Flexible pitch control system based on servo motor

Abstract

The present application relates to the field of automation control technology, in particular to a flexible variable distance control system based on a servo motor, comprising a servo drive module, an image acquisition module, a state acquisition module, a pressure detection module, an execution module and a controller; the controller collects the battery array image after the servo motor speed meets the stable condition, extracts the center coordinates of each battery and calculates the center deviation, determines the displacement coefficient combined with the actual displacement corresponding to the test displacement, and then obtains the fine adjustment amount, and outputs the fine adjustment instruction, the re-clamping instruction, the local clamp block reset instruction, the stop instruction or the alarm instruction according to the clamping load parameter, the center deviation and the preset threshold value; the present application realizes the flexible variable distance control of the battery array through the joint judgment of the image position, the servo state and the clamping load, and reduces the problems of repeated adjustment and adjustment out of position.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, specifically to a flexible pitch control system based on a servo motor. Background Technology

[0002] With the continuous development of battery cell module manufacturing and assembly processes, variable pitch control of battery cell arrays has become a key step in related production processes. In order to ensure the accuracy and consistency of the variable pitch process, it is particularly important to coordinate the judgment of battery cell position, clamping state and actuator operating state.

[0003] In practical variable pitch control, it is usually necessary to rely on the actuator to drive clamping and displacement adjustment, and combine the image acquisition results to correct the actual position of the battery cell array. However, the battery cells are easily affected by factors such as insufficient clamping, local slippage, residual vibration of the mechanism, and transmission backlash during the adjustment process. Simply relying on the position signal of the actuator or a single state parameter is often difficult to reflect the real position change of the battery cells in a timely manner, which can easily lead to repeated adjustments, incomplete adjustments, or misjudgment of completion. At the same time, when the image boundary is affected by occlusion, reflection, or local missing parts, it will further increase the difficulty of center position extraction and spacing judgment.

[0004] Therefore, it is of great significance to improve the accuracy of variable pitch control, reduce malfunctions, and ensure the stable operation of subsequent processes by combining information such as image position, actuator status, and clamping load during the variable pitch control process to reliably determine the actual spacing and adjustment results of the cell array and output reasonable control commands accordingly. Summary of the Invention

[0005] The purpose of this invention is to provide a system that addresses the shortcomings of existing variable-pitch control technologies. These technologies suffer from significant limitations in determining the actual position changes of battery cells based solely on actuator positioning signals or single state parameters, and in extracting the center position and determining the spacing when image boundaries are disturbed. This invention aims to provide a servo motor-based flexible variable-pitch control system that can achieve flexible variable-pitch control of battery cell arrays by jointly determining image position, servo state, and clamping load, thereby reducing redundant adjustments and incomplete adjustments. To solve the above technical problems, the technical solution of this invention includes:

[0006] A flexible pitch control system based on a servo motor, characterized in that it includes:

[0007] The servo drive module is electrically connected to an external servo motor and is used to drive a reducer and a pitch-changing mechanism to change the pitch of a battery cell array through the servo motor.

[0008] An image acquisition module is used to acquire images of the battery cell array;

[0009] A status acquisition module is used to acquire the status parameters of the servo motor, including position, speed and torque.

[0010] The pressure detection module is used to obtain the clamping load parameters of the pitch mechanism;

[0011] The execution module is used to output control commands to the servo drive module or external devices;

[0012] The controller is connected to the servo drive module, image acquisition module, status acquisition module, pressure detection module, and execution module, respectively.

[0013] The controller is used to: extract the center coordinates of each cell from the image of the cell array;

[0014] The test displacement is applied by the servo drive module and the displacement coefficient is determined based on the actual displacement of the battery cells obtained from the image of the battery cell array.

[0015] Calculate the center deviation between each of the stated center coordinates and the preset target center coordinates;

[0016] The fine-tuning amount is determined based on the center deviation and the displacement coefficient;

[0017] Furthermore, the system determines whether to perform fine-tuning based on the clamping load parameters, the center deviation, and the preset lower pressure threshold, and outputs fine-tuning commands, re-clamping commands, partial clamping block reset commands, stop commands, or alarm commands through the execution module.

[0018] Preferably, when the status acquisition module obtains that the absolute value of the servo motor's rotational speed is not greater than a preset rotational speed threshold and continues to reach a preset stable waiting time, the controller triggers the image acquisition module to acquire an image of the battery cell array; the stable waiting time is preset based on the exposure time of the image acquisition module and the mechanical residual vibration decay time after the pitch mechanism stops.

[0019] Preferably, the controller divides the image of the battery cell array into multiple height regions, extracts the left and right boundaries of each battery cell from the image of the battery cell array, and determines the center coordinates; based on the pre-stored minimum and maximum widths of the corresponding battery cell models, and the fact that the difference between the boundary positions extracted from at least two of the multiple height regions is less than a preset pixel threshold, the controller confirms that the corresponding boundary is valid; the controller also sets the area where the outline of the clamp fixing component is located in the pre-acquired unloaded reference image as a shielded area, and ignores the pixels in the shielded area when extracting the boundary.

[0020] Preferably, when determining the displacement coefficient, the controller applies a forward test displacement and a reverse test displacement respectively through the servo drive module when the cell array is adjusted to the corresponding target spacing state, and determines the forward displacement coefficient and the reverse displacement coefficient respectively according to the actual displacement amount corresponding to the forward test displacement and the reverse test displacement. The displacement coefficient includes the forward displacement coefficient and the reverse displacement coefficient.

[0021] Preferably, the displacement of the test displacement is set within the range of detectable actual displacement; the controller adjusts the displacement of the test displacement step by step, and determines the displacement corresponding to the first actual displacement of more than half of the total number of cells as the mechanical transmission clearance.

[0022] Preferably, the controller determines the fine-tuning amount based on the center deviation, displacement coefficient, and corresponding weight of each cell, and limits the fine-tuning amount within a preset range; wherein, the corresponding weight is determined based on the edge integrity and width of the corresponding cell extracted from the image of the cell array, the fine-tuning direction to be performed is determined based on the sign of the calculated fine-tuning amount, and the displacement coefficient is a positive displacement coefficient or a negative displacement coefficient corresponding to the fine-tuning direction to be performed.

