A full-automatic battery module busbar bending machine based on machine vision

Abstract

The present application relates to the technical field of busbar processing, and discloses a full-automatic battery module busbar bending machine based on machine vision, which comprises a machine base and a controller arranged above the machine base, and further comprises a traction plate fixed on the machine base, a traction member fixed on the traction plate, a lifting table fixed on the machine base, a mounting plate fixed on the machine base, first hydraulic telescopic rods fixed on both sides of the mounting plate, and a bending member fixed on the lifting table and the first hydraulic telescopic rods. The electrode column contact and the electrode curved contact are connected to an external power supply, so that a copper-aluminum plate segment between the two contacts forms a closed current loop, and then the copper-aluminum plate segment accurately generates a stable magnetic field matching the shape of the copper-aluminum plate segment. When the induction coil cuts the magnetic field, an induced current is generated, and the frequency of the induced current is directly related to the spatial distribution form of the magnetic field. The specific bending shape of the magnetic field generated by the energized copper-aluminum plate segment can be accurately determined, and the bending angle of the copper-aluminum plate can be finally effectively determined.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of busbar processing, in particular to a full-automatic battery module busbar bending machine based on machine vision. BACKGROUND

[0002] In the field of new energy vehicles, energy storage batteries, etc., the battery module busbar is the core component of the internal current transmission and connection of the battery pack, and its processing precision directly determines the conductive stability, assembly sealing performance and overall safety performance of the battery module. At present, the battery module busbar is mostly made of copper and aluminum materials with high conductivity, and the bending machine is used to complete the bending processing of a specific angle in the processing process to adapt to the complex spatial layout inside the module. If the bending angle deviation exceeds the allowed range, it may cause poor contact between the busbar and the electrode column, local heating, or even module short circuit, fire and other safety hazards. Therefore, the busbar bending precision control is the core requirement of the processing link.

[0003] The mainstream busbar bending equipment in the current market still has many technical bottlenecks, especially in the bending angle detection link, which generally relies on mechanical contact detection or single visual recognition, which is difficult to meet the high-precision production demand. Mechanical contact detection obtains angle data by directly contacting the busbar bending part with a metal probe. Although the structure is simple, the probe is prone to mechanical wear due to the hardness friction of copper and aluminum plates during long-term use, resulting in increased contact gap and gradually accumulated detection error. Local deformation (such as springback and wrinkling) may occur during the bending process of copper and aluminum plates. The touch point can only detect a single point, and cannot reflect the overall bending shape of the busbar, further reducing the detection precision stability. The single visual recognition method avoids mechanical contact wear, but is limited by the detection environment and material properties.

[0004] The automation level of traditional bending equipment is low, and the bending and detection processes are independent. The busbar needs to be manually transported to the offline detection station for secondary detection after bending, which may cause secondary deformation due to collision and extrusion during the transportation process, further reducing the product pass rate. At the same time, for busbars of different thicknesses and different materials, the traditional equipment needs to manually adjust the detection parameters, which has poor adaptability and is difficult to meet the diversified processing needs in batch production, resulting in low production efficiency and a large amount of material waste due to trial-and-error parameter adjustment, increasing the production cost of enterprises. In summary, the detection precision and automation level of the existing busbar bending equipment cannot meet the requirements of the new energy battery industry for high-quality and high-efficiency production, and a new type of busbar bending technology that takes into account high-precision detection and full-automatic processing is urgently needed. SUMMARY

[0005] The present application provides a full-automatic battery module busbar bending machine based on machine vision, which effectively bends copper and aluminum plates.

[0006] To solve the above technical problems, the technical scheme of the present application is as follows:

[0007] In a first aspect, a full-automatic battery module busbar bending machine based on machine vision includes a machine base and a controller arranged above the machine base, and further includes:

[0008] A traction plate is fixed on the machine base, a traction member is fixed on the traction plate, a lifting platform is fixed on the machine base, a mounting plate is fixed on the machine base, first hydraulic telescopic rods are fixed on both sides of the mounting plate, a bending member is fixed on the lifting platform and one side of the first hydraulic telescopic rod, a second hydraulic telescopic rod is fixed above the mounting plate, a pressing plate is rotatably arranged below the second hydraulic telescopic rod, a hydraulic shears is fixed on the other side of the first hydraulic telescopic rod, an inlet pipe is fixed on one side of the traction plate, and an outlet pipe is fixed on the other side of the traction plate.

[0009] A bending table is fixed above the lifting platform, two bending plates are arranged and fixed on both sides above the bending table, an electrode column contact is located on the bending table, an electrode curved contact is located on the bending table, a mounting column is fixed in the bending table, an induction plate is rotatably arranged above the mounting column, an induction coil is fixed in the induction plate, an angle measuring ring plate is rotatably sleeved on the mounting column, an angle measuring column is rotatably arranged on one end of the angle measuring ring plate away from the mounting column, a bending ring is rotatably sleeved above the bending table, and a bending column is rotatably arranged on the bending ring.

[0010] A first vision camera is fixed on the mounting plate, and a second vision camera is fixed on the mounting plate.

[0011] Further, the bending member further includes:

[0012] An electrode cylinder is fixed on the bending table, an electrode column sliding plug is slidably arranged above the electrode cylinder and fixed above the electrode column contact, a first electrode spring has one end fixed in the electrode cylinder and the other end fixed on the electrode column sliding plug, and a first electrode hole is formed in the electrode cylinder and the electrode column sliding plug.

[0013] Further, the bending member further includes:

[0014] An electrode curved box is fixed on the bending table, an electrode curved sliding plug is slidably arranged below the electrode curved box and fixed above the electrode curved contact, a second electrode spring has one end fixed in the electrode curved box and the other end fixed on the electrode curved sliding plug, and a second electrode hole is formed in the electrode curved box and the electrode curved sliding plug.

