CN117718986A - Battery testing system and battery testing method - Google Patents
Battery testing system and battery testing method Download PDFInfo
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- CN117718986A CN117718986A CN202410176495.7A CN202410176495A CN117718986A CN 117718986 A CN117718986 A CN 117718986A CN 202410176495 A CN202410176495 A CN 202410176495A CN 117718986 A CN117718986 A CN 117718986A
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Abstract
The present disclosure relates to the field of control, and in particular, to a battery testing system and a battery testing method. The battery test system includes: the test terminal is used for testing the electrical performance of the battery to be tested; the guiding device is used for connecting the tool plug of the test terminal and is provided with a guiding surface for guiding the tool plug to be inserted into the tool socket; the mechanical arm is used for grabbing the tool plug; the force control sensor is arranged on the mechanical arm and is used for monitoring the guiding component force of the plugging force of the tool plug along the first direction on the plugging surface. In this embodiment of the application, through guiding device, can guide the frock plug to peg graft on the frock socket to in guiding grafting in-process, the guide face through guiding device breaks down the grafting power of first direction into the guide component on the grafting face, does benefit to the automatic control that realizes grafting process.
Description
Technical Field
The present disclosure relates to the field of control, and in particular, to a battery testing system and a battery testing method.
Background
In the battery performance test process, the plug of a test fixture of a battery pack is involved. The test tool comprises a tool socket and a tool plug. The manual insertion of the tool plug into the tool socket is required, which increases a lot of labor costs. In addition, if the alignment deviation of the tool plug and the tool socket is corrected only by means of manual vision, experience and the like in the plugging process, the alignment accuracy of the tool plug and the tool socket can be affected.
Disclosure of Invention
The application provides a battery test system and a battery test method, which can automatically control a test tool to be accurately inserted.
In order to achieve the above purpose, the present application adopts the following technical scheme:
in a first aspect, there is provided a battery test system comprising:
the test terminal is used for testing the electrical performance of the battery to be tested; the test terminal comprises a tool plug matched with a tool socket on the battery to be tested;
the guide device is used for connecting the tool plug and is provided with a guide surface for guiding the tool plug to be inserted into the tool socket;
the mechanical arm is used for grabbing the tool plug;
the force control sensor is arranged on the mechanical arm and is used for monitoring the guiding component force of the plugging force of the tool plug on the plugging surface along a first direction, wherein the first direction is the direction of the tool plug towards the tool socket;
the mechanical arm drives the tool plug to move along the first direction; in the process that the mechanical arm drives the tool plug to move along the first direction, the force control sensor monitors a guiding component force of the plugging force of the tool plug along the first direction on the plugging surface of the guiding device; the mechanical arm controls the tooling plug to be inserted according to the guiding component force; after the tool plug is inserted into the tool socket, the test terminal tests the electrical property of the battery to be tested.
In this embodiment of the application, through guiding device, can guide the frock plug to peg graft on the frock socket to in the guide grafting in-process, decompose the grafting power of first direction into the guide component on the grafting face through the guide face, do benefit to the automatic control who realizes the grafting process.
In one implementation manner of the first aspect, the battery test system further includes:
the visual acquisition device is arranged on the mechanical arm and used for acquiring a shooting image of the tool socket;
the visual acquisition device acquires a photographed image of the tool socket; the mechanical arm determines the position of the tool socket according to the shot image, drives the tool plug to move to an initial position according to the determined position of the tool socket, and drives the tool plug to move along a first direction from the initial position.
In this embodiment of the application, the shooting image of frock socket that can acquire through vision collection system carries out coarse positioning to frock socket's position in advance, does benefit to the efficiency that improves grafting automatic control.
In one implementation manner of the first aspect, the battery test system further includes:
the distance measuring sensor is arranged on the mechanical arm and used for acquiring the relative distance between the tool plug and the tool socket;
The mechanical arm drives the tool plug to move along the first direction; in the process that the mechanical arm drives the tool plug to move along the first direction, the distance measuring sensor obtains the relative distance between the tool plug and the tool socket; in the process that the mechanical arm drives the tool plug to move along the first direction, the force control sensor monitors a third inserting force of the tool plug along the first direction; and the mechanical arm controls the tooling plug to be plugged according to the relative distance and the third plugging force.
In this embodiment of the application, can provide the reference for grafting control through the relative distance between range sensor monitoring frock plug and the frock socket, do benefit to the degree of accuracy that improves grafting automatic control.
In one implementation of the first aspect, the area of the cross section of the cavity enclosed by the guiding surface in the first direction increases continuously or stepwise.
In this application embodiment, because the area of the cross section of the cavity that the guide surface encloses increases in succession or the stepwise increase, through this guiding device, can guide the frock plug to peg graft to the frock socket, do benefit to the automatic plug that realizes test fixture.
In one implementation of the first aspect, the guide surface includes a plurality of planar surfaces; and a plurality of planes are connected end to form a closed cavity.
Through this guiding device, can guide the frock plug to peg graft on the frock socket, do benefit to the automatic plug that realizes test fixture.
In an implementation manner of the first aspect, the guiding device includes a connecting sleeve, which is used for sleeving the tool plug;
the connecting sleeve is provided with a limiting structure which is in plug-in fit with the tooling plug, and the limiting structure comprises a groove structure;
the tool plug is provided with a protruding structure which is in plug-in fit with the groove structure.