[0023] Preferably, the controller determines the degree of correction based on the relationship between the expected correction amount corresponding to the fine-tuning amount and the center deviation; the controller determines the spacing between adjacent cells based on the center coordinates of adjacent cells, and determines the current maximum spacing error based on the spacing between adjacent cells and the preset target spacing.

[0024] When the correctability is higher than the set lower limit, the absolute value of the fine adjustment amount is greater than the preset mechanical transmission clearance, the maximum spacing error is greater than a target error threshold, and the clamping load parameter is not lower than the preset pressure lower limit threshold, the fine adjustment command is allowed to be output through the execution module; otherwise, the fine adjustment command is prohibited from being output, and the execution module outputs at least one of the following: re-clamping command, partial clamping block reset command, stop command, or alarm command.

[0025] Preferably, after the controller outputs a fine-tuning command and completes the execution and image retest corresponding to the fine-tuning command, it reacquires the center coordinates of each cell, determines the spacing between adjacent cells based on the center coordinates of adjacent cells, and determines the maximum spacing error based on the spacing between adjacent cells and the preset target spacing. When the difference between the spacing between each adjacent cell and the target spacing is less than the preset spacing threshold, the number of valid boundaries is confirmed to reach the preset minimum number of valid boundaries, and the center deviation of each cell is less than the preset deviation threshold, the execution module outputs a pitch change completion signal.

[0026] Preferably, during the fine-tuning detection period, the controller determines the torque fluctuation accumulation based on the cumulative amount of the servo motor torque exceeding the reference torque relative to the corresponding servo motor position and speed. The fine-tuning detection period is the time from the issuance of the fine-tuning command until the servo motor speed falls below the speed setting threshold again.

[0027] When the accumulated torque fluctuation exceeds the set upper limit, the output of the pitch change completion signal is prohibited, and the execution module outputs a stop command or an alarm command; when the accumulated torque fluctuation is less than or equal to the set upper limit, the execution module outputs the pitch change completion signal.

[0028] Preferably, the controller compares the center deviation of each cell with the median center deviation of adjacent cells in a preset neighborhood; when the difference between the center deviation of a single cell and the median is greater than a preset difference threshold, the torque of the servo motor is less than the upper torque threshold, and the clamping load parameter is greater than a preset lower pressure threshold, the execution module outputs a re-clamping command or a partial clamping command corresponding to the cell.

[0029] When the continuous sampling displacement change of multiple adjacent cells within the preset neighborhood decreases simultaneously and is accompanied by an increase in the torque of the servo motor, the execution module outputs a stop command or an alarm command; if the above conditions are not met, the current pitch change state is maintained.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. By triggering image acquisition only when the absolute value of the servo motor speed is no greater than the set speed threshold and a stable waiting time is reached, and by presetting the stable waiting time in combination with the exposure time and the mechanical residual vibration decay time, edge ghosting and virtual edges caused by image acquisition when the mechanism is not in a stable state can be avoided, thereby improving the clarity of the cell array image and the accuracy of subsequent center coordinate extraction; by extracting the left and right boundaries of each cell in the image and combining the boundary consistency, minimum width and maximum width of multiple height regions and the shielding area for validity confirmation, interference caused by fixture contours, reflections and local occlusions can be suppressed, thereby improving the reliability of boundary recognition and center coordinate calculation;

[0032] 2. By applying forward and reverse test displacements under the target spacing state, and determining the forward and reverse displacement coefficients according to the corresponding actual displacements, the actual differences of the transmission chain in different directions can be reflected, thereby reducing the compensation deviation caused by uniform conversion. By adjusting the test displacement amount step by step and determining the mechanical transmission clearance based on the displacement amount corresponding to the first actual displacement of most cells, invalid displacement and effective displacement can be separated and identified, thereby providing a more accurate calibration basis for subsequent fine-tuning calculation. Attached Figure Description

[0033] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. The drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a flowchart of a flexible pitch control system based on a servo motor provided in an embodiment of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Please see the appendix Figure 1 A flexible pitch control system based on a servo motor includes:

[0037] The servo drive module is electrically connected to an external servo motor and is used to drive a reducer and a pitch-changing mechanism to change the pitch of a battery cell array through the servo motor.

[0038] The image acquisition module is used to acquire images of the battery cell array;

[0039] The status acquisition module is used to acquire the status parameters of the servo motor, including position, speed and torque.

[0040] The pressure detection module is used to obtain the clamping load parameters of the pitch mechanism;

[0041] The execution module is used to output control commands to the servo drive module or external devices.

[0042] The controller is connected to the servo drive module, image acquisition module, status acquisition module, pressure detection module, and execution module, respectively.

[0043] The controller is used to: extract the center coordinates of each cell from an image of the cell array;

[0044] The test displacement is applied by the servo drive module, and the displacement coefficient is determined based on the actual displacement of the battery cells obtained from the image of the battery cell array.

[0045] Calculate the center deviation between each center coordinate and the preset target center coordinate;

[0046] The fine-tuning amount is determined based on the center deviation and displacement coefficient;

[0047] Furthermore, it determines whether to perform fine-tuning based on clamping load parameters, center deviation, and preset lower pressure threshold, and outputs fine-tuning commands, re-clamping commands, local clamping block reset commands, stop commands, or alarm commands through the execution module.

[0048] In a specific implementation, this embodiment is used to perform variable pitch control on the battery cell array. With the cooperation of the servo drive module, image acquisition module, status acquisition module and pressure detection module, the controller first acquires the battery cell array image after the servo motor speed meets the stable condition, then extracts the center coordinates of each battery cell from the image, and compares them with the preset target center coordinates to obtain the center deviation.

[0049] The controller combines the actual displacement corresponding to the test displacement to determine the displacement coefficient, and then calculates the fine-tuning amount based on the center deviation and the displacement coefficient. It then determines whether to output a fine-tuning command, a re-clamping command, a partial clamping block reset command, a stop command, or an alarm command. Thus, the current position of the battery cell is obtained by the image acquisition module, the servo side status is obtained by the status acquisition module, and the clamping status is obtained by the pressure detection module. Based on the above three sets of data, it jointly determines whether to continue the adjustment, avoiding judgment errors caused by relying solely on the servo position.