[0015] Further, the bending member further includes:

[0016] Induction motor, fixed in the mounting column, the output shaft is fixed on the induction plate; Angle measuring groove, set up in the bending table; Limiting rod, fixed on the mounting column; Spring ring seat, fixed on the mounting column; Torsion spring, one end fixed on the angle measuring ring plate, the other end fixed on the angle measuring ring plate.

[0017] Further, the bending piece further comprises:

[0018] Bending motor, fixed in the bottom of the bending table; Drive rod, rotatably arranged on the bending table; Bevel gear pair, input end bevel gear fixed on the bending motor, output end bevel gear fixed below the drive rod; Drive gear, fixed above the drive rod; Drive tooth group, fixed below the bending ring, and engaged with the drive gear.

[0019] Further, the traction piece comprises:

[0020] Adjusting groove, set up in the traction plate; Closing plate, fixed on the traction plate; Adjusting sliding seat, vertically slidingly arranged in the adjusting groove; Adjusting pressure roller, rotatably arranged on the adjusting sliding seat; Threaded rod, one end rotatably inserted into the bottom of the adjusting groove, the other end rotatably penetrates the closing plate.

[0021] Further, the traction piece further comprises:

[0022] Adjusting motor, fixed on the traction plate; First pulley, fixed on the output shaft of the adjusting motor; Second pulley, fixed above the threaded rod; First belt strip, both ends are respectively sleeved on the first pulley and the second pulley.

[0023] Further, the traction piece further comprises:

[0024] Traction pressure roller, wheel shaft rotatably inserted into the traction plate; Third pulley, fixed on the wheel shaft of the traction pressure roller; Traction motor, fixed on the machine base; Fourth pulley, fixed on the traction motor; Second belt strip, both ends are sleeved on the third pulley and the fourth pulley.

[0025] Further, it further comprises:

[0026] Plate groove, set up in the feeding pipe and the discharging pipe.

[0027] Further, the machine base front end rotatably provided with a pair of doors, the pair of doors are fixedly provided with a door handle; The machine base bottom is fixedly provided with a supporting leg.

[0028] The above scheme of the present application at least includes the following beneficial effects:

[0029] The application connects the external power supply through the electrode column contact and the electrode curved contact, so that the copper-aluminum plate section between the two contacts forms a closed current loop, and then the copper-aluminum plate section accurately generates a stable magnetic field matching the shape of the copper-aluminum plate section; the induction motor drives the induction plate to drive the induction coil to cut the magnetic field at a uniform speed; the controller controls the rotation speed of the induction coil by adjusting the rotation speed of the induction motor; the induction coil generates an induced current when cutting the magnetic field, and the frequency of the induced current is directly related to the spatial distribution shape of the magnetic field; when the copper-aluminum plate is bent to drive the magnetic field to deform synchronously, the density and direction of the magnetic field at different positions are different, resulting in different change rates of the magnetic flux cut by the induction coil at different rotation positions, and then the frequency of the induced current fluctuates regularly; the controller collects the electrical signal value output by the induction coil, the electrical signal value includes the current amplitude and the frequency change curve, and data fitting is performed in combination with the rotation speed parameter of the induction coil, so that the specific bending shape of the magnetic field generated by the energized copper-aluminum plate section can be accurately determined, and the bending angle of the copper-aluminum plate can be finally determined effectively; the above process avoids the interference of mechanical contact on the detection accuracy, and directly associates the magnetic field shape with the shape of the copper-aluminum plate, thereby providing core data support for the accurate control of the bending angle in the subsequent process.

[0030] The application obtains the bending angle data of the copper-aluminum plate based on the detection logic of the energized magnetic field, the electrical signal and the magnetic field shape by the induction coil, and the angle data is mainly used for process parameter correction during initial processing: the controller accurately adjusts the output rotation speed and rotation direction parameter of the bending motor according to the angle data fed back by the induction coil, and then controls the rotation angle of the bending ring and the bending column, so that the rotation angle matches the required bending angle of the workpiece, and material waste caused by traditional trial-and-error adjustment is avoided; after the initial parameter calibration is completed, the standard position of the angle measuring column is determined in advance by the induction coil, and an angle control system for daily processing is established based on the standard position; in subsequent regular processing, the real-time position of the angle measuring column is mainly shot by the first visual camera and the second visual camera, and the bending degree of the copper-aluminum plate is quickly detected, which retains the high-precision advantage of electromagnetic detection of the induction coil and also takes into account the high efficiency of visual detection, and finally realizes the balance between precision and efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 A first perspective overall structure schematic diagram of a full-automatic battery module busbar bending machine based on machine vision is provided for the embodiment of the application;

[0032] Figure 2 A second perspective overall structure schematic diagram of a full-automatic battery module busbar bending machine based on machine vision is provided for the embodiment of the application;

[0033] Figure 3 A traction plate structure schematic diagram of a full-automatic battery module busbar bending machine based on machine vision is provided for the embodiment of the application;

[0034] Figure 4 A schematic view of a traction motor structure of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application; Figure 3 A zoomed view of A of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application;

[0035] Figure 5 A schematic view of a traction motor structure of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application;

[0036] Figure 6 A schematic view of a traction motor structure of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application; Figure 5 A zoomed view of B of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application;

[0037] Figure 7 A schematic view of a traction motor structure of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application;

[0038] Figure 8 A schematic view of a traction motor structure of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application;

[0039] Figure 9 A schematic view of a traction motor structure of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application; Figure 8 A zoomed view of C of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application;

[0040] Figure 10 A schematic view of a traction motor structure of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application; Figure 8 A zoomed view of D of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application;

[0041] Figure 11 A schematic view of a traction motor structure of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application; Figure 8 A zoomed view of E of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application;

[0042] Figure 12 A schematic view of a traction motor structure of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application;

[0043] Figure 13 A schematic view of a traction motor structure of the full-automatic battery module busbar bending machine based on machine vision provided by the embodiment of the present application;

[0044] Explanation of reference signs:

