Automobile lithium battery cell grabbing and conveying method using robot and robot

Abstract

The application relates to the technical field of secondary batteries and manufacturing technologies thereof, in particular to a robot-based automobile lithium battery cell grabbing and conveying method and a robot. The method comprises the following steps: obtaining historical working data of the robot grabbing battery cells for transportation and carrying; obtaining an angle coefficient according to a first included angle between acceleration and speed at each moment and a second included angle between acceleration and clamping force; clustering the angle coefficient at each moment, dividing the moments with the same angle coefficient into the same cluster, and obtaining an influence coefficient of acceleration on clamping force in the same cluster; obtaining a critical clamping force according to the influence coefficient of acceleration on clamping force in the same cluster; obtaining an average clamping force in the same cluster; and adjusting the distribution relationship between the suction force of a suction cup and the clamping force of a mechanical clamping jaw during the current robot working according to the relationship between the average clamping force and the critical clamping force. The application embodiment can effectively avoid mechanical damage of the battery cells during the carrying process.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of secondary batteries and manufacturing thereof, and particularly relates to a method for grabbing and conveying automobile lithium battery cells by using a robot and the robot. BACKGROUND

[0002] New energy battery structures are precise and heavy, and have very high requirements for stability and precision during the carrying process. The traditional manual carrying method cannot guarantee the consistency of each operation, and is prone to knocking, extrusion and other situations, which affects the quality of the battery. The robot mechanical quick-change new energy battery carrying scheme realizes the rapid and accurate switching of the end gripper and the gripper through advanced mechanical quick-change technology. For new energy batteries of different specifications and shapes, through the special gripper, whether it is a square battery module, a soft package battery, or a cylindrical battery pack, the robot can replace the adaptive gripper within a few seconds, and accurately grab and carry.

[0003] However, during the process of grabbing and conveying the cells of the automobile lithium battery, the shell of the lithium battery cell itself is not rigid enough, and the holding force during mechanical equipment clamping is too large, which can cause the shell to deform, so it is necessary to use vacuum suction cups and grippers for joint clamping operation. During the transportation of lithium battery cells by the robot, the clamping force fluctuates due to changes in the transportation trajectory. In addition, due to the existence of tolerances in the battery processing process, aging of the suction cup and other situations, the effective force on the corresponding battery cell under the same suction cup power will be affected. How to distribute and couple the mechanical clamping force and the suction force of the suction cup during the process of grabbing and conveying the cells of the automobile lithium battery to avoid damage to the battery cells by knocking and extrusion is a research topic that needs to be urgently studied. SUMMARY

[0004] To solve the above problems, the application provides a method for grabbing and conveying automobile lithium battery cells by using a robot and the robot.

[0005] According to a first aspect of the application, a method for grabbing and conveying automobile lithium battery cells by using a robot is provided, the method comprising:

[0006] obtaining historical working data of the robot grabbing and transporting the battery cells, the historical working data comprising the speed and acceleration of the battery cells at each time on the historical running track, and the suction force of the robot and the clamping force of the mechanical gripper when the robot is working;

[0007] According to the first angle between the acceleration and the speed at each time, and the second angle between the acceleration and the clamping force, an angle coefficient is obtained;

[0008] The angle coefficient at each time is clustered, the times with the same angle coefficient are divided into the same cluster, and an influence coefficient of the acceleration on the clamping force in the same cluster is obtained.

[0009] obtaining a critical clamping force according to the influence coefficient of acceleration on clamping force under the same cluster class;

[0010] obtaining an average clamping force under the same cluster class;

[0011] adjusting the distribution relationship between the suction force of the suction cup and the clamping force of the mechanical clamping jaw during the current robot work according to the relationship between the average clamping force and the critical clamping force.

[0012] In an embodiment, the historical working data of the robot grasping the battery cell for transportation and carrying includes:

[0013] obtaining historical video data of the robot grasping the battery cell for transportation and carrying through an industrial camera;

[0014] obtaining a suction force time variation curve and a clamping force time variation curve during the process of the robot grasping the battery cell for transportation and carrying through a pressure sensor;

[0015] obtaining the speed and acceleration of the battery cell at each time on the running track according to the historical video data.

[0016] In an embodiment, the obtaining of the influence coefficient of acceleration on clamping force under the same cluster class includes:

[0017] obtaining the clamping force at any time under the same cluster class;

[0018] obtaining the acceleration at the any time under the same cluster class;

[0019] obtaining the influence coefficient according to the clamping force and the acceleration.

[0020] In an embodiment, the obtaining of the critical clamping force includes:

[0021] obtaining a change rate of the influence coefficient;

[0022] obtaining a critical clamping force according to the change rate of the influence coefficient.