In the mode, the guiding device and the tool plug can be connected together through the connecting sleeve so that the guiding device and the tool plug move together, and therefore follow-up plug-in control is facilitated.
Through the groove structure, the guiding device and the tool plug are in interference fit, so that the guiding device and the tool plug are firmly connected together.
In an implementation manner of the first aspect, a buffer layer is provided on the guiding surface, and the buffer layer is used for elastically contacting with the tool socket.
Through the buffer layer, not only can promote the compliance of grafting process, can also reduce the collision force between frock plug and the frock socket to do benefit to the life who increases guiding device.
In an implementation manner of the first aspect, the force control sensor is disposed at one end of the mechanical arm for grabbing the tool plug.
In one implementation manner of the first aspect, the battery testing system further includes a battery to be tested, and the battery to be tested has a fixture socket matched with the fixture plug.
In a second aspect, the present application provides a battery testing method, the method comprising:
the mechanical arm drives the tool plug to move along a first direction;
in the process that the mechanical arm drives the tool plug to move along the first direction, the force control sensor monitors the guiding component force of the plugging force of the tool plug along the first direction on the plugging surface of the guiding device;
the mechanical arm controls the tooling plug to be inserted according to the guiding component force;
after the tool plug is inserted into the tool socket, the test terminal tests the electrical property of the battery to be tested.
In this embodiment of the application, split the grafting power of grafting subassembly along the first direction through guiding device's guide face and be the guide component on the grafting face, through this guide component of monitoring, be equivalent to the alignment state of monitoring frock plug and frock socket, on the frock socket is pegged graft according to alignment state guide frock plug to realize accurate grafting control.
In an implementation manner of the second aspect, the mechanical arm controls the tool plug to be plugged according to the guiding component force, including:
if the guiding component force is smaller than or equal to a first threshold value, the mechanical arm controls the tooling plug to continue to be inserted in the first direction according to the current position of the tooling plug;
if the guiding component force is larger than a first threshold value, stopping inserting the mechanical arm, and adjusting the position of the tool plug along the inserting surface according to the guiding component force to obtain an adjusting position;
and the mechanical arm controls the tooling plug to be inserted in the first direction according to the adjusting position.
In this embodiment of the application, through the size of comparison guide component and first threshold, be equivalent to and judge the alignment state between frock socket and the frock plug, when frock socket and the frock plug misalignment, adjust the alignment state of frock socket and frock plug according to the guide component to realize accurate grafting control.
In an implementation manner of the second aspect, the mechanical arm adjusts the position of the tool plug along the plugging surface according to the guiding component force to obtain an adjusted position, and the method includes:
and the mechanical arm adjusts the position of the tool plug along the plugging surface according to the direction and the size of the guiding component to obtain the adjustment position.
Specifically, the adjustment direction of the position is determined according to the direction of the guiding component force, and the adjustment amount is determined according to the magnitude of the guiding component force.
Through this mode, can comparatively accurately align frock plug and frock socket to realize accurate grafting.
In one implementation manner of the second aspect, the battery test system further includes a vision acquisition device, and the method further includes:
the visual acquisition device acquires a photographed image of the tool socket;
the mechanical arm determines the position of the tool socket according to the photographed image;
the mechanical arm drives the tool plug to move to an initial position according to the determined position of the tool socket;
and the mechanical arm drives the tool plug to move along a first direction from the initial position.
In the embodiment of the application, the image recognition algorithm can be used for carrying out image recognition processing on the shot image so as to recognize the relative position between the tool socket and the tool plug in the shot image. Through the mode, the position of the tool socket is roughly positioned in advance, and the efficiency of automatic control of plugging is improved.
In an implementation manner of the second aspect, the mechanical arm controls the tool plug to be plugged according to the guiding component force, including:
If the guiding component force is smaller than or equal to a first threshold value, the mechanical arm acquires a first inserting force of the tool plug along the first direction, which is acquired by the force control sensor at the current control moment, and a second inserting force of the tool plug along the first direction, which is acquired at the last control moment;
if the difference value between the first plugging force and the second plugging force is smaller than a fourth threshold value, the mechanical arm controls the tooling plug to continue plugging along the first direction according to the current position of the tooling plug;
and if the difference value between the first plugging force and the second plugging force is larger than or equal to a fourth threshold value, the mechanical arm controls the tooling plug to retract to the initial position and controls the tooling plug to be plugged in the first direction again according to the initial position.
In the embodiment of the application, the method is equivalent to judging the change value between the plugging forces corresponding to the two adjacent control moments, and if the change value is larger than the fourth threshold value, the situation that the plugging forces of the two adjacent control moments change greatly is indicated, and the possibility of collision is judged; and the change value is smaller than or equal to a fourth threshold value, which indicates that the plug-in force change of two adjacent control moments is smaller, and the normal plug-in is judged. Through the mode, the collision condition in the plugging process can be effectively monitored, and the plugging control can be timely adjusted and carried out again from the initial position when the collision occurs, so that the plugging success rate is guaranteed.
In one implementation manner of the second aspect, the method further includes:
in the process that the mechanical arm drives the tool plug to move along the first direction, the distance measuring sensor obtains the relative distance between the tool plug and the tool socket;
in the process that the mechanical arm drives the tool plug to move along the first direction, the force control sensor monitors a third inserting force of the tool plug along the first direction;
and the mechanical arm controls the tooling plug to be plugged according to the relative distance and the third plugging force.
