CN116690574A

CN116690574A - Clamping component control method and server

Info

Publication number: CN116690574A
Application number: CN202310792550.0A
Authority: CN
Inventors: 袁江伟; 陈槐; 张宇航; 陈福妮
Original assignee: Shenzhen Shifang Zhizao Technology Co ltd
Current assignee: Shenzhen Shifang Zhizao Technology Co ltd
Priority date: 2023-06-29
Filing date: 2023-06-29
Publication date: 2023-09-05

Abstract

The application is applicable to the technical field of batteries, and provides a clamping assembly control method and a server, wherein the method comprises the following steps: when the battery module is detected to reach a preset clamping position, the clamping assembly is controlled to clamp the battery module, and the battery module is lifted to a preset detection position; when a first battery image acquired by the image acquisition component is received, controlling the clamping component to execute a preset rotation operation; and when the second battery image acquired by the image acquisition component is received, the clamping component is controlled to put the battery module back to the preset clamping position. According to the application, the battery module is clamped from the preset clamping position to the preset detection position through the clamping component, the image acquisition component is used for acquiring the first battery image of the battery module, then the clamping component is controlled to rotate the battery module by a preset angle, the image acquisition component is used for acquiring the second battery image of the battery module, manual carrying is not needed, the labor cost can be saved, and the detection efficiency of the battery module is improved.

Description

Clamping component control method and server

Technical Field

The application belongs to the technical field of batteries, and particularly relates to a clamping component control method and a server.

Background

Along with the improvement of green environmental protection requirements and the development of new energy technologies, the application range of the new energy battery is also becoming wider and wider. In the process of detecting a new energy battery, it is generally necessary to transport the new energy battery to a detection position where the new energy battery is detected.

In the related art, when detecting the new energy battery, the new energy battery is usually carried by a manual way, and this way of carrying the new energy battery by a manual way is time-consuming and laborious, and easily results in low detection efficiency of the new energy battery.

Disclosure of Invention

The embodiment of the application provides a clamping assembly control method and a server, which can solve the problems that in the related art, the time and the labor are wasted when new energy batteries are manually conveyed, and the detection efficiency of the new energy batteries is low easily caused.

A first aspect of an embodiment of the present application provides a method for controlling a gripping assembly, including:

when the battery module is detected to reach a preset clamping position, the clamping assembly is controlled to clamp the battery module, and the battery module is lifted to a preset detection position;

when a first battery image acquired by the image acquisition component is received, controlling the clamping component to execute a preset rotation operation, wherein the preset rotation operation is used for rotating the battery module by a preset angle;

When a second battery image acquired by the image acquisition assembly is received, the control clamping assembly is used for replacing the battery module at a preset clamping position, wherein the first battery image and the second battery image respectively describe surface defect conditions of different surfaces of the battery module, and the first battery image and the second battery image are used for detecting surface defects of the battery module.

A second aspect of an embodiment of the present application provides a gripping assembly control device, including:

the battery lifting unit is used for controlling the clamping assembly to clamp the battery module when the battery module is detected to reach the preset clamping position, and lifting the battery module to the preset detection position;

the battery rotating unit is used for controlling the clamping assembly to execute a preset rotating operation when receiving the first battery image acquired by the image acquisition assembly, wherein the preset rotating operation is used for rotating the battery module by a preset angle;

and the battery replacing unit is used for controlling the clamping assembly to replace the battery module at a preset clamping position when receiving the second battery image acquired by the image acquisition assembly, wherein the first battery image and the second battery image respectively describe the surface defect conditions of different surfaces of the battery module, and the first battery image and the second battery image are used for detecting the surface defect of the battery module.

A third aspect of the embodiments of the present application provides a server comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the gripping assembly control method provided in the first aspect when executing the computer program.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the gripping assembly control method provided in the first aspect.

The method and the server for controlling the clamping assembly provided by the embodiment of the application have the following beneficial effects: when detecting battery module, clamp the subassembly through pressing from both sides and get the position and press from both sides to get to predetermine the testing position with the battery module from predetermineeing, adopt image acquisition subassembly to gather the first battery image of battery module, then, the control is pressed from both sides and is got the subassembly and is rotated the angle of predetermineeing with the battery module, adopt the second battery image of image acquisition subassembly collection battery module, after gathering the second battery image, the control is pressed from both sides and is got the subassembly and put back the battery module and press from both sides the position in predetermineeing, need not artifical transport, can use manpower sparingly cost, help improving battery module's detection efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

FIG. 1 is a flowchart of a method for controlling a gripping assembly according to an embodiment of the present application;

fig. 2 is a schematic view of a battery module according to an embodiment of the present application;

FIG. 3 is a schematic view of a gripping assembly according to an embodiment of the present application;

fig. 4 is a schematic view of a clamping assembly for clamping a battery module according to an embodiment of the present application;

FIG. 5 is a flow chart of an implementation of a side clamping operation provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a clamping assembly according to one embodiment of the present application performing a side clamping operation;

FIG. 7 is a schematic illustration of a clamping assembly according to another embodiment of the present application performing a side clamping operation;

FIG. 8 is an enlarged view of portion A of FIG. 7;

fig. 9 is a schematic view of a battery module with two ends clamped according to an embodiment of the present application;

FIG. 10 is a flowchart illustrating a method for controlling a gripping assembly according to another embodiment of the present application;

FIG. 11 is a block diagram of a gripper assembly control device according to an embodiment of the present application;

fig. 12 is a block diagram of a server according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

In order to explain the technical scheme of the application, the following examples are used for illustration.