[0050] Among them, the center coordinates refer to the reference point of the cell in the pitch direction, which is usually determined by the midpoint of the left and right boundaries. For example, after the left and right boundaries of a cell are identified, the midpoint between the two is used as the center coordinates of the cell. The displacement coefficient refers to the correspondence between the servo-given test displacement and the actual displacement of the cell. It is used to convert the center deviation into an executable adjustment amount. For example, on the same mechanism, the actual displacements corresponding to forward push and reverse pull may be different, so they need to be calibrated separately.

[0051] Clamping load parameter refers to the degree of clamping applied by the variable pitch mechanism to the battery cell array, used to determine whether the battery cell is in an adjustable and controlled state; if the clamping is insufficient, the battery cell may slip during adjustment, and if the clamping is too large, it may cause unnecessary compression to the battery cell; the stabilization waiting time is used to ensure that the battery cell and mechanism have basically stopped vibrating when the image is acquired. The time is related to the camera exposure and the decay of residual vibration after the mechanism stops. For example, the longer the exposure and the more obvious the residual vibration of the mechanism, the longer the waiting time required.

[0052] The method for determining the lower pressure threshold is as follows: Before the formal pitch change, a step-by-step clamping calibration test is performed on a battery cell sample of the same model as the one being processed. The clamping force of the pitch change mechanism is gradually increased and a test displacement is applied. The minimum clamping force at which the battery cell does not slip and the battery cell surface does not have indentation damage is taken as the base value. The lower pressure threshold is then obtained by adding a preset safety margin. When the battery cell model or clamping structure is changed, the above calibration test is repeated and the lower pressure threshold is updated.

[0053] This implementation method, which judges the pitch change result solely based on the servo encoder's positioning signal, directly acquires the cell array image through the image acquisition module and combines boundary extraction and center coordinate calculation to capture the actual position changes of the cells. Simultaneously, the pressure detection module and status acquisition module work together to avoid misjudging insufficient clamping, local slippage, or unsteady mechanism states as normal positioning. This implementation method can achieve pitch change control based on the joint judgment of image position, servo status, and clamping load, avoiding the problem of repeated adjustments or incomplete adjustments caused by distortion of a single signal.

[0054] When the absolute value of the servo motor's rotational speed is not greater than the preset speed threshold and continues to reach the preset stable waiting time, the controller triggers the image acquisition module to acquire an image of the battery cell array. The stable waiting time is preset based on the exposure time of the image acquisition module and the mechanical residual vibration decay time after the pitch mechanism stops.

[0055] Furthermore, based on the above implementation method, when the absolute value of the servo motor's rotational speed is not greater than the set speed threshold and has been continuously stable for a certain waiting time, the controller triggers the image acquisition module to acquire the cell array image; here, the set speed threshold is used to limit the servo to enter the low-speed stable range, so as to avoid edge ghosting or center coordinate deviation caused by image acquisition when the mechanism is still moving.

[0056] The stabilization waiting time is preset based on the exposure time of the image acquisition module and the mechanical residual vibration decay time after the pitch mechanism stops. Specifically, it is to ensure that the edges of the battery cell and clamping block are stable and unaffected by residual vibration when the camera is imaging.

[0057] Among them, the rotation speed setting threshold refers to the maximum rotation speed limit that allows image acquisition to be triggered. Its function is to prevent the image from becoming blurry when the mechanism is not completely stationary. For example, if the low-speed jitter amplitude is greater than the set tolerance threshold, image acquisition should not be triggered prematurely. The stabilization waiting time refers to the waiting interval after the low-speed condition is met. Its physical meaning is to keep the target edge within the camera exposure window clear and avoid edge position drift.

[0058] The specific value of the speed setting threshold is determined based on the exposure time of the image acquisition module and the maximum allowable number of edge shadow pixels. That is, when the servo motor rotates at the speed setting threshold, the number of pixels in the image converted from the displacement of the battery cell within the exposure time is not greater than the maximum allowable number of edge shadow pixels. The specific value of the stabilization waiting time is not less than the sum of the exposure time and the mechanical vibration decay time. The mechanical vibration decay time is obtained through actual measurement: after the mechanism stops, images are continuously acquired, and the time required for the fluctuation amplitude of the battery cell edge position in the image to decay to the allowable range is taken as the mechanical vibration decay time.

[0059] Before triggering, the controller uses a continuous timing method to confirm the low-speed state. If the rotational speed exceeds the threshold again during this period, the accumulated waiting time is reset and the timing is restarted to avoid short-term jitter being misjudged as a stable state. In the conventional method of acquiring images at fixed times, this implementation uses rotational speed and stable waiting time to jointly constrain the triggering condition, capture the real image after stopping, and reduce the recognition error caused by mechanical residual vibration. This implementation can acquire cell array images when the image is stable, avoiding the influence of ghosting and virtual edges on subsequent coordinate extraction.

[0060] The controller divides the image of the battery cell array into multiple height regions, extracts the left and right boundaries of each battery cell from the image of the battery cell array, and determines the center coordinates; based on the pre-stored minimum and maximum widths of the corresponding battery cell models, and the fact that the difference between the boundary positions extracted from at least two height regions is less than a preset pixel threshold, the controller confirms that the corresponding boundary is valid; the controller also sets the area where the outline of the clamp fixing component is located in the pre-acquired empty reference image as a shielded area, and ignores the pixels in the shielded area when extracting the boundary.

[0061] Furthermore, based on the above implementation method, the controller divides the image of the battery cell array into multiple height regions, extracts the left and right boundaries of each battery cell from the image of the battery cell array, and determines the center coordinates; according to the pre-stored minimum and maximum widths of the corresponding battery cell models, and the fact that the difference between the boundary positions extracted from at least two height regions is less than a preset pixel threshold, the controller confirms that the corresponding boundary is valid; the controller also sets the area where the outline of the clamp fixing component is located in the pre-acquired idle reference image as a shielded area, and ignores the pixels in the shielded area when extracting the boundary.

[0062] Among them, the height region refers to several segmented regions along the height direction of the image, which are used to check whether the boundary is consistent at different heights; the preset pixel threshold is used to limit the upper limit of the deviation of the same boundary in different height regions, so as to prevent false boundaries caused by wrinkles, reflections or local occlusions from being misjudged as real boundaries.

[0063] The minimum and maximum widths are used to constrain the recognition results to fall within the reasonable size range of the cell model. For example, if the width of the cell edge exceeds the extreme range of the minimum and maximum widths set for the corresponding model after recognition, the boundary is deemed invalid. The shielded area is the outline area of ​​the clamp fixing component obtained in advance from the unloaded reference image. Its function is to avoid the fixing edge generated by the clamp body and prevent these pixels from interfering with the extraction of the cell boundary.

