CN116140883B - Welding assembly device and welding assembly method for aluminum alloy battery tray - Google Patents
Welding assembly device and welding assembly method for aluminum alloy battery tray Download PDFInfo
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- CN116140883B CN116140883B CN202310408907.0A CN202310408907A CN116140883B CN 116140883 B CN116140883 B CN 116140883B CN 202310408907 A CN202310408907 A CN 202310408907A CN 116140883 B CN116140883 B CN 116140883B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2103/00—Materials to be soldered, welded or cut
- B23K2103/08—Non-ferrous metals or alloys
- B23K2103/10—Aluminium or alloys thereof
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The invention provides a welding assembly device and a welding assembly method of an aluminum alloy battery tray, wherein the welding assembly device comprises: one end of the accommodating frame is provided with an opening; the combined platform is arranged in the first accommodating space of the accommodating frame through the opening; the pressing piece is used for pressing the bottom plate to the surrounding frame; the deviation sensing assembly is arranged around the second outer contour of the surrounding frame in a sliding manner and is used for detecting a second distance formed between the deviation sensing assembly and the second outer contour and detecting a first distance formed between the deviation sensing assembly and the first outer contour of the pressing piece; and the welding manipulator is used for executing welding action on the fit clearance formed by the fit of the bottom plate and the surrounding frame. The invention solves the technical problem that the quality of each aluminum alloy battery tray obtained after welding is difficult to ensure in a large number of welding processes because the pressing plate piece is manually conveyed to adjust the pressing part of the pressing plate piece relative to the bottom plate, so that whether the pressing part is accurately calibrated depends on manual experience to a great extent.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a welding assembly device and a welding assembly method for an aluminum alloy battery tray.
Background
In recent years, new energy electric vehicles gradually replace fuel automobiles, and become an increasingly growing automobile type. The power battery in an electric vehicle is a storage component of its electric energy, which is a core component in the whole vehicle. The power battery module is carried by a battery tray, and the battery tray is connected with a vehicle chassis to form a firm carrying vehicle body.
Most of the existing aluminum alloy battery trays are formed by combining and connecting aluminum alloy sections, and the hollow aluminum alloy sections have the advantages of small mass and strong bearing capacity. Utilize its changeable hollow structure, the head and the tail overlap joint each other or mortise and tenon joint are in order to constitute the frame that encloses of battery tray. When the battery tray is subjected to splice welding, the positions of the frame beams are firmly fixed by a fixture clamp, and then the joint is welded by a welding means. Wherein the aluminum alloy battery tray further includes a bottom plate welded to the enclosure frame to cover the port of the enclosure frame.
Specifically, since the bottom plate is a thin aluminum alloy sheet, the bottom plate is easily affected by high temperature generated by welding during the process of welding the bottom plate to the surrounding frame, and the deformation at the welding position is even extended to affect other parts, for example, bending deformation occurs on the surface of the bottom plate due to high temperature generated during the welding process, and the more serious the wrinkles or deformation degree is formed near the welding position.
Thus, to solve the above-mentioned problems, it is common to ensure that the pressed portion of the surface remains flat by pressing a moderately sized pressing plate member onto the base plate. However, there are at least one of the following technical problems in the related art: the pressing part of the pressing plate piece relative to the bottom plate is adjusted by manual carrying, so that whether the pressing part is accurately calibrated depends on manual experience to a great extent, and the quality of each aluminum alloy battery tray obtained after welding is difficult to ensure in a large number of welding processes.
Disclosure of Invention
The invention solves the technical problem that the quality of each aluminum alloy battery tray obtained after welding is difficult to ensure in a large number of welding processes because the pressing plate piece is manually conveyed to adjust the pressing part of the pressing plate piece relative to the bottom plate, so that whether the pressing part is accurately calibrated depends on manual experience to a great extent.
In order to solve the above problems, the present invention provides a welding assembly device of an aluminum alloy battery tray for mounting to a chassis of an electric automobile, the aluminum alloy battery tray including a surrounding frame and a bottom plate mounted to the surrounding frame; the welding assembly device includes: the accommodating frame is provided with an opening at one end; the combined platform is arranged in the first accommodating space of the accommodating frame through the opening and comprises a heating component for preheating the surrounding frame arranged on the combined platform; the pressing plate is used for pressing the bottom plate to the surrounding frame, the first outer contour dimension of the pressing plate and the second outer contour dimension of the surrounding frame meet a first ratio coefficient, and the first outer contour dimension is smaller than the second outer contour dimension; the deviation sensing assembly is arranged around the second outer contour of the surrounding frame in a sliding mode and is used for detecting a second distance formed between the deviation sensing assembly and the second outer contour and detecting a first distance formed between the deviation sensing assembly and the first outer contour of the pressing piece; the first adjusting component is arranged outside two sides of the accommodating frame, which are oppositely arranged, and is connected with the matching holes on the pressing plate to adjust the pressing plate to move on the surrounding frame; the first positioning assembly is used for positioning the pressing plate piece to the surrounding frame; the welding manipulator is used for executing welding action on a fit gap formed by the fit of the bottom plate and the surrounding frame; when the welding assembly device is matched with the surrounding frame and the bottom plate, if the first ratio coefficient is met between the first change value of the first distance and the second change value of the second distance acquired by the deviation sensing assembly in the moving process, the welding manipulator enters a welding state, and the welding manipulator performs welding action on a fit gap formed to a welding area between the surrounding frame and the pressing plate piece.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the coordination operation of the first adjusting component and the deviation sensing component can be used for adjusting the placement position of the pressing plate piece on the bottom plate relative to the surrounding frame so as to form the position in each welding process, and the aluminum alloy battery tray produced in practice can keep a consistent welding effect; furthermore, the positioning effect of the first positioning assembly on the pressing plate member is utilized, and the heating effect of the heating assembly is combined, so that the stable heating environment can be kept on the stable pressing area, and the risk of large deformation of the bottom plate caused by welding is reduced. In other words, the welding effect of the welded aluminum alloy battery trays is improved by the welding assembly device, and the consistency of the outgoing quality of each aluminum alloy battery tray is ensured.