Referring to fig. 1, fig. 1 is a flowchart of an implementation of a method for controlling a gripping device according to an embodiment of the present application, where the flowchart may include the following steps 101 to 103.

Step 101, when the battery module is detected to reach the preset clamping position, the clamping assembly is controlled to clamp the battery module, and the battery module is lifted to the preset detection position.

The preset clipping position is usually a preset position for touching and clipping.

The clamping assembly is generally used for clamping the battery module.

The preset detection position is usually a preset position for triggering detection. In practice, the preset detection position is generally higher than the preset gripping position.

In this embodiment, the execution subject of the above-described gripping assembly control method is typically a server. The server may be hardware or software. When the server is hardware, the server may be implemented as a distributed server cluster formed by a plurality of servers, or may be implemented as a single server. When the server is software, it may be implemented as a plurality of software or software modules, or may be implemented as a single software or software module, which is not particularly limited herein.

In practice, the battery module is generally transported by a conveyor chain, on which a plurality of position sensors may be mounted, and the above-mentioned executing body may detect the position of the battery module by the position sensors mounted on the conveyor chain. When the battery module is detected to reach the preset clamping position, the execution main body can send a first clamping instruction to the clamping component, control the clamping component to clamp the battery module at the preset clamping position and lift the battery module to the preset detection position. Here, the first clamping instruction is used for controlling the clamping assembly to move to a preset clamping position, then clamping the battery module at the preset clamping position, and finally clamping the battery module to a preset detection position.

And 102, when a first battery image acquired by the image acquisition component is received, controlling the clamping component to execute a preset rotation operation.

Wherein the image acquisition component is typically a component for acquiring images. In practice, the image acquisition component may comprise a plurality of cameras.

The first battery image is a surface image of the battery module.

The preset rotation operation is usually a preset rotation operation, and the preset rotation operation is used for rotating the battery module by a preset angle. The preset angle is typically a preset angle, such as 90 degrees.

In practice, the execution body may be connected to an image acquisition component in a network, and the image acquisition component may send the acquired image to the execution body. When the clamping component lifts the battery module to a preset detection position, the execution main body can control the image acquisition component to acquire a first battery image of the battery module. The image acquisition component may then transmit the acquired first battery image to the execution subject. After receiving the first battery image, the executing body can send a rotation instruction to the clamping component to control the clamping component to execute a preset rotation operation. Here, the rotation instruction is used for controlling the clamping assembly to clamp the battery module to rotate by a preset angle.

In practice, the battery module generally includes a plurality of sides, the executing body may control the clamping assembly to rotate the battery module by a preset angle, one side of the battery module is opposite to the image acquisition assembly, then the image acquisition assembly is adopted to acquire the image of the side, after the image of the side is acquired, the executing body may control the clamping assembly to rotate the battery module by a preset angle again, the other side of the battery module is opposite to the image acquisition assembly, then the image acquisition assembly is adopted to acquire the image of the side, and so on until the image of all sides of the battery module is acquired.

And step 103, when the second battery image acquired by the image acquisition component is received, the clamping component is controlled to put the battery module back to the preset clamping position.

The second battery image is a surface image of the battery module. The first battery image and the second battery image are images of different surfaces of the battery module respectively. The first battery image and the second battery image respectively describe surface defect conditions of different surfaces of the battery module, and the first battery image and the second battery image are used for detecting the surface defects of the battery module.

In practice, when the second battery image acquired by the image acquisition assembly is received, the images of the surfaces of the battery module are already acquired, and the execution body can detect the surface defect of the battery module based on the first battery image and the second battery image. At this time, the execution body may send a battery replacement instruction to the clamping component, and control the clamping component to replace the battery module in a preset clamping position. The battery replacement instruction is used for controlling the clamping assembly to clamp the battery module from the current position to a preset clamping position.

According to the clamping component control method, when the battery module is detected, the battery module is clamped from the preset clamping position to the preset detection position through the clamping component, the image acquisition component is used for acquiring the first battery image of the battery module, then the clamping component is controlled to rotate the battery module by the preset angle, the image acquisition component is used for acquiring the second battery image of the battery module, after the second battery image is acquired, the clamping component is controlled to put the battery module back to the preset clamping position, manual carrying is not needed, labor cost can be saved, and detection efficiency of the battery module is improved.

Referring to fig. 2, fig. 2 is a schematic diagram of a battery module according to an embodiment of the application. As shown in fig. 2, the battery module includes a top surface 20A, an opposite surface of the top surface 20A, a side surface 20B, an opposite surface of the side surface 20B, a right end surface 20C, and an opposite surface of the right end surface 20C.

Referring to fig. 3, fig. 3 is a schematic diagram of a clamping assembly according to an embodiment of the application. As shown in fig. 3, the gripping assembly may include a side clamping mechanism 301, a top clamping mechanism 302, and a bottom support mechanism 303.