[0064] The preset pixel threshold is determined based on the resolution of the image acquisition module, the imaging distortion, and the boundary fitting error. For example, it is taken as 1.5 to 3 times the maximum positional deviation caused by imaging distortion and fitting error between adjacent height regions of the same boundary. The pre-stored minimum width and maximum width are stored in the controller after considering the design width and tolerance of the corresponding battery cell model and the imaging magnification error. They are updated synchronously when the battery cell model is changed or the imaging magnification of the image acquisition module is adjusted.

[0065] This implementation method, which extracts the edge independently on a single cross section, suppresses fixture contours, local reflections, and boundary gaps by judging the boundary consistency of multiple height regions and setting shielding areas, making boundary confirmation more reliable. This implementation method can stably extract the left and right boundaries of the battery cell and calculate the center coordinates, avoiding misidentification of fixture edges or local noise as battery cell boundaries.

[0066] When determining the displacement coefficient, the controller applies a positive test displacement and a reverse test displacement respectively through the servo drive module when the cell array is adjusted to the corresponding target spacing. The positive displacement coefficient and the reverse displacement coefficient are determined according to the actual displacement amount corresponding to the positive test displacement and the reverse test displacement respectively. The displacement coefficient includes the positive displacement coefficient and the reverse displacement coefficient.

[0067] The displacement of the test displacement is set within the range of detectable actual displacement; the controller adjusts the displacement of the test displacement step by step, and determines the displacement corresponding to the first actual displacement of more than half of the total number of cells as the mechanical transmission clearance.

[0068] In practical implementation, this method calibrates the displacement coefficient when the cell array is adjusted to the target spacing, and then calculates the fine-tuning amount based on the calibration result. The forward test displacement and reverse test displacement are applied by the servo drive module, and the controller obtains the forward displacement coefficient and reverse displacement coefficient based on the actual displacement amount acquired by the image. Since the transmission performance of the reducer, guide rail slider and clamp may be different in the forward and reverse directions, the separate calibration can reflect the current transmission characteristics in different directions and avoid compensation deviation caused by uniformly converting to a single coefficient.

[0069] Specifically, the different contact surfaces of the gear meshing in the forward and reverse directions, the varying frictional resistance of the guide rail slider with the direction of motion, and the different springback amounts of the clamps in the push and pull directions will all cause the same servo-given test displacement to produce different actual displacements in the forward and reverse directions. If the displacement coefficient calibrated in a single direction is uniformly used for conversion, a systematic compensation deviation will be introduced when fine-tuning is performed in the other direction, resulting in the fine-tuning amount being too large or too small. Therefore, in this embodiment, test displacements are applied in both the forward and reverse directions and displacement coefficients are calibrated separately. The calibrated forward and reverse displacement coefficients are directly used in the subsequent calculation of fine-tuning amount and degree of correction.

[0070] Among them, forward test displacement and reverse test displacement refer to small displacement inputs used to calibrate the transmission relationship. The purpose is to make the cell array generate a measurable actual displacement without destroying the adjusted spacing state. The test displacement is set within the range that can detect actual displacement and meet safety requirements. That is, the displacement of the test displacement must be greater than the displacement corresponding to the minimum resolution pixel of the image acquisition module and less than the safety spacing limit of the clamping block.

[0071] Mechanical transmission backlash refers to the unloaded displacement in the transmission chain that has not been converted into effective displacement of the battery cell after the servo output starts to move. The controller adjusts the test displacement step by step and counts the displacement corresponding to the first actual displacement of more than half of the total number of battery cells. This is used as the mechanical transmission backlash to distinguish between invalid displacement and effective displacement.

[0072] Using more than half of the total number of battery cells as the criterion is to ensure that the calibrated mechanical transmission clearance reflects the common characteristics of the entire battery cell transmission chain, and to exclude accidental premature displacement caused by individual cells due to differences in local contact conditions or image recognition errors. If the proportion is too low, the accidental displacement of individual cells will make the calibrated mechanical transmission clearance too small. If the proportion is too high, or even requires all cells to produce actual displacement, the calibration value will be too large due to individual cells that are stuck. The value of more than half strikes a balance between excluding individual accidental errors and avoiding individual abnormal cells dominating the calibration result. This distinguishes between invalid displacement and effective displacement, and avoids miscalculating the transmission clearance into the fine adjustment amount.

[0073] The existing method of estimating transmission clearance through single large displacement and manual experience is replaced by a method that separates and identifies transmission clearance from actual displacement by adjusting step by step and judging the first displacement of most cells. At the same time, by calibrating displacement coefficients in the forward and reverse directions, the method captures directional differences and reduces the error caused by uniform coefficients. This method can obtain displacement coefficients corresponding to the direction and calculate fine-tuning amount accordingly, avoiding inaccurate compensation caused by transmission clearance and directional differences.

[0074] The controller determines the fine-tuning amount based on the center deviation, displacement coefficient, and corresponding weight of each cell, and limits the fine-tuning amount to a preset range. The corresponding weight is determined based on the edge integrity and width of the corresponding cell extracted from the image of the cell array. The fine-tuning direction to be performed is determined based on the sign of the calculated fine-tuning amount. The displacement coefficient is the positive or negative displacement coefficient corresponding to the fine-tuning direction to be performed.

[0075] Furthermore, based on the above implementation method, the controller determines the fine-tuning amount according to the center deviation, displacement coefficient and corresponding weight of each cell, and limits the fine-tuning amount to a preset range. The corresponding weight is determined by the integrity and width of the cell edge. The more complete the edge and the closer the width is to the preset range, the higher the weight, indicating that the coordinates of the cell are more reliable. The weight of cells with edge defects, partial occlusion or abnormal width is relatively reduced to avoid individual unstable results from having too great an impact on the overall fine-tuning amount.

[0076] In the application scenario of this embodiment, the imaging quality of each cell in the image varies due to the influence of fixture occlusion, reflection angle, and boundary defects. If the center deviation of each cell is averaged with equal weights, the cell with poor imaging quality will directly transmit the recognition error to the fine-tuning amount. This embodiment quantifies the two parameters reflecting the credibility of image recognition, namely edge integrity and width, into corresponding weights and participates in the calculation of the fine-tuning amount. This makes the fine-tuning amount mainly determined by the cell with reliable recognition results, thereby reducing the impact of abnormal recognition results on the overall correction instructions. This addresses the technical problem that relying solely on a single signal for judgment can easily lead to misjudgment.