[0023] In an embodiment, the obtaining of the critical clamping force includes:

[0024] obtaining a mutation clamping force, the mutation clamping force being a clamping force corresponding to a change rate of the influence coefficient greater than a preset threshold;

[0025] taking the average of the mutation clamping forces corresponding to all the cluster classes as the critical clamping force.

[0026] In an embodiment, the adjusting the distribution relationship between the chucking force of the mechanical gripper and the suction force of the suction cup in the current robot working process comprises:

[0027] If the average chucking force is greater than or equal to the critical chucking force, readjusting the distribution relationship between the basic suction force and the basic chucking force;

[0028] If the average chucking force is less than the critical chucking force, maintaining the distribution relationship between the basic suction force and the basic chucking force unchanged, wherein the basic suction force and the basic chucking force are obtained from the historical working data.

[0029] In an embodiment, the method further comprises:

[0030] obtaining a basic chucking force variation curve;

[0031] adjusting the basic suction force according to the basic chucking force variation curve.

[0032] In an embodiment, the obtaining the basic chucking force variation curve comprises:

[0033] performing empirical mode decomposition on the chucking force time variation curve to obtain intrinsic mode function data;

[0034] subtracting the intrinsic mode function data from the chucking force time variation curve to obtain the basic chucking force variation curve.

[0035] In an embodiment, the adjusting the basic suction force according to the basic chucking force variation curve comprises:

[0036] obtaining the basic chucking force variation curves of a plurality of historical periods;

[0037] obtaining the difference of the basic chucking force at the same position of the robot motion trajectory in the basic chucking force variation curves of two adjacent periods in the plurality of historical periods;

[0038] averaging the differences of the basic chucking force at all positions of the robot motion trajectory to obtain an average difference force of each historical period;

[0039] plotting an average difference force curve of the plurality of historical periods;

[0040] obtaining a basic suction force adjustment coefficient according to the average difference force curve;

[0041] adjusting the basic suction force according to the basic suction force adjustment coefficient.

[0042] According to a second aspect of the embodiments of the present application, a robot is provided, the robot comprising a force controller, the force controller comprising:

[0043] a memory having stored thereon a computer program;

[0044] a processor configured to execute the computer program in the memory to implement the steps of the method of any one of the first aspect.

[0045] The embodiment of the present application has the following beneficial effects: The embodiment of the present application provides a method for grabbing and conveying automobile lithium battery cells by using a robot, which comprises the following steps: obtaining historical working data of the robot grabbing and conveying battery cells, wherein the historical working data comprises the speed and acceleration of the battery cells at each moment on a historical running track, and the suction force of a suction cup and the clamping force of a mechanical gripper when the robot is working; obtaining an angle coefficient according to a first included angle between the acceleration and the speed at each moment, and a second included angle between the acceleration and the clamping force; clustering the angle coefficient at each moment, dividing the moments with the same angle coefficient into the same cluster, and obtaining an influence coefficient of the acceleration on the clamping force in the same cluster; obtaining a critical clamping force according to the influence coefficient of the acceleration on the clamping force in the same cluster; obtaining an average clamping force in the same cluster; and adjusting the distribution relationship between the suction force of the suction cup and the clamping force of the mechanical gripper when the current robot is working according to the relationship between the average clamping force and the critical clamping force. The embodiment of the present application adjusts the distribution relationship between the suction force of the suction cup and the clamping force of the mechanical gripper when the current robot is working by analyzing the historical conveying data of the battery cells, which can effectively avoid mechanical damage of the battery cells during conveying.

[0046] Other features and advantages of the present application will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below, and it should be understood that the drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and other related drawings can also be obtained by those skilled in the art without creative labor.

[0048] Figure 1 is a flowchart of a method for grabbing and conveying automobile lithium battery cells by using a robot according to an exemplary embodiment.

[0049] Figure 2 is a flowchart of a method for obtaining historical working data of a robot grabbing and conveying battery cells according to an exemplary embodiment.

[0050] Figure 3is a flow chart of a method for obtaining an influence coefficient of acceleration on clamping force under the same cluster class according to an example embodiment.

[0051] Figure 4 is a flow chart of a method for obtaining a critical clamping force according to an example embodiment.

[0052] Figure 5 is a flow chart of a method for obtaining a critical clamping force according to a rate of change of the influence coefficient according to an example embodiment.

[0053] Figure 6 is a flow chart of a method for adjusting a distribution relationship between a suction force of a suction cup and a clamping force of a mechanical gripper during current robot work according to an example embodiment.

[0054] Figure 7 is a flow chart of another method for grabbing and conveying a lithium battery cell of an automobile using a robot according to an example embodiment.

[0055] Figure 8 is a flow chart of a method for obtaining a basic clamping force change curve according to an example embodiment.