[0045] In the figure: 1, base; 101, double door; 102, door handle; 103, supporting leg; 2, controller; 3, traction plate; 4, traction member; 401, adjusting groove; 402, closing plate; 403, adjusting sliding seat; 404, adjusting pressure roller; 405, threaded rod; 406, adjusting motor; 407, first belt pulley; 408, second belt pulley; 409, first belt strip; 4010, traction pressure roller; 4011, third belt pulley; 4012, traction motor; 4013, fourth belt pulley; 4014, second belt strip; 5, lifting platform; 6, mounting plate; 7, first hydraulic telescopic rod; 8, bending member; 801, bending platform; 802, bending plate; 803, electrode column contactor; 804, electrode curved contactor; 805, mounting column; 806, induction plate; 807, induction coil; 808, angle measuring ring plate; 809, bending column; 8010, electrode cylinder; 8011, electrode column sliding plug; 8012, first electrode spring; 8013, first electrode hole; 8014, electrode curved box; 8015, electrode curved sliding plug; 8016, second electrode spring; 8017, second electrode hole; 8018, induction motor; 8019, angle measuring groove; 8020, limiting rod; 8021, spring ring seat; 8022, torsion spring; 8023, bending motor; 8024, driving rod; 8025, bevel gear pair; 8026, driving gear; 8027, driving tooth group; 8028, angle measuring column; 8029, bending ring; 9, second hydraulic telescopic rod; 10, pressing plate; 11, hydraulic scissors; 12, feeding pipe; 13, discharging pipe; 14, first visual camera; 15, second visual camera; 16, plate groove. DETAILED DESCRIPTION

[0046] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be embodied in various forms without being limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0047] As Figures 1 to 13As shown, the embodiment of the present application provides a full-automatic battery module busbar bending machine based on machine vision, which comprises a base 1, a controller 2 arranged above the base 1, a traction plate 3 fixed on the base 1, a traction member 4 fixed on the traction plate 3, a lifting platform 5 fixed on the base 1, a mounting plate 6 fixed on the base 1, a first hydraulic telescopic rod 7 fixed on both sides of the mounting plate 6, a bending member 8 fixed on the lifting platform 5 and one side of the first hydraulic telescopic rod 7, a second hydraulic telescopic rod 9 fixed above the mounting plate 6, a pressing plate 10 rotatably arranged below the second hydraulic telescopic rod 9, a hydraulic shears 11 fixed on the other side of the first hydraulic telescopic rod 7, an inlet pipe 12 fixed on one side of the traction plate 3, and an outlet pipe 13 fixed on the other side of the traction plate 3.

[0048] A bending table 801 is fixed above the lifting platform 5, two bending plates 802 are arranged above both sides of the bending table 801, an electrode column contact 803 is located on the bending table 801, an electrode curved contact 804 is located on the bending table 801, a mounting column 805 is fixed in the bending table 801, an induction plate 806 is rotatably arranged above the mounting column 805, an induction coil 807 is fixed in the induction plate 806, an angle measuring ring plate 808 is rotatably sleeved on the mounting column 805, an angle measuring column 8028 is rotatably arranged on one end of the angle measuring ring plate 808 away from the mounting column 805, a bending ring 8029 is rotatably sleeved above the bending table 801, a bending column 809 is rotatably arranged on the bending ring 8029, a first visual camera 14 is fixed on the mounting plate 6, and a second visual camera 15 is fixed on the mounting plate 6.

[0049] The base 1 is further provided with a pair of swing doors 101 rotatably arranged at the front end of the base 1, and the swing doors 101 are fixedly provided with door handles 102; and the base 1 is further provided with supporting legs 103 fixedly arranged at the bottom of the base 1.

[0050] Specifically, the first visual camera 14 and the second visual camera 15 detect two bending members 8 respectively; the electrode column contact 803 and the electrode column contact 803 are electrified; the induction plate 806 is a circular plate; and the induction coil 807 is arranged in a plurality of annular nested forms on the induction plate 806.

[0051] As a preferred embodiment of the present application, the bending member 8 further comprises an electrode cylinder 8010 fixed on the bending table 801, an electrode column sliding plug 8011 rotatably arranged above the electrode cylinder 8010 and fixed above the electrode column contact 803, a first electrode spring 8012 fixed at one end in the electrode cylinder 8010 and at the other end on the electrode column sliding plug 8011, and a first electrode hole 8013 arranged on the electrode cylinder 8010 and the electrode column sliding plug 8011.

[0052] The bending piece 8 further comprises: an electrode bending box 8014 fixed on the bending table 801, an electrode bending sliding plug 8015 slidingly arranged in the electrode bending box 8014 and fixed on the electrode bending contact 804, a second electrode spring 8016 fixed at one end in the electrode bending box 8014 and at the other end on the electrode bending sliding plug 8015, and a second electrode hole 8017 arranged on the electrode bending box 8014 and the electrode bending sliding plug 8015.

[0053] The bending piece 8 further comprises: an induction motor 8018 fixed in the mounting column 805 and having an output shaft fixed on the induction plate 806, an angle measuring groove 8019 arranged on the bending table 801, a limiting rod 8020 fixed on the mounting column 805, a spring ring seat 8021 fixed on the mounting column 805, a torsional spring 8022 fixed at one end on the angle measuring ring plate 808 and at the other end on the angle measuring ring plate 808, and a bending motor 8023 fixed on the bottom of the bending table 801. The bending piece 8 further comprises: a driving rod 8024 rotatably arranged on the bending table 801, a bevel gear pair 8025 having an input bevel gear fixed on the bending motor 8023 and an output bevel gear fixed below the driving rod 8024, a driving gear 8026 fixed above the driving rod 8024, and a driving gear set 8027 fixed below the bending ring 8029 and engaged with the driving gear 8026.

[0054] Specifically, the first electrode hole 8013 provides space for the electrical connection of the electrode column contact 803, the second electrode hole 8017 provides space for the electrical connection of the electrode bending contact 804, and the angle measuring groove 8019 provides a moving space for the swinging of the angle measuring ring plate 808 and the angle measuring column 8028.

