component 31 and the preset target battery position information;

[0194] A programmable controller is used to control the two latches to respectively drive at least two components in a group of fixed components 31 to move the corresponding target moving distance according to the target moving distance of each group of fixed components in at least one group of fixed components 31, until each group of fixed components moves the corresponding target moving distance, wherein the latch located at the left position of the two latches drives the component located at the left position of the at least two components, and the latch located at the right position of the two latches drives the component located at the right position of the at least two components.

[0195] The host computer, also known as an embedded control system, is typically the "control center" or "monitoring center" of the entire battery control system. It is primarily responsible for interacting with users, collecting data, displaying real-time status, and performing system configuration and parameter settings. The host computer typically communicates with the host and slave devices via communication protocols, including but not limited to Controller Area Network (CAN), Recommended Standard 485 (RS485), and Transmission Control Protocol / Internet Protocol (TCP / IP). The host computer's functions include but are not limited to data monitoring and display, fault diagnosis and alarming, system configuration and parameter adjustment, and data logging and analysis.

[0196] Optionally, the host computer may include a display interface for interacting with the user, through which the user can display the preset installation position information of the target battery 41, the first local position information of at least one target component of the target battery 41, the preset anti-collision compensation value, the preset center line position, and the preset avoidance position information, etc., without specific restrictions here. The host computer can calculate the target moving distance of each group of fixed components based on the information, and send relevant control instructions to the programmable controller, so that the programmable controller controls at least two groups of unlocking mechanisms 202 of the changing tooling to perform subsequent operations according to the received control instructions.

[0197] Programmable Logic Controllers (PLCs) primarily use programmable memory to store instructions for performing operations such as logic operations, sequential control, timing, counting, and arithmetic calculations. They also control various machines and processes through digital or analog input / output modules. Their core function is to execute pre-set programs, which can be customized and modified to meet the needs of industrial processes. They operate based on a scan cycle, periodically reading input signals, executing program logic, and updating output signals. This cyclical operation enables PLCs to respond to changes in industrial processes in real time, achieving precise automated control.

[0198] A programmable controller (PLC) consists of several components, including but not limited to a central processing unit (CPU), input / output (I / O) modules, a power supply module, and a programming device. The CPU is the brain of the PLC, responsible for executing programs stored in its memory. The I / O modules connect to external devices, such as sensors, actuators, and motors, to monitor and control industrial processes. The power supply module provides a stable power source for the PLC, ensuring its proper operation. The programming device is used to write, debug, and download control programs to the PLC.

[0199] The control method of a mold changing tool disclosed in an embodiment of the present application is applied to a mold changing tool 20, wherein the mold changing tool 20 includes at least one group of mold changing components 21, and the positions of the two mold changing components 21 in each group of mold changing components 21 correspond to each other. Each mold changing component 21 includes two latches. Under the control of the programmable controller 12 of the control system 10, the two latches respectively drive at least two components in a group of fixed components 31 to move corresponding target movement distances, until each group of fixed components in the at least one group of fixed components 31 moves the corresponding target movement distance, so that the fixed components 31 adapt to the position of the target battery, wherein the control system 10 is used to control the mold changing tool to adjust the position of the at least one group of fixed components 31, each group of fixed components includes at least two components, the latch located at the left position of the two latches drives the component located at the left position of the at least two components, and the latch located at the right position of the two latches drives the component located at the right position of the at least two components;

[0200] Among them, the target moving distance corresponding to each group of fixed components is determined by the first local position information of at least one target component of the target battery preset by the upper computer 11 in the control system 10, the starting position information of the reference group fixed component 31, the second local position information of the two pins in the corresponding target change component 21 and the preset target battery position information. The target change component 21 is one of the at least one group of change components 21, and at least one target component corresponds one-to-one to at least two components in each group of fixed components.

[0201] In order to more clearly understand the double-plug structure of the change tool of the present application, the embodiment of the present application also discloses a change tool, which includes two plugs, please refer to Figure 14 , Figure 14 This is a schematic diagram of a double-plug structure of a change tool disclosed in an embodiment of the present application, including a first latch 22 located at the left position, a second latch 23 located at the right position, a first probe assembly 32 located at the left position, and a second probe assembly 33 located at the right position.

