Water cooling plate adhesive application method and system, and storage medium

Abstract

The embodiments of the present application belong to the technical field of batteries. Provided are a water cooling plate adhesive application method and system, and a storage medium. The method comprises: acquiring a first image and a second image, which comprise a water cooling plate; on the basis of the first image and the second image, determining a deviation between a water cooling plate placement position and a preset position; on the basis of the deviation between the water cooling plate placement position and the preset position, adjusting an adhesive application trajectory; and on the basis of the adjusted adhesive application trajectory, performing adhesive application on the water cooling plate. In the technical solution, whether a deviation has occurred in a water cooling plate placement position can be determined by means of image analysis, and when a deviation has occurred, an adhesive application trajectory is adjusted on the basis of the deviation between the placement position and a preset position, such that adhesive application is performed on the basis of an accurate adhesive application trajectory, and thus the problem of uneven adhesive application is avoided, an adhesive application position can be automatically adjusted, and the adhesive application precision is improved, thereby improving the adhesive application pass rate and the adhesive application quality. In addition, the solution provided in the present application can be applied to water cooling plates of different types and different sizes.

Description

Water-cooling plate gluing method, system and storage medium

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202410140291.8 filed on February 1, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application belongs to the field of battery technology, and in particular relates to a method and system for gluing a water-cooled plate, and a storage medium. Background Art

[0004] In power battery systems, the water-cooling plate is a key component of the battery pack, ensuring heat dissipation and temperature control. The water-cooling plate and the battery cells in the battery pack are often bonded together using glue. During battery pack production, glue is applied to the water-cooling plate before the cells are placed on the coated plate. The quality of the glue applied to the water-cooling plate significantly impacts the quality of the battery pack. Therefore, improving the glue application on the water-cooling plate is a critical issue that needs to be addressed.

[0005] Summary of the Invention

[0006] In view of the above technical problems, the embodiments of the present application provide a water-cooling plate gluing method, system and storage medium, which can improve the gluing quality on the water-cooling plate and increase the gluing qualification rate.

[0007] In a first aspect, an embodiment of the present application provides a method for gluing a water-cooling plate, the method comprising: acquiring a first image and a second image including the water-cooling plate; determining a deviation between a placement position of the water-cooling plate and a preset position based on the first image and the second image, wherein the water-cooling plate is placed at the preset position in the second image; adjusting a gluing trajectory based on the deviation between the placement position of the water-cooling plate and the preset position; and gluing the water-cooling plate based on the adjusted gluing trajectory.

[0008] In the above technical solution, during the gluing process, after the water-cooling plate is placed in the gluing position, a first image can be acquired. By comparing the first image with the second image, it is determined whether there is any deviation in the placement position of the water-cooling plate. If there is a deviation, the gluing trajectory is adjusted according to the deviation between the placement position and the preset position, thereby applying glue according to the accurate gluing trajectory, avoiding the problem of uneven gluing, and being able to automatically adjust the gluing position, improve the gluing accuracy, and thus improve the gluing pass rate and gluing quality. In addition, the solution provided by this application is applicable to water-cooling plates of different types and sizes.

[0009] In some embodiments, based on the first image and the second image, the deviation between the placement position of the water cooling plate and the preset position is determined, including: determining the first position information of the first area of ​​the water cooling plate in the first image, and the second position information in the second image; based on the first position information and the second position information, determining the deviation between the placement position of the water cooling plate and the preset position.

[0010] In some embodiments, the deviation includes a deviation value and a deviation direction. Adjusting the gluing trajectory based on the deviation between the water-cooling plate placement position and the preset position includes: adjusting the gluing trajectory based on the deviation value and deviation direction between the water-cooling plate placement position and the preset position. The deviation direction refers to the direction in which the water-cooling plate placement position deviates from the preset position, including four directions on a horizontal plane: up, down, left, and right. The deviation value refers to the distance the water-cooling plate placement position deviates from the preset position. Automatic adjustment of the gluing position is achieved using the deviation value and deviation direction, improving gluing accuracy.

[0011] In some embodiments, the method further includes: adjusting a motion trajectory of a device for transporting the water-cooled plate according to a deviation between a placement position of the water-cooled plate and a preset position.

[0012] Among them, the device for transporting the water-cooled plate can be a robot. After calculating the deviation between the placement position of the water-cooled plate and the preset position, the motion trajectory of the robot gripper can be adjusted according to the deviation, and the position information of the clamped water-cooled plate can be updated, thereby reducing the deviation between the next water-cooled plate placement position and the preset position. By continuously calculating the deviation and adjusting the robot's motion trajectory, the deviation can be gradually reduced, and the robot's motion trajectory can be adjusted to the standard trajectory, thereby realizing adaptive adjustment of the robot's motion trajectory.

[0013] In some embodiments, after gluing the water-cooling plate, the method further includes: acquiring a third image, the third image including the water-cooling plate after gluing; and determining whether the water-cooling plate after gluing is qualified based on the third image. In this application, after gluing the water-cooling plate based on the adjusted gluing trajectory, a third image can be acquired, and the gluing quality can be analyzed based on the third image to determine whether the gluing is qualified, thereby improving product quality.

[0014] In some embodiments, determining whether the water-cooled plate after gluing is a qualified product based on the third image includes: obtaining a first parameter based on the third image, the first parameter being used to characterize the quality of the gluing; and determining whether the water-cooled plate after gluing is a qualified product based on the first parameter.

