Battery assembly processing equipment and battery assembly processing method

Abstract

The invention provides a battery assembly processing method, which comprises the following steps that: a columnar battery cell of a battery assembly is positioned in a battery setting area of a bearing device, the circumferential side wall of the columnar battery cell comprises a first part and a second part, the first part is connected with a flexible circuit board, and one end, deviating from the first part, of the flexible circuit board is provided with a connecting terminal; controlling a first image acquisition device to acquire a first image of the top of the battery assembly; based on the first image, controlling the bearing device to drive the battery assembly to rotate so as to enable the flexible circuit board to rotate to a posture extending along the target direction; controlling a second image acquisition device to acquire a second image of the area, where the connection terminal is located, of the battery assembly; determining the position of the connection terminal based on the second image; and based on the position of the connecting terminal, controlling a bending device to clamp the connecting terminal, and bending the flexible circuit board so as to arrange the connecting terminal at the second part.

Description

Technical Field

[0001] This invention relates to the field of battery processing technology, and in particular to a battery module processing equipment and a battery module processing method. Background Technology

[0002] In related technologies, battery modules include cylindrical cells and flexible circuit boards. One end of the flexible circuit board is connected to the side wall of the cylindrical cell, and the other end has a connection terminal. An adhesive is provided on the back side of the connection terminal. Existing technologies typically involve manually bending the flexible circuit board to bring the connection terminal close to the surface of the cylindrical cell, thereby bonding the connection terminal to the surface of the cylindrical cell using the adhesive. However, existing technologies suffer from the problem of high labor intensity for operators. Summary of the Invention

[0003] This invention provides a battery component processing method to address the problem of reducing the labor intensity of operators.

[0004] To solve the above-mentioned technical problems, the present invention is implemented as follows: The battery module processing method provided in this invention is applied to a battery module processing equipment, which includes a carrier device, a first image acquisition device, a second image acquisition device, and a bending device. The battery module processing method includes: positioning a cylindrical battery cell of the battery module in the battery setting area of ​​the carrier device, wherein the circumferential sidewall of the cylindrical battery cell includes a first part and a second part, the first part is connected to a flexible circuit board, and a connection terminal is provided at one end of the flexible circuit board opposite to the first part; controlling the first image acquisition device to acquire a first image of the top of the battery module; based on the first image, controlling the carrier device to drive the battery module to rotate so that the flexible circuit board rotates to an orientation extending along a target direction; controlling the second image acquisition device to acquire a second image of the battery module located in the area where the connection terminal is located; based on the second image, determining the position of the connection terminal; and based on the position of the connection terminal, controlling the bending device to clamp the connection terminal and bend the flexible circuit board to set the connection terminal at the second part.

[0005] In some embodiments, the first image acquisition device is disposed above the first workstation, and the light-receiving part of the first image acquisition device faces the first workstation in a vertical direction; the battery module processing equipment further includes a transfer device; the battery module processing method further includes: after positioning the cylindrical cell in the battery setting area, controlling the transfer device to transfer the carrier device and the battery module to the first workstation.

[0006] In some embodiments, the second image acquisition device is disposed on the side of the second workstation, and the light-receiving part of the second image acquisition device faces the second workstation in a horizontal direction; the battery assembly processing method further includes: before acquiring the second image, controlling the transfer device to transfer the carrier device and the battery assembly to the second workstation.

[0007] In some embodiments, when the battery assembly is located at the second station, the light-gathering part of the second image acquisition device is directly opposite the connection terminal in the horizontal direction.

[0008] In some embodiments, the battery module processing equipment further includes a positioning device; the battery module processing method further includes: after transferring the battery module to the second station and before acquiring the second image, controlling the positioning device to position the flexible circuit board.

[0009] In some embodiments, based on the position of the connecting terminal, the bending device is controlled to clamp the connecting terminal and bend the flexible circuit board to place the connecting terminal at the second location, including: adjusting a preset clamping path and a preset bending path based on the position of the connecting terminal; based on the adjusted clamping path, the bending device is controlled to clamp the connecting terminal and bend the flexible circuit board based on the adjusted bending path to place the connecting terminal at the second location.

[0010] In some embodiments, a first adhesive is provided on the back side of the connecting terminal; the battery assembly processing equipment further includes a first pressing device; the battery assembly processing method further includes: after the connecting terminal is disposed at the second part, controlling the first pressing device to apply pressing pressure to the first adhesive through the connecting terminal, so that the connecting terminal is bonded and fixed to the second part through the first adhesive.