In one example of the invention, the welding assembly device is electrically connected with the power supply system and is used for supplying power to the heating assembly, the heating assembly is provided with a plurality of electric heating strips, a circuit electrically connected between any one of the plurality of electric heating strips and the power supply system is a first circuit, a circuit electrically connected between the other one of the plurality of electric heating strips and the power supply system is a second circuit, and the first circuit and the second circuit are arranged in parallel; the combination platform comprises: the first placing platform is provided with a plurality of first mounting grooves which are arranged at equal intervals on one end of the first placing platform facing the opening, and the first mounting grooves are matched with the electric heating strips in a one-to-one correspondence manner; the second support platform is stacked to the first placing platform and covers the plurality of first mounting grooves; wherein, the electric heating strip is long strip structure or arc structure.
In one example of the present invention, the first outer contour dimension corresponds to at least one first outer straight line in the outer contour line of the pressing plate member; the second outline dimension corresponds to at least one second outer straight line in the outline line of the surrounding frame, and the first outer straight line and the second outer straight line are correspondingly arranged; the deviation sensing assembly includes: the mounting seat is mounted outside the accommodating frame, and a first interval is formed between the mounting seat and the accommodating frame; the swinging part is rotationally connected to the end part of the mounting seat and swings back and forth in the length direction of the first outer straight line and the second outer straight line; the first sensor is connected to the first height installation position of the swinging part, and a signal emission port of the first sensor is arranged towards the first outer edge in a straight line; the second sensor is connected to a second height installation position of the swinging part, and a signal emission port of the second sensor is arranged towards a second outer line; the first sensor and the second sensor swing in the same direction and synchronously through the swinging part.
In one example of the present invention, the mating holes include a first mating hole and a second mating hole, and a connection line between a center of the first mating hole and a center of the second mating hole and the first outer straight line or the second outer straight line form a first included angle; the first adjustment assembly includes: the first manipulator assembly is arranged at one end of the combined platform and is provided with a first matching rod piece connected with the first matching hole; the second manipulator assembly is arranged at the other end of the combined platform and is provided with a second matching rod piece connected with the second matching hole; when the pressing plate piece is arranged on the combined platform, the first manipulator assembly and the second manipulator assembly are respectively pulled by the first matching hole and the second matching hole so that the first outer straight line and the second outer straight line are parallel to each other.
In one example of the present invention, the first and second robot assemblies are identical in structure; the first manipulator assembly includes: the fixed seat is arranged between the fixed seat and the combined platform in a relatively fixed manner, and the top end of the fixed seat is provided with a matched sliding groove; the driving assembly is arranged in the installation space of the fixing seat, and a movable opening communicated with the installation space is arranged at the bottom of the matching chute; one end of the connecting rod is matched with the matching sliding groove, and the other end of the connecting rod is provided with a limiting groove which is spliced with the first matching rod piece; the rack is arranged on one side of the connecting rod, which is close to the movable opening, along the length direction of the connecting rod, and is meshed with the gear of the driving assembly through the movable opening; wherein, drive assembly passes through drive gear in order to make the connecting rod be close to or keep away from the direction of combination platform.
On the other hand, the invention also provides a welding assembly method of the aluminum alloy battery tray, the welding assembly method is applied to the welding assembly device in the example, and the welding assembly device also comprises a second adjusting component and a second positioning component; the welding assembly method comprises the following steps: placing the enclosure frame on a second support platform of the combined platform; judging whether the deviation value between the actual placement position of the surrounding frame and the preset position meets a preset first deviation value or not; if the deviation value does not meet the preset first deviation value, correcting the position of the surrounding frame on the second supporting platform through the second adjusting component; if the deviation value meets the preset first deviation value, positioning the enclosure frame to a second supporting platform through a second positioning assembly, and then placing the bottom plate in a containing groove of the enclosure frame; placing the pressing plate piece on the bottom plate, adjusting the first mechanical arm assembly to enable the first matching rod piece to be inserted into the first matching hole, and adjusting the second mechanical arm assembly to enable the second matching rod piece to be inserted into the second matching hole; controlling the deviation sensing assembly to rotate a first angle towards a first direction within a first preset time to obtain a first distance value between the deviation sensing assembly and a first outer straight line and a second distance value between the deviation sensing assembly and a second outer straight line; judging whether the first outer straight line is parallel to the second outer straight line or not according to the first distance value and the second distance value; if the first outer straight line and the second outer straight line are parallel, controlling the rotation angle of the deviation sensing assembly to obtain a second minimum distance between the second sensor and the second outer straight line and a first minimum distance between the first sensor and the first outer straight line, and obtaining an actual distance difference value between the first minimum distance and the second minimum distance according to the first minimum distance and the second minimum distance; judging whether the actual distance difference value falls into a preset welding distance interval or not; if the welding distance range is judged to fall into the preset welding distance range, the first positioning component is controlled to execute a first pressing action towards the direction of the pressing component; and controlling the heating assembly to start to operate, and when the surface temperature of the second supporting platform sensed by the heating assembly meets the preset temperature, controlling the welding manipulator to move to a position corresponding to the welding area, and executing the welding action on the fit clearance formed by the fit of the surrounding frame and the pressing plate piece to the welding area.
In one example of the present invention, determining whether the first outer line and the second outer line are parallel based on