[0015] In some embodiments, the first parameter includes at least one of the following: the number of rubber strips, the spacing between the rubber strips, the width of each rubber strip, and the distance between the rubber strips and the edge of the water-cooling plate.

[0016] In some embodiments, determining whether the glue-coated water-cooling plate is a qualified product based on the first parameter includes: determining that the glue-coated water-cooling plate is a qualified product when the first parameter meets a preset condition.

[0017] By extracting the first parameter for analysis, we can avoid having too many or too few rubber strips, or too large or too small spacing between the rubber strips, thereby avoiding glue leakage, glue overflow, and other phenomena, and improving product quality.

[0018] In the second aspect, an embodiment of the present application provides a water-cooling plate gluing device, including: an acquisition module for acquiring a first image including a water-cooling plate; a processing module for determining the deviation between the placement position of the water-cooling plate and a preset position based on the first image and the second image, wherein the water-cooling plate is placed at the preset position in the second image; adjusting the gluing trajectory according to the deviation between the placement position of the water-cooling plate and the preset position; and gluing the water-cooling plate according to the adjusted gluing trajectory.

[0019] On the third aspect, an embodiment of the present application also provides a water-cooling plate gluing system, including: a camera for acquiring a first image including the water-cooling plate; a visual processor for acquiring a second image, and determining the deviation between the placement position of the water-cooling plate and the preset position based on the first image and the second image; a gluing device for adjusting the gluing trajectory according to the deviation between the placement position of the water-cooling plate and the preset position; and gluing the water-cooling plate according to the adjusted gluing trajectory.

[0020] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed on a computer, the computer executes the method described in the first aspect.

[0021] In a fifth aspect, an embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program product runs on a computer, it implements the method described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] FIG1 is a schematic diagram of the architecture of a water-cooled plate gluing system provided in an embodiment of the present application;

[0024] FIG2 is a schematic flow chart of a method for gluing a water-cooled plate provided in an embodiment of the present application;

[0025] FIG3 is a schematic diagram of an interface provided in an embodiment of the present application;

[0026] FIG4 is another schematic diagram of an interface provided in an embodiment of the present application;

[0027] FIG5 is a schematic diagram of a qualified glue-coated water-cooling plate provided in an embodiment of the present application;

[0028] FIG6 is a schematic diagram showing a comparison of qualified products and defective products provided in an embodiment of the present application;

[0029] FIG7 is a schematic structural diagram of a glue discharging portion of a glue coating device provided in an embodiment of the present application;

[0030] FIG8 is a schematic structural diagram of a gluing robot portion of a gluing device provided in an embodiment of the present application;

[0031] FIG9 is a schematic structural diagram of a protective bracket and a material trolley provided in an embodiment of the present application;

[0032] FIG10 is a schematic structural diagram of a gripper portion of a gluing robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0035] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly indicate the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is two or more, unless otherwise specifically defined.

[0036] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0037] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0038] The water-cooling plate, also known as the liquid cooling plate, is one of the key components in the power battery system. It is used to achieve heat dissipation and temperature control of the power battery system. Specifically, the battery generates excess heat during operation. The heat is transferred through the contact between the battery or module and the surface of the water-cooling plate, and is eventually carried away by the coolant passing through the water-cooling plate.

[0039] The water-cooling plate and the battery cells in the battery pack are often bonded together with glue, and the glue has a heat-conducting function. During the battery pack production process, glue needs to be applied to the water-cooling plate, and then the battery cells are placed on the glue-coated water-cooling plate for bonding. The quality of the glue applied to the water-cooling plate has an important impact on the quality of the battery pack. If the glue is not applied evenly, the battery cells will not fit tightly to the water-cooling plate, and some areas will not fit together effectively, which will cause the battery pack to not dissipate heat through the water-cooling plate in time during operation. Therefore, how to improve the quality of glue application on the water-cooling plate is a problem that needs to be solved. Among them, the gluing trajectory is one of the factors that affect the quality of gluing. After the machine has been running for a long time or for some other reasons, the machine's running trajectory may deviate, resulting in the glue not being applied to the places on the water-cooling plate where glue is needed, and then the glue layer in some areas is too thick and in some areas is too thin, resulting in uneven glue application, glue leakage and overflow.

[0040] To this end, the embodiments of the present application provide a water-cooling plate gluing method, system and storage medium. During the gluing process, image analysis is used to determine whether there is any deviation in the gluing position of the water-cooling plate, and the gluing trajectory is adjusted when a deviation occurs. This can realize automatic adjustment of the gluing position, size anti-mistake alarm, and position offset alarm, thereby improving the gluing qualification rate.

[0041] The following is a detailed description with reference to the accompanying drawings: FIG1 is a water-cooling plate gluing system provided by an embodiment of the present application, and the water-cooling plate gluing system can be divided into a control layer and an execution layer.

[0042] The control layer includes a controller and a visual processing device. The controller, which can be a programmable logic controller (PLC), controls the operation of the various actuators in the execution layer. The visual processing device includes a visual industrial computer and a camera. The camera captures images of the water-cooling plate before and after gluing and transmits them to the visual industrial computer. The visual industrial computer displays and analyzes the images before and after gluing the water-cooling plate, determining whether there are any deviations in the placement of the water-cooling plate and whether the gluing quality is acceptable. The analysis results are then transmitted to the controller. The control layer may also include a touch screen for real-time operation and control by technicians.