[0055] As a preferred embodiment of the present application, the traction piece 4 comprises: an adjusting groove 401 arranged on the traction plate 3, a closing plate 402 fixed on the traction plate 3, an adjusting sliding seat 403 slidingly arranged in the adjusting groove 401, an adjusting pressure roller 404 rotatably arranged on the adjusting sliding seat 403, and a threaded rod 405 rotatably inserted at one end into the bottom of the adjusting groove 401 and rotatably penetrated at the other end through the closing plate 402.

[0056] The traction piece 4 further comprises: an adjusting motor 406 fixed on the traction plate 3, a first belt pulley 407 fixed on the output shaft of the adjusting motor 406, a second belt pulley 408 fixed above the threaded rod 405, and a first belt strip 409 having two ends respectively sleeved on the first belt pulley 407 and the second belt pulley 408.

[0057] The traction member 4 further comprises a traction press wheel 4010 rotatably inserted on the traction plate 3, a third belt wheel 4011 fixed on the wheel shaft of the traction press wheel 4010, a traction motor 4012 fixed on the machine base 1, a fourth belt wheel 4013 fixed on the traction motor 4012, and a second belt strip 4014 sleeved on the third belt wheel 4011 and the fourth belt wheel 4013 at two ends.

[0058] Specifically, the adjusting slide 403 drives the adjusting press wheel 404 to move up and down, the traction press wheel 4010 rotates on the traction plate 3, and the position of the traction press wheel 4010 does not need to be changed; the gap distance between the adjusting press wheel 404 and the traction press wheel 4010 is adjusted by moving the adjusting press wheel 404 up and down.

[0059] The battery module busbar is usually made of copper and aluminum materials, and needs to be bent by a bending machine during processing. After the bending process is completed, the copper plate and the aluminum plate are cut by the hydraulic shears 11, and finally the processing of the battery module busbar is completed. The bending piece 8 on the lifting platform 5 is completely the same in structure as the bending piece 8 on the first hydraulic telescopic rod 7, and the bending piece 8 on the first hydraulic telescopic rod 7 is a same proportionally reduced version of the bending piece 8 on the lifting platform 5. The bending piece 8 on the lifting platform 5 is convenient for bending the copper and aluminum plates in the width direction, and the bending piece 8 on the first hydraulic telescopic rod 7 is convenient for bending the copper and aluminum plates in the thickness direction.

[0060] During processing, the copper and aluminum plates enter the inside of the bending machine through the plate groove 16 in the feeding pipe 12, continue to be conveyed along the plate groove 16 in the feeding pipe 12, and enter the area between the adjusting press wheel 404 and the traction press wheel 4010. The traction motor 4012 is started, the traction motor 4012 drives the fourth belt wheel 4013 to rotate through power output, the fourth belt wheel 4013 drives the third belt wheel 4011 to rotate through power transmission through the second belt strip 4014, the third belt wheel 4011 further drives the traction press wheel 4010 to rotate synchronously, and the copper and aluminum plates are continuously conveyed under the rotating action of the traction press wheel 4010, and the feeding is completed through the plate groove 16 of the discharging pipe 13. In actual processing, the traction motor 4012 is started intermittently, which can accurately match the action rhythm of the bending piece 8 and ensure that the bending work is orderly carried out.

[0061] When the thickness of the copper and aluminum plates is adjusted, the adjusting motor 406 is started, the adjusting motor 406 drives the first belt wheel 407 to rotate, the first belt wheel 407 drives the second belt wheel 408 to rotate through power transmission through the first belt strip 409, the second belt wheel 408 drives the threaded rod 405 to rotate synchronously, the rotation of the threaded rod 405 drives the adjusting slide 403 to slide up and down along the adjusting groove 401, the sliding of the adjusting slide 403 directly changes the position of the adjusting press wheel 404, and the gap between the adjusting press wheel 404 and the traction press wheel 4010 is accurately adjusted.

[0062] The bending preparation stage, the lifting platform 5 moves the bending table 801 upwards until the bending table 801 is lifted to the bottom of the copper-aluminum plate and contacts the copper-aluminum plate, and then the second hydraulic telescopic rod 9 is started to extend, the second hydraulic telescopic rod 9 pushes the pressing plate 10 to press downwards, and finally the pressing plate 10 is pressed tightly on the bending table 801, and the pressing plate 10 is attached to the bending plate 802; in this state, the pressing plate 10 can assist the bending table 801 and the bending plate 802 to fix the copper-aluminum plate, so as to ensure that the copper-aluminum plate does not deviate in the subsequent bending process.

[0063] The copper-aluminum plate enters between the two bending plates 802 under the traction, and the copper-aluminum plate is pressed on the electrode column contact 803 and the electrode curved contact 804; under the pressure of the copper-aluminum plate, the electrode column contact 803 pushes the electrode column sliding plug 8011 to retract into the electrode cylinder 8010, and the electrode column sliding plug 8011 is compressed during retraction; the electrode curved contact 804 pushes the electrode curved sliding plug 8015 to retract into the electrode curved box 8014, and the electrode curved sliding plug 8015 is compressed during retraction.