[0077] Specifically, the edge integrity is determined based on the ratio of the number of valid boundaries confirmed for the cell in multiple height regions to the preset number of boundaries to be confirmed; the width is determined based on the cell's identification width rating value relative to the minimum and maximum width of the corresponding model. When the identification width is within this range and closer to the middle of the range, the width rating value is higher; when it exceeds this range, the width rating value is set to a lower value.

[0078] The preset number of boundaries to be confirmed is determined based on the number of height regions divided in the image and the minimum number of consistent regions required to confirm the validity of the boundaries. For example, when there are N height regions, the total number of valid boundaries to be confirmed for each cell is 2N. The preset number of boundaries to be confirmed is a value greater than N and less than or equal to 2N to ensure that the left and right boundaries of the same cell are confirmed to be valid in more than half of the height regions.

[0079] For example, a linear interpolation model can be established between the recognition width and the width rating. When the recognition width is the median, the rating is 1, and it decreases linearly to 0 towards the extreme values ​​at both ends. The corresponding weight is obtained by multiplying the edge integrity rating and the width rating, with both ratings limited to between 0 and 1. The mathematical formula is as follows:

[0080]

[0081] in, For the first The corresponding weight of each battery cell Assess the edge integrity score. For width rating, and .

[0082] When the number of effective boundaries is insufficient to determine the left and right boundaries, the corresponding weight of the cell is set to 0; where, the fine-tuning amount refers to the servo correction amount allowed to be executed this time, which is used to convert the center deviation into a new servo adjustment command; the controller first summarizes the center deviation of each cell according to the corresponding weight, then divides it by the total weight, and selects a positive displacement coefficient or a negative displacement coefficient according to the direction of the summarized deviation, and uses the converted servo correction amount as the fine-tuning amount;

[0083] When the total weight is 0, no fine-tuning amount is calculated and the process is switched to re-image acquisition or abnormal handling. The direction of fine-tuning to be performed is determined according to the sign of the fine-tuning amount. Positive or negative values ​​correspond to corrections in different directions. The displacement coefficient is taken as the positive displacement coefficient or the reverse displacement coefficient consistent with the direction. The preset range is used to limit the single fine-tuning from exceeding the safe adjustment range allowed by the mechanism, so as to avoid excessive adjustment of the cell array due to excessive correction in one step.

[0084] Instead of simply averaging or assigning fixed weights to all cell deviations, this implementation uses weights to prioritize cells with clear edges and normal dimensions, while downweighting cells with incomplete edges or abnormal widths. This allows the fine-tuning amount to be closer to the current correctable situation. This implementation can obtain a limited fine-tuning amount based on the center deviation and displacement coefficient, avoiding the amplification of correction instructions by a few abnormal image results.

[0085] The controller determines the degree of correction based on the relationship between the expected correction amount corresponding to the fine-tuning amount and the center deviation; the controller determines the spacing between adjacent cells based on the center coordinates of adjacent cells, and determines the current maximum spacing error based on the spacing between adjacent cells and the preset target spacing.

[0086] When the degree of correction is higher than the set lower limit, the absolute value of the fine adjustment is greater than the preset mechanical transmission clearance, the maximum spacing error is greater than a target error threshold, and the clamping load parameter is not lower than the preset pressure lower limit threshold, the fine adjustment command is allowed to be output through the execution module; otherwise, the fine adjustment command is prohibited from being output, and the execution module outputs at least one of the following: re-clamping command, local clamping block reset command, stop command, or alarm command.

[0087] In practical implementation, this method first determines the degree of correction based on the relationship between the fine adjustment amount and the center deviation, and then determines whether fine adjustment is allowed by combining the mechanical transmission clearance, the target error threshold and the clamping load parameters. The displacement coefficient is uniformly defined as the ratio of the actual displacement of the battery cell to the displacement given by the servo during calibration. Therefore, the expected correction amount is determined by multiplying the absolute value of the fine adjustment amount by the displacement coefficient in the corresponding direction.

[0088] When the absolute value of the corresponding center deviation is not less than the preset minimum effective deviation, the degree of correction is determined as the ratio of the expected correction amount to the absolute value of the center deviation, and results exceeding 1 are counted as 1. When the absolute value of the center deviation is less than the minimum effective deviation, the degree of correction is determined as 1. The lower limit is set to a value between 0 and 1 to limit the proportion of the expected correction amount that at least covers the center deviation.

[0089] If the ratio of the expected correction amount to the center deviation is lower than the set lower limit, or the fine adjustment amount is less than the mechanical transmission clearance, then the fine adjustment command is prohibited from being issued; the current maximum spacing error is obtained by comparing the spacing between adjacent cells with the target spacing, and is used to reflect the part with the largest spacing error in the entire group of cells;

[0090] Among them, the target error threshold is used to limit the upper limit of the spacing deviation that can be retained after the pitch change, and the lower pressure threshold is used to ensure that the battery cell is still in a controllable clamping state. The mechanical transmission clearance and the fine adjustment amount use the same servo displacement unit. Before comparison, the controller first merges the directions of each center deviation so that deviations in the same direction take the same sign, avoiding the mixing of positive and negative directions to cover up the true deviation.

[0091] The specific value of the lower limit is determined based on the maximum undercorrection ratio allowed in a single fine-tuning. The closer the value is to 1, the stricter the requirement for the expected correction amount to cover the center deviation. The lower the value, the more residual deviation is allowed to be left for subsequent fine-tuning correction. It is usually selected between 0.5 and 0.9 in combination with the cycle time of the variable pitch process and the number of allowable adjustments. The target error threshold is determined based on the accuracy requirements of the cell spacing in the subsequent processes after the variable pitch, that is, the value of the maximum allowable spacing deviation in the subsequent processes converted to the image coordinates.

[0092] Fine-tuning is only allowed when the degree of correction reaches the set lower limit, the fine-tuning amount is greater than the mechanical transmission clearance, the maximum spacing error is greater than the target error threshold, and the clamping load is not lower than the pressure lower limit threshold. If the clamping load is lower than the pressure lower limit threshold, a re-clamping command is output. If the local center deviation deviates significantly from the neighboring level, a local clamping block reset command is output.