[0202] Two latches are used to respectively drive at least two components in a group of fixed components 31 to move corresponding target movement distances under the control of the programmable controller 12 of the control system 10, until each group of fixed components in the at least one group of fixed components 31 moves the corresponding target movement distance, so that the fixed components 31 adapt to the position of the target battery, wherein the control system 10 is used to control the changeover tool to adjust the position of the at least one group of fixed components 31, each group of fixed components includes at least two components, a first latch located at the left position of the two latches drives a first probe component located at the left position of the at least two components, and a second latch located at the right position of the two latches drives a second probe component located at the right position of the at least two components;

[0203] Among them, the target moving distance corresponding to each group of fixed components is determined by the first local position information of at least one target component of the target battery preset by the upper computer 11 in the control system 10, the starting position information of the reference group fixed component 31, the second local position information of the two pins in the corresponding target change component 21 and the preset target battery position information. The target change component 21 is one of the at least one group of change components 21, and at least one target component corresponds one-to-one to at least two components in each group of fixed components.

[0204] Based on the above-mentioned tooling control method and control system, an embodiment of the present application further discloses a computer-readable storage medium having a computer program stored thereon, which implements any of the above-mentioned analysis methods for the driving problem when the computer program is executed by a processor.

[0205] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a ROM, or the like.

[0206] As used herein, any reference to memory, storage, database, or other medium may include nonvolatile and / or volatile memory. Suitable nonvolatile memory may include ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as external cache memory. By way of illustration and not limitation, RAM may be in various forms, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus DRAM (RDRAM), and direct Rambus DRAM (DRDRAM).

[0207] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present application.

[0208] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0209] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the objectives of this embodiment.

[0210] In addition, the functional units in the embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0211] The term "and / or" in this article is only a description of the association relationship between associated objects, indicating that there can be three relationships. For example, object A and / or object B can mean: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0212] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0213] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0214] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0215] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0216] The above is a detailed introduction to the tool change control method disclosed in the embodiment of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only intended to help understand the method and core concept of the present application. At the same time, for those skilled in the art, according to the concept of the present application, there may be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A tool change control method, characterized in that: The method is applied to a control system, the control system being used to control a changeover tool to adjust the position of at least one group of fixed components so that the fixed components adapt to the position of a target battery, each group of fixed components including at least two components, the changeover tool including at least one group of changeover components, the positions of the two changeover components in each group of changeover components corresponding to each other, and each of the changeover components including two latches, the method comprising: Determine the starting position information of each group of fixed components; Determining a target movement distance of the reference group fixed component based on preset first local position information of at least one target component of the target battery, starting position information of the reference group fixed component, and second local position information of the two latches in the corresponding target reshaping components, wherein the target reshaping component is one of the at least one group of reshaping components, and the at least one target component corresponds one-to-one to at least two components in the reference group fixed component; Determining target moving distances of remaining fixed components in at least one group of fixed components except the reference group of fixed components according to the target moving distance of the reference group of fixed components and preset target battery position information; According to the target moving distance of each group of fixed components in the at least one group of fixed components, the two pins of the changing tool are controlled to respectively drive at least two components in a group of fixed components to move the corresponding target moving distance until each group of fixed components moves the corresponding target moving distance, wherein the pin located at the left position of the two pins drives the component located at the left position of the at least two components, and the pin located at the right position of the two pins drives the component located at the right position of the at least two components.