[0043] The execution layer includes a gluing device, a communication module, a radio frequency module (RFID), a servo mechanism, etc. When there is a deviation in the placement position of the water-cooled plate, the controller sends the deviation data to the gluing device so that the gluing device can adjust the gluing trajectory. Specifically, the gluing device includes a robot gripper, a gluing nozzle, a glue barrel, etc. The gluing nozzle can be fixed, and when gluing, the robot gripper clamps the water-cooled plate and moves it. The radio frequency module can read the information of the water-cooled plate, and the servo mechanism is used to realize the movement function of other devices. The communication module is used to realize data interaction between modules through the bus network.

[0044] In addition, the water-cooled plate gluing system may also include a data server and a host computer. The data server, such as the Manufacturing Execution System (MES), can integrate the management of the production process, resources and data on the production line, collect quality data in the production process, and perform real-time analysis and feedback. For example, the visual industrial computer can transmit the analysis results to the data server through the data network. When the analysis result is abnormal, the data server can alarm and send the alarm information to the controller. The deployment location of the host computer and the data server is different. The host computer can be a computer used to store data, display production status, issue instructions, etc., and the technicians can operate the host computer. In this application, the image processing analysis to determine the deviation and gluing quality can be completed by the visual industrial computer, or by the host computer or the data server. The following is an example of an illustration of the visual industrial computer.

[0045] In combination with the above-mentioned water-cooling plate gluing system, FIG2 is a water-cooling plate gluing method provided in an embodiment of the present application, which includes the following steps S101 to S104.

[0046] S101, acquiring a first image and a second image including a water cooling plate.

[0047] In this application, a camera is provided to capture various images of the water-cooling plate before and after gluing. Specifically, a robotic gripper grasps the water-cooling plate, places it in a photographic position, and then sends a message to the PLC confirming the plate's position. The PLC issues a photo command to the camera, which, upon receiving the command, takes a photo and transmits the captured image to the visual industrial computer, thereby capturing a first image. The first image may include the entire water-cooling plate or only a portion thereof.

[0048] Among them, the camera can be set to 1, 2 or more, and the camera is set in a fixed position. The positions of multiple cameras are arranged according to actual needs, and the embodiments of the present application do not limit this. For example, the arrangement of multiple cameras enables a photo of a complete water-cooling plate to be obtained. For example, two cameras can be set side by side, corresponding to the upper and lower parts or the left and right parts of the water-cooling plate respectively. The two cameras respectively obtain partial images of the water-cooling plate and transmit them to the visual industrial computer, which merges the partial images into a first image.

[0049] S102: Determine a deviation between a placement position of the water cooling plate and a preset position based on the first image and the second image, wherein the water cooling plate is placed at the preset position in the second image.

[0050] After the visual industrial computer obtains the first image, the visual industrial computer can obtain a second image from the database, and compare the first image with the second image to determine whether there is a deviation between the current placement position of the water cooling plate and the preset position.

[0051] Among them, the second image is an image captured in advance by a camera, and the deviation between the placement position of the water-cooling plate and the preset position in the second image is less than a preset threshold value (the minimum deviation is 0), and the preset position is a position without deviation, and the preset position corresponds to the standard gluing trajectory, which is a running trajectory that does not require adjustment of the deviation. The second image is pre-stored in a database, and the database can be a local database of the visual industrial computer, or a database corresponding to the host computer or the data server. In actual production, corresponding second images can be selected according to different types and sizes of water-cooling plates. For water-cooling plates of the same type and size, there can be multiple second images corresponding to each second image, and the deviation corresponding to each second image is different. The deviation between the placement position of the water-cooling plate and the preset position can be determined by matching or calculating the first image with the multiple second images. The size of the first image and the second image is the same.

[0052] S103, adjusting the gluing trajectory according to the deviation between the placement position of the water cooling plate and the preset position.

[0053] In one implementation, if there is a deviation between the current placement position of the water cooling plate and the preset position, the standard gluing trajectory is adjusted according to the deviation, and gluing is performed according to the adjusted gluing trajectory. If there is no deviation between the current placement position of the water cooling plate and the preset position, gluing is performed according to the standard gluing trajectory.

[0054] In another implementation, it is determined whether the deviation between the placement position of the water-cooling plate and the preset position is greater than a preset threshold. If the deviation between the placement position of the water-cooling plate and the preset position is less than or equal to the preset threshold, gluing is performed according to a standard gluing trajectory. If the deviation between the placement position of the water-cooling plate and the preset position is greater than the preset threshold, the standard gluing trajectory is adjusted based on the deviation, and gluing is performed according to the adjusted gluing trajectory.

[0055] The visual industrial computer can adjust the standard gluing trajectory based on the deviation, determine the adjusted gluing trajectory, and send the adjusted gluing trajectory to the gluing robot via the PLC. Alternatively, the visual industrial computer can send the deviation to the PLC, which then sends it to the gluing robot, which then adaptively adjusts the gluing trajectory.

[0056] S104: Apply glue to the water cooling plate according to the adjusted glue application trajectory.