[0056] Figure 9 is a flow chart of a method for adjusting a basic suction force according to a basic clamping force change curve according to an example embodiment.

[0057] Figure 10 is a block diagram of a robot according to an example embodiment.

[0058] Figure 11 is a block diagram of a force controller according to an example embodiment. DETAILED DESCRIPTION

[0059] The specific embodiments described herein will be better understood with the help of the following detailed description taken in connection with the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application and are not intended to limit the present application.

[0060] It should be understood that the terms “comprises” and / or “comprising,” used herein, are open-ended, meaning “including but not limited to.” The term “based on” is intended to mean “based, at least in part, on” and the like. The term “one embodiment” is intended to mean “at least one embodiment.” The term “another embodiment” is intended to mean “at least one additional embodiment.” The term “some embodiments” is intended to mean “at least some embodiments.” Relative terms such as “first,” “second,” “third,” and the like are intended to be relative, not absolute, and are used for convenience only. Other terms are to be given their broader ordinary meaning.

[0061] It should be noted that the terms "first", "second", and the like in the present application are used only to distinguish different devices, modules or units, and do not imply the order of execution or the mutual dependency of the functions performed by these devices, modules or units. The terms "one", "multiple", "a number of" in the present application are illustrative and not restrictive, and those skilled in the art should understand that, unless otherwise specified in the context, they should be understood as "one or more". In the description of the present application, "multiple" means two or more than two, and other quantifiers are similar; "at least one", "one or more" or the like means any combination of these items, including any combination of single or multiple items.

[0062] Although the operations or steps are described in a specific order in the accompanying drawings in the embodiments of the present application, it should not be understood as requiring the operations or steps to be performed in the specific order or serial order shown, or requiring all the operations or steps to be performed to obtain the desired results. In the embodiments of the present application, the operations or steps can be performed in series; the operations or steps can also be performed in parallel; or a part of the operations or steps can be performed.

[0063] The names of the messages or information exchanged between the devices in the embodiments of the present application are only for illustrative purposes, and are not intended to limit the scope of the messages or information. It can be understood that, before using the technical solutions of the embodiments of the present application, the type of personal information involved in the present application, the scope of use, the use scenario and the like should be informed to the user and the authorization of the user should be obtained in accordance with relevant laws and regulations.

[0064] Firstly, the application scenario of the present application is described. In the production workshop of the robot carrying vehicle lithium battery cell, the production workshop is a dust-free scene, the robot completes the clamping operation of the cell through the combined action of the suction force of the suction cup and the clamping force of the mechanical arm, the robot drives the clamped cell to move through its own movement, and places the moved cell at the corresponding position for processing to complete the transportation operation of the cell. The robot consists of: a six-axis mechanical arm for flexible clamping of the cell, wherein the mechanical arm includes a mechanical gripper (an electrode type pressure sensor is provided in the gripper for obtaining the mechanical clamping force) and a vacuum suction cup device (the suction force is calculated by the power of the suction cup). An industrial high-precision camera, which can be used for cell recognition and positioning operation (the camera can also monitor the clamping state of the battery), and the industrial camera can also be used for monitoring the moving track of the robot. A moving module, which moves the robot with the mechanical arm through a wheel set to complete the displacement in the transportation process. (It can also be fixedly used, and only the rotation of the mechanical arm itself is used to complete the transportation). Data acquisition: video data in the transportation process is obtained by the camera, the mechanical clamping force is obtained by the pressure sensor at the same time of shooting the video, and the suction force is obtained by the power of the vacuum suction cup.

[0065] The working process is as follows: the suction cup first contacts and starts vacuumizing (quickly closes, not completely relies on vacuum instantaneously bears). After the vacuum reaches the steady state threshold, the mechanical gripper is lightly positioned (the mechanical gripper contacts with small force, only for positioning, to avoid immediate increase in pressure causing deformation). Confirming that the vacuum is ok and the mechanical force is in the safety zone → lifting to the carrying combined force (according to the optimization result), the mechanical force is slowly raised first to avoid instantaneous deformation leading to vacuum loss (according to the optimization distribution: if the suction cup can bear, preferentially give more to the suction cup). In the dynamic high inertia stage: the mechanical gripper quickly compensates the clamping force (shortly increases) to cope with the inertia peak (the suction cup responds slowly, and the mechanical force compensates quickly). When placing: after carrying the battery to the predetermined position, the impedance control is used for micro contact and reducing the combined force, and then the mechanical clamping force or the vacuum suction force is sequentially released, usually the mechanical clamping force is released first to make the vacuum suction cup suction force bear for a short time.