[0064] The traditional copper-aluminum plate bending angle detection depends on mechanical contact or single visual recognition, which is easily affected by material deformation and mechanical wear, and has poor precision stability; the present application breaks through this limitation, forms a stable magnetic field by electrifying the copper-aluminum plate, and then cuts the magnetic field generated by the inductive coil 807 to determine the bending magnetic field shape and realize non-contact and high-precision bending state detection, the specific process is as follows:

[0065] The electrode column contact 803 and the electrode curved contact 804 are connected to an external power source to form a closed current loop between the copper-aluminum plate segment between the electrode column contact 803 and the electrode curved contact 804, and the copper-aluminum plate segment after electrification generates a stable magnetic field that completely matches the shape of the copper-aluminum plate due to the magnetic effect of the current, i.e. the magnetic field is linear when the copper-aluminum plate is flat, and the magnetic field bends synchronously with the shape of the copper-aluminum plate when it is bent; the induction motor 8018 is started, the induction motor 8018 drives the induction plate 806 to rotate around its center axis, the induction plate 806 drives the induction coil 807 to move at a constant speed around the center axis of the induction plate 806, and the induction coil 807 cuts the magnetic field generated by the electrified copper-aluminum plate segment;

[0066] To accurately determine the shape of the magnetic field, the output speed of the induction motor 8018 needs to be adjusted by the controller 2, and then the rotation speed of the induction coil 807 is controlled, such as adjusting to an adaptive speed of 50-100 r / min according to the material properties and thickness of the copper-aluminum plate, to ensure that the cutting frequency is adapted to the change of the magnetic field; When the induction coil 807 cuts the magnetic field, an induced current is generated, and the frequency of the current (i.e. the frequency of the induced magnetic field) is directly related to the spatial distribution form of the magnetic field. When the magnetic field is flat, the magnetic flux change cut by the induction coil 807 is uniform, and the frequency of the induced current is stable; When the magnetic field deforms with the bending of the copper-aluminum plate, the density and direction of the magnetic field at different positions differ, resulting in different magnetic flux change rates cut by the induction coil 807 at different rotation positions, and then the frequency of the induced current fluctuates regularly; The controller 2 collects the electrical signal value output by the induction coil 807, which includes the current amplitude and frequency change curve, and combines the rotation speed parameter of the induction coil 807 for data fitting, to accurately determine the specific bending shape of the magnetic field generated by the energized copper-aluminum plate segment, providing core data support for the accurate control of the subsequent bending angle, avoiding the interference of mechanical contact on the detection accuracy, realizing the direct correlation between the magnetic field shape and the copper-aluminum plate form, and improving the detection response speed by more than 30% compared with the traditional way.

[0067] When the bending action is performed, the bending motor 8023 is started, the bending motor 8023 outputs power to drive the bevel gear pair 8025 to rotate, the bevel gear pair 8025 transmits power to the driving rod 8024 through meshing transmission, so that the driving rod 8024 rotates synchronously, and the driving rod 8024 rotates to drive the driving gear 8026 to rotate; The driving gear 8026 and the driving tooth set 8027 below the bending ring 8029 are meshed with each other, and the rotation of the driving gear 8026 drives the bending ring 8029 to rotate around the center axis of the bending table 801, and the bending ring 8029 drives the bending column 809 to swing in an arc shape when rotating, and the outer side of the bending column 809 is always in close contact with the copper-aluminum plate during the swinging process, and drives the copper-aluminum plate to make a bending motion around the center axis of the bending ring 8029, and finally completes the bending operation of the copper-aluminum plate; Due to the elastic properties of the metal itself, the copper-aluminum plate will have a certain degree of elastic rebound after the bending column 809 stops pushing, which will cause the actual bending angle to be slightly smaller than the maximum angle during the bending process. This rebound phenomenon will directly affect the final machining accuracy of the busbar, and needs to be compensated through subsequent detection and parameter adjustment.

[0068] When the charged copper-aluminum plate is bent, the internal current path changes with the shape change, causing the magnetic field generated by the electrified copper-aluminum plate to bend synchronously; the induction coil 807 in the rotating state continuously cuts the bent magnetic field. Due to the difference in the bending degree of the magnetic field, such as the difference in the bending curvature of the magnetic field corresponding to the bending angles of 30° and 90°, there is a significant difference in the rate of change of the magnetic flux cut by the induction coil 807 at different rotation phases, causing the electric signal value generated by the induction coil 807 to correspondingly fluctuate; the elastic rebound of the copper-aluminum plate after bending will cause its shape to continue to be fine-tuned, and the corresponding magnetic field will also be deformed slightly. The induction coil 807 can capture the electric signal fluctuation caused by this slight deformation in real time, such as the amplitude of the electric signal fluctuating within ±0.02V during the rebound process, which provides key data basis for the controller 2 to analyze the rebound amount and correct the bending angle. By collecting and analyzing the fluctuation rule of the electric signal value output by the induction coil 807, the bending degree of the magnetic field can be directly judged, and combined with the corresponding relationship between the shape of the magnetic field and the shape of the copper-aluminum plate, the actual bending angle of the copper-aluminum plate can be accurately detected, and the detection accuracy can reach ±0.1°, which is much higher than the ±0.5° accuracy standard of traditional mechanical detection.

[0069] During the bending process of the copper-aluminum plate, the copper-aluminum plate will push the goniometer column 8028 in the bending direction. The goniometer column 8028 will displace with the bending action of the copper-aluminum plate, and the displacement of the goniometer column 8028 will drive the goniometer ring plate 808 connected thereto to rotate along the mounting column 805. The goniometer ring plate 808 will twist the torsional spring 8022 when it rotates; when the copper-aluminum plate rebounds elastically, the pushing force on the goniometer column 8028 will decrease, and the torsional spring 8022 will drive the goniometer ring plate 808 and the goniometer column 8028 to retreat slightly. The first visual camera 14 and the second visual camera 15 can capture the retreat displacement of the goniometer column 8028, further verifying the accuracy of the rebound data detected by the induction coil 807; start the first visual camera 14 and the second visual camera 15 on the mounting plate 6, and capture the current position of the goniometer column 8028 in real time through the dual cameras. After comparing the captured image data with the preset standard position parameters, the actual bending angle of the copper-aluminum plate can be further determined. The visual detection method serves as an auxiliary verification of the aforementioned electromagnetic induction magnetic field detection, forming a dual-precision guarantee of electromagnetic detection plus visual detection. The core of electromagnetic detection is based on the innovative logic of electrified magnetic field, induction coil electric signal and magnetic field shape, which provides a high-precision initial reference for double verification.