[0057] In this application, the gluing nozzle can be fixed, with the gluing robot gripping the water-cooled plate and moving it to apply glue. The camera and gluing nozzle can be fixed to the same bracket, so that after the water-cooled plate is placed and the camera is taken, it does not need to be moved before gluing begins. Alternatively, the water-cooled plate can be fixed, with the gluing robot driving the gluing nozzle to move it. When the gluing nozzle moves, a gluing nozzle positioning device can be provided to reduce errors.

[0058] In the above technical solution, during the gluing process, after the robot places the water-cooling plate in the gluing position, it captures a first image through a camera. By comparing the first and second images, it determines whether there is any deviation in the placement of the water-cooling plate. If there is a deviation, the gluing trajectory is adjusted based on the deviation between the placement position and the preset position. This allows gluing to be performed according to the accurate gluing trajectory, avoiding uneven gluing. This enables automatic adjustment of the gluing position, improves gluing accuracy, and thereby increases the gluing pass rate and gluing quality. Furthermore, this application is applicable to water-cooling plates of different types and sizes.

[0059] The following description will be made by taking the water cooling plate in the second image as an example in which the water cooling plate is placed in the preset position.

[0060] In some embodiments, the deviation between the placement position of the water-cooling plate and the preset position is determined based on the first image and the second image. Specifically, the first image and the second image can be overlapped, and the deviation between the placement position of the water-cooling plate and the preset position is determined based on the distance between a certain contour edge or a certain hole position of the water-cooling plate in the first image and the same contour edge or the same hole position of the water-cooling plate in the second image. For example, the deviation between the placement position of the water-cooling plate and the preset position can be determined based on the distance between the positioning hole in the water-cooling plate in the first image and the same positioning hole in the water-cooling plate in the second image. For example, if the horizontal distance between the left contour edge of the water-cooling plate in the first image and the left contour edge of the water-cooling plate in the second image is 10 mm, then the placement position of the water-cooling plate deviates from the preset position by 10 mm to the left.

[0061] In some embodiments, based on the first image and the second image, the deviation between the placement position of the water cooling plate and the preset position is determined, including: determining the first position information of the first area of ​​the water cooling plate in the first image, and the second position information in the second image; based on the first position information and the second position information, determining the deviation between the placement position of the water cooling plate and the preset position.

[0062] The first area can be the entire area of ​​the water-cooling plate, a portion of the water-cooling plate, or some characteristic points on the water-cooling plate, such as positioning holes. In this application, the first area of ​​the water-cooling plate is pre-determined so that the first area of ​​the water-cooling plate can be identified in the image during the gluing process. The first area can be pre-annotated in the second image and saved as a template, thereby pre-determining the second position information.

[0063] Exemplarily, FIG3 shows a schematic diagram of an interface for locating feature points. As shown in FIG3 , the interface is divided into three parts: the acquired water-cooling plate image 30, area 31, and area 32. Among them, area 31 is used to adjust the position of the region of interest (ROI frame), and area 32 is used to select the template of the ROI frame. Referring to FIG3 , area 31 includes controls 311, 312, 313, as well as a "test" control, a "save" control, and an "exit" control. Technicians can control the direction of movement of the ROI frame through control 312 and control the distance of movement of the ROI frame through control 311. For example, you can select the position "left" to move the ROI frame as a whole to the left or up, or select the position "right" to move the ROI frame as a whole to the right or down. Control 313 includes arrows for controlling the movement of the ROI frame in four directions: up, down, left, and right, as well as for rotating it to the left and right. Technicians can also control the movement direction and distance of the ROI frame through the multiple arrows in control 313. For example, by clicking the upward scissors, the ROI frame can move up by a default distance. For example, by clicking the left-rotating scissors, the ROI frame can rotate to the left by a default angle. Referring to Figure 3, area 32 includes controls 321, 322, 323, and 324 arranged from top to bottom. For different production needs, different workstations and different feature points can select ROI frames with different parameters. Specifically, technicians can click control 321 to select a workstation, click control 322 to select a positioning point position, and click control 323 to select a template. When the template needs to be modified, control 324 can be clicked to modify the template parameters or create a new template.

[0064] After the interface shown in Figure 3 is displayed, the operator can select a region of interest (ROI) on the water-cooling plate image 30, as shown by the black box 301. This region is the first area of ​​the water-cooling plate. The operator can adjust the position of the ROI detection box using controls 311, 312, or 313 to determine the first area of ​​the water-cooling plate. After adjustment, click "Test" to run the simulation and display the test data. After the adjustment is complete, click "Save" to save the modified parameters, or click "Exit" to not save the modified parameters.

[0065] In embodiments of the present application, the same coordinate system can be set for the first and second images based on image size or other methods. The origin of the coordinate system can be any position in the image and is not limited to this. The position information can be the coordinates of the center point of the first area in the coordinate system. The first position information is the coordinates of the current placement location, and the second position information is the coordinates of the preset location. The first and second position information are located in the same coordinate system.