In this application embodiment, be equivalent to at the arm in-process of pegging graft control, consulted the relative distance between frock plug and the frock socket simultaneously and frock plug along the grafting force of first direction for pegging graft control is more accurate through this kind of mode.
In an implementation manner of the second aspect, the mechanical arm controls the tool plug to plug according to the relative distance and the third plug-in force, including:
if the third plugging force is smaller than a second threshold value or the relative distance is larger than a third threshold value, the force control sensor continuously monitors the guiding component force of the plugging force of the tool plug along the first direction on the plugging surface, and the mechanical arm controls the tool plug to be plugged according to the guiding component force;
And if the third plugging force is larger than the second threshold value and the relative distance is smaller than the third threshold value, stopping plugging the mechanical arm.
In this application embodiment, judge whether the frock plug inserts the frock socket completely through the relative distance between monitoring frock plug and the frock socket and the grafting power of frock plug along first direction. In this way, the plugging can be controlled relatively accurately.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the accompanying drawings. In the drawings:
fig. 1 is a schematic structural diagram of a battery test system according to an embodiment of the present application;
fig. 2 is a schematic diagram of connection between a guiding device and a tooling plug according to an embodiment of the present application;
FIG. 3 is a front view of a plug assembly provided by an embodiment of the present application;
FIG. 4 is a perspective view of a plug assembly provided by an embodiment of the present application;
FIG. 5 is a perspective view of a plug assembly provided by an embodiment of the present application;
FIG. 6 is a perspective view of a plug assembly provided by an embodiment of the present application;
FIG. 7 is a schematic diagram of a battery testing system according to another embodiment of the present application;
FIG. 8 is a schematic diagram of a battery testing system according to another embodiment of the present application;
fig. 9 is a schematic flow chart of a battery testing method according to an embodiment of the present disclosure;
FIG. 10 is a schematic diagram of a plug control flow provided in an embodiment of the present application;
FIG. 11 is a schematic diagram of a plug control procedure according to another embodiment of the present disclosure;
fig. 12 is a schematic diagram of a plug control procedure according to another embodiment of the present application.
Detailed Description
Embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical solutions of the present application, and thus are only examples, and are not intended to limit the scope of protection of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions.
In the description of the embodiments of the present application, the technical terms "first," "second," etc. are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, which means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), and similarly, "plural sets" refers to two or more (including two), and "plural sheets" refers to two or more (including two).
In the description of the embodiments of the present application, the orientation or positional relationship indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of describing the embodiments of the present application and for simplifying the description, rather than indicating or implying that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the present application.
In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to the specific circumstances.
In the battery performance test process, the plug of a test fixture of a battery pack is involved. The test tool comprises a tool socket and a tool plug. The manual insertion of the tool plug into the tool socket is required, which increases a lot of labor costs. In addition, if the alignment deviation of the tool plug and the tool socket is corrected only by means of manual vision, experience and the like in the plugging process, the alignment accuracy of the tool plug and the tool socket can be affected.
Based on this, the embodiment of the application provides a battery test system. In this embodiment of the application, battery test system includes guiding device, through this guiding device, can guide the frock plug to peg graft to the frock socket, does benefit to the automatic plug that realizes test fixture.
Referring to fig. 1, a schematic structure of a battery test system according to an embodiment of the present application is shown. By way of example and not limitation, as shown in fig. 1, a battery testing system may include a test terminal 11, a guide 12, a robotic arm 13, and a force control sensor 14.
The test terminal 11 is used for testing the electrical performance of the battery to be tested. The test terminal includes a tooling plug 111 that mates with a tooling socket 151 on the battery 15 to be tested.
The guiding device 12 is used for connecting the tool plug 111. The guide device 12 has a guide surface for guiding the tool plug 111 to be plugged into a matching tool socket.
Referring to fig. 2, a schematic diagram of connection between a guiding device and a tooling plug according to an embodiment of the present application is shown. By way of example and not limitation, as shown in fig. 2 (a), the tooling plug 111 has a mating face 112, which mating face 112 mates with a mating face of the tooling receptacle 151. The guide device 12 has a guide surface 121 for guiding the insertion of the tool plug 111 into the mating tool socket 151. As shown in fig. 2 (b), the tool plug 111 is connected to the guide device 12 to form a plug assembly.
The mechanical arm 13 is used for grabbing the tool plug 111.
The force control sensor 14 is disposed on the mechanical arm 13, and is configured to monitor a guiding component of the plugging force of the tool plug 111 along a first direction on the plugging surface 112, where the first direction is a direction in which the tool plug 111 faces the tool socket 151.
In this embodiment, the force control sensor 14 may also monitor the insertion force of the tool plug 111 along the first direction. For example, the force control sensor 14 may be a six-axis force control sensor, and may acquire guide force components in the X-axis and Y-axis directions and an insertion force in the Z-axis direction as shown in fig. 4 to 6.
In some implementations, the force control sensor 14 is disposed at one end of the robotic arm 13 for grasping the tooling plug 111.