Wherein the side clamping mechanism 301 acts on the side of the battery module for clamping the battery module from the side of the battery module. The side clamping mechanism 301 is connected to a side driving device, and the side clamping mechanism 301 is driven by the side driving device to clamp the battery module from the side of the battery module. The top surface clamping mechanism 302 acts on the top surface of the battery module, and the bottom surface supporting mechanism 303 acts on the bottom surface of the battery module. The top surface clamping mechanism 302 is connected to the top surface driving device, and the top surface clamping mechanism 302 and the bottom surface supporting mechanism 303 cooperate to clamp the battery module from the top surface and the bottom surface of the battery module. Here, the side driving means is generally a means for driving the side clamping mechanism 301 to move, and the top driving means is generally a means for driving the top clamping mechanism 302 to move, and the side driving means and the top driving means may be driven by an air cylinder, a hydraulic cylinder, an electric cylinder, or the like.

In some optional implementations of the present embodiment, in step 102, the controlling the clamping assembly to clamp the battery module may include: the bottom surface supporting mechanism is controlled to move to the bottom surface of the battery module, and when the bottom surface supporting mechanism is contacted with the bottom surface of the battery module, the side surface clamping mechanism is controlled to execute side surface clamping operation, and the top surface clamping mechanism is controlled to execute top surface clamping operation.

The side clamping operation is used for clamping the side face of the battery module, and the top clamping operation is used for clamping the top face and the bottom face of the battery module.

In practice, the executing body can send a second clamping instruction to the clamping assembly, control the bottom surface supporting mechanism in the clamping assembly to move to the bottom surface of the battery module, then control the side driving device to act, drive the side clamping mechanism to move to the side surface of the battery module, clamp the side surface of the battery module, control the top surface driving device to act, drive the top surface clamping mechanism to move downwards, and cooperate with the bottom surface supporting mechanism to clamp the top surface and the bottom surface of the battery module. Here, the second clamping instruction is used for controlling the bottom surface supporting mechanism to move to the bottom surface of the battery module, controlling the side surface clamping mechanism to perform the side surface clamping operation when the bottom surface supporting mechanism is in contact with the bottom surface of the battery module, and controlling the top surface clamping mechanism to perform the top surface clamping operation.

In some embodiments, in order to prevent damage to the surface of the battery module when the clamping assembly clamps the battery module, elastic members may be installed at positions of the side clamping mechanism, the top clamping mechanism, and the bottom supporting mechanism, which are in contact with the battery module. The elastic member is typically a member capable of being compressively deformed by pressure, such as rubber, preferably, a rubber.

In this embodiment, through side clamping mechanism, top surface clamping mechanism and bottom surface supporting mechanism from the tight battery module of a plurality of directions, help improving the stability of clamping the battery module, help improving the security of detecting.

In some embodiments, the battery module has a lifting hole on a target end face, the target end face includes a left end face and a right end face, the left end face and the right end face are two end faces of the battery module distributed in a transverse direction, and the bottom surface supporting mechanism has an anti-falling pin.

In practice, the diameter of the anti-drop pin is typically smaller than the diameter of the lifting hole. Under the condition that the side clamping mechanism, the top clamping mechanism and the bottom supporting mechanism are normal, when the battery module is clamped by the clamping assembly, the anti-falling pin is embedded in the lifting hole, and the anti-falling pin is not stressed normally. Under the condition that any one or more of the side clamping mechanism, the top clamping mechanism and the bottom supporting mechanism in the clamping assembly have faults, the clamping assembly cannot clamp the battery module in the process of executing preset rotation operation, the battery module is caused to move to one side of the faulty mechanism, the battery module is supported by the anti-falling pin, the battery module is prevented from falling off from the clamping assembly, and at the moment, the anti-falling pin is stressed.

In this embodiment, the anti-drop pin on the bottom surface supporting mechanism and the lifting hole on the target terminal surface of battery module are mutually adapted, and the two cooperation uses, can prevent that battery module from getting the subassembly from pressing from both sides and drop, improves the security that battery module detected.

In some alternative implementations of the present embodiment, controlling the side clamping mechanism to perform the side clamping operation when the bottom surface supporting mechanism is in contact with the bottom surface of the battery module may include: when the anti-falling pin is embedded into the lifting hole, the side clamping mechanism is controlled to execute side clamping operation.

In practice, the anti-falling pin is arranged on the bottom surface supporting mechanism, the lifting hole is arranged on the end surface of the target, and when the anti-falling pin is embedded into the lifting hole, the bottom surface supporting mechanism is in contact with the bottom surface of the battery module. At this time, the execution body may send an action command to the side driving device, control the side driving device to act, and drive the side clamping mechanism to move to the side of the battery module, so as to clamp the side of the battery module.

In this embodiment, when clamping the subassembly and clamping the battery module, under the condition that anti-drop pin embedded lifting hole, just control side clamping mechanism and carry out side clamping operation, can prevent that the battery module from clamping the subassembly and drop, improve the security that the battery module detected.

In some embodiments, the side clamping mechanism includes a first clamping structure acting on a first side of the battery module and a second clamping structure acting on a second side of the battery module, the second side being opposite the first side, the clamping force of the first clamping structure being greater than the clamping force of the second clamping structure.