2. The method according to claim 1, characterized in that The at least one target component includes a first pole and a second pole, the at least two components include a first probe component and a second probe component, the first local position information includes a first distance between the first pole and the second pole, and the second local position information includes a first offset of a first latch relative to a center position of the corresponding target transition component and a second offset of a second latch relative to the center position of the corresponding target transition component; wherein the center position of the target transition component is a position of a sensor on the target transition component, the first probe component is a component located at a left position of the at least two components, the second probe component is a component located at a right position of the at least two components, the first latch is a latch located at a left position of the two latches, and the second latch is a latch located at a right position of the two latches; The step of determining a target moving distance of the reference group fixing component based on preset first local position information of at least one target component of the target battery, starting position information of the reference group fixing component, and second local position information of the two latches in the corresponding target replacement component includes: Obtaining, based on the starting position information of the reference group fixing component and the installation position information of the target battery, a first position offset from the servo origin of the target reshaping component to the center of the target battery when the target reshaping component is at the center of the first probe component, and a second position offset from the servo origin of the target reshaping component to the center of the target battery when the target reshaping component is at the center of the second probe component; Correcting the first position offset according to the first distance and the first offset to obtain a target moving distance of the first probe assembly of the reference group fixed assembly; The second position offset is corrected according to the first distance and the second offset to obtain a target moving distance of the second probe assembly of the reference group fixing assembly.

3. The method according to claim 2, characterized in that The method of correcting the first position offset according to the first distance and the first offset to obtain a target moving distance of the first probe assembly of the reference group fixed assembly comprises: Obtaining an absolute value of a difference between the first position offset and a preset value as a first difference, wherein the preset value is half of the first distance; The target moving distance of the first probe assembly of the reference group fixed assembly is obtained according to the first difference and the first offset, wherein the target moving distance of the first probe assembly of the reference group fixed assembly is the absolute value of the difference between the first difference and the first offset.

4. The method according to any one of claims 2 or 3, characterized in that The method comprises: correcting the second position offset according to the first distance and the second offset to obtain a target moving distance of the second probe assembly of the reference group fixed assembly; Obtaining a sum of the second position offset and the preset value as a first sum value; The target moving distance of the second probe assembly of the reference group fixed assembly is obtained according to the first sum and the second offset, wherein the target moving distance of the second probe assembly of the reference group fixed assembly is the sum of the first sum and the second offset.

5. The method according to claim 4, characterized in that The at least one target component further includes a liquid injection port, the at least two components further include a negative pressure component, and the first local position information further includes a second distance between the first electrode and the liquid injection port; determining the target movement distance of the reference group fixing component based on the preset first local position information of the at least one target component of the target battery, the starting position information of the reference group fixing component, and the second local position information of the two pins in the corresponding target replacement component, includes: Obtaining, based on the starting position information of the reference group fixing component and the installation position information of the target battery, a third position offset from the servo origin of the target reshaping component to the center of the target battery when the target reshaping component is at the center of the negative pressure component; The third position offset is corrected according to the first distance, the first offset, and the second distance between the first pole and the liquid injection port to obtain a target moving distance of the negative pressure component of the reference group fixing component.

6. The method according to claim 5, characterized in that The method of correcting the third position offset according to the first distance, the first offset, and the second distance between the first pole and the liquid injection port to obtain a target moving distance of the negative pressure component of the reference group fixing component includes: Obtaining an absolute value of a difference between the third position offset and a preset value as a second difference; Obtain a second sum value as a sum of the second difference and the second distance; The target moving distance of the negative pressure component of the reference group fixed component is obtained according to the second sum and the first offset, wherein the target moving distance of the negative pressure component of the reference group fixed component is the absolute value of the difference between the second sum and the first offset.

7. The method according to any one of claims 1-3 or 5-6, characterized in that: The preset target battery installation position information includes a third distance between target battery columns, and the starting position information of each group of fixed components includes starting position information of at least two components in each group of fixed components; The controlling of the two latches to respectively drive at least two components in a group of fixed components to move a corresponding target distance until each group of fixed components moves the corresponding target movement distance includes: Determining types of the at least two components according to the starting position information of the at least two components and the third distance, wherein the types include a pole type or a negative pressure type, the pole type component includes a first probe component and a second probe component, and the negative pressure type component includes a negative pressure component; Obtaining the battery size before the replacement according to the component of the pole type; When the size of the battery before the replacement is larger than the size of the target battery, first controlling the first latch to drive the negative pressure assembly to move a corresponding target movement distance, and then controlling the two latches to respectively drive the first probe assembly or the second probe assembly to move a corresponding target movement distance, wherein the size of the target battery is the first distance; When the battery size before the replacement is smaller than the target battery size, the two pins are first controlled to respectively drive the first probe assembly or the second probe assembly to move the corresponding target moving distance, and then the first pin is controlled to drive the negative pressure assembly to move the corresponding target moving distance.