The following describes a guiding device provided in an embodiment of the present application with reference to fig. 3 to 6. Fig. 3 is a front view of the guide 12, and fig. 4-6 are perspective views of the guide at three different viewing angles.
In some embodiments, the guide surface 121 includes a plurality of planar surfaces; and a plurality of planes are connected end to form a closed cavity. As shown in fig. 3, planes A, B, C and D are joined end to enclose a closed cavity.
Alternatively, the cross-section of the cavity enclosed by the guide surface 121 may be circular, rectangular or other shape. As shown in fig. 3, the cross section of the cavity enclosed by the guide surface 121 is rectangular. It should be noted that, the minimum cross section of the cavity enclosed by the guide surface may include the plugging surface 112 of the tool plug, and may be set according to the structural size of the tool plug 111.
In some embodiments, the area of the cross-section of the cavity enclosed by the guide surface 121 in the first direction increases continuously or stepwise. As shown in fig. 4 to 6, the direction shown by the Z axis is the first direction.
Through the mode, when the tool plug has pose deviation, the z-direction plugging force can be decomposed into the component force in the x direction and the y direction through the multi-stage inclined plane structure of the guide device, and the automatic control of the plugging process is facilitated.
Illustratively, as shown in fig. 4 to 6, the guiding surface 121 encloses a symmetrical bell mouth, and each plane of the guiding surface has the same angle with the Z-axis direction.
In other embodiments, the guide surface 121 may also define an asymmetrical flare.
In some implementations, the cross-section of the guide 12 may be planar or curved.
In some embodiments, the guiding means 12 comprises a connection sleeve 122 for connecting said tooling plug 111. Such as the connection sleeve 122 shown in fig. 4-6.
In some implementations, the connecting sleeve 122 has a limiting structure that is in plug-in fit with the tool plug 111. Through this limit structure, can make guiding device and frock plug comparatively firmly link together.
In some implementations, the limit structure includes a groove structure. Correspondingly, the tool plug 111 is provided with a protruding structure which is in plug-in fit with the groove structure. As shown in fig. 6, the limiting structure is a groove 1221. The guide 12 may be an interference fit with the raised structure of the tooling plug 111 through the groove 1221.
It should be noted that the size of the groove structure may be set according to the structural size of the tool plug.
In other embodiments, the guide 12 may also be connected to the tool plug 111 by gluing.
In some embodiments, a buffer layer is provided on the guiding surface 121, and the buffer layer is used for elastically contacting with the tool socket.
Through the buffer layer, not only can promote the compliance of grafting process, can also reduce the collision force between frock plug and the frock socket to do benefit to the life who increases guiding device.
In this embodiment of the application, through guiding device, can guide the frock plug to peg graft on the frock socket to in the guide grafting in-process, decompose the grafting power of first direction into the guide component on the grafting face through the guide face, do benefit to the automatic control who realizes the grafting process.
In some embodiments, referring to fig. 7, a schematic structural diagram of a battery testing system according to another embodiment of the present application is provided. By way of example and not limitation, as shown in fig. 7, the battery testing system further includes a vision acquisition device 16 disposed on the robotic arm 13 for acquiring a captured image of the tool receptacle.
In some embodiments, referring to fig. 8, a schematic structural diagram of a battery testing system according to another embodiment of the present application is provided. By way of example and not limitation, as shown in fig. 8, the battery testing system further includes a ranging sensor 17 disposed on the robotic arm 13 for acquiring a relative distance between the tooling plug 111 and the tooling socket 151.
Based on the battery test system provided in the above embodiment, a battery test method is described below. Referring to fig. 9, a flow chart of a battery testing method according to an embodiment of the present application is shown. By way of example and not limitation, as shown in fig. 9, the battery testing method may include the steps of:
s901, driving the tool plug to move along a first direction by the mechanical arm.
In this embodiment of the application, before carrying out grafting control, can carry out coarse positioning to the position of frock socket earlier, then carry out grafting control according to the result of coarse positioning to realize accurate automatic grafting control.
In some implementations, the vision acquisition device acquires a captured image of the tool socket; the mechanical arm determines the position of the tool socket according to the photographed image; the mechanical arm drives the tool plug to move to an initial position according to the determined position of the tool socket; and the mechanical arm drives the tool plug to move along the first direction from the initial position.
In the embodiment of the application, the image recognition algorithm can be used for carrying out image recognition processing on the shot image so as to recognize the relative position between the tool socket and the tool plug in the shot image. Through the mode, the position of the tool socket is roughly positioned in advance, and the efficiency of automatic control of plugging is improved. In the embodiment of the present application, the image recognition algorithm is not particularly limited.
S902, in the process that the mechanical arm drives the tool plug to move along the first direction, the force control sensor monitors the guiding component force of the plugging force of the tool plug along the first direction on the plugging surface of the guiding device.
Wherein the first direction is perpendicular to the mating face. As shown in fig. 3 to 6, the Z-axis direction is the first direction, and the force in the X-axis direction and the force in the Y-axis direction are the guide component forces. The X axis and the Y axis are coordinate systems on the plugging surface, and the Z axis is perpendicular to the plugging surface, namely, the Z axis is perpendicular to the X axis and the Y axis respectively.
As can be seen from the above-described embodiment of the guide device, since the guide device has a guide surface for guiding the insertion of the tool plug into the tool socket, the insertion force of the tool plug in the first direction can be split into a guide component on the insertion surface by means of the guide surface.