In this embodiment, the clamping force of the first clamping structure is greater than the clamping force of the second clamping structure, when the battery module is clamped, the first clamping structure can be contacted with the first side surface of the battery module first, the battery module is pushed towards the second clamping structure, in the pushing process, the first side surface of the battery module is flush with the contact position of the first clamping structure, the position of the battery module can be adjusted, the second side surface of the battery module is parallel to the plane where the contact position of the second clamping structure is located as much as possible, and when the second clamping structure is in contact with the second side surface of the battery module, the contact position of the second side surface and the second clamping structure is attached, so that the clamping stability of the battery module is improved.

Referring to fig. 4, fig. 4 is a schematic diagram of a clamping assembly for clamping a battery module according to an embodiment of the application. As shown in fig. 4, the first clamping structure 401 acts on the first side 4031 of the battery module 403, the second clamping structure 402 acts on the second side 4032 of the battery module 403, the first side 4031 opposes the second side 4032, the first driving device 4011 acts on the first clamping structure 401, the first driving device 4011 provides a pressing force for the first clamping structure 401 for pressing the first side 4031 of the battery module 403, the second driving device 4021 acts on the second clamping structure 402, and the second driving device 4021 provides a pressing force for the second clamping structure 402 for pressing the second side 4032 of the battery module 403. The pressing force provided by the first driving device 4011 for the first clamping structure 401 is greater than the pressing force provided by the second driving device 4021 for the second clamping structure 402, so that the first clamping structure 401 can be contacted with the first side 4031 of the battery module 403 to push the battery module 403 towards the second clamping structure 402, in the pushing process, the first side 4031 of the battery module 403 is flush with the contact part of the first clamping structure 401, the position of the battery module 403 can be adjusted, the plane where the contact part of the second side 4032 of the battery module 403 and the second clamping structure 402 is located is parallel as much as possible, and when the second clamping structure 402 contacts the second side 4032 of the battery module 403, the contact part of the second side 4032 and the second clamping structure 402 is attached, and the clamping stability of the battery module 403 is improved.

Referring to fig. 5, fig. 5 is a flowchart illustrating an implementation of a side clamping operation according to an embodiment of the present application, where the flowchart may include the following steps 501 to 503.

Step 501, sending a side clamping instruction to a first clamping structure and a second clamping structure.

The side clamping instruction is used for controlling the first clamping structure and the second clamping structure to move to the side face of the battery module.

In practice, the first driving device provides a pressing force for the first clamping structure to press the first side of the battery module, the second driving device provides a pressing force for the second clamping structure to press the second side of the battery module, and the executing body can send side clamping instructions to the first driving device and the second driving device at the same time to control the first clamping structure and the second clamping structure to clamp the sides of the battery module.

And step 502, controlling the first clamping structure to stop moving when the first clamping structure reaches a preset reference position.

The preset reference position is usually a preset position.

In practice, the actuating body can control the first clamping structure to stop moving in various ways when the first clamping structure reaches a preset reference position. As an example, the execution body may be provided with a position sensor on the first clamping structure, detect the position of the first clamping structure by using the position sensor, and send a stop action instruction to the first driving device when the first clamping structure moves to a preset reference position, so as to control the first clamping structure to stop moving. As another example, the executing body may set a limiting pin on the first clamping structure, where an extending length of the limiting pin corresponds to a preset reference position, and when the first clamping structure reaches the preset reference position, the limiting pin abuts against a preset reference surface on the clamping component, and at this time, the first driving device cannot drive the first clamping structure to continue moving, so as to control the first clamping structure to stop moving. The preset reference surface is a preset reference surface.

Referring to fig. 6, fig. 6 is a schematic diagram illustrating a clamping assembly according to an embodiment of the application performing a side clamping operation. As shown in fig. 6, the first clamping structure 401 is provided with a limiting pin 4012, and when the side clamping operation is performed, the first driving device 4011 drives the first clamping structure 401 to move toward the first side 4031 of the battery module 403, at this time, the limiting pin 4012 fixed on the first clamping structure 401 also moves along with the first clamping structure 401, and the second driving device 4021 drives the second clamping structure 402 to move toward the second side 4032 of the battery module 403.

Referring to fig. 7, fig. 7 is a schematic diagram illustrating a clamping assembly according to another embodiment of the application for performing a side clamping operation. As shown in fig. 7, in the process that the first clamping structure 401 drives the limit pin 4012 to move toward the first side 4031 of the battery module 403, when the first clamping structure 401 reaches the preset reference position, the limit pin 4012 abuts against the preset reference surface, the first driving device 4011 cannot drive the first clamping structure 401 to continue moving, the first clamping structure 401 stops moving, and the second driving device 4021 drives the second clamping structure 402 to continue moving toward the second side 4032 of the battery module 403, so as to clamp the battery module 403.

And step 503, controlling the second clamping structure to stop moving when the actual clamping force of the first clamping structure and the actual clamping force of the second clamping structure reach the preset clamping force.

In practice, pressure sensors may be provided on the first clamping structure and the second clamping structure to detect the actual clamping force of the first clamping structure and the actual clamping force of the second clamping structure. When the actual clamping force of the first clamping structure and the actual clamping force of the second clamping structure reach the preset clamping force, the executing body can send a stopping action instruction to the second driving device to control the second clamping structure to stop moving.