[0011] In some embodiments, a second adhesive member is provided on the side of the flexible circuit board facing the circumferential sidewall of the columnar battery cell; the battery assembly processing equipment further includes a second pressing device; the battery assembly processing method further includes: after the connection terminal is disposed at the second location, controlling the second pressing device to apply pressing pressure to the second adhesive member through the flexible circuit board, so that the flexible circuit board is bonded and fixed to the circumferential sidewall of the columnar battery cell through the second adhesive member.

[0012] In some embodiments, the bending device is equipped with a multi-dimensional force sensor; the battery assembly processing method further includes: during the bending of the flexible circuit board, using the multi-dimensional force sensor to detect the force on the connecting terminal in real time, and controlling the bending device to stop bending the flexible circuit board when the force on the connecting terminal is greater than a preset threshold.

[0013] In some embodiments, the battery module processing equipment further includes a conveying device; the battery module processing method further includes: controlling the conveying device to convey the battery module to the battery setting area before positioning the cylindrical battery cell in the battery setting area; and controlling the conveying device to receive the processed battery module after the connection terminal is set at the second location.

[0014] The above-described at least one technical solution adopted in the embodiments of the present invention can achieve the following beneficial effects: In an embodiment of the present invention, the supporting device can be controlled to drive the battery assembly to rotate based on a first image of the top of the battery assembly acquired by the first image acquisition device, so that the flexible circuit board rotates to an orientation extending along the target direction.

[0015] Furthermore, the position of the connecting terminal can be determined based on a second image of the area where the connecting terminal is located, acquired by the second image acquisition device. Then, based on the position of the connecting terminal, the bending device can be controlled to clamp the connecting terminal and bend the flexible circuit board to position the connecting terminal at the second location.

[0016] In this way, battery assembly processing equipment can be used to replace or assist operators by placing the connection terminals at the second location, thereby reducing the labor intensity of operators.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a battery module processing equipment provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a battery assembly before processing, provided as an embodiment of the present invention; Figure 3 This is a schematic diagram of a battery assembly positioned in the battery mounting area of ​​a carrier device before processing, provided by an embodiment of the present invention. Figure 4 This is a partial schematic diagram of a battery module processing equipment located at the second workstation, provided in an embodiment of the present invention. Figure 5 A partial schematic diagram of the first clamping mechanism of a battery assembly and positioning device before processing, provided in an embodiment of the present invention; Figure 6 This is a partial schematic diagram of a battery component processing equipment located at a second workstation, provided in an embodiment of the present invention, showing a case where the second image acquisition device is hidden; Figure 7 A schematic diagram of a finished battery assembly provided in an embodiment of the present invention; Figure 8This is a flowchart of a battery component processing method provided in an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached figures: 1- Battery module processing equipment; 100-Carrying device; 110-Battery setting area; 200-First image acquisition device; 300-Second image acquisition device; 400-Bending device; 500-Transfer device; 510-First station; 520-Second station; 600-Positioning device; 700-First pressing device; 800-Second pressing device; 900-Conveying device; 2-Battery assembly; 21-Battery cell; 22-Flexible circuit board; 23-First part; 24-Second part; 25-Connecting terminal; 26-First adhesive; 27-Second adhesive. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] Furthermore, although the terminology used in this invention is selected from commonly known and used terms, some terms mentioned in this specification may have been selected by the inventor in his or her judgment, and their detailed meanings are explained in the relevant sections of the description herein.

[0024] Furthermore, the invention should be understood not only through the actual terminology used, but also through the meaning implied by each term.

[0025] The technical solutions provided by the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0026] This invention provides a method for processing battery modules. The battery module processing method provided by this invention is applied to battery module processing equipment. (Reference) Figures 1 to 7The battery component processing equipment 1 provided in this embodiment of the invention includes: a support device 100, a first image acquisition device 200, a second image acquisition device 300, and a bending device 400.

[0027] refer to Figure 8 The battery assembly processing method provided in this embodiment of the invention includes: Step 1010: Position the cylindrical cell of the battery assembly in the battery mounting area of ​​the carrier device. The circumferential sidewall of the cylindrical cell includes a first part and a second part. The first part is connected to the flexible circuit board, and the flexible circuit board has a connection terminal at one end opposite to the first part.

[0028] In an embodiment of the present invention, the cylindrical cell 21 of the battery assembly 2 can be positioned in the battery mounting area 110 of the support device 100. The circumferential sidewall of the cylindrical cell 21 includes a first part 23 and a second part 24. The first part 23 is connected to the flexible circuit board 22, and the flexible circuit board 22 has a connection terminal 25 at one end opposite to the first part 23.

[0029] In some embodiments, the carrier device 100 includes a battery mounting area 110 for mounting a battery assembly 2. The battery assembly 2 includes a cylindrical cell 21 and a flexible circuit board 22. One end of the flexible circuit board 22 is connected to a first portion 23 of the cylindrical cell 21, and the other end is provided with a connection terminal 25. The side of the flexible circuit board 22 with the connection terminal 25 is used to connect to a second portion 24 of the cylindrical cell 21.