The guiding component is determined according to an angle between a guiding surface of the guiding device and the first direction. For example, taking the case that the included angle between each plane of the guiding surface and the Z axis is the same as the example, during the plugging process of the tool plug along the Z axis direction, for the B plane, when the B plane collides with the tool socket, the B plane receives a force F perpendicular to the B plane b The force F b Can be decomposed into a component force F along the Z-axis direction b_z =() F b And a component force F along the X-axis direction b_x =(/>) F b Component F of force b_x I.e. the guiding component. For the C plane, when the C plane collides with the tool socket, the C plane receives a force F perpendicular to the C plane c The force F c Can be decomposed into a component force F along the Z-axis direction c_z =(/>) F c And a component force F along the Y-axis direction c_y =(/>) F c Component F of force c_y I.e. the guiding component. The calculation mode of the guiding component corresponding to the plane D is the same as that of the guiding component of the plane B, and the calculation mode of the guiding component corresponding to the plane a is the same as that of the guiding component of the plane C, and will not be described here.
In some implementations, a force control sensor may be disposed at the end of the mechanical arm (one end connected to the tool plug), and the force control sensor detects the guiding component force of the tool plug along the X axis and the Y axis.
S903, the mechanical arm controls the tooling plug to be inserted according to the guiding component force.
In this embodiment of the application, split the grafting power of frock plug along the first direction through guiding device's guide face and be the guide component on the grafting face, through this guide component of monitoring, be equivalent to the alignment state of monitoring frock plug and frock socket, on the frock socket is pegged graft according to alignment state guide frock plug to realize accurate grafting control.
In some embodiments, step S903 may include:
i. And if the guiding component force is smaller than or equal to a first threshold value, controlling the tooling plug to continue to be inserted in the first direction according to the current position of the tooling plug.
II. If the guiding component force is larger than a first threshold value, stopping inserting, and adjusting the position of the tool plug along the inserting surface according to the guiding component force to obtain an adjusting position; and controlling the tooling plug to be spliced along the first direction according to the adjusting position.
In one implementation, step II may determine the direction of adjustment of the position based on the direction of the pilot component. Specifically, if the direction of the guiding component is the X-axis direction, determining the adjustment direction of the position as the X-axis direction; if the direction of the guiding component is the Y-axis direction, the adjustment direction of the determined position is the Y-axis direction.
3-6, if the direction of the guiding component is the positive direction of the X axis, which means that the tool socket touches the B plane of the guiding device, the tool plug is controlled to move along the positive direction of the X axis to obtain the adjustment position; if the direction of the guiding component is the negative direction of the X axis, which means that the tool socket touches the D plane of the guiding device, the tool plug is controlled to move along the negative direction of the X axis, and the adjusting position is obtained. If the direction of the guiding component is the positive direction of the Y axis, which means that the tool socket touches the A plane of the guiding device, the tool plug is controlled to move along the positive direction of the Y axis, and the adjustment position is obtained; if the direction of the guiding component is the negative direction of the Y axis, which means that the tool socket touches the C plane of the guiding device, the tool plug is controlled to move along the negative direction of the Y axis, and the adjusting position is obtained.
In another embodiment, step II may determine the adjustment amount based on the magnitude of the pilot component. Exemplary, the adjustment amounts corresponding to the different force values are preset; when the guiding component force is monitored, according to the corresponding relation between the preset force value and the adjustment quantity, the adjustment quantity corresponding to the current guiding component force is searched.
In another implementation manner, the step II may adjust the position of the tool plug along the plugging surface according to the magnitude and direction of the guiding component. Specifically, the adjustment direction of the position may be determined according to the first implementation manner described above, and then the adjustment amount may be determined according to the second implementation manner described above. And will not be described in detail herein.
S904, after the tool plug is inserted into the tool socket, the test terminal tests the electrical property of the battery to be tested.
In the embodiment shown in fig. 9, the tool plug can be guided to be plugged into the tool socket by the guiding device, and in the process of guiding plugging, the plugging force in the first direction is decomposed into the guiding component force on the plugging surface by the guiding surface which forms a certain angle with the first direction, so that the plugging control is performed according to the guiding component force, thereby being beneficial to improving the accuracy of the automatic plugging control process.
Exemplary, referring to fig. 10, a schematic diagram of a plug control flow provided in an embodiment of the present application is shown. By way of example and not limitation, as shown in FIG. 10, the plug control flow of steps S902-S903 described above may include:
s1001, start control.
S1002, initializing a force control sensor.
S1003, a force control sensor monitors the guiding component force of the plugging force of the tool plug along the first direction on the plugging surface.
Correspondingly, the force control sensor sends the monitored guiding component force to the mechanical arm so that the mechanical arm performs splicing control according to the guiding component force.
S1004, the mechanical arm judges whether the guiding component force is larger than a first threshold value.
In some implementations, control periods may be set, with S1003-S1004 performed once per control period.
S1005, if the guiding component force is smaller than or equal to a first threshold value, the mechanical arm controls the tooling plug to continue to be inserted in the first direction according to the current position of the tooling plug.
S1006, if the guiding component force is larger than a first threshold value, the mechanical arm adjusts the position of the tool plug along the plugging surface according to the guiding component force, and an adjustment position is obtained.