In this embodiment, when the first clamping structure reaches the preset reference position, the first clamping structure is controlled to stop moving, the second clamping structure continues moving, and when the actual clamping force of the first clamping structure and the actual clamping force of the second clamping structure reach the preset clamping force, the second clamping structure is controlled to stop moving, so as to complete the side clamping operation. When clamping the battery module side, first clamp structure stops moving earlier, through second clamp structure from second side to the tight battery module of first side, and the battery module receives unilateral power only, helps improving battery module's stability.

In some embodiments, the target clamping structure includes a clamping plate and a drive for the clamping plate, with a gap between the clamping plate and the drive for the clamping plate.

Wherein the target clamping structure comprises a first clamping structure and a second clamping structure.

Wherein, the first clamping structure and the second clamping structure comprise a clamping plate and a driving device of the clamping plate. The driving device of the clamping plate drives the clamping plate to move, and provides clamping force for the first clamping structure and the second clamping structure.

Referring to fig. 8, fig. 8 is an enlarged view of a portion a in fig. 7. As shown in fig. 8, the drive means for the clamping plates includes a drive rod 4023 and a fastener 4024, the fastener 4024 connecting the clamping plate 4022 on the second clamping structure to the drive rod 4023, and a gap L exists between the fastener 4024 and the clamping plate 4022 after the fastener is tightened. Because of metal surface machining errors, after the fastener 4024 is tightened, the contact surfaces of the clamping plate 4022 and the driving rod 4023 cannot be completely attached, and an included angle theta exists between the clamping plate 4022 and the driving rod 4023. The clamping plate 4022 is vertically connected with the linear sliding block 405, the linear sliding block 405 is vertical to the linear guide rail 404, that is, alpha is 100 degrees in fig. 8, the linear sliding block 405 can move along the linear guide rail 404, and when the driving device of the clamping plate drives the clamping plate 4022 to move through the driving rod 4023, the linear sliding block 405 is matched with the linear guide rail 404 to limit the movement track of the clamping plate 4022, so that the clamping plate 4022 is ensured to move to the side face of the battery module along the direction of the linear guide rail 404.

In practice, the gap L is typically a predetermined value, e.g., 0.5mm.

In practice, if there is no gap L between the clamping plate and the driving device of the clamping plate, that is, the contact surface between the clamping plate 4022 and the driving rod 4023 is attached by the fastener 4024, and the included angle θ between the two is changed to 0, at this time, the clamping plate 4022 will receive a torsion force, and the force will be transferred to one end of the clamping plate 4022 connected to the linear slider 405, and finally transferred to the contact position between the linear slider 405 and the linear guide 404, so that the linear slider 405 is not perpendicular to the linear guide 404, and when the clamping plate 4022 moves, the linear slider 405 and the linear guide 404 will be jammed, which affects the movement of the clamping plate, and at the same time, the linear slider 405 and the linear guide 404 will be damaged easily.

In this embodiment, there is the clearance between clamping plate and the drive arrangement of clamping plate, can avoid the clamping condition to appear when the clamping plate removes, improves the stability of the removal of clamping plate, helps clamping plate to press from both sides tight battery module.

In some embodiments, the arrival of the battery module at the preset clamping position may be detected by at least one of the following first to third items.

The first item, the tray for carrying the battery module is detected to reach a preset shutter position.

And secondly, detecting that a locating pin on the battery jacking assembly at the position of the preset baffle plate is embedded into a locating hole on the bottom surface of the tray.

Third, the battery jacking assembly is detected to reach a preset clamping position.

The preset shutter position is usually a position preset for triggering blocking. In practice, when the battery module reaches the preset clamping position through the first item, the preset baffle position may be the same as the preset clamping position. In practice, the battery module is loaded in the tray, the tray is arranged on the transmission chain, and the battery module is carried through the transmission of the transmission chain. The blocking mechanism is arranged at the position of the preset baffle, the blocking mechanism can be an air cylinder with a buffer component, and when the tray bearing the battery module reaches the position of the preset baffle, the blocking mechanism can block the tray, so that the tray bearing the battery module stops moving. In practice, the executing body may install a position sensor at a preset baffle position, detect the position of the tray by using the position sensor, and determine that the battery module reaches the preset clamping position when the tray reaches the preset baffle position.

The battery jacking assembly is used for jacking the tray from the transmission chain to a preset clamping position from the bottom surface of the tray bearing the battery module. In practice, the battery jacking component can be provided with a locating pin, and correspondingly, the bottom surface of the tray can be provided with a locating hole, and the locating pin is matched with the locating hole. When the battery jacking assembly jacks up the tray, the locating pins of the battery jacking assembly can be embedded into the locating holes in the bottom surface of the tray. The execution body can determine that the battery module reaches the preset clamping position when the positioning pin on the battery jacking assembly at the position of the preset baffle plate is detected to be embedded into the positioning hole on the bottom surface of the tray.

In practice, the battery jacking mechanism jacks up the tray to a preset clamping position, the execution main body can detect the position of the battery jacking mechanism through the position sensor, and when the battery jacking assembly is detected to reach the preset clamping position, the detection battery module is determined to reach the preset clamping position.

In this embodiment, the battery module can be detected in various ways to reach the preset clamping position, which is helpful for improving the stability of the position detection of the battery module, thereby improving the stability of the detection of the battery module.

In some embodiments, the side clamping mechanism may include a first side clamping mechanism and a second side clamping mechanism; the top surface clamping mechanism may include a first top surface clamping mechanism and a second top surface clamping mechanism; the floor support mechanism may include a first floor support mechanism and a second floor support mechanism.