[0093] It should be noted that in this embodiment, the correctability is higher than the set lower limit, the absolute value of the fine adjustment is greater than the mechanical transmission clearance, and the maximum spacing error is greater than the target error threshold, but not equal to the set lower limit. The clamping load parameter is not lower than the pressure lower limit threshold, but equal to the set lower limit. In other words, if the correctability is exactly equal to the set lower limit, the absolute value of the fine adjustment is exactly equal to the mechanical transmission clearance, or the maximum spacing error is exactly equal to the target error threshold, the fine adjustment condition is not met, and the fine adjustment command is prohibited from being output.

[0094] If the change in torque or displacement indicates a continuous obstruction, a stop command or an alarm command will be output. In the case of multiple abnormal conditions being met at the same time, the stop command, alarm command, re-clamping command, and partial clamping block reset command will be executed in the order of priority.

[0095] This implementation method avoids repeatedly issuing adjustment commands whenever there is a deviation. Instead, it considers the magnitude of the deviation, whether the displacement is sufficient to overcome the transmission gap, and whether the clamping is reliable together to avoid ineffective fine-tuning and empty movements. This implementation method can output fine-tuning commands when the conditions are met, and switch to re-clamping, reset, stop or alarm when the conditions are insufficient, thereby reducing malfunctions and repeated adjustments.

[0096] After the controller outputs a fine-tuning command and completes the execution of the corresponding fine-tuning command and image retest, it reacquires the center coordinates of each cell, determines the spacing between adjacent cells based on the center coordinates of adjacent cells, and determines the maximum spacing error based on the spacing between adjacent cells and the preset target spacing. When the difference between the spacing between each adjacent cell and the target spacing is less than the preset spacing threshold, the number of valid boundaries is confirmed to reach the preset minimum number of valid boundaries, and the center deviation of each cell is less than the preset deviation threshold, the execution module outputs a pitch change completion signal.

[0097] Furthermore, based on the above implementation method, after the controller outputs a fine-tuning command and completes the execution and image retest of the corresponding fine-tuning command, it re-acquires the center coordinates of each cell, determines the spacing between adjacent cells based on the center coordinates of adjacent cells, and determines the maximum spacing error based on the spacing between adjacent cells and the preset target spacing. When the difference between the spacing between each adjacent cell and the target spacing is less than the preset spacing threshold, the number of valid boundaries is confirmed to reach the preset minimum number of valid boundaries, and the center deviation of each cell is less than the preset deviation threshold, the execution module outputs a pitch change completion signal.

[0098] Among them, the fine-tuned retest is used to confirm whether the previous correction has met the process requirements; the preset spacing threshold is used to limit the allowable difference between the spacing between adjacent cells and the target spacing; the minimum number of effective boundaries is used to ensure that there are enough usable boundaries in the image to avoid judging completion based on only a few boundaries; the preset deviation threshold is used to limit the residual deviation of the center position of each cell to be small enough; the pitch change completion signal is the completion result output by the external device, used to indicate that the pitch change task is over.

[0099] The preset spacing threshold is determined based on the allowable tolerance of the target spacing, for example, half of the allowable tolerance of the target spacing; the preset minimum effective boundary number is determined based on the total number of cells in the cell array and the number of height regions divided in the image, for example, a preset ratio of the product of the total number of cells and the number of height regions, to ensure that the boundary samples used for the judgment cover the entire group of cells; the preset deviation threshold is determined based on the requirements of the cell position accuracy in subsequent processes, and is set in coordination with the target error threshold and is not greater than the target error threshold.

[0100] Instead of directly determining completion based on a single execution result, this implementation method performs image retesting after a fine-tuning, and simultaneously checks the spacing, number of boundaries, and center deviation to prevent premature output of the pitch change completion signal when local boundaries are missing or individual cell deviations are too large. This implementation method can output the pitch change completion signal when the retesting conditions are met, thus preventing cell arrays with excessive spacing errors from flowing into the next process.

[0101] During the fine-tuning detection period, the controller determines the cumulative torque fluctuation based on the cumulative amount of the servo motor torque exceeding the reference torque relative to the corresponding servo motor position and speed. The fine-tuning detection period is the time from the issuance of the fine-tuning command until the servo motor speed falls below the set speed threshold again. When the cumulative torque fluctuation exceeds the set upper limit, the output of the pitch change completion signal is prohibited, and the execution module outputs a stop command or an alarm command. When the cumulative torque fluctuation is less than or equal to the set upper limit, the execution module outputs the pitch change completion signal.

[0102] Furthermore, based on the above implementation method, the controller determines the torque fluctuation accumulation amount during the fine-tuning detection period based on the excess accumulation amount of the servo motor torque relative to the reference torque of the corresponding servo motor position and speed. The fine-tuning detection period is the time period from the issuance of the fine-tuning command to the servo motor speed falling below the speed setting threshold again.

[0103] When the accumulated torque fluctuation exceeds the set upper limit, the output of the torque change completion signal is prohibited, and the execution module outputs a stop command or alarm command. Specifically, the controller synchronously records the position, speed and torque of the servo motor during the fine-tuning detection period according to a fixed sampling cycle, and obtains the corresponding reference torque from the pre-established normal operation reference data based on the position and speed. Only when the current torque is higher than the sum of the corresponding reference torque and the allowable torque deviation is the excess part at that sampling moment included in the accumulated torque fluctuation; torque below or equal to this limit is not included.

[0104] The cumulative torque fluctuation is accumulated item by item by multiplying the excess amount at each sampling time by the sampling period. If no exceedance occurs during the fine-tuning detection period, the cumulative torque fluctuation is set to 0. The formula for calculating its discrete accumulation is as follows:

[0105]

[0106] in, This is the cumulative amount of torque ripple. To fine-tune the total number of samples within the detection period, For the first The measured torque from the second sampling, For the corresponding reference torque, To allow for torque deviation, The sampling period;

[0107] The reference torque refers to the normal torque reference value that should appear under the current servo position and speed conditions. The reference data is obtained by collecting the position, speed and torque correspondence when the pitch mechanism is in normal operation, and is saved according to position range and speed range. The allowable torque deviation is used to eliminate slight fluctuations caused by normal load changes. The upper limit is set according to the rated torque of the servo motor, the maximum torque fluctuation accumulation when the pitch mechanism is in normal operation and the allowable safety margin, and its value is greater than or equal to 0.