S1007, the mechanical arm controls the tooling plug to be inserted in the first direction according to the adjusting position.
In this embodiment of the application, through the size of comparison guide component and first threshold, be equivalent to and judge the alignment state between frock socket and the frock plug, when frock socket and the frock plug misalignment, adjust the alignment state of frock socket and frock plug according to the guide component to realize accurate grafting control.
As described in the above embodiments, before performing the plugging control, the position of the tool socket may be first coarsely positioned, and then the plugging control is performed according to the result of the coarsely positioning, so as to implement precise automatic plugging control. Because the position of the tool socket obtained through visual positioning has certain deviation, the condition that the position of the tool socket exceeds the allowable range of the guiding device after the mechanical arm moves to the positioning point possibly occurs, the guiding device cannot complete guiding at the moment, and the tool plug collides with the side wall of the tool socket, so that the plugging failure is caused.
To solve the above problem, in some embodiments, the plug control process further includes:
if the guiding component force is smaller than or equal to a first threshold value, the mechanical arm acquires a first inserting force of the tool plug along the first direction, which is acquired by the force control sensor at the current control moment, and a second inserting force of the tool plug along the first direction, which is acquired by the force control sensor at the last control moment;
If the difference value between the first plugging force and the second plugging force is smaller than a fourth threshold value, the mechanical arm controls the tooling plug to continue plugging along the first direction according to the current position of the tooling plug;
and if the difference value between the first plugging force and the second plugging force is larger than or equal to a fourth threshold value, the mechanical arm controls the tooling plug to retract to an initial position and controls the tooling plug to be plugged in the first direction again according to the initial position.
In some implementations, a force control sensor may be disposed at a distal end of the mechanical arm (one end connected to the tool plug), and the plugging force of the tool plug along the Z axis may be detected by the force control sensor.
In the embodiment of the application, the method is equivalent to judging the change value between the plugging forces corresponding to the two adjacent control moments, and if the change value is larger than the fourth threshold value, the situation that the plugging forces of the two adjacent control moments change greatly is indicated, and the possibility of collision is judged; and the change value is smaller than or equal to a fourth threshold value, which indicates that the plug-in force change of two adjacent control moments is smaller, and the normal plug-in is judged. Through the mode, the collision condition in the plugging process can be effectively monitored, and the plugging control can be timely adjusted and carried out again from the initial position when the collision occurs, so that the plugging success rate is guaranteed.
Exemplary, referring to fig. 11, a schematic diagram of a plug control procedure according to another embodiment of the present application is shown. By way of example and not limitation, as shown in FIG. 11, the control flow of the plug-in may include:
s1101, start control.
S1102, initializing a force control sensor.
S1103, the force control sensor monitors the guiding component force of the plugging force of the tool plug along the first direction on the plugging surface.
S1104, the mechanical arm judges whether the guiding component force is larger than a first threshold value.
If the pilot component is less than or equal to the first threshold, S1105 is performed. If the pilot component is greater than the first threshold, S1109-S1110 and S1106 are performed.
S1105, if the guiding component force is smaller than or equal to a first threshold value, the mechanical arm acquires a first inserting force of the tool plug along the first direction, which is acquired by the force control sensor at the current control moment, and a second inserting force of the tool plug along the first direction, which is acquired at the last control moment.
S1106, the mechanical arm judges whether the difference value between the first plugging force and the second plugging force is smaller than a fourth threshold value.
S1107, if the difference value between the first plugging force and the second plugging force is smaller than a fourth threshold value, the mechanical arm controls the tooling plug to continue plugging along the first direction according to the current position of the tooling plug.
S1108, if the difference value between the first plugging force and the second plugging force is greater than or equal to a fourth threshold value, the mechanical arm controls the tooling plug to retract to an initial position, and controls the tooling plug to plug in the first direction again according to the initial position.
S1109, if the guiding component force is greater than a first threshold value, the mechanical arm adjusts the position of the tool plug along the plugging surface according to the guiding component force, and an adjustment position is obtained.
S1110, the mechanical arm controls the tooling plug to be inserted in the first direction according to the adjusting position.
It should be noted that, after S1110, S1106 is executed, if the difference between the first plugging force and the second plugging force is smaller than the fourth threshold, the tooling plug is controlled to continue plugging along the first direction according to the current position of the tooling plug (i.e., the adjusted position obtained in S1109).
It should be noted that the judging steps in steps S1104 and S1106 may be not consecutive. For example, in other embodiments, S1105 and S1106 may be performed first, and if the difference between the first mating force and the second mating force is greater than or equal to the fourth threshold, S1108 is performed; if the difference between the first mating force and the second mating force is less than a fourth threshold, then executing S1104; if the pilot component is greater than the first threshold, performing S1109-S1110; if the pilot component is less than or equal to the first threshold, S1107 is performed.
To ensure that the tooling plug is not plugged in place and that no over-plugging occurs, in some embodiments, the method further comprises:
monitoring a third plugging force of the tool plug along the first direction and a relative distance between the tool plug and the tool socket in the process of controlling the tool plug to be plugged along the first direction;
if the third plugging force is smaller than a second threshold value or the relative distance is larger than a third threshold value, continuously monitoring a guiding component force of the plugging force of the tool plug along the first direction on a plugging surface, and controlling the tool plug to be plugged according to the guiding component force;
and stopping plugging if the third plugging force is larger than the second threshold value and the relative distance is smaller than the third threshold value.