[0030] refer to Figure 2 and Figure 5 In other words, in some embodiments, the battery module 2 transported to the battery module processing equipment 1 for processing is a combination of a cylindrical cell 21 and a flexible circuit board 22. One end of the flexible circuit board 22 is connected to the first portion 23 of the cylindrical cell 21, and the other end is provided with a connection terminal 25. The battery module processing equipment 1 is used to position the end of the flexible circuit board 22 with the connection terminal 25 at the second portion 24 of the cell 21.

[0031] For example, a robotic arm can be used to place the battery assembly 2 in the battery placement area 110 of the carrier 100. Furthermore, the carrier 100 can be used to position the battery assembly 2 in the battery placement area 110. Alternatively, the battery assembly processing equipment 1 also includes a conveying device 900. The conveying device 900 can transport the battery assembly 2 to the battery placement area 110 of the carrier 100. In addition, the conveying device 900 can also receive the processed battery assembly 2.

[0032] Step 1020: Control the first image acquisition device to acquire a first image of the top of the battery assembly.

[0033] In an embodiment of the present invention, the first image acquisition device 200 can be controlled to acquire a first image of the top of the battery assembly 2.

[0034] For example, the first image acquisition device 200 is a first camera. For instance, the first camera is an industrial camera. It should be noted that this embodiment of the invention does not limit the specific type of the first image acquisition device 200; it only requires that the first image acquisition device 200 has a shooting function.

[0035] Step 1030: Based on the first image, control the carrier device to drive the battery assembly to rotate so that the flexible circuit board rotates to an orientation that extends along the target direction.

[0036] In an embodiment of the present invention, after acquiring a first image of the top of the battery assembly 2, the carrier device 100 can be controlled to drive the battery assembly 2 to rotate based on the first image, so that the flexible circuit board 22 rotates to an orientation that extends along the target direction.

[0037] In some embodiments, after acquiring a first image of the top of the battery assembly 2, the extension direction of the flexible circuit board 22 can be determined based on the relevant principles of machine vision. Thus, based on the first image, the supporting device 100 is controlled to drive the battery assembly 2 to rotate at a certain angle so that the flexible circuit board 22 is in an extension posture along the target direction.

[0038] For example, refer to Figure 3 The flexible circuit board 22 can be positioned so that it extends from the first portion 23 of the cylindrical cell 21 in a left-to-right direction by controlling the rotation of the supporting device 100 to drive the battery assembly 2. It is understood that in other embodiments, the flexible circuit board 22 may also be positioned in other directions, which will not be listed here.

[0039] Step 1040: Control the second image acquisition device to acquire a second image of the battery assembly located in the area where the connection terminal is located.

[0040] In an embodiment of the present invention, the second image acquisition device 300 can be controlled to acquire a second image of the battery assembly 2 located in the area where the connection terminal 25 is located.

[0041] For example, the second image acquisition device 300 is a second camera. For instance, the second camera is an industrial camera. It should be noted that this embodiment of the invention does not limit the specific type of the second image acquisition device 300; it only requires that the second image acquisition device 300 has a shooting function.

[0042] Step 1050: Based on the second image, determine the position of the connection terminal.

[0043] In embodiments of the present invention, after obtaining a second image of the area of ​​the battery assembly 2 where the connection terminal 25 is located, the position of the connection terminal 25 can be determined based on the second image. For example, the position of the connection terminal 25 in the height direction can be determined. Alternatively, the relative position of the connection terminal 25 and the first portion 23 of the cylindrical cell 21 can be determined.

[0044] For example, the edges of the connecting terminal 25 can be identified based on the second image using a feature matching algorithm. For instance, a combination of a scale-invariant feature transform (SIFT) matching algorithm and a deep learning algorithm can be used to identify the edges of the connecting terminal 25. Furthermore, the position of the connecting terminal 25 can be determined based on its edges.

[0045] Step 1060: Based on the position of the connecting terminal, control the bending device to clamp the connecting terminal and bend the flexible circuit board to position the connecting terminal at the second location.

[0046] In an embodiment of the present invention, after determining the position of the connecting terminal 25, the bending device 400 can be controlled to clamp the connecting terminal 25 and bend the flexible circuit board 22 based on the position of the connecting terminal 25, so as to place the connecting terminal 25 at the second part 24.