[0066] The battery cell itself is an aluminum shell, which is relatively rigid, but the local part is still prone to deformation; the tab is protruding, which is easy to be clamped or bent by mistake; therefore, it needs to be transported by the way of suction cup, but the suction cup needs a larger suction force to avoid sliding under the action of inertia, and the way of fixing and positioning by mechanical gripper can reduce the power of the suction cup. When the mechanical gripper has a larger force, the metal or soft package shell will have a small indentation or local displacement, which causes the contact surface between the suction cup and the workpiece to deviate, the sealing edge to be raised or the contact stress to be uneven, thereby reducing the effective sealing area or introducing a leakage channel, which is manifested as the equivalent pulling force of the suction cup under the same negative pressure reading decreases or is more prone to transient leakage. In the working process, neither the suction force of the suction cup nor the mechanical clamping force can meet the demand of battery cell handling alone, and the two forces need to work together, and the gripping force needs to be greater than the minimum clamping force and less than the maximum clamping force to avoid mechanical damage to the battery cell. The application will be described below in combination with specific embodiments.

[0067] Figure 1 A flow chart of a method for grabbing and conveying automobile lithium battery cells by a robot according to an exemplary embodiment is shown. As shown in Figure 1 , the embodiment of the application provides a method for grabbing and conveying automobile lithium battery cells by a robot, which can include the following steps:

[0068] In step S10, historical working data of the robot grabbing and conveying battery cells is obtained, which includes the speed and acceleration of the battery cells at each time on the historical running track, and the suction force of the suction cup and the clamping force of the mechanical gripper when the robot is working.

[0069] In this step, the historical working data of the robot grabbing and conveying battery cells is obtained, which includes the speed and acceleration of the battery cells at each time on the historical running track, and the suction force of the suction cup and the clamping force of the mechanical gripper when the robot is working. Exemplarily, the historical video data of the robot grabbing and conveying battery cells can be obtained by an industrial high-precision camera first, and then the suction force time curve and the clamping force time curve during the process of the robot grabbing and conveying battery cells can be obtained by a pressure sensor, and then the speed and acceleration of the battery cells at each time on the running track can be obtained according to the historical video data.

[0070] In step S20, an angle coefficient is obtained according to a first included angle between the acceleration and the speed at each time, and a second included angle between the acceleration and the clamping force.

[0071] In this step, an angle coefficient is obtained according to a first included angle between the acceleration and the speed at each time , and a second included angle between the acceleration and the clamping force . The angle coefficient The angle coefficient can be obtained by the following formula:

[0072] Formula 1

[0073] Wherein, The angle coefficient is not 0; the angle relationship between the acceleration direction, the motion speed direction and the clamping force direction has certain influence on the clamping force. For example, when the clamping force and the acceleration are perpendicular, the battery cell is more likely to slip due to inertia than when they are parallel. Therefore, when analyzing the influence of the battery cell running track on the clamping force of the clamping jaw, only the angle data needs to be considered.

[0074] In step S30, the angle coefficients of each time are clustered, the times with the same angle coefficient are divided into the same cluster, and the influence coefficient of the acceleration on the clamping force in the same cluster is obtained.

[0075] In this step, the angle coefficients of each time are clustered, the times with the same angle coefficient are divided into the same cluster, and the influence coefficient of the acceleration on the clamping force in the same cluster is obtained. For example, the clamping force of any time in the same cluster can be obtained first, then the acceleration of any time in the same cluster is obtained, and then the influence coefficient of the acceleration on the clamping force is obtained according to the clamping force and the acceleration.

[0076] In step S40, the critical clamping force is obtained according to the influence coefficient of the acceleration on the clamping force in the same cluster.

[0077] In this step, the critical clamping force is obtained according to the influence coefficient of the acceleration on the clamping force in the same cluster. For example, the change rate of the influence coefficient can be obtained first, and then the critical clamping force is obtained according to the change rate of the influence coefficient.

[0078] In step S50, the average clamping force in the same cluster is obtained.

[0079] In this step, the average clamping force in the same cluster is obtained. For example, the clamping forces in the same cluster can be averaged to obtain the average clamping force.

[0080] In step S60, the distribution relationship between the suction force of the suction cup and the clamping force of the mechanical clamping jaw during the current robot working is adjusted according to the relationship between the average clamping force and the critical clamping force.

[0081] In this step, the distribution relationship between the suction force of the suction cup and the clamping force of the mechanical clamping jaw during the current robot work is adjusted according to the relationship between the average clamping force and the critical clamping force. For example, the distribution relationship between the basic suction force and the basic clamping force can be adjusted when the average clamping force is greater than or equal to the critical clamping force, and the distribution relationship between the basic suction force and the basic clamping force can be maintained when the average clamping force is less than the critical clamping force, wherein the basic suction force and the basic clamping force can be obtained from the historical work data.