[0066] After acquiring the first image, the image processing algorithm can be used to identify the first area of ​​the water-cooling plate, and determine the first position information (x1, y1) of the first area of ​​the water-cooling plate in the first image, and the second position information (x2, y2) of the first area of ​​the water-cooling plate in the second image. Based on the first position information and the second position information, the deviation between the placement position of the water-cooling plate and the preset position can be determined, and then the gluing trajectory can be adjusted based on the deviation between the placement position of the water-cooling plate and the preset position. For example, in a horizontal plane, the x-axis of the coordinate system can correspond to the left-right direction, and the y-axis can correspond to the up-down direction. The difference between x1 and x2 can be the left-right deviation, and the difference between y1 and y2 can be the up-down deviation.

[0067] In some cases, the first region in the second image may be extracted and subsequently compared with the first region extracted from the first image.

[0068] Exemplarily, FIG4 shows a schematic diagram of an interface. As shown in FIG4 , the left area 41 of the interface can display the deviation between the placement position of the water-cooling plate and the preset position, and the right area 42 can display the first image currently acquired and the extracted ROI box 420. Specifically, area 41 shows the position A (x1, y1) of the first area of ​​the water-cooling plate in the coordinate system 410 and the position C (x2, y2) of the first area of ​​the water-cooling plate in the second image in the coordinate system. Among them, the difference between x1 and x2 is AB, and the difference between y1 and y2 is BC. The specific values ​​of AB and BC can be displayed in the numerical display box 420. It should be noted that the ABC marked in the figure is only for ease of understanding and may not be displayed in actual display.

[0069] In some embodiments, the deviation includes a first deviation value and a deviation direction, and the gluing trajectory is adjusted according to the deviation between the water-cooling plate placement position and the preset position, including: adjusting the gluing trajectory according to the first deviation value and the deviation direction between the water-cooling plate placement position and the preset position.

[0070] Among them, the deviation direction refers to the direction in which the placement of the water-cooling plate deviates from the preset position, including the four directions of up, down, left and right on the horizontal plane. The deviation value is the distance between the placement of the water-cooling plate and the preset position. For example, the left edge of the water-cooling plate in the first image is to the left of the left edge of the water-cooling plate in the second image, and the distance between the two is 10mm, then the placement of the water-cooling plate deviates to the left by 10mm. For example, the upper edge of the water-cooling plate in the first image is below the upper edge of the water-cooling plate in the second image, and the distance between the two is 10mm, then the placement of the water-cooling plate deviates downward by 10mm.

[0071] For example, the first deviation value and deviation direction can be determined based on the coordinates. Specifically, x1 minus x2 yields a value. A negative value indicates that the water cooling plate is deviating to the left, while a positive value indicates that the water cooling plate is deviating to the right. The absolute value of x1 minus x2 is the first deviation value in the left-right direction. Y1 minus y2 yields a value. A negative value indicates that the water cooling plate is deviating downward, while a positive value indicates that the water cooling plate is deviating upward. The absolute value of y1 minus y2 is the first deviation value in the up-down direction.

[0072] After acquiring the first image, the first area of ​​the water-cooling plate can be identified through the image processing algorithm, and the first position information of the first area of ​​the water-cooling plate in the first image and the second position information of the first area of ​​the water-cooling plate in the second image can be determined. According to the first position information and the second position information, the first deviation value and the deviation direction between the placement position of the water-cooling plate and the preset position can be determined, and then the gluing trajectory can be adjusted according to the first deviation value and the deviation direction. Specifically, when the gluing robot clamps the water-cooling plate and moves to apply glue, it first moves in the direction opposite to the deviation direction, and the moving distance is the first deviation value, and then moves according to the standard gluing trajectory. For example, the placement position of the water-cooling plate deviates downward by 10mm. When applying glue, the gluing robot clamps the water-cooling plate and moves upward by 10mm first, and then the gluing robot clamps the water-cooling plate and moves according to the standard gluing trajectory, thereby completing the gluing.

[0073] In some embodiments, the deviation includes an offset angle and a second deviation value, and the gluing trajectory is adjusted according to the deviation between the water cooling plate placement position and the preset position, including: adjusting the gluing trajectory according to the offset angle and the second deviation value between the water cooling plate placement position and the preset position.

[0074] Among them, the second deviation value is determined based on the first position information and the second position information, and the second deviation value can also be calculated based on the first deviation value, and the offset angle is between -180° and 180°. Specifically, after acquiring the first image, the first position information (x1, y1) of the first area of ​​the water-cooling plate in the first image is determined, and the second position information (x2, y2) of the first area of ​​the water-cooling plate in the second image is determined. The first deviation value can be calculated based on the first position information and the second position information, including the difference between x1 and x2, and the difference between y1 and y2. According to the first deviation value and the distance formula between the two points, the second deviation value can be calculated, as shown in Figure 4. For example, if the difference AB between x1 and x2 is 3mm and the difference BC between y1 and y2 is 4mm, then the second deviation value AC is 5mm, and the offset angle is the angle between AB and AC. The offset angle can be calculated based on the first deviation values ​​in the x and y directions. According to the offset angle and the second deviation value, the gluing trajectory is adjusted.

[0075] In some embodiments, when an abnormal situation occurs, an alarm can be issued through the PLC, so that the abnormal problem can be handled in time. For example, when the calculated deviation exceeds the adjustment range, an alarm can be issued, and the technician can view the deviation value and analyze the reason why the deviation exceeds the adjustment range. For example, when the first area of ​​the water-cooled plate is not identified in the first image, an alarm can be issued. The technician can analyze whether the first area of ​​the water-cooled plate is blocked and whether the camera needs to be wiped. Whether the first area and feature points have changed due to incoming material problems, if the current water-cooled plate type and size have changed and do not match the second image, the second image can be replaced in time. If there is no second image that matches the current water-cooled plate, the parameters of the existing second image can be modified or a new second image can be regenerated as a template.