[0047] refer to Figure 4 and Figure 5 For example, the second image acquisition device 300 captures an image of one side of the connection terminal 25 to generate a second image. Furthermore, the position of the connection terminal 25 can be determined based on the principles of machine vision in related technologies. Further, after determining the position of the connection terminal 25, the position of the connection terminal 25 relative to the second portion 24 can be determined, thereby controlling the bending device 400 to clamp the connection terminal 25 and bend the flexible circuit board 22 to position the connection terminal 25 at the second portion 24.

[0048] In this way, in an embodiment of the present invention, the supporting device 100 can be controlled to drive the battery assembly 2 to rotate based on the first image of the top of the battery assembly 2 acquired by the first image acquisition device 200, so that the flexible circuit board 22 rotates to an orientation extending along the target direction.

[0049] Furthermore, the position of the connecting terminal 25 can be determined based on the second image of the area where the connecting terminal 25 is located, acquired by the second image acquisition device 300. Then, based on the position of the connecting terminal 25, the bending device 400 can be controlled to clamp the connecting terminal 25 and bend the flexible circuit board 22 to position the connecting terminal 25 at the second location 24.

[0050] In this way, the battery assembly processing equipment 1 can be used to replace or assist the operator in setting the connection terminal 25 at the second part 24, thereby reducing the labor intensity of the operator.

[0051] refer to Figure 1 In some embodiments, the first image acquisition device 200 is disposed above the first workstation 510, and the light-receiving part of the first image acquisition device 200 faces the first workstation 510 in a vertical direction. In this way, the first image acquisition device 200 can acquire a first image of the top of the battery assembly 2 located at the first workstation 510.

[0052] The battery module processing equipment 1 also includes a transfer device 500. The battery module processing method provided in this embodiment of the invention further includes: after positioning the cylindrical cell 21 in the battery setting area 110, controlling the transfer device 500 to transfer the carrier device 100 and the battery module 2 to the first station 510.

[0053] In some embodiments, the transfer device 500 is used to drive the carrier device 100 to move between the first station 510 and the second station 520. Exemplarily, the transfer device 500 includes a first linear driver. The first linear driver is drivenly connected to the carrier device 100 to drive the carrier device 100 to move between the first station 510 and the second station 520. Exemplarily, the transfer device 500 is a transmission belt, the carrier device 100 is disposed on the transmission belt, and the transmission belt can drive the carrier device 100 to move between the first station 510 and the second station 520. It should be noted that the implementation of the present invention does not limit the specific structure of the transfer device 500, as long as it can drive the carrier device 100 to move between the first station 510 and the second station 520.

[0054] refer to Figure 1 and Figure 5 In some embodiments, the second image acquisition device 300 is disposed to the side of the second station 520, and the light-receiving part of the second image acquisition device 300 faces the second station 520 in a horizontal direction. In this way, the second image acquisition device 300 can acquire a second image of the battery assembly 2 located in the area where the connection terminal 25 is located in the second station 520.

[0055] In some embodiments, the battery assembly processing method further includes: before acquiring the second image, controlling the transfer device 500 to transfer the carrier device 100 and the battery assembly 2 to the second station 520. In some embodiments, when the battery assembly 2 is located at the second station 520, the light-gathering portion of the second image acquisition device 300 is directly opposite the connection terminal 25 in the horizontal direction.

[0056] In some embodiments, the support device 100 is used to drive the battery assembly 2 to rotate about the central axis of the cylindrical cell 21. Exemplarily, the cylindrical cell 21 is a round cell. For example, the cylindrical cell 21 is a button cell. Thus, by driving the battery assembly 2 to rotate about the central axis of the cylindrical cell 21 through the support device 100, the positional shift of the cylindrical cell 21 during the rotation of the battery assembly 2 can be avoided due to the eccentricity of the cylindrical cell 21 relative to the rotation axis of the support device 100.

[0057] refer to Figure 4 In some embodiments, the support device 100 includes a limiting support mechanism, a rotary driver, and a second linear driver. The battery mounting area 110 is disposed within the limiting support mechanism. When the cylindrical cell 21 of the battery assembly 2 is disposed in the battery mounting area 110, the limiting support mechanism can position the cylindrical cell 21 and position it within the battery mounting area 110.

[0058] The rotary driver is driven to connect with the second linear driver, which in turn is driven to connect with the limiting support mechanism. Exemplarily, the rotation axis of the rotary driver is vertically aligned, and it is collinear with the positioning center line of the battery mounting area 110 of the limiting support mechanism. Thus, when the cylindrical cell 21 is positioned in the battery mounting area 110, the center line of the cylindrical cell 21 is collinear with both the positioning center line of the battery mounting area 110 and the rotation axis of the rotary driver. This prevents the cylindrical cell 21 from shifting position during the rotation of the second linear driver, the limiting support mechanism, and the battery assembly 2.