In some implementations, a ranging sensor may be disposed at the end of the mechanical arm (the end to which the tooling plug is connected), through which the relative distance between the tooling plug and the tooling socket is detected. For example, the ranging sensor may be an ultrasonic rangefinder.
In this application embodiment, judge whether the frock plug inserts the frock socket completely through the relative distance between monitoring frock plug and the frock socket and the grafting power of frock plug along first direction. In this way, the plugging can be controlled relatively accurately.
In some implementations, control periods may be set, with a third mating force and relative distance being determined once per control period. Wherein the control period may be set according to time, for example, 0.5s may be set as one control period, that is, the judgment process may be performed every 0.5 seconds. The control period may also be set according to the moving distance of the tool plug, for example, 1mm is set as one control period, that is, the judging process is executed once every time the tool plug moves by 1 mm.
Exemplary, referring to fig. 12, a schematic diagram of a plug control procedure according to another embodiment of the present application is provided. By way of example and not limitation, as shown in fig. 12, the control flow of the plug-in may include the following:
s1201, start control.
S1202, initializing a force control sensor and initializing a range finder.
S1203, a force control sensor monitors a third insertion force of the tool plug along the first direction, and a distance measurement sensor monitors a relative distance between the tool plug and the tool socket.
Correspondingly, the force control sensor sends the monitored third plugging force to the mechanical arm, and the distance measurement sensor sends the monitored relative distance to the mechanical arm, so that the mechanical arm performs plugging control according to the third plugging force and the relative distance.
S1204, the mechanical arm judges whether the third plugging force is larger than a second threshold value and whether the relative distance is smaller than the third threshold value.
And S1205, if the third plugging force is greater than the second threshold value and the relative distance is smaller than the third threshold value, stopping plugging the mechanical arm.
And S1206, if the third plugging force is smaller than a second threshold value or the relative distance is larger than a third threshold value, the force control sensor continuously monitors the guiding component force of the plugging force of the tool plug along the first direction on the plugging surface.
S1207, the mechanical arm judges whether the guiding component force is larger than a first threshold value.
If the pilot component is less than or equal to the first threshold, then S1208 is performed. If the pilot component is greater than the first threshold, S1212-S1213 and S1209 are performed.
S1208, if the guiding component force is smaller than or equal to a first threshold value, the mechanical arm acquires a first inserting force of the tool plug along the first direction, which is acquired by the force control sensor at the current control moment, and a second inserting force of the tool plug along the first direction, which is acquired at the last control moment.
S1209, the mechanical arm judges whether the difference value between the first plugging force and the second plugging force is smaller than a fourth threshold value.
S1210, if the difference value between the first plugging force and the second plugging force is smaller than a fourth threshold value, the mechanical arm controls the tooling plug to continue plugging along the first direction according to the current position of the tooling plug.
S1211, if the difference between the first plugging force and the second plugging force is greater than or equal to a fourth threshold, the mechanical arm controls the tooling plug to retract to an initial position, and controls the tooling plug to plug in the first direction again according to the initial position.
S1212, if the guiding component force is greater than a first threshold value, the mechanical arm adjusts the position of the tool plug along the plugging surface according to the guiding component force, and an adjustment position is obtained.
S1213, the mechanical arm controls the tooling plug to be inserted in the first direction according to the adjusting position.
It should be noted that, steps S1204 and S1207 may be performed separately, and as described in the embodiment of fig. 12, the judgment of S1204 is performed first, and then the judgment of S1207 is performed; the judgment in S1207 may be performed first, and then the judgment in S1204 may be performed; the determination of S1204 and S1207 may also be performed in parallel. The embodiment of the present application is not particularly limited thereto.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
Claims (16)
1. A battery testing system, comprising:
the test terminal is used for testing the electrical performance of the battery to be tested; the test terminal comprises a tool plug matched with a tool socket on the battery to be tested;
the guide device is used for connecting the tool plug and is provided with a guide surface for guiding the tool plug to be inserted into the tool socket;
the mechanical arm is used for grabbing the tool plug;
the force control sensor is arranged on the mechanical arm and is used for monitoring the guiding component force of the plugging force of the tool plug on the plugging surface along a first direction, wherein the first direction is the direction of the tool plug towards the tool socket;
The mechanical arm drives the tool plug to move along the first direction; in the process that the mechanical arm drives the tool plug to move along the first direction, the force control sensor monitors a guiding component force of the plugging force of the tool plug along the first direction on the plugging surface of the guiding device; the mechanical arm controls the tooling plug to be inserted according to the guiding component force; after the tool plug is inserted into the tool socket, the test terminal tests the electrical property of the battery to be tested.
2. The battery testing system of claim 1, wherein the battery testing system further comprises:
the visual acquisition device is arranged on the mechanical arm and used for acquiring a shooting image of the tool socket;
the visual acquisition device acquires a photographed image of the tool socket; the mechanical arm determines the position of the tool socket according to the shot image, drives the tool plug to move to an initial position according to the determined position of the tool socket, and drives the tool plug to move along a first direction from the initial position.