[0076] In some embodiments, the above method further includes: adjusting the motion trajectory of the device for transporting the water-cooled plate according to the deviation between the placement position of the water-cooled plate and the preset position.

[0077] In this application, the water-cooling plate is placed on a trolley, and the robot gripper clamps the water-cooling plate and moves it, and then transfers the water-cooling plate from the trolley to the gluing station. After the robot gripper has been running for a long time, the running trajectory of the robot gripper may deviate, which in turn leads to a deviation between the placement position of the water-cooling plate and the preset position. After calculating the deviation between the placement position of the water-cooling plate and the preset position, the motion trajectory of the robot gripper can be adjusted according to the deviation, and the position information of the clamped water-cooling plate can be updated, thereby reducing the deviation between the placement position of the next water-cooling plate and the preset position. By continuously calculating the deviation and adjusting the motion trajectory of the robot, the deviation can be gradually reduced, and the motion trajectory of the robot can be adjusted to the standard trajectory, thereby realizing adaptive adjustment of the robot motion trajectory.

[0078] In some embodiments, after the water-cooling plate is glued, the method further includes: acquiring a third image, the third image including the glued water-cooling plate; and determining whether the glued water-cooling plate is a qualified product based on the third image.

[0079] In this application, after the water-cooled plate is glued according to the adjusted gluing trajectory, the water-cooled plate can be moved to the photo position, and the photo command is issued through the PLC, and the image of the water-cooled plate after gluing is obtained through the camera. Specifically, the camera can capture a part of the water-cooled plate each time. By moving the water-cooled plate multiple times by the robot, multiple sub-images can be obtained, each sub-image includes a different area of ​​the water-cooled plate, and a third image can be obtained by combining multiple sub-images. After obtaining the third image, the visual industrial computer can analyze the glue quality according to the third image to determine whether the glue is qualified, and then determine whether the water-cooled plate after gluing is a qualified product. By obtaining the image after gluing and checking the quality of the glue, other quality problems can be avoided, thereby improving product quality, and it can avoid wasting qualified batteries and save resources.

[0080] Among them, according to the third image, whether the water-cooling plate after gluing is a qualified product is determined, and the third image can be detected using machine learning, and whether the water-cooling plate after gluing is a qualified product is determined based on the detection result. Specifically, various unqualified water-cooling plate gluing images can be used in advance for machine learning, and machine learning can extract one or more features related to the gluing quality from the third image. These features are used to describe various situations in the gluing process. Features may include the number of glue strips, texture, shape, size, whether there are breakpoints, etc. Alternatively, various qualified water-cooling plate gluing images can be used in advance for machine learning. After obtaining the third image, machine learning is used to perform feature analysis on the third image obtained this time, and potential defects are detected, and whether there are gluing defects is determined based on the detection results.

[0081] In some embodiments, determining whether the water-cooled plate after gluing is a qualified product based on the third image includes: obtaining a first parameter based on the third image, the first parameter being used to characterize the quality of the gluing; and determining whether the water-cooled plate after gluing is a qualified product based on the first parameter.

[0082] After acquiring the third image, an image processing algorithm can be used to extract the water cooling panel image from the third image, obtain a first parameter from the water cooling panel image, and analyze the first parameter to determine whether the water cooling panel after gluing is qualified. The first parameter may include at least one of the number of glue strips, the spacing between the glue strips, the width of each glue strip, and the distance between the glue strips and the edge of the water cooling panel.

[0083] For example, Figure 5 shows a schematic diagram of a qualified water-cooled plate after gluing. The left side shows a partial area of ​​the water-cooled plate after gluing, which is captured by two cameras (camera 1 and camera 2) each time, and the right side shows an image of the complete water-cooled plate after gluing. As shown in the parameters marked in Figure 5, the number of rubber strips in the qualified water-cooled plate after gluing is 14, the spacing between the rubber strips is L1, the width of each rubber strip is L2, and the distance between the rubber strip and the edge of the water-cooled plate includes the distance L3 from the rubber head to the upper and lower edges of the water-cooled plate and the distance L4 from the rubber strip to the left and right edges of the water-cooled plate. The first parameter can be used to characterize the quality of gluing. Figure 6 shows a schematic diagram of a comparison of qualified and defective products. The left side shows an image of a qualified water-cooled plate, and the right side shows an image of a defective product. As shown in Figure 5, after gluing, there may be quality defects such as the width of the rubber strips being too narrow, the spacing between the rubber strips being too large or too small, and the distance between the rubber strips and the edge of the water-cooled plate being too large or too small. Too many rubber strips will make the spacing between the rubber strips too small, and too few rubber strips will make the spacing between the rubber strips too large. If the spacing between the rubber strips is too small, multiple rubber strips will overlap, resulting in an excessively thick rubber layer. If the rubber strip width is too narrow or the spacing between the rubber strips is too large, the rubber layer will easily become thin and leak. If the spacing from the edge of the water cooling plate is too small, glue overflow will occur after the battery cell is placed.