[0059] For example, the driving direction of the second linear actuator is parallel to the vertical direction. This allows the limiting support mechanism and the battery assembly 2 to be driven to rise and fall. For instance, when the battery assembly 2 is in the first position, the light-receiving portion of the second image acquisition device 300 faces the connection terminal 25 in the horizontal direction. Thus, the second image acquisition device 300 can acquire a second image of the battery assembly 2 located in the area where the connection terminal 25 is located.

[0060] After acquiring a second image of the battery assembly 2 located in the area where the connection terminal 25 is located, the second linear driver drives the battery assembly 2 to rise a preset distance and stop at the second position. Then, subsequent processing can be performed on the battery assembly 2 at the second position. This avoids interference between the bending device 400 and the second image acquisition device 300 when subsequent processing is performed on the battery assembly 2 at the first position.

[0061] Of course, in other embodiments, interference between the bending device 400 and other devices and the second image acquisition device 300 can also be avoided by driving the second image acquisition device 300 away after acquiring a second image of the battery assembly 2 located in the area where the connection terminal 25 is located.

[0062] In some embodiments, the battery module processing equipment 1 further includes a positioning device 600. The battery module processing method further includes: after the battery module 2 is transferred to the second station 520 and before the second image is acquired, controlling the positioning device 600 to position the flexible circuit board 22.

[0063] In some embodiments, as described above, controlling the bending device 400 to clamp the connecting terminal 25 and bend the flexible circuit board 22 based on the position of the connecting terminal 25 to place the connecting terminal 25 at the second portion 24 includes: adjusting a preset clamping path and a preset bending path based on the position of the connecting terminal 25; controlling the bending device 400 to clamp the connecting terminal 25 based on the adjusted clamping path; and bending the flexible circuit board 22 based on the adjusted bending path to place the connecting terminal 25 at the second portion 24.

[0064] refer to Figure 4 and Figure 6 In some embodiments, the positioning device 600 includes a first clamping mechanism. The first clamping mechanism is used to clamp the flexible circuit board 22 to position the flexible circuit board 22, thereby indirectly positioning the connection terminal 25. Furthermore, after the first clamping mechanism clamps the flexible circuit board 22, a second image of the battery assembly 2 located in the area where the connection terminal 25 is located can be acquired using the second image acquisition device 300.

[0065] For example, the first gripping mechanism is a first pneumatic finger. Alternatively, the first gripping mechanism can be any other mechanism similar to a pneumatic finger that has gripping capabilities. This embodiment of the invention does not limit the specific type of the first gripping mechanism.

[0066] In some embodiments, the positioning device 600 further includes a third linear driver and a fourth linear driver. The third linear driver is drivenly connected to the fourth linear driver, and the fourth linear driver is drivenly connected to the first clamping mechanism. The driving direction of the third linear driver is parallel to the vertical direction, and the driving direction of the fourth linear driver is parallel to the clamping direction of the first clamping mechanism.

[0067] In some embodiments, a first adhesive 26 is provided on the back side of the connecting terminal 25. Exemplarily, the first adhesive 26 is a first double-sided adhesive. Of course, the first adhesive 26 can be made of any other adhesive material, which will not be listed here.

[0068] refer to Figure 4 and Figure 6 In some embodiments, the battery assembly processing equipment 1 further includes a first pressing device 700. Further, the battery assembly processing method further includes: after the connecting terminal 25 is disposed at the second portion 24, controlling the first pressing device 700 to apply pressing pressure to the first adhesive member 26 via the connecting terminal 25, so that the connecting terminal 25 is bonded and fixed to the second portion 24 via the first adhesive member 26.

[0069] For example, after the bending device 400 clamps the connecting terminal 25 and sets the connecting terminal 25 at the second part 24, the first pressing device 700 can apply pressing pressure to the first adhesive member 26 through the connecting terminal 25 so that the connecting terminal 25 is bonded and fixed to the second part 24 through the first adhesive member 26.

[0070] For example, the first pressing device 700 includes a first pressing head, a fifth linear actuator, and a sixth linear actuator. The fifth linear actuator is drivenly connected to the sixth linear actuator, and the sixth linear actuator is drivenly connected to the first pressing head. The driving direction of the fifth linear actuator is parallel to the vertical direction, and the driving direction of the sixth linear actuator is towards the second portion 24.

[0071] In some embodiments, a second adhesive member 27 is provided on the side of the flexible circuit board 22 facing the circumferential sidewall where the columnar cell 21 is located. The battery assembly processing equipment 1 also includes a second pressing device 800. The battery assembly processing method further includes: after the connection terminal 25 is disposed at the second portion 24, controlling the second pressing device 800 to apply pressing force to the second adhesive member 27 via the flexible circuit board 22, so that the flexible circuit board 22 is bonded and fixed to the circumferential sidewall of the columnar cell 21 via the second adhesive member 27.