Referring to fig. 9, fig. 9 is a schematic diagram of a battery module with two ends clamped according to an embodiment of the application. As shown in fig. 9, the first side clamping mechanism 901, the first top clamping mechanism 902, and the first bottom supporting mechanism 903 are used to cooperatively clamp the left end of the battery module 403; the second side clamping mechanism 904, the second top clamping mechanism 905 and the second bottom supporting mechanism 906 are used for cooperatively clamping the right end of the battery module 403, and the left end and the right end are two ends of the battery module 403 which are distributed transversely. When the first side clamping mechanism 901, the first top clamping mechanism 902, and the first bottom supporting mechanism 903 clamp the left end of the battery module 403, the left end of the battery module 403 may be clamped from the side direction, the top direction, and the top direction; when the second side clamping mechanism 904, the second top clamping mechanism 905, and the second bottom supporting mechanism 906 clamp the right end of the battery module 403, the right end of the battery module 403 may be clamped from the side direction, the top direction, and the top direction; thus, the left and right ends of the battery module 403 can be clamped from a plurality of directions, which contributes to an improvement in the clamping stability.

In this embodiment, the left end of battery module is pressed from both sides through first side clamping mechanism, first top surface clamping mechanism and first bottom surface supporting mechanism, and second side clamping mechanism, second top surface clamping mechanism and second bottom surface supporting mechanism press from both sides the right-hand member of getting battery module, can realize pressing from both sides the left and right sides of tight battery module from a plurality of directions, help improving the stability of getting that presss from both sides.

Referring to fig. 10, fig. 10 is a flowchart illustrating an implementation of a method for controlling a gripping device according to another embodiment of the present application, where the flowchart may include steps 1001 to 1002 as follows.

In step 1001, when it is detected that the gripping assembly meets a preset failure condition, it is determined that the gripping assembly fails.

Wherein, the preset failure condition may include at least one of the following: when the rotating operation is performed, the clamping force of the clamping component is smaller than the preset clamping force; the stress of the anti-falling pin in the clamping assembly is larger than a preset stress threshold. Here, the clamping force of the clamping assembly may include at least one of a clamping force of the top surface clamping mechanism and a clamping force of the side surface clamping mechanism. The preset clamping force is usually a preset clamping force, and in practice, the executing body may set the preset clamping force to the side clamping mechanism and the top clamping mechanism in the clamping assembly respectively. The predetermined force threshold is typically a predetermined threshold, e.g., 0.

In practice, the clamping force of the clamping assembly is typically greater than or equal to the preset clamping force when the clamping assembly is normal. In the event of failure of the clamping assembly, such as a blow-by of the drive cylinder of the clamping assembly, the clamping force of the clamping assembly is typically less than the preset clamping force. The execution body can detect the clamping force of the clamping assembly, and if the clamping force is detected to be generally smaller than the preset clamping force, the clamping assembly is determined to be invalid.

In practice, the diameter of the anti-falling pin is smaller than the diameter of the lifting hole. When the clamping component clamps the battery module, the anti-falling pin is embedded in the lifting hole, and the anti-falling pin is not stressed. If the clamping component fails, the clamping component cannot clamp the battery module in the process of executing the preset rotation operation, the battery module can slide in the clamping component, at this time, the anti-falling pin is in contact with the lifting hole, the battery module is supported by the anti-falling pin, and the battery module is prevented from falling off from the clamping component, and is stressed by the anti-falling pin. The execution body can determine whether the clamping assembly fails or not by detecting the stress of the anti-falling pin. If the stress of the anti-falling pin is detected to be larger than the preset stress threshold, determining that the clamping assembly fails.

Step 1002, generating failure prompt information of the clamping component, and outputting the failure prompt information.

Wherein, the failure prompt information is information for prompting the failure of the clamping component. In practice, implementations of the invalidation cues may include voice form, text form, video form, and so on.

In practice, when determining that the clamping component fails, the execution body may generate failure prompt information of the clamping component, and output the failure prompt information according to an implementation manner of the failure prompt information.

In this embodiment, when determining that the clamping component fails, failure prompt information of the clamping component is generated, and the failure prompt information is output, so that a worker can be prompted to repair and check the failed clamping component in time.

Referring to fig. 11, fig. 11 is a block diagram illustrating a control apparatus 1100 of a gripping assembly according to an embodiment of the present application, including:

the battery lifting unit 1101 is configured to control the clamping assembly to clamp the battery module and lift the battery module to a preset detection position when the battery module is detected to reach the preset clamping position;

the battery rotating unit 1102 is configured to control the clamping assembly to perform a preset rotation operation when receiving the first battery image acquired by the image acquisition assembly, where the preset rotation operation is used to rotate the battery module by a preset angle;

The battery replacing unit 1103 is configured to, when receiving the second battery image acquired by the image acquisition component, control the clamping component to replace the battery module to a preset clamping position, where the first battery image and the second battery image respectively describe surface defect conditions of different surfaces of the battery module, and the first battery image and the second battery image are used for performing surface defect detection on the battery module.