[0070] During the whole processing flow, the induction coil 807 detects the bending angle data of the copper-aluminum plate based on the logical detection of the energized magnetic field, electrical signal and magnetic field shape, which is mainly used for process parameter correction during initial processing: the controller 2 analyzes the angle data fed back by the induction coil 807, including the rebound amount analysis result, not only accurately adjusts the output rotating speed and rotating direction parameters of the bending motor 8023, but also combines the material rebound characteristics of the copper-aluminum plate, such as the rebound rate of conventional thickness copper plate being about 0.5% to 1% and the rebound rate of thin aluminum plate being about 1% to 1.8%, to preset the corresponding bending compensation angle, such as the target angle of 90°, the copper plate compensation of 0.5° to 0.9° and the aluminum plate compensation of 0.9° to 1.6°, and then control the rotating angle of the bending ring 8029 and the bending column 809, so as to ensure that the rotating angle reaches the required bending angle of the processed piece, and avoid the material waste caused by the traditional trial and error adjustment; after the initial parameter calibration is completed, the standard position of the angle measuring column 8028 is determined in advance by the induction coil 807, that is, the position of the angle measuring column matched with the magnetic field shape corresponding to the standard bending angle, and the angle control system for daily processing is established based on the standard position, in the subsequent conventional processing, the real-time position of the angle measuring column 8028 is mainly shot by the first visual camera 14 and the second visual camera 15, so as to quickly detect the bending degree of the copper-aluminum plate, which not only retains the high-precision advantage of electromagnetic detection, but also takes into account the high efficiency of visual detection, and realizes the balance between precision and efficiency.

[0071] When the width direction and thickness direction bending of the copper-aluminum plate are completed, the first hydraulic telescopic rod 7 is started, the first hydraulic telescopic rod 7 drives the hydraulic shears 11 to displace, the copper-aluminum plate which has been bent is cut into a workpiece meeting the size requirement by the hydraulic shears 11, so as to facilitate the subsequent assembly of the battery module busbar finished product; after the cutting is completed, the first hydraulic telescopic rod 7, the lifting table 5 and the second hydraulic telescopic rod 9 are reset to the initial state, and wait for the start of the next processing cycle.

[0072] The detection logic of the induction coil 807 based on the energized magnetic field, electrical signal and magnetic field shape is not only used for angle detection in the processing process, but also can be used for full inspection or sampling inspection of the bending angle of the copper-aluminum plate according to production needs: in full inspection, the induction coil 807 cuts the magnetic field generated by energization in real time during the bending process of each processed piece, analyzes the magnetic field shape through the electrical signal value, and ensures that all finished products meet the precision requirements; in sampling inspection, the magnetic field shape of the processed piece can be detected by the logic according to the preset proportion, such as sampling inspection of one piece out of ten pieces, to indirectly verify the bending angle; compared with the traditional way of separately setting an offline detection station, the present scheme directly avoids the subsequent process of separately detecting the angle of the copper-aluminum plate, simplifies the production process, and reduces the risk of secondary deformation caused by offline transfer.

[0073] Embodiment 1

[0074] The embodiment is suitable for bending processing of copper plates with a conventional thickness of 1-3 mm. During processing, the copper-aluminum plate enters between the adjusting pressure wheel 404 and the traction pressure wheel 4010 through the plate groove 16 in the feeding pipe 12. The traction motor 4012 is started to drive the traction pressure wheel 4010 to rotate through the belt wheel transmission, so as to transport the copper-aluminum plate to between the two bending plates 802. When adjusting the gap, the adjusting motor 406 is started to drive the adjusting sliding seat 403 to move through the belt wheel and threaded rod 405 transmission, so as to complete the position adjustment of the adjusting pressure wheel 404.

[0075] During the bending preparation stage, the lifting platform 5 lifts the bending platform 801 to the bottom of the copper-aluminum plate, and the second hydraulic telescopic rod 9 pushes the pressing plate 10 to press the copper-aluminum plate. At this time, the copper-aluminum plate is pressed by the electrode column contact 803 and the electrode curved contact 804, so that the electrode column sliding plug 8011 is compressed to retract into the electrode cylinder 8010, and the electrode curved sliding plug 8015 is compressed to retract into the electrode curved box 8014.

[0076] The electrode column contact 803 and the electrode curved contact 804 are connected to an external DC power supply voltage of 12V, so that the copper-aluminum plate segment between the two contacts forms a stable current loop. The current flows through the copper-aluminum plate to generate a linear stable magnetic field matching the shape of the copper-aluminum plate. The induction motor 8018 is started, and the output shaft drives the induction plate 806 to rotate at a speed of 60 r / min around the center axis thereof. The induction plate 806 synchronously drives the internally fixed induction coil 807 to move in a circle. The induction coil 807 continuously cuts the magnetic field generated by the copper-aluminum plate during rotation.

[0077] The controller 2 collects the electric signal generated when the induction coil 807 cuts the magnetic field in real time. In the initial stage, the copper-aluminum plate is flat, the magnetic field is regular and linear, the magnetic flux cut by the induction coil 807 changes uniformly every rotation, and the electric signal amplitude is stable at 0.5V and the frequency is kept at 50Hz. When the bending motor 8023 is started to drive the bending ring 8029 to rotate through the bevel gear pair 8025, the driving rod 8024 and the gear transmission, and the bending column 809 pushes the copper-aluminum plate to bend, the shape change of the copper-aluminum plate causes the current path to change, and the magnetic field is bent synchronously. At this time, the magnetic flux cut by the induction coil 807 at different rotation phases is different, and the electric signal amplitude fluctuates with the bending degree of the magnetic field. When the bending angle is 30°, the amplitude decreases to 0.3V, and the frequency fluctuates to 45-55Hz. When the bending motor 8023 stops running, the copper plate starts to rebound due to the elastic property. The controller 2 detects that the electric signal amplitude rises from 0.3V to 0.32V by a small amplitude, which corresponds to a rebound of about 0.5°. After the electric signal is stable, it is confirmed that the copper plate has completed the rebound. At this time, the electric signal data corresponds to the final bending angle of the copper plate.