[0072] For example, the second pressing device 800 includes a second pressing head, a seventh linear driver, and an eighth linear driver. The seventh linear driver is drivenly connected to the eighth linear driver, and the eighth linear driver is drivenly connected to the second pressing head. The driving direction of the seventh linear driver is parallel to the vertical direction, and the driving direction of the eighth linear driver is towards the side of the flexible circuit board 22 opposite to the second adhesive member 27.

[0073] In some embodiments, the bending device 400 is equipped with a multi-dimensional force sensor. The battery assembly processing method further includes: during the bending of the flexible circuit board 22, using the multi-dimensional force sensor to detect the force on the connecting terminal 25 in real time, and controlling the bending device 400 to stop bending the flexible circuit board 22 when the force on the connecting terminal 25 is greater than a preset threshold.

[0074] Exemplarily, the multi-dimensional force sensor is a six-dimensional force sensor. The multi-dimensional force sensor can be used to monitor in real time the force exerted on the connecting terminal 25 during the bending of the flexible circuit board 22. If the force exerted on the connecting terminal 25 exceeds a threshold (e.g., 10 Newtons), force compensation is immediately triggered, or the bending device 400 is controlled to stop working to prevent terminal deformation. In some embodiments, the bending angle can be verified in conjunction with the second image acquisition device 300 to dynamically correct the industrial robot path.

[0075] In some embodiments, the bending device 400 includes an industrial robot and a second clamping mechanism. The industrial robot is connected to the second clamping mechanism to drive the second clamping mechanism to move, thereby moving the connecting terminal 25 held by the second clamping mechanism.

[0076] For example, the industrial robot is a six-axis industrial robot. The rotary joints of the six-axis industrial robot are composed of force-controlled motors. The second gripping mechanism is a second pneumatic finger. Alternatively, the second gripping mechanism can be any other mechanism with gripping capabilities similar to a pneumatic finger; the embodiments of the present invention do not limit the specific type of the second gripping mechanism.

[0077] In some embodiments, the six-axis industrial robot has a load capacity of 5 kg and a repeatability of ±0.02 mm. The end effector of the six-axis industrial robot is equipped with a multi-functional gripper and a bending head. The accuracy of the six-dimensional force sensor is ±0.1 N.

[0078] In some embodiments, the end effector motion path of the industrial robot can be automatically generated based on a preset bending angle (e.g., 90 degrees), and the trajectory smoothness can be optimized and mechanical vibration reduced based on a B-spline curve interpolation algorithm. For irregular bends (e.g., S-shaped bends), a multi-axis linkage algorithm is used to coordinate the joint movements of the industrial robot to ensure that the bending head and the terminal contact point are always perpendicular.

[0079] The first image acquisition device 200 has 20 megapixels and a resolution of 5 micrometers. The second image acquisition device 300 has 20 megapixels and a resolution of 0.1 micrometers.

[0080] In some embodiments, the battery assembly processing equipment 1 further includes an illumination device. The illumination device is used to provide supplemental lighting during the image capture process of the first image acquisition device 200 and the second image acquisition device 300. For example, the illumination device includes a ring-shaped light-emitting diode (LED) and a coaxial light source. Thus, by using a ring-shaped light-emitting diode and a coaxial light source, glare interference can be eliminated and image contrast enhanced.

[0081] refer to Figure 1In some embodiments, the battery module processing equipment 1 further includes a conveying device 900. Further, the battery module processing method includes: before positioning the cylindrical cell 21 in the battery setting area 110, controlling the conveying device 900 to convey the battery module 2 to the battery setting area 110. After the connecting terminal 25 is positioned at the second portion 24, controlling the conveying device 900 to receive the processed battery module 2.

[0082] In some embodiments, the control system corresponding to the battery component processing equipment 1 is developed based on the Robot Operating System (ROS), and the control system integrates visual positioning, path planning, and force control algorithm modules.

[0083] In some embodiments, the first linear actuator may be a device capable of outputting linear driving force, such as a linear motor, a cylinder, or a hydraulic cylinder. Alternatively, the first linear actuator may also include a device capable of outputting rotary driving force, such as a rotary motor, a pneumatic motor, or a hydraulic motor, and a transmission mechanism capable of converting rotary motion into linear motion, such as a lead screw drive mechanism or a rack and pinion mechanism. Furthermore, other linear actuators can be configured with reference to the first linear actuator, and will not be described in detail here.