8. The method according to any one of claims 1-3 or 5-6, characterized in that: Each of the conversion assemblies includes a sensor and a probe shaft, and the method further includes: Initializing the probe axis to position the probe axis to an initial position of the probe axis; Controlling the sensor to be in a scanning state and controlling the probe shaft to move at a constant speed from an initial position of the probe shaft to a preset positive direction to drive the sensor to move; obtaining final position information of each group of fixed components in the at least one group of fixed components according to the electrical signal obtained by the sensor during the movement; When the final position information of each group of fixing components in the at least one group of fixing components is consistent with the preset installation position information of the target battery, it is determined that the replacement of each group of fixing components is successful.

9. A tool change control method, characterized in that: Applied to a changeover tool, the changeover tool comprising at least one set of changeover components, the positions of two changeover components in each set of changeover components corresponding to each other, each of the changeover components comprising two latches, the method comprising: Under the control of the control system, the two latches respectively drive at least two components in a group of fixed components to move corresponding target movement distances, until each group of fixed components in the at least one group of fixed components moves the corresponding target movement distance, so that the fixed components adapt to the position of the target battery, wherein the control system is used to control the changeover tooling to adjust the position of the at least one group of fixed components, each group of fixed components includes at least two components, the latch located at the left position of the two latches drives the component located at the left position of the at least two components, and the latch located at the right position of the two latches drives the component located at the right position of the at least two components; Among them, the target moving distance corresponding to each group of fixed components is determined by the control system based on the first local position information of at least one target component of the target battery, the starting position information of the reference group fixed component, the second local position information of the two pins in the corresponding target replacement component and the preset target battery position information. The target replacement component is one of the at least one group of replacement components, and the at least one target component corresponds one-to-one to at least two components in the reference group fixed component.

10. A control system, characterized in that: It includes a starting position acquisition module, a target distance acquisition module and a control module, wherein: The starting position acquisition module is used to determine the starting position information of each group of fixed components in at least one group of fixed components; The target distance acquisition module is configured to determine a target moving distance of the reference group fixed component based on preset local position information of at least one target component of the target battery, initial position information of the reference group fixed component, and second local position information of two latches in corresponding transposable components, wherein the target transposable component is one of the at least one group of transposable components, and the at least one target component corresponds one-to-one to at least two components in the reference group fixed component; and for determining target moving distances of remaining fixed components in at least one group of fixed components except the reference group of fixed components according to the target moving distance of the reference group of fixed components and preset target battery position information; The control module is used to control the two pins to respectively drive at least two components in a group of fixed components to move the corresponding target moving distance according to the target moving distance of each group of fixed components in the at least one group of fixed components, until each group of fixed components moves the corresponding target moving distance, wherein the pin located at the left position of the two pins drives the component located at the left position of the at least two components, and the pin located at the right position of the two pins drives the component located at the right position of the at least two components.

11. A tool for changing shape, characterized in that: The invention comprises at least one group of profile changing components, wherein the positions of the two profile changing components in each group of profile changing components correspond to each other, and each of the profile changing components comprises two latches, wherein: The two latches are used to respectively drive at least two components in a group of fixed components to move corresponding target movement distances under the control of the control system, until each group of fixed components in the at least one group of fixed components moves the corresponding target movement distance, so that the fixed components adapt to the position of the target battery, wherein the control system is used to control the changeover tooling to adjust the position of the at least one group of fixed components, each group of fixed components includes at least two components, the latch located at the left position of the two latches drives the component located at the left position of the at least two components, and the latch located at the right position of the two latches drives the component located at the right position of the at least two components; Among them, the target moving distance corresponding to each group of fixed components is determined by the control system based on the first local position information of at least one target component of the target battery, the starting position information of the reference group fixed component, the second local position information of the two pins in the corresponding target replacement component and the preset target battery position information. The target replacement component is one of the at least one group of replacement components, and the at least one target component corresponds one-to-one to at least two components in the reference group fixed component.

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