The confession number device that this embodiment provided, when detecting battery module, it presss from both sides the position clamp to get to predetermine the testing position to get the subassembly with battery module through pressing from both sides, adopt image acquisition assembly to gather battery module's first battery image, then, the control presss from both sides and gets the subassembly with battery module rotatory preset angle, adopt image acquisition assembly to gather battery module's second battery image, after gathering the second battery image, the control presss from both sides and gets the subassembly and put back the battery module and presets and press from both sides and get the position, need not the manual handling, can use manpower sparingly cost, help improving battery module's detection efficiency.

In some embodiments, the clamping assembly may include a side clamping mechanism, a top clamping mechanism, and a bottom support mechanism, the battery lifting unit 1101, specifically for: controlling the bottom surface supporting mechanism to move to the bottom surface of the battery module, controlling the side surface clamping mechanism to perform side surface clamping operation when the bottom surface supporting mechanism is contacted with the bottom surface of the battery module, and controlling the top surface clamping mechanism to perform top surface clamping operation;

In some embodiments, the battery module has a lifting hole on a target end face, the target end face includes a left end face and a right end face, the left end face and the right end face are two end faces of the battery module distributed in a transverse direction, and the bottom surface supporting mechanism has an anti-falling pin. When the bottom surface supporting mechanism in the battery lifting unit 1101 contacts the bottom surface of the battery module, controlling the side clamping mechanism to perform the side clamping operation may include: when the anti-falling pin is embedded into the lifting hole, the side clamping mechanism is controlled to execute side clamping operation.

In some embodiments, the side clamping mechanism in the battery lifting unit 1101 includes a first clamping structure acting on a first side of the battery module and a second clamping structure acting on a second side of the battery module, the second side being an opposite side of the first side, the clamping force of the first clamping structure being greater than the clamping force of the second clamping structure.

In some embodiments, the battery lifting unit 1101 may include a side clamping module, a first stopping module, and a second stopping module (not shown).

The side clamping module is used for sending side clamping instructions to the first clamping structure and the second clamping structure, wherein the side clamping instructions are used for controlling the first clamping structure and the second clamping structure to move to the side of the battery module;

the first stopping module is used for controlling the first clamping structure to stop moving when the first clamping structure reaches a preset reference position;

and the second stopping module is used for controlling the second clamping structure to stop moving when the actual clamping force of the first clamping structure and the actual clamping force of the second clamping structure reach the preset clamping force.

In some embodiments, the target clamping structure comprises a clamping plate and a drive for the clamping plate, a gap being present between the clamping plate and the drive for the clamping plate; the target clamping structure includes a first clamping structure and a second clamping structure.

In some embodiments, the battery module reaching the preset gripping position is detected by at least one of:

detecting that a tray for bearing the battery module reaches a preset baffle position;

detecting that a locating pin on a battery jacking assembly at the position of a preset baffle plate is embedded into a locating hole on the bottom surface of a tray;

and detecting that the battery jacking assembly reaches a preset clamping position.

In some embodiments, the side clamping mechanism includes a first side clamping mechanism and a second side clamping mechanism; the top surface clamping mechanism comprises a first top surface clamping mechanism and a second top surface clamping mechanism; the bottom surface supporting mechanism comprises a first bottom surface supporting mechanism and a second bottom surface supporting mechanism;

the first side clamping mechanism, the first top clamping mechanism and the first bottom supporting mechanism are used for clamping the left end of the battery module in a matched mode; the second side clamping mechanism, the second top surface clamping mechanism and the second bottom surface supporting mechanism are used for clamping the right end of the battery module in a matched mode, and the left end and the right end are two ends of the battery module which are distributed transversely.

In some embodiments, the apparatus may further include a failure detection unit and an information output unit (not shown in the drawings).

The failure detection unit is used for determining that the clamping assembly fails when the clamping assembly is detected to meet the preset failure condition;

the information output unit is used for generating failure prompt information of the clamping component and outputting the failure prompt information;

wherein the preset failure condition comprises at least one of the following: when the rotating operation is performed, the clamping force of the clamping component is smaller than the preset clamping force; the stress of the anti-falling pin in the clamping assembly is larger than a preset stress threshold.

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the clamping component control method in the present application, specific functions and technical effects thereof may be found in the embodiment part of the clamping component control method, and will not be described herein.

Referring to fig. 12, fig. 12 is a block diagram of a server 1200 according to an embodiment of the present application, where the server 1200 includes: at least one processor 1201 (only one processor is shown in fig. 12), a memory 1202, and a computer program 1203 stored in the memory 1202 and executable on the at least one processor 1201, such as a battery module clamping program. The processor 1201, when executing the computer program 1203, implements the steps in the embodiments of the respective gripping assembly control methods described above. The processor 1201 executes the functions of the modules/units in the above-described device embodiments, for example, the functions of the battery lifting unit 1101 to the battery replacing unit 1103 shown in fig. 11, when executing the computer program 1203.

By way of example, the computer program 1203 may be split into one or more units, one or more units being stored in the memory 1202 and executed by the processor 1201 to complete the present application. One or more elements may be a series of computer program instruction segments capable of performing a specified function, which instruction segments describe the execution of the computer program 1203 in the server 1200. For example, the computer program 1203 may be divided into a battery lifting unit, a battery rotating unit, and a battery replacing unit, and specific functions of each unit are described in the above embodiments, which are not described herein.