[0082] The embodiment of the present application has the following beneficial effects: the embodiment of the present application provides a method for grabbing and conveying automobile lithium battery cells by a robot, which comprises the following steps: obtaining historical work data of the robot grabbing and conveying battery cells, wherein the historical work data comprises the speed and acceleration of the battery cells at each time on a historical running track, and the suction force of the suction cup and the clamping force of the mechanical clamping jaw during the robot work; obtaining an angle coefficient according to a first angle between the acceleration and the speed at each time, and a second angle between the acceleration and the clamping force; clustering the angle coefficient at each time, dividing the times with the same angle coefficient into the same cluster, and obtaining an influence coefficient of the acceleration on the clamping force in the same cluster; obtaining a critical clamping force according to the influence coefficient of the acceleration on the clamping force in the same cluster; obtaining an average clamping force in the same cluster; and adjusting the distribution relationship between the suction force of the suction cup and the clamping force of the mechanical clamping jaw during the current robot work according to the relationship between the average clamping force and the critical clamping force. The embodiment of the present application adjusts the distribution relationship between the suction force of the suction cup and the clamping force of the mechanical clamping jaw during the current robot work by analyzing the historical conveying data of the battery cells, which can effectively avoid mechanical damage of the battery cells during the conveying process.

[0083] Figure 2 is a flow chart of a method for obtaining historical work data of a robot grabbing and conveying battery cells according to an exemplary embodiment. As shown in Figure 2 the method for obtaining historical work data of a robot grabbing and conveying battery cells can comprise the following steps:

[0084] In step S101, historical video data of the robot grabbing and conveying battery cells is obtained by an industrial camera.

[0085] In this step, the historical video data of the robot grabbing and conveying battery cells can be obtained by an industrial high-precision camera.

[0086] In step S102, the suction force time variation curve and the clamping force time variation curve during the process of the robot grabbing and conveying battery cells are obtained by a pressure sensor.

[0087] In this step, pressure sensors are used to acquire the suction force and clamping force variation curves over time during the robot's handling of battery cells. The horizontal axis of the suction force variation curve represents time, and the vertical axis represents the suction force of the suction cup; similarly, the horizontal axis of the clamping force variation curve represents time, and the vertical axis represents the clamping force of the mechanical grippers.

[0088] In step S103, the speed and acceleration of the battery cell at each moment on the running trajectory are obtained based on the historical video data.

[0089] In this step, the velocity and acceleration of the battery cell at various moments along its trajectory are obtained based on historical video data. For example, the clamping force target data can be obtained by semantic segmentation of the historical video data, and optical flow matching can be performed on the target battery cell in the video frames. Based on the matching results of the target battery cell in different frames, the inter-frame displacement can be determined. x, y, Based on the obtained inter-frame displacement, the velocity v and acceleration a of the target battery cell can be calculated. For example, using an extended Kalman filter to obtain smooth trajectory information of the target battery cell, the velocity and acceleration can be obtained by differentiating the obtained trajectory information.

[0090] Figure 3 This is a flowchart illustrating a method for obtaining the influence coefficient of acceleration on clamping force within the same cluster, according to an exemplary embodiment. Figure 3 As shown, obtaining the influence coefficient of acceleration on clamping force under the same cluster can include the following steps:

[0091] In step S301, the clamping force at any time within the same cluster is obtained.

[0092] In this step, the clamping force at any time i within the same cluster is obtained. .

[0093] In step S302, the acceleration at any given moment within the same cluster is obtained.

[0094] In this step, the acceleration of the battery cell at any time i within the same cluster is obtained. .

[0095] In step S303, the influence coefficient is obtained based on the clamping force and the acceleration.

[0096] In this step, based on the clamping force and the acceleration of the battery cell Obtain the influence coefficient of acceleration on clamping force under the same cluster. For example, the influence coefficient of acceleration on clamping force within the same cluster. The change rate of the influence coefficient can be obtained by the following formula:

[0097] Formula 2

[0098] wherein, the change amount of the influence coefficient is not zero.

[0099] Figure 4 is a flow chart of a method for obtaining a critical clamping force according to an example embodiment. As shown in the figure, the method for obtaining a critical clamping force can include the following steps: Figure 4

[0100] In step S401, the change rate of the influence coefficient is obtained.

[0101] In this step, the change rate of the influence coefficient is obtained. For example, the change rate of the influence coefficient can be obtained by the following formula:

[0102] Formula 3

[0103] wherein, the change amount of the influence coefficient is not zero.

[0104] In step S402, the critical clamping force is obtained according to the change rate of the influence coefficient.

[0105] In this step, the critical clamping force is obtained according to the change rate of the influence coefficient. For example, the critical clamping force can be obtained by first obtaining a mutation clamping force corresponding to the change rate of the influence coefficient greater than a preset threshold, and then taking the average of the mutation clamping forces corresponding to all clustering clusters as the critical clamping force.