[0084] In some embodiments, the rotary actuator can be a device capable of outputting rotary driving force, such as a rotary motor, pneumatic motor, or hydraulic motor. Alternatively, the first linear actuator may also include a device capable of outputting linear driving force, such as a linear motor, pneumatic cylinder, or hydraulic cylinder, and a transmission mechanism capable of converting linear motion into rotary motion, such as a rack and pinion mechanism.

[0085] In some embodiments, a database of bending parameters (including positioning coordinates, bending angles, and force curves) for different battery module models can be established, which can be accessed with a single click when changing models. Furthermore, the industrial robot automatically adapts to the shapes of different connection terminals 25 through a teach-and-learn function, reducing manual intervention.

[0086] To enable those skilled in the art to better implement the solutions provided by this invention, the following provides a detailed workflow of the battery module processing equipment 1 for reference.

[0087] After the battery module processing equipment 1 is started, the transfer device 500 drives the carrier device 100 to move to the waiting area. The conveying device 900 transports the battery module 2 to the battery setting area 110 of the carrier device 100. The carrier device 100 positions the cylindrical cells 21 of the battery module 2.

[0088] Furthermore, the transfer device 500 drives the carrier device 100 and the battery assembly 2 to move to the first station 510.

[0089] Furthermore, the first image is acquired using the first image acquisition device 200, which is located on top of the battery assembly 2 at the first work station 510.

[0090] Furthermore, after acquiring the first image of the top of the battery assembly 2, the extension direction of the flexible circuit board 22 can be determined based on the relevant principles of machine vision. Thus, based on the first image, the supporting device 100 is controlled to drive the battery assembly 2 to rotate at a certain angle so that the flexible circuit board 22 is in an extension posture along the target direction.

[0091] Furthermore, the transfer device 500 drives the carrier device 100 and the battery assembly 2 to move to the second station 520. Subsequently, the first clamping mechanism of the positioning device 600 clamps the flexible circuit board 22 to position the flexible circuit board 22, thereby indirectly positioning the connecting terminal 25.

[0092] Furthermore, the release paper removal device removes the release paper from the outer surface of the first adhesive member 26 and the outer surface of the second adhesive member 27, respectively. It should be noted that in some embodiments, the release paper removal device may not be provided. For example, the release paper from the outer surface of the first adhesive member 26 and the outer surface of the second adhesive member 27 may be removed in advance by an operator.

[0093] Furthermore, the first pressing head of the first pressing device 700 extends to a position abutting against the connecting terminal 25 to perform preliminary positioning of the connecting terminal 25.

[0094] Furthermore, the second image acquisition device 300 acquires a second image of the area of ​​the battery assembly 2 located at the connection terminal 25. Based on the second image, the position of the connection terminal 25 is determined.

[0095] Furthermore, after determining the position of the connecting terminal 25, the bending device 400 is controlled to clamp the connecting terminal 25. Subsequently, the first pressing head of the first pressing device 700 retracts.

[0096] Furthermore, the bending device 400 moves the connecting terminal 25 to the second part 24 based on the current position of the connecting terminal 25.

[0097] Furthermore, the second pressing head of the second pressing device 800 extends toward the side of the flexible circuit board 22 opposite to the second adhesive member 27, thereby applying pressing pressure to the second adhesive member 27 through the flexible circuit board 22, so that the flexible circuit board 22 is bonded and fixed to the circumferential sidewall of the columnar battery cell 21 through the second adhesive member 27. After pressing is completed, the second pressing head of the second pressing device 800 retracts.

[0098] Further, the bending device 400 releases the connecting terminal 25, and the first pressing head of the first pressing device 700 extends to a position abutting against the connecting terminal 25. Then, the first pressing device 700 applies pressing force to the first adhesive member 26 via the connecting terminal 25, so that the connecting terminal 25 is bonded and fixed to the second portion 24 via the first adhesive member 26. Then, after pressing is completed, the first pressing head of the first pressing device 700 retracts.

[0099] Further, the transfer device 500 drives the carrier device 100 and the battery assembly 2 back to the first station 510. The first image acquisition device 200 acquires a third image of the top of the battery assembly 2 located at the first station 510. Based on the third image, it is determined whether the processed battery assembly 2 is qualified. If the processed battery assembly 2 is qualified, the transfer device 500 drives the carrier device 100 and the battery assembly 2 to the discharge position. The conveying device 900 then receives the processed battery assembly 2 and transports it to the discharge area. Furthermore, if the processed battery assembly 2 is unqualified, an alarm message can be issued to prompt on-site personnel to intervene. Alternatively, the unqualified battery assembly 2 can be output.