The server 1200 may be a computing device such as a server, desktop computer, tablet computer, cloud server, mobile terminal, and the like. The server 1200 may include, but is not limited to, a processor 1201, a memory 1202. It will be appreciated by those skilled in the art that fig. 12 is merely an example of a server 1200 and is not meant to be limiting of the server 1200, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., a server may also include input and output devices, network access devices, buses, etc.

The processor 1201 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital battery module grabbers (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Memory 1202 may be an internal storage unit of server 1200, such as a hard disk or memory of server 1200. The memory 1202 may also be an external storage device of the server 1200, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the server 1200. Memory 1202 may also optionally include both internal storage units and external storage devices of server 1200. Memory 1202 is used to store computer programs and other programs and data needed by server 1200. The memory 1202 may also be used for temporarily storing data that has been output or is to be output.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow in the method of the above embodiment, and a computer program that can be implemented by a computer program to instruct related hardware may be stored in a computer readable storage medium, where the computer program when executed by a processor may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.

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.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A method of controlling a gripping assembly, the method comprising:

when the battery module is detected to reach a preset clamping position, controlling the clamping assembly to clamp the battery module, and lifting the battery module to a preset detection position;

when a first battery image acquired by an image acquisition assembly is received, controlling the clamping assembly to execute a preset rotation operation, wherein the preset rotation operation is used for rotating the battery module by a preset angle;

When a second battery image acquired by the image acquisition assembly is received, the clamping assembly is controlled to put the battery module back to the preset clamping position, wherein the first battery image and the second battery image respectively describe surface defect conditions of different surfaces of the battery module, and the first battery image and the second battery image are used for detecting surface defects of the battery module.

2. The method of claim 1, wherein the clamping assembly includes a side clamping mechanism, a top clamping mechanism, and a bottom support mechanism, the controlling the clamping assembly to clamp the battery module, comprising:

controlling the bottom surface supporting mechanism to move to the bottom surface of the battery module, controlling the side clamping mechanism to perform side clamping operation when the bottom surface supporting mechanism is in contact with the bottom surface of the battery module, and controlling the top surface clamping mechanism to perform top surface clamping operation;

3. The method for controlling a clamping assembly according to claim 2, wherein a lifting hole is formed in a target end face of the battery module, the target end face comprises a left end face and a right end face, the left end face and the right end face are two end faces of the battery module distributed in the transverse direction, and an anti-falling pin is arranged on the bottom surface supporting mechanism;

And when the bottom surface supporting mechanism is in contact with the bottom surface of the battery module, controlling the side clamping mechanism to execute side clamping operation, wherein the side clamping operation comprises the following steps: and when the anti-falling pin is embedded into the lifting hole, controlling the side clamping mechanism to execute the side clamping operation.

4. The gripping assembly control method according to claim 2, wherein the side gripping mechanism includes a first gripping structure acting on a first side of the battery module and a second gripping structure acting on a second side of the battery module, the second side being an opposite side of the first side, the gripping force of the first gripping structure being greater than the gripping force of the second gripping structure.

5. The gripping assembly control method of claim 4, wherein the controlling the side clamping mechanism to perform a side clamping operation includes:

transmitting a side clamping instruction to the first clamping structure and the second clamping structure, wherein the side clamping instruction is used for controlling the first clamping structure and the second clamping structure to move to the side of the battery module;

when the first clamping structure reaches a preset reference position, controlling the first clamping structure to stop moving;

And controlling the second clamping structure to stop moving when the actual clamping force of the first clamping structure and the actual clamping force of the second clamping structure reach a preset clamping force.

6. The method of claim 5, wherein the target gripping structure comprises a gripping plate and a driving device for the gripping plate, a gap being present between the gripping plate and the driving device for the gripping plate;

the target clamping structure includes the first clamping structure and the second clamping structure.

7. The gripping assembly control method according to claim 1, wherein the arrival of the battery module at the preset gripping position is detected by at least one of:

detecting that a tray for carrying the battery module reaches a preset baffle position;

detecting that a positioning pin on a battery jacking assembly at the position of the preset baffle plate is embedded into a positioning hole on the bottom surface of the tray;

and detecting that the battery jacking assembly reaches the preset clamping position.

8. The method of claim 2, wherein the side clamping mechanism comprises a first side clamping mechanism and a second side clamping mechanism; the top surface clamping mechanism comprises a first top surface clamping mechanism and a second top surface clamping mechanism; the bottom surface supporting mechanism comprises a first bottom surface supporting mechanism and a second bottom surface supporting mechanism;

The first side clamping mechanism, the first top surface clamping mechanism and the first bottom surface supporting mechanism are used for clamping the left end of the battery module in a matched mode; the second side clamping mechanism, the second top clamping mechanism and the second bottom supporting mechanism are used for clamping the right end of the battery module in a matched mode, and the left end and the right end are two ends distributed transversely of the battery module.

9. The gripping assembly control method according to any one of claims 1 to 8, characterized in that the method further comprises:

when the clamping component is detected to meet a preset failure condition, determining that the clamping component fails;

generating failure prompt information of the clamping component and outputting the failure prompt information;

wherein the preset failure condition includes at least one of: when the rotating operation is performed, the clamping force of the clamping component is smaller than a preset clamping force; the stress of the anti-falling pin in the clamping assembly is larger than a preset stress threshold.

10. A server comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the gripping assembly control method according to any one of claims 1-9 when executing the computer program.