[0106] Figure 5 is a flow chart of a method for obtaining a critical clamping force according to an example embodiment. As shown in the figure, the method for obtaining a critical clamping force according to the change rate of the influence coefficient can include the following steps: Figure 5

[0107] In step S4021, a mutation clamping force is obtained, the mutation clamping force being a clamping force corresponding to a change rate of the influence coefficient greater than a preset threshold.

[0108] In this step, the mutation clamping force is obtained, the mutation clamping force being a clamping force corresponding to a change rate of the influence coefficient greater than a preset threshold. For example, the preset threshold is 0.8. ​​​​​​​​​​

[0109] In step S4022, the average of the mutation gripping forces corresponding to all the cluster classes is taken as the critical gripping force.

[0110] In this step, the average of the mutation gripping forces corresponding to all the cluster classes is taken as the critical gripping force .

[0111] Figure 6 is a flow chart of a method for adjusting the distribution relationship between the suction force of a suction cup and the gripping force of a mechanical gripper during current robot work according to an exemplary embodiment. As shown, the adjustment of the distribution relationship between the suction force of a suction cup and the gripping force of a mechanical gripper during current robot work can include the following steps: Figure 6

[0112] In step S601, if the average gripping force is greater than or equal to the critical gripping force, the distribution relationship between the basic suction force and the basic gripping force is readjusted.

[0113] In this step, if the average gripping force is greater than or equal to the critical gripping force , the distribution relationship between the basic suction force and the basic gripping force is readjusted. For example, the original suction cup basic suction force is adjusted by a suction force adjustment coefficient (1+ ) to obtain a new suction cup basic suction force, and the original basic gripping force is adjusted by a gripping force adjustment coefficient (1- ) to obtain a new basic gripping force. The original suction cup basic suction force can be obtained according to the suction force time variation curve, and the original basic gripping force can be obtained according to the gripping force time variation curve. For example, the average of the suction force in the suction force time variation curve is taken as the original suction cup basic suction force, and the average of the gripping force in the gripping force time variation curve is taken as the original basic gripping force.

[0114] If the average gripping force is greater than or equal to , it indicates that there is a problem in the coupling of the current suction force and the gripping force, and the gripping force is adjusted too large, which may cause the vacuum equivalent suction force of the suction cup to decrease (slight deformation), so the suction force of the suction cup needs to be increased, and the excessive mechanical gripping force needs to be reduced to maintain normal battery cell handling and avoid mechanical damage to the battery cell.

[0115] In step S602, if the average gripping force is less than the critical gripping force, the distribution relationship between the basic suction force and the basic gripping force is maintained unchanged, wherein the basic suction force and the basic gripping force are obtained from the historical work data.

[0116] In this step, if the average gripping force is less than the critical gripping force ​The original basic suction force and the original basic clamping force can be obtained from historical working data (suction force-time curve and clamping force-time curve).

[0117] If the average clamping force is less than It indicates that the current suction force and clamping force coupling has no problem, and the battery cell can be carried according to the current existing suction force data and clamping force data.

[0118] Figure 7 is a flow chart of another method of grabbing and conveying automobile lithium battery cells by using robots according to an exemplary embodiment. As shown in Figure 7 The method can further include the following steps:

[0119] In step S70, the basic clamping force change curve is obtained.

[0120] In this step, the basic clamping force change curve is obtained. For example, the empirical mode decomposition is first performed on the clamping force-time curve to obtain the intrinsic mode function data, and then the clamping force-time curve is subtracted from the intrinsic mode function data to obtain the basic clamping force change curve.

[0121] In step S80, the basic suction force is adjusted according to the basic clamping force change curve.

[0122] In this step, the basic suction force is adjusted according to the basic clamping force change curve. For example, the basic clamping force change curves of multiple historical periods are first obtained, then the difference values of the basic clamping forces at the same positions of the robot motion track in the basic clamping force change curves of two adjacent periods in the multiple historical periods are obtained, then the difference values of the basic clamping forces corresponding to all positions on the robot motion track are averaged to obtain the average difference force of each historical period, then the average difference force curves of the multiple historical periods are plotted, then the basic suction force adjustment coefficient is obtained according to the average difference force curve, and finally the basic suction force is adjusted according to the basic suction force adjustment coefficient.

[0123] Figure 8 is a flow chart of a method for obtaining a basic clamping force change curve according to an exemplary embodiment. As shown in Figure 8 The method for obtaining the basic clamping force change curve can include the following steps:

[0124] In step S701, the empirical mode decomposition is performed on the clamping force-time curve to obtain the intrinsic mode function data.

[0125] In this step, the clamping force time curve is decomposed by EMD to obtain the intrinsic mode function data. For example, the clamping force time curve is decomposed by EMD to obtain the IMF component data of the clamping force time curve.