[0100] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0101] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the embodiments of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A battery module processing method, applied to battery module processing equipment, characterized in that, The battery component processing equipment includes: a support device (100), a first image acquisition device (200), a second image acquisition device (300), and a bending device (400). The processing method of the battery assembly includes: The columnar cell (21) of the battery assembly (2) is positioned in the battery mounting area (110) of the support device (100), wherein the circumferential sidewall of the columnar cell (21) includes a first part (23) and a second part (24), the first part (23) is connected to the flexible circuit board (22), and the flexible circuit board (22) has a connection terminal (25) at one end away from the first part (23). Control the first image acquisition device (200) to acquire a first image of the top of the battery assembly (2); Based on the first image, the carrier device (100) is controlled to drive the battery assembly (2) to rotate so that the flexible circuit board (22) rotates to a posture extending along the target direction; Control the second image acquisition device (300) to acquire a second image of the battery assembly (2) located in the area where the connection terminal (25) is located; Based on the second image, the position of the connection terminal (25) is determined; Based on the position of the connecting terminal (25), the bending device (400) is controlled to clamp the connecting terminal (25) and bend the flexible circuit board (22) to place the connecting terminal (25) at the second part (24).

2. The battery module processing method according to claim 1, characterized in that, The first image acquisition device (200) is located above the first workstation (510), and the light-gathering part of the first image acquisition device (200) faces the first workstation (510) in the vertical direction. The battery module processing equipment also includes a transfer device (500). The battery assembly processing method further includes: after positioning the cylindrical cell (21) in the battery setting area (110), controlling the transfer device (500) to transfer the carrier device (100) and the battery assembly (2) to the first work station (510).

3. The battery module processing method according to claim 2, characterized in that, The second image acquisition device (300) is located on the side of the second station (520), and the light-gathering part of the second image acquisition device (300) faces the second station (520) in the horizontal direction. The battery assembly processing method further includes: before acquiring the second image, controlling the transfer device (500) to transfer the carrier device (100) and the battery assembly (2) to the second work station (520).

4. The battery module processing method according to claim 3, characterized in that, When the battery assembly (2) is located at the second work station (520), the light-gathering part of the second image acquisition device (300) is directly facing the connection terminal (25) in the horizontal direction.

5. The battery module processing method according to claim 3, characterized in that, The battery module processing equipment also includes a positioning device (600). The battery assembly processing method further includes: after transferring the battery assembly (2) to the second work station (520) and before acquiring the second image, controlling the positioning device (600) to position the flexible circuit board (22).

6. The battery module processing method according to claim 1, characterized in that, Based on the position of the connecting terminal (25), the bending device (400) is controlled to clamp the connecting terminal (25) and bend the flexible circuit board (22) to position the connecting terminal (25) at the second part (24), including: Based on the position of the connecting terminal (25), the preset clamping path and the preset bending path are adjusted. Based on the adjusted clamping path, the bending device (400) is controlled to clamp the connecting terminal (25) and bend the flexible circuit board (22) based on the adjusted bending path so as to place the connecting terminal (25) at the second part (24).

7. The battery module processing method according to claim 1, characterized in that, The back side of the connecting terminal (25) is provided with a first adhesive (26); The battery component processing equipment also includes a first pressing device (700). The battery assembly processing method further includes: after the connecting terminal (25) is placed at the second part (24), controlling the first pressing device (700) to apply pressing pressure to the first adhesive (26) through the connecting terminal (25) so that the connecting terminal (25) is bonded and fixed to the second part (24) through the first adhesive (26).

8. The battery module processing method according to claim 1, characterized in that, The flexible circuit board (22) has a second adhesive member (27) on the side facing the circumferential sidewall of the columnar battery cell (21). The battery component processing equipment also includes a second pressing device (800). The battery assembly processing method further includes: after the connection terminal (25) is set at the second part (24), controlling the second pressing device (800) to apply pressing pressure to the second adhesive (27) through the flexible circuit board (22) so that the flexible circuit board (22) is bonded and fixed to the circumferential sidewall of the columnar cell (21) through the second adhesive (27).

9. The battery module processing method according to claim 1, characterized in that, The bending device (400) is equipped with a multi-dimensional force sensor; The battery assembly processing method further includes: during the bending of the flexible circuit board (22), the multi-dimensional force sensor is used to detect the force on the connecting terminal (25) in real time, and when the force on the connecting terminal (25) is greater than a preset threshold, the bending device (400) is controlled to stop bending the flexible circuit board (22).

10. The battery module processing method according to claim 1, characterized in that, The battery module processing equipment also includes a conveying device (900). The battery assembly processing method further includes: before positioning the cylindrical cell (21) in the battery setting area (110), controlling the conveying device (900) to convey the battery assembly (2) to the battery setting area (110). After the connection terminal (25) is placed at the second part (24), the conveying device (900) is controlled to receive the processed battery assembly (2).

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