[0078] The controller 2 compares the amplitude and frequency data of the real-time collected electric signal with the preset magnetic field shape and the corresponding electric signal database, accurately determines the bending curvature and distribution form of the current magnetic field by fitting the electric signal change curves of different phases, and further deduces the real-time bending state of the copper-aluminum plate; after the controller 2 confirms that the copper-aluminum plate rebounds stably and the final bending angle meets the standard, the first hydraulic telescopic rod 7 drives the hydraulic scissors 11 to cut the copper-aluminum plate, and after the processing, each part is reset to enter the next cycle.

[0079] Embodiment 2

[0080] This embodiment is based on embodiment 1, and the processing parameters of the thin aluminum plate with a thickness of 0.5-1 mm are optimized. The realization logic of the core innovation point remains the same, and only the parameter adjustment is used to improve the detection accuracy of the magnetic field. During processing, the thin aluminum plate is conveyed by the plate groove 16 of the feeding pipe 12 to the bending plate 802 between the traction pressure roller 4010, the gap between the traction pressure roller 4010 and the adjusting pressure roller 404 driven by the adjusting motor 406 is adjusted to 0.6 mm, and the deformation of the thin aluminum plate is avoided; after the lifting table 5 lifts the bending table 801, the pressure plate 10 lightly presses the aluminum plate, and when the aluminum plate pushes the electrode column contact 803 and the electrode curved contact 804, the sliding plug retraction amount is only half of that of embodiment 1 due to the thin thickness of the aluminum plate, and the compression amount of the first electrode spring 8012 and the second electrode spring 8016 is reduced synchronously.

[0081] The optimization and realization process of the innovation point of the present application is as follows: considering that the resistance of the aluminum plate is relatively high, the external power supply connected by the electrode column contact 803 and the electrode curved contact 804 is adjusted to 24V direct current voltage, so as to ensure that the aluminum plate segment passes through sufficient current, the current value is 1.5A, which is higher than 1A of embodiment 1, and a stable magnetic field density is formed to avoid the magnetic field being too weak due to the large resistance; the speed of the induction motor 8018 is increased to 80r / min, so that the frequency at which the induction coil 807 cuts the magnetic field is higher, and the electric signal response under the weak magnetic field is enhanced; in the initial flat state, the output electric signal amplitude of the induction coil 807 is 0.4V, which is lower than that of the copper plate, and the frequency is stable at 60Hz due to the slightly lower magnetic field density of the aluminum plate; when the bending motor 8023 drives the bending ring 8029 to bend the aluminum plate, the aluminum plate bends to form a local dense area of the magnetic field, the electric signal amplitude of the induction coil 807 instantaneously rises to 0.6V when passing through the dense area, and drops to 0.2V when passing through the sparse area, and the frequency fluctuates between 55-65Hz; the elastic modulus of the thin aluminum plate is relatively low, and the rebound rate is about 1.2%-1.8%, which is higher than that of the conventional thickness copper plate, and the controller 2 specially enters the electric signal characteristics of the thin aluminum plate rebound process, such as the electric signal amplitude fluctuation frequency being accelerated to 65-70Hz during rebounding, to ensure that the rebound amount can be accurately recognized and the bending angle can be corrected.

[0082] The controller 2 optimizes the magnetic field shape and the electric signal database for the aluminum plate characteristics, increases the analysis algorithm for low amplitude and high fluctuation electric signals, captures the electric signal value collected every 10° rotation of the induction coil 807, draws a three-dimensional distribution curve of the magnetic field bending, for example, when the electric signal amplitude continuously appears 3 times in the interval of 0.4V to 0.6V to 0.4V, it is determined that the magnetic field forms a bending arc of 120°, and then the actual bending shape of the aluminum plate is determined; the goniometric column 8028 drives the goniometric ring plate 808 to rotate with the bending of the aluminum plate, the first visual camera 14 shoots the position of the goniometric column 8028 to assist verification, and finally ensures that the bending precision of the thin aluminum plate reaches ±0.1°, and the cutting stage is still completed by the first hydraulic telescopic rod 7 driving the hydraulic shears 11.

[0083] Embodiment 3

[0084] This embodiment is based on embodiment 2, and adds a bending angle full inspection and sampling inspection function, further strengthens the practicality of magnetic field shape detection, and is suitable for batch production of battery module busbars with high precision requirements.

[0085] In the processing flow, the traction, adjustment, bending drive and other transmission structures are consistent with embodiment 2, and a plurality of electric signal collection and comparison logic is added in the implementation process; the copper aluminum plate is conveyed to the bending plate 802 between the 1mm aluminum plate and is fixed by the pressing plate 10, the electrode column contact 803 and the electrode curved contact 804 are electrified with 24V voltage to make the aluminum plate segment generate a magnetic field, the induction motor 8018 drives the induction coil 807 to rotate at 80r / min, and the controller 2 presets a detection mode of sampling inspection for 1 piece or full inspection for every 5 pieces processed.

[0086] When full inspection, the induction coil 807 rotates one revolution, the controller 2 collects 20 groups of electric signal data, 10 groups in embodiment 2, covering all phases of coil rotation, by comparing the amplitude difference of each group of electric signals, such as the difference between the maximum amplitude and the minimum amplitude, whether the magnetic field shape is uniform, at the same time, it is necessary to confirm whether the electric signal has stabilized, that is, the amplitude fluctuation range is less than ±0.02V, to avoid misjudging the magnetic field shape that has not completed the rebound as qualified, when the difference is less than 0.2V and the electric signal is stable, it means that the magnetic field bending shape is regular and the aluminum plate rebound is completed, the aluminum plate bending is qualified; when the difference is greater than 0.2V, it is determined that the magnetic field has local distortion, corresponding to the deviation of the aluminum plate bending, the equipment is immediately paused and an alarm is given.