[0126] In step S702, the clamping force time curve is subtracted from the intrinsic mode function data to obtain the basic clamping force curve.

[0127] In this step, the clamping force time curve is subtracted from the intrinsic mode function data to obtain the basic clamping force curve. For example, the clamping force time curve is subtracted from the IMF component data to obtain the basic clamping force curve.

[0128] Figure 9 is a flowchart of a method for adjusting the basic suction force according to the basic clamping force curve according to an exemplary embodiment. As shown in Figure 9 , the adjusting the basic suction force according to the basic clamping force curve can include the following steps:

[0129] In step S801, the basic clamping force curve of a plurality of historical periods is obtained.

[0130] In this step, the basic clamping force curve of a plurality of historical periods is obtained. For example, the plurality of historical periods can be consecutive months.

[0131] In step S802, the difference of the basic clamping force at the same position of the robot motion trajectory in the basic clamping force curves of two adjacent periods in the plurality of historical periods is obtained.

[0132] In this step, the difference of the basic clamping force at the same position of the robot motion trajectory in the basic clamping force curves of two adjacent periods in the plurality of historical periods is obtained .

[0133] In step S803, the difference of the basic clamping force at all positions of the robot motion trajectory is averaged to obtain the average difference force of each historical period.

[0134] In this step, the difference of the basic clamping force at all positions of the robot motion trajectory is averaged to obtain the average difference force of each historical period .

[0135] In step S804, the average difference force curve of the plurality of historical periods is drawn.

[0136] In this step, the average difference force curve of the plurality of historical periods is drawn ​The curve is an average difference force curve. For example, the curve can have a month as the horizontal coordinate and an average difference force as the vertical coordinate. .

[0137] In step S805, a base suction adjustment coefficient is obtained according to the average difference force curve.

[0138] In this step, a base suction adjustment coefficient is obtained according to the average difference force curve . For example, the base suction adjustment coefficient can be obtained by the following formula:

[0139] Formula 4

[0140] wherein, m is a slope of the average difference force curve, is a normalized processing.

[0141] In step S806, the base suction is adjusted according to the base suction adjustment coefficient.

[0142] In this step, the base suction of the suction cup is adjusted according to the base suction adjustment coefficient . For example, the original base suction of the suction cup can be adjusted by the adjustment coefficient (1+ ) to obtain the adjusted base suction of the suction cup. The original base suction of the suction cup can be obtained according to the suction time change curve, for example, the average value of the suction in the suction time change curve can be taken as the original base suction of the suction cup.

[0143] It should be noted that if the adjusted base suction of the suction cup reaches or exceeds 90% of the maximum suction that the suction cup can withstand, it means that the suction cup has been seriously aged and needs to be replaced in time.

[0144] ​The embodiment of the present application has the following beneficial effects: the embodiment of the present application provides a method for grabbing and conveying automobile lithium battery cells by using a robot, the method comprising: obtaining historical working data of the robot grabbing the battery cells for transportation and carrying, the historical working data comprising the speed and acceleration of the battery cells at each moment on a historical running track, and the suction force of a suction cup and the clamping force of a mechanical gripper when the robot is working; obtaining an angle coefficient according to a first included angle between the acceleration and the speed at each moment, and a second included angle between the acceleration and the clamping force; clustering the angle coefficient at each moment, dividing the moments with the same angle coefficient into the same cluster, and obtaining an influence coefficient of the acceleration on the clamping force in the same cluster; obtaining a critical clamping force according to the influence coefficient of the acceleration on the clamping force in the same cluster; obtaining an average clamping force in the same cluster; and adjusting the distribution relationship between the suction force of the suction cup and the clamping force of the mechanical gripper when the current robot is working according to the relationship between the average clamping force and the critical clamping force. The embodiment of the present application adjusts the distribution relationship between the suction force of the suction cup and the clamping force of the mechanical gripper when the current robot is working by analyzing the historical carrying data of the battery cells, which can effectively avoid mechanical damage of the battery cells in the carrying process.

[0145] The present application also provides a computer readable storage medium having computer program instructions stored thereon, the program instructions being executed by a processor to implement the steps of the method for grabbing and conveying automobile lithium battery cells by using a robot.

[0146] Figure 10 is a block diagram of a robot according to an exemplary embodiment. As shown in Figure 10 , the embodiment of the present application provides a robot 1000, comprising a force controller 1100.

[0147] Figure 11 is a block diagram of a force controller according to an exemplary embodiment. For example, the force controller 1100 can be provided as a server. Referring to Figure 11 , the force controller 1100 comprises a processor 1122, which further comprises one or more processors, and a memory resource represented by a memory 1132, for storing instructions executable by the processor 1122, such as an application program. The application program stored in the memory 1132 can comprise one or more than one module each corresponding to a set of instructions. In addition, the processor 1122 is configured to execute the instructions to perform the method for grabbing and conveying automobile lithium battery cells by using a robot.