[0084] In some embodiments, determining whether the glue-coated water-cooling plate is a qualified product based on the first parameter includes: determining that the glue-coated water-cooling plate is a qualified product when the first parameter meets a preset condition.

[0085] After obtaining the first parameter from the water-cooling plate image, a determination is made as to whether the first parameter satisfies a preset condition. If the first parameter satisfies the preset condition, the water-cooling plate after gluing is determined to be a qualified product. If the first parameter does not satisfy the preset condition, the water-cooling plate after gluing is determined to be a defective product. The preset condition is that the first parameters all meet their respective threshold requirements.

[0086] For example, after obtaining the number of rubber strips, determine whether the number of rubber strips is equal to the first threshold. If it is equal to the first threshold, the preset condition is met; if it is greater than the first threshold, the number of rubber strips is too many; if it is less than the first threshold, the number of rubber strips is too few, and neither of them meets the preset condition.

[0087] After obtaining the spacing between the rubber strips, determine whether the spacing between each two adjacent rubber strips is within the error range of the second threshold. If the spacing between each two adjacent rubber strips is within the error range of the second threshold, the preset condition is met. If the spacing between two adjacent rubber strips is not within the error range of the second threshold, it indicates that the spacing is too small or too large, and the preset condition is not met.

[0088] After obtaining the width of the rubber strip, determine whether the width of the rubber strip is within the error range of the third threshold. If the width of each rubber strip is within the error range of the third threshold, the preset condition is met. If there is a rubber strip whose width is not within the error range of the third threshold, the preset condition is not met.

[0089] After obtaining the distance L3 between the rubber strip and the upper and lower edges of the water cooling plate, a determination is made as to whether L3 is within an error range of a fourth threshold. If so, the preset condition is satisfied; otherwise, the preset condition is not satisfied. After obtaining the distance L4 between the rubber strip and the left and right edges of the water cooling plate, a determination is made as to whether L4 is within an error range of a fifth threshold. If so, the preset condition is satisfied; otherwise, the preset condition is not satisfied.

[0090] When all the first parameters obtained meet their respective threshold requirements, the preset condition is met and the glue-coated water cooling plate is determined to be a qualified product. If any of the first parameters obtained do not meet the threshold requirements, the preset condition is not met and the glue-coated water cooling plate is determined to be a defective product.

[0091] When it is detected that the water-cooled plate after gluing is a qualified product, the water-cooled plate after gluing is transported to the next workstation, and the water-cooled plate is recorded as a qualified product. When it is detected that the water-cooled plate after gluing is a defective product, the water-cooled plate can be recorded as a defective product, and the first parameter causing the quality defect can be recorded. In addition, after each water-cooled plate is gluing, the system also records the gluing data corresponding to each water-cooled plate. For example, AB glue is used in this application, and the gluing data includes the flow meter volume value of A glue, the flow meter volume value of B glue, the total volume of A glue and B glue, the volume ratio of A glue and B glue, the ratio of AB glue, etc.

[0092] The PLC marks whether each water-cooled plate is qualified. Once a defective product is detected, the PLC can issue an alarm and take appropriate actions, such as stopping the gluing process, adjusting the pressure of the gluing head, and regulating the flow rate and flow rate. After receiving the alarm information, technicians can also control the gluing device and determine whether quality problems are caused by inaccurate glue ratios. They can promptly correct the problems that cause quality defects to improve production line efficiency and reduce losses.

[0093] To achieve the above-mentioned purpose, an embodiment of the present application further provides a water-cooling plate gluing system, which includes: a camera for acquiring a first image including the water-cooling plate.

[0094] The visual processor is used to obtain the second image and determine the deviation between the placement position of the water-cooling plate and the preset position based on the first image and the second image; it corresponds to the aforementioned visual industrial computer.

[0095] The gluing device is used to adjust the gluing track according to the deviation between the placement position of the water-cooling plate and the preset position; and gluing the water-cooling plate according to the adjusted gluing track.

[0096] The devices involved in the water-cooling plate gluing system are described in detail below with reference to FIG. 7 to FIG. 10 .

[0097] Figure 7 is a schematic diagram of the glue dispensing portion of a glue dispensing device provided in an embodiment of the present application. As shown in Figure 7 , the glue dispensing portion includes a light source 71, a camera 72, a dispensing valve 73, a dispensing valve glue dispensing nozzle 74, a mounting bracket 75, a photoelectric sensor 76, and a glue receiving barrel 77. The light source 71, camera 72, dispensing valve 73, and dispensing valve glue dispensing nozzle 74 are all fixed to the mounting bracket 75. The glue receiving barrel 77 is located directly below the dispensing valve glue dispensing nozzle 74.

[0098] Light source 71 illuminates the water-cooled plate, and camera 72 captures images of the plate before and after gluing. During gluing, dispensing valve 73 controls the amount of glue, flow rate, and the ratio of glue to glue. Glue flows from dispensing valve gluing nozzle 74. A glue collecting bucket 77 collects any glue that drips from dispensing valve gluing nozzle 74 after the plate is removed, preventing it from dripping onto the ground. A photoelectric sensor 76 detects whether the dispensing bucket is in place. If not, dispensing valve 73 is closed.