[0108] The allowable torque deviation is determined through calibration tests: torque data of the servo motor are collected under no-load and normal load conditions of the variable pitch mechanism, and the maximum natural fluctuation amplitude of the torque measured under normal operation relative to the corresponding reference torque is taken, and a preset margin is added as the allowable torque deviation.

[0109] The fine-tuning detection period starts after the fine-tuning command is issued and ends when the servo motor speed drops back below the set threshold. If the speed does not drop below the set threshold within the preset maximum detection time, it is treated as an abnormal state where the accumulated torque fluctuation exceeds the set upper limit. If the accumulated torque fluctuation exceeds the set upper limit, it means that although the target is close in the image position, the force on the mechanism is not normal. At this time, the output of the pitch completion signal is prohibited.

[0110] The approach of only judging whether the image is aligned while ignoring the transmission force is different. This implementation incorporates torque changes into the completion judgment, which can identify anomalies that are not easily seen directly from the image, such as guide rail blockage and clamp block interference. This implementation can eliminate abnormal force conditions while the image meets the requirements, and avoid misjudging the torque change as completed when there are hidden mechanical faults.

[0111] The controller compares the center deviation of each cell with the median center deviation of adjacent cells in the preset neighborhood. When the difference between the center deviation of a single cell and the median is greater than the preset difference threshold, the servo motor torque is less than the upper torque threshold, and the clamping load parameter is greater than the preset lower pressure threshold, the execution module outputs a re-clamping command or a partial clamping command for the clamping block corresponding to that cell.

[0112] When the continuous sampling displacement change of multiple adjacent cells within the preset neighborhood decreases simultaneously and is accompanied by an increase in servo motor torque, the execution module outputs a stop command or an alarm command; if the above conditions are not met, the current pitch change state is maintained.

[0113] Furthermore, based on the above implementation, the controller compares the center deviation of each cell with the median center deviation of adjacent cells in the preset neighborhood; when the difference between the center deviation of a single cell and the median is greater than a preset difference threshold, the servo motor torque is less than the upper limit torque threshold, and the clamping load parameter is greater than the preset lower limit pressure threshold, the execution module outputs a re-clamping command or a partial clamping block reset command corresponding to the cell.

[0114] When the continuous sampling displacement change of multiple adjacent cells in the preset neighborhood decreases simultaneously and is accompanied by an increase in servo motor torque, the execution module outputs a stop command or an alarm command.

[0115] Among them, the median center deviation is used to represent the typical deviation level of most cells in the neighborhood. If the difference between the center deviation and the median of a single cell is greater than the preset difference threshold, it usually means that there is an abnormality in the clamping block, contact surface or local force of the corresponding cell. If the continuous sampling displacement change decreases at the same time and is accompanied by an increase in torque, it indicates that multiple adjacent positions are jointly blocked or interfered with, excluding the independent data jump of a single cell. By outputting a stop command or alarm command, it can avoid the equipment damage caused by continuously outputting fine-tuning commands under obstructed conditions.

[0116] The preset neighborhood refers to the range formed by taking a preset number of adjacent cells in front of and behind each cell along the cell array arrangement direction, with each cell as the center. The preset number is, for example, 2 to 5, and is determined according to the size of the cell array and the spatial range of the abnormal impact. The preset difference threshold is determined by superimposing a preset margin on the maximum discrete amplitude of the center deviation of each cell relative to the median of the neighborhood under normal operating conditions. It can be obtained by statistically analyzing the historical sampling data of the normal pitch change process. The specific triggering conditions of the re-clamping command, the local clamping block reset command, the stop command, and the alarm command in this embodiment are a further refinement of the aforementioned branch of prohibiting the output fine-tuning command. That is, when the output fine-tuning command is prohibited, the corresponding command is selected to be output based on the distinction between single-point abnormality and multi-point abnormality.

[0117] Instead of a fixed handling mechanism that only takes a single shutdown or continued adjustment for all anomalies, this implementation separates single-point anomalies and multi-point anomalies by comparing the median and judging continuous changes in the neighborhood, so that re-clamping, partial reset, shutdown and alarm correspond to different working conditions; this implementation can output different instructions according to the anomaly type to avoid accidental shutdown and accidental correction.

[0118] In the current application, the system can be deployed at the variable pitch station after the battery cells are transported. After the battery cell array enters the variable pitch station, the servo drive module drives the reducer and the variable pitch mechanism to complete the first variable pitch. The status acquisition module reads the position, speed and torque simultaneously, and the pressure detection module reads the clamping load parameters. After the speed meets the stability condition, the image acquisition module acquires the image of the battery cell array. The controller extracts the center coordinates of each battery cell and compares them with the target center coordinates to calculate the center deviation. Then, it combines the calibrated displacement coefficient to obtain the fine adjustment amount.

[0119] If the fine-tuning conditions are met, the module outputs a fine-tuning command, completes one limited fine-tuning, and then retests. Upon completion, the module first checks whether the difference between the distance between adjacent cells and the target distance is less than a preset distance threshold, whether the number of valid boundaries reaches the preset minimum number of valid boundaries, and whether the center deviation of each cell is less than a preset deviation threshold. After all the above conditions are met, the module then checks whether the accumulated torque fluctuation during the fine-tuning detection period exceeds a set upper limit. Only when the distance, number of boundaries, center deviation, and accumulated torque fluctuation conditions are all satisfied in sequence is the torque change completion signal output, and the process is handed over to the next workstation for further processing. If the torque... If the accumulated fluctuation exceeds the set upper limit, the output of the pitch completion signal will be prohibited, and a stop command or alarm command will be output. Among them, the output permission judgment of the fine-tuning command is performed before the fine-tuning is executed, the preliminary judgment after the retest is performed after the fine-tuning is executed, and the torque fluctuation accumulation judgment is superimposed after the preliminary judgment is completed. The three are executed in this order. If it is judged that the clamping is insufficient, the local clamping block is abnormal, or the force is abnormal, a re-clamping command, a local clamping block reset command, a stop command, or an alarm command will be output respectively. In this way, the newly acquired images, servo status, and clamping load can be continuously fed into the controller, and the controller will determine the next output based on this to complete the flexible pitch control of the cell array.