[0148] The force controller 1100 can also include a power supply component 1126 configured to perform power management of the force controller 1100, a communication component 1150 configured to connect the force controller 1100 to a network, and an input / output interface 1158. The force controller 1100 can operate based on an operating system stored in the memory 1132.

[0149] In another exemplary embodiment, there is also provided a computer program product comprising a computer program capable of being executed by a programmable electronic device, the computer program having code portions for performing the above-described method for transporting automotive lithium battery cells using a robot when executed by the programmable electronic device.

[0150] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be construed as limiting the scope of the present application. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application.

Claims

1. A method for gripping and conveying automotive lithium battery cells using a robot, characterized in that, The method includes: The robot acquires historical work data on grasping and transporting battery cells. The historical work data includes the speed and acceleration of the battery cells at each moment on the historical running trajectory, as well as the suction force of the suction cup and the gripping force of the mechanical gripper when the robot is working. The angle coefficient is obtained based on the first angle between acceleration and velocity at each moment, and the second angle between acceleration and clamping force. Cluster the angle coefficients at each time point, and divide the time points with the same angle coefficients into the same cluster, and obtain the influence coefficient of acceleration on clamping force under the same cluster. The critical clamping force is obtained based on the influence coefficient of acceleration on clamping force under the same cluster. Obtain the average clamping force within the same cluster; Based on the relationship between the average clamping force and the critical clamping force, adjust the distribution between the suction force of the suction cup and the clamping force of the mechanical gripper during the current operation of the robot; The process of obtaining the influence coefficient of acceleration on clamping force under the same cluster includes: Obtain the clamping force at any given time within the same cluster; Obtain the acceleration at any given moment within the same cluster class; The influence coefficient is obtained based on the clamping force and the acceleration; The acquisition of the critical clamping force includes: Obtain the rate of change of the influence coefficient; The critical clamping force is obtained based on the rate of change of the influence coefficient. The step of obtaining the critical clamping force based on the rate of change of the influence coefficient includes: Obtain the mutation clamping force, wherein the mutation clamping force is the clamping force corresponding to the rate of change of the influence coefficient being greater than a preset threshold; The average value of the mutation clamping forces corresponding to all the clusters is taken as the critical clamping force.

2. The method for gripping and conveying automotive lithium battery cells using a robot according to claim 1, characterized in that, The historical operational data obtained by acquiring the robot's grasping and transporting of battery cells includes: Historical video data of the robot grasping and transporting battery cells is acquired using industrial cameras. The suction force and clamping force time variation curves during the process of the robot grasping and transporting battery cells are obtained by pressure sensors. Based on the historical video data, the speed and acceleration of the battery cell at each moment on its running trajectory are obtained.

3. The method for gripping and conveying automotive lithium battery cells using a robot according to claim 1, characterized in that, The adjustment of the distribution between the suction force of the suction cup and the gripping force of the mechanical gripper during the current operation of the robot includes: If the average clamping force is greater than or equal to the critical clamping force, the distribution relationship between the basic suction force and the basic clamping force is readjusted. If the average clamping force is less than the critical clamping force, the distribution relationship between the basic suction force and the basic clamping force remains unchanged, wherein the basic suction force and the basic clamping force are obtained from the historical working data.

4. The method for gripping and conveying automotive lithium battery cells using a robot according to claim 2, characterized in that, The method further includes: Obtain the basic clamping force variation curve; Adjust the basic suction force according to the basic clamping force variation curve.

5. A method for gripping and conveying automotive lithium battery cells using a robot according to claim 4, characterized in that, The acquisition of the basic clamping force variation curve includes: Empirical mode decomposition was performed on the clamping force time variation curve to obtain intrinsic mode function data; Subtract the intrinsic mode function data from the clamping force time variation curve to obtain the basic clamping force variation curve.

6. A method for gripping and conveying automotive lithium battery cells using a robot according to claim 4, characterized in that, The step of adjusting the basic suction force according to the basic clamping force change curve includes: Obtain the basic clamping force variation curves for multiple historical periods; Obtain the difference in basic clamping force at the same position on the robot's motion trajectory in the basic clamping force change curves of two adjacent cycles in the plurality of historical cycles; The average difference of the basic clamping force corresponding to all positions on the robot's motion trajectory is averaged to obtain the average difference force for each historical cycle. Plot the average difference force curve for the multiple historical periods; Based on the average differential force curve, the basic suction adjustment coefficient is obtained; Adjust the basic suction power according to the basic suction power adjustment coefficient.

7. A robot, characterized in that, The robot includes a force controller, the force controller comprising: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-6.

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