[0099] Figure 8 is a schematic diagram of the gluing robot portion of a gluing device provided in an embodiment of the present application. As shown in Figure 8 , this portion includes a gluing robot 81, a protective bracket 82, a cleaning device 83, a placement table 84, and a control cabinet 85. The gluing robot 81 can be moved via a rocker arm. The control cabinet 85 is used to communicate with the PLC, detect deviations between the water-cooling plate placement position and the preset position, adjust the gluing trajectory, and control the movement of the gluing robot 81.

[0100] The material cart 86 transports the water-cooled panel to the protective bracket 82, where the gluing robot 81 grabs the panel. The gluing robot then moves to the cleaning device 83, which cleans the panel (e.g., a plasma cleaner). After cleaning, the gluing robot 81 moves to the glue dispensing section shown in FIG7, moving along the adjusted gluing trajectory to apply glue to the panel. After gluing is complete, the gluing robot 81 places the panel on the placement table 84 and grabs the next panel from the protective bracket 82.

[0101] Figure 9 shows a schematic diagram of the structure of the protective bracket 82 and the material cart 86. As shown in Figure 9, the material cart 86 includes a cart frame 861 with pulleys. A sensor 91 is installed at the bottom of the protective bracket 82 to detect whether the material cart has reached the protective bracket 82. A reflector 92 is installed on the side of the protective bracket 82, and a sensor is installed on the reflector 92 to detect the height of the water-cooled plate, thereby determining whether the water-cooled plate placed on the material cart exceeds the preset height and needs to be adjusted. A sensor 93 is also installed on the protective bracket 82 to detect whether there is a water-cooled plate on the cart.

[0102] Figure 10 shows a schematic diagram of the gripper portion of the gluing robot. As shown in Figure 10, this portion includes a laser ranging sensor 811, a gripper 812, a coupling 813, a valve plate 814, a proximity switch 815, an I / O module 816, and a wire slot 817. The laser ranging sensor 811 is used to sense the distance to an object (such as the placement table 84), allowing the water-cooled plate to be lowered when the object is present and at a safe distance. The gripper 812 is used to secure the water-cooled plate. The gripper 812 is controlled by a cylinder, which is controlled by the valve plate 814. The cylinder of the gripper 812 is equipped with a magnetic switch and sensor. After clamping or releasing the water-cooled plate, the action results are sent to the I / O module 816. The sensor and I / O module 816 communicate via a connecting cable, which is placed in the wire slot 817. The coupling 813 is connected to the other components of the gluing robot 81 via a screw. The proximity switch 815 is used to detect whether the water-cooled plate has been grasped.

[0103] To achieve the above objectives, an embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer executes the method described above.

[0104] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for gluing a water-cooled plate, wherein: The method comprises: Acquire a first image and a second image including the water cooling plate; determining, based on the first image and the second image, a deviation between a placement position of the water-cooling plate and a preset position, wherein the water-cooling plate is placed at the preset position in the second image; Adjusting the gluing trajectory according to the deviation between the placement position of the water-cooling plate and the preset position; Glue is applied to the water cooling plate according to the adjusted gluing trajectory.

2. The method according to claim 1, wherein The determining, based on the first image and the second image, a deviation between the placement position of the water cooling plate and a preset position includes: determining first position information of a first area of the water-cooling plate in the first image and second position information of the first area in the second image; The deviation between the placement position of the water cooling plate and the preset position is determined according to the first position information and the second position information.

3. The method according to claim 1, wherein The deviation includes a deviation value and a deviation direction. Adjusting the gluing trajectory according to the deviation between the placement position of the water-cooling plate and the preset position includes: The gluing track is adjusted according to the deviation value and deviation direction between the placement position of the water-cooling plate and the preset position.

4. The method according to claim 1, wherein The method further comprises: According to the deviation between the placement position of the water-cooling plate and the preset position, the motion trajectory of the device for transporting the water-cooling plate is adjusted.

5. The method according to any one of claims 1 to 4, wherein After gluing the water-cooling plate, the method further includes: Acquire a third image, wherein the third image includes the water-cooling plate after being coated with glue; According to the third image, it is determined whether the glue-coated water-cooling plate is a qualified product.

6. The method according to claim 5, wherein: The step of determining whether the glue-coated water-cooling plate is a qualified product according to the third image includes: acquiring a first parameter according to the third image, where the first parameter is used to characterize glue coating quality; According to the first parameter, it is determined whether the glue-coated water-cooling plate is a qualified product.

7. The method according to claim 6, wherein: The first parameter includes at least one of the following: the number of rubber strips, the spacing between the rubber strips, the width of each rubber strip, and the distance between the rubber strips and the edge of the water-cooling plate.

8. The method according to claim 7, wherein: The step of determining whether the glue-coated water cooling plate is a qualified product according to the first parameter includes: When the first parameter meets the preset condition, the glue-coated water-cooling plate is determined to be a qualified product.

9. A water-cooled plate gluing system, wherein: include: a camera, configured to acquire a first image including the water-cooling plate; a visual processor, configured to acquire a second image, and determine a deviation between a placement position of the water-cooling plate and a preset position based on the first image and the second image; A gluing device, used for adjusting the gluing trajectory according to the deviation between the placement position of the water-cooling plate and the preset position; Glue is applied to the water cooling plate according to the adjusted gluing trajectory.

10. A computer-readable storage medium, wherein: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer is caused to perform the method according to any one of claims 1 to 8.

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