[0120] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A flexible pitch control system based on a servo motor, characterized in that, include: The servo drive module is electrically connected to an external servo motor and is used to drive a reducer and a pitch-changing mechanism to change the pitch of a battery cell array through the servo motor. An image acquisition module is used to acquire images of the battery cell array; A status acquisition module is used to acquire the status parameters of the servo motor, including position, speed and torque. The pressure detection module is used to obtain the clamping load parameters of the pitch mechanism; The execution module is used to output control commands to the servo drive module or external devices; The controller is connected to the servo drive module, image acquisition module, status acquisition module, pressure detection module, and execution module, respectively. The controller is used to: extract the center coordinates of each cell from the image of the cell array; The test displacement is applied by the servo drive module, and the displacement coefficient is determined based on the actual displacement of the battery cells obtained from the image of the battery cell array; the center deviation between each center coordinate and the preset target center coordinate is calculated; The fine-tuning amount is determined based on the center deviation and the displacement coefficient; and whether to perform fine-tuning is determined based on the clamping load parameters, the center deviation and the preset lower pressure threshold, and the execution module outputs fine-tuning instructions, re-clamping instructions, local clamping block reset instructions, stop instructions or alarm instructions.

2. The servo motor-based flexible pitch control system of claim 1, wherein, When the status acquisition module detects that the absolute value of the servo motor's rotational speed is not greater than a preset rotational speed threshold and continues to reach a preset stable waiting time, the controller triggers the image acquisition module to acquire an image of the battery cell array; the stable waiting time is preset based on the exposure time of the image acquisition module and the mechanical residual vibration decay time after the pitch mechanism stops.

3. The servo motor-based flexible pitch control system of claim 1, wherein, The controller divides the image of the battery cell array into multiple height regions, extracts the left and right boundaries of each battery cell from the image of the battery cell array, and determines the center coordinates. Based on the pre-stored minimum and maximum widths of the corresponding cell models, and the fact that the difference between the boundary positions extracted from at least two of the multiple height regions is less than a preset pixel threshold, the corresponding boundary is confirmed to be valid; the controller also sets the area where the outline of the clamp fixing component is located in the pre-acquired empty reference image as a shielded area, and ignores the pixels in the shielded area when extracting the boundary.

4. The servo motor-based flexible pitch control system of claim 1, wherein, When determining the displacement coefficient, the controller applies a forward test displacement and a reverse test displacement respectively through the servo drive module when the cell array is adjusted to the corresponding target spacing state, and determines the forward displacement coefficient and the reverse displacement coefficient respectively based on the actual displacement amount corresponding to the forward test displacement and the reverse test displacement. The displacement coefficient includes the forward displacement coefficient and the reverse displacement coefficient.

5. The servo motor-based flexible pitch control system of claim 4, wherein, The displacement of the test displacement is set within the range of detectable actual displacement; the controller adjusts the displacement of the test displacement step by step, and determines the displacement corresponding to the first actual displacement of more than half of the total number of cells as the mechanical transmission clearance.

6. The servo motor-based flexible pitch control system of claim 4, wherein, The controller determines the fine-tuning amount based on the center deviation, displacement coefficient, and corresponding weight of each cell, and limits the fine-tuning amount to a preset range; wherein, the corresponding weight is determined based on the edge integrity and width of the corresponding cell extracted from the image of the cell array, the fine-tuning direction to be performed is determined based on the sign of the calculated fine-tuning amount, and the displacement coefficient is a positive displacement coefficient or a negative displacement coefficient corresponding to the fine-tuning direction to be performed.

7. The servo motor-based flexible pitch control system of claim 6, wherein, The controller determines the degree of correction based on the relationship between the expected correction amount corresponding to the fine-tuning amount and the center deviation; the controller determines the spacing between adjacent cells based on the center coordinates of adjacent cells, and determines the current maximum spacing error based on the spacing between adjacent cells and the preset target spacing. When the correctability is higher than the set lower limit, the absolute value of the fine adjustment amount is greater than the preset mechanical transmission clearance, the maximum spacing error is greater than a target error threshold, and the clamping load parameter is not lower than the preset pressure lower limit threshold, the fine adjustment command is allowed to be output through the execution module. Otherwise, the fine-tuning command is prohibited from being output, and the execution module outputs at least one of the following: re-clamping command, partial clamping block reset command, stop command, or alarm command.

8. The servo motor-based flexible pitch control system of claim 1, wherein, After the controller outputs a fine-tuning command and completes the execution of the fine-tuning command and image retest, it reacquires the center coordinates of each cell, determines the spacing between adjacent cells based on the center coordinates of adjacent cells, and determines the maximum spacing error based on the spacing between adjacent cells and the preset target spacing. When the difference between the spacing between each adjacent cell and the target spacing is less than a preset spacing threshold, the number of valid boundaries reaches the preset minimum number of valid boundaries, and the center deviation of each cell is less than a preset deviation threshold, the execution module outputs a pitch change completion signal.

9. The servo motor-based flexible pitch control system of claim 8, wherein, During the fine-tuning detection period, the controller determines the torque fluctuation accumulation based on the cumulative amount of the servo motor torque exceeding the reference torque relative to the corresponding servo motor position and speed. The fine-tuning detection period is the time from the issuance of the fine-tuning command until the servo motor speed falls below the speed setting threshold again. When the accumulated torque fluctuation exceeds the set upper limit, the output of the pitch change completion signal is prohibited, and the execution module outputs a stop command or an alarm command; when the accumulated torque fluctuation is less than or equal to the set upper limit, the execution module outputs the pitch change completion signal.

10. The servo motor-based flexible pitch control system of claim 1, wherein, The controller compares the center deviation of each cell with the median center deviation of adjacent cells in a preset neighborhood. When the difference between the center deviation of a single battery cell and the median is greater than a preset difference threshold, the torque of the servo motor is less than the upper torque threshold, and the clamping load parameter is greater than the preset lower pressure threshold, the execution module outputs a re-clamping command or a partial clamping block reset command for the clamping block corresponding to that battery cell; when the continuous sampling displacement change of multiple adjacent battery cells in the preset neighborhood decreases simultaneously and is accompanied by an increase in the torque of the servo motor, the execution module outputs a stop command or an alarm command; if the above conditions are not met, the current pitch change state is maintained.

Images