[0087] When sampling, the induction coil 807 prolongs the rotation time to 5 seconds for the 5th or 10th sampling workpiece, and collects 50 groups of electrical signal data. The preset standard 90° bending magnetic field electrical signal template is generated by the parameter calibration of embodiment 2, the standard amplitude fluctuation interval is 0.3-0.5V, and the frequency is 58-62Hz. The real-time collected electrical signal is compared with the template point by point: when more than 95% of the electrical signal data falls within the standard interval, it is determined that the magnetic field shape meets the 90° bending requirement, and the aluminum plate processing is qualified; when less than 95%, secondary detection is started, the electrical signal of the induction coil 807 is collected again, and whether the magnetic field shape is truly distorted is confirmed.

[0088] The first visual camera 14 and the second visual camera 15 synchronously shoot the position of the goniometric column 8028, cross-verify the magnetic field shape corresponding to the rotation angle of the goniometric ring plate 808 with the magnetic field shape derived from the electrical signal of the induction coil 807, and further ensure the detection accuracy; after the cutting stage is completed by the hydraulic shears 11, the qualified workpiece is output through the plate groove 16 of the discharge pipe 13, and the unqualified workpiece is sorted to a special channel, so that the quality control in batch production is realized.

[0089] The above is the preferred embodiment of the present application. It should be noted that for ordinary skilled persons in the technical field, several improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered within the protection scope of the present application.

Claims

1. A fully automated battery module busbar bending machine based on machine vision, comprising: The base and the controller disposed on top of the base are characterized in that they further include: The following components are included: a traction plate fixed to the machine base; a traction component fixed to the traction plate; a lifting platform fixed to the machine base; a mounting plate fixed to the machine base; a first hydraulic telescopic rod fixed to both sides of the mounting plate; a bending component fixed to the lifting platform and one side of the first hydraulic telescopic rod; a second hydraulic telescopic rod fixed above the mounting plate; a pressure plate rotatably positioned below the second hydraulic telescopic rod; hydraulic shears fixed to the other side of the first hydraulic telescopic rod; a feed pipe fixed to one side of the traction plate; and a discharge pipe fixed to the other side of the traction plate. A bending table is fixed above a lifting platform; two bending plates are provided, fixed on both sides above the bending table; an electrode post contact is located on the bending table; an electrode curved contact is located on the bending table; a mounting column is fixed inside the bending table; an induction plate is rotatably mounted above the mounting column; an induction coil is fixed inside the induction plate; an angle measuring ring plate is rotatably sleeved on the mounting column; an angle measuring column is rotatably mounted on the end of the angle measuring ring plate away from the mounting column; a bending ring is rotatably sleeved above the bending table; and a bending column is rotatably mounted on the bending ring. The first vision camera is fixed on the mounting plate, and the second vision camera is fixed on the mounting plate. The bending component further includes: an electrode cylinder fixed on a bending table; an electrode post slide plug slidably disposed inside the electrode cylinder and fixed to the electrode post contact from above; a first electrode spring, one end fixed inside the electrode cylinder and the other end fixed to the electrode post slide plug; a first electrode hole formed in the electrode cylinder and the electrode post slide plug; an electrode curved box fixed on the bending table; an electrode curved slide plug slidably disposed inside the electrode curved box from below and fixed to the electrode curved contact from above; a second electrode spring, one end fixed inside the electrode curved box and the other end fixed to the electrode curved slide plug; and a second electrode hole formed in the electrode curved box and the electrode curved slide plug.

2. The fully automatic battery module busbar bending machine based on machine vision according to claim 1, characterized in that, The bending component also includes: An induction motor is fixed inside the mounting column, and its output shaft is fixed to the induction plate; an angle measuring slot is formed on the bending table; a limit rod is fixed to the mounting column; a spring ring seat is fixed to the mounting column; and a torsion spring is fixed at one end to the angle measuring ring plate and at the other end to the angle measuring ring plate.

3. The fully automatic battery module busbar bending machine based on machine vision according to claim 2, characterized in that, The bending component also includes: A bending motor is fixed at the bottom of the bending table; a drive rod is rotatably mounted on the bending table; a bevel gear pair has an input bevel gear fixed to the bending motor and an output bevel gear fixed below the drive rod; a drive gear is fixed above the drive rod; and a drive gear set is fixed below the bending ring and meshes with the drive gear.

4. The fully automatic battery module busbar bending machine based on machine vision according to claim 1, characterized in that, The traction component includes: An adjustment groove is formed on the traction plate; a sealing plate is fixed on the traction plate; an adjustment slide is vertically slidably set in the adjustment groove; an adjustment pressure roller is rotatably set on the adjustment slide; and a threaded rod is rotatably inserted into the bottom of the adjustment groove at one end and rotatably passed through the sealing plate at the other end.

5. A fully automatic battery module busbar bending machine based on machine vision according to claim 4, characterized in that, The traction component also includes: An adjusting motor is fixed on a traction plate; a first pulley is fixed on the output shaft of the adjusting motor; a second pulley is fixed above a threaded rod; and a first belt strip is fitted at both ends onto the first pulley and the second pulley, respectively.

6. The fully automatic battery module busbar bending machine based on machine vision according to claim 5, characterized in that, The traction component also includes: The traction pressure roller has its axle rotatably inserted into the traction plate; the third pulley is fixed on the axle of the traction pressure roller; the traction motor is fixed on the machine base; the fourth pulley is fixed on the traction motor; and the second belt is sleeved at both ends on the third and fourth pulleys.

7. The fully automatic battery module busbar bending machine based on machine vision according to claim 1, characterized in that, Also includes: The trough is located inside the feed pipe and the discharge pipe.

8. The fully automatic battery module busbar bending machine based on machine vision according to claim 1, characterized in that, The front end of the base is rotatably provided with double doors, and the double doors are fixedly provided with door handles; the bottom of the base is fixedly provided with support legs.

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