3. The battery testing system of claim 1, wherein the battery testing system further comprises:
The distance measuring sensor is arranged on the mechanical arm and used for acquiring the relative distance between the tool plug and the tool socket;
the mechanical arm drives the tool plug to move along the first direction; in the process that the mechanical arm drives the tool plug to move along the first direction, the distance measuring sensor obtains the relative distance between the tool plug and the tool socket; in the process that the mechanical arm drives the tool plug to move along the first direction, the force control sensor monitors a third inserting force of the tool plug along the first direction; and the mechanical arm controls the tooling plug to be plugged according to the relative distance and the third plugging force.
4. The battery testing system of claim 1, wherein the area of the cross-section of the cavity enclosed by the guide surface in the first direction continuously increases or increases stepwise.
5. The battery testing system of claim 4, wherein the guide surface comprises a plurality of planar surfaces;
and a plurality of planes are connected end to form a closed cavity.
6. The battery testing system of claim 1, wherein the guide means comprises a connection sleeve for sleeving the tool plug;
The connecting sleeve is provided with a limiting structure which is in plug-in fit with the tooling plug, and the limiting structure comprises a groove structure;
the tool plug is provided with a protruding structure which is in plug-in fit with the groove structure.
7. The battery testing system of claim 1, wherein the guide surface is provided with a buffer layer for elastic contact with the tool socket.
8. The battery testing system of claim 1, wherein the force control sensor is disposed at an end of the robotic arm for grasping the tooling plug.
9. The battery testing system of claim 1, further comprising a battery under test having a tooling socket that mates with the tooling plug.
10. A battery testing method, characterized by being applied to the battery testing system according to any one of claims 1 to 9, the method comprising:
the mechanical arm drives the tool plug to move along a first direction;
in the process that the mechanical arm drives the tool plug to move along the first direction, the force control sensor monitors the guiding component force of the plugging force of the tool plug along the first direction on the plugging surface of the guiding device;
The mechanical arm controls the tooling plug to be inserted according to the guiding component force;
after the tool plug is inserted into the tool socket, the test terminal tests the electrical property of the battery to be tested.
11. The battery testing method of claim 10, wherein the robotic arm controlling the insertion of the tooling plug according to the guiding component force, comprising:
if the guiding component force is smaller than or equal to a first threshold value, the mechanical arm controls the tooling plug to continue to be inserted in the first direction according to the current position of the tooling plug;
if the guiding component force is larger than a first threshold value, stopping inserting the mechanical arm, and adjusting the position of the tool plug along the inserting surface according to the guiding component force to obtain an adjusting position;
and the mechanical arm controls the tooling plug to be inserted in the first direction according to the adjusting position.
12. The battery testing method of claim 11, wherein the mechanical arm adjusts the position of the tool plug along the plugging surface according to the guiding component force to obtain an adjusted position, comprising:
and the mechanical arm adjusts the position of the tool plug along the plugging surface according to the direction and the size of the guiding component to obtain the adjustment position.
13. The battery testing method of claim 10, wherein the battery testing system further comprises a vision acquisition device, the method further comprising:
the visual acquisition device acquires a photographed image of the tool socket;
the mechanical arm determines the position of the tool socket according to the photographed image;
the mechanical arm drives the tool plug to move to an initial position according to the determined position of the tool socket;
and the mechanical arm drives the tool plug to move along a first direction from the initial position.
14. The battery testing method of claim 13, wherein the robotic arm controlling the tool plug to be plugged according to the guiding component force, comprising:
if the guiding component force is smaller than or equal to a first threshold value, the mechanical arm acquires a first inserting force of the tool plug along the first direction, which is acquired by the force control sensor at the current control moment, and a second inserting force of the tool plug along the first direction, which is acquired at the last control moment;
if the difference value between the first plugging force and the second plugging force is smaller than a fourth threshold value, the mechanical arm controls the tooling plug to continue plugging along the first direction according to the current position of the tooling plug;
And if the difference value between the first plugging force and the second plugging force is larger than or equal to a fourth threshold value, the mechanical arm controls the tooling plug to retract to the initial position and controls the tooling plug to be plugged in the first direction again according to the initial position.
15. The battery testing method of any of claims 10 to 14, wherein the battery testing system further comprises a ranging sensor, the method further comprising:
in the process that the mechanical arm drives the tool plug to move along the first direction, the distance measuring sensor obtains the relative distance between the tool plug and the tool socket;
in the process that the mechanical arm drives the tool plug to move along the first direction, the force control sensor monitors a third inserting force of the tool plug along the first direction;
and the mechanical arm controls the tooling plug to be plugged according to the relative distance and the third plugging force.
16. The battery testing method of claim 15, wherein the robotic arm controlling the tool plug to plug according to the relative distance and the third plug force comprises:
If the third plugging force is smaller than a second threshold value or the relative distance is larger than a third threshold value, the force control sensor continuously monitors the guiding component force of the plugging force of the tool plug along the first direction on the plugging surface; the mechanical arm controls the tooling plug to be inserted according to the guiding component force;
and if the third plugging force is larger than the second threshold value and the relative distance is smaller than the third threshold value, stopping plugging the mechanical arm.
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| CN202410176495.7A CN117718986A (en) | 2024-02-08 | 2024-02-08 | Battery testing system and battery testing method |
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| CN202410176495.7A CN117718986A (en) | 2024-02-08 | 2024-02-08 | Battery testing system and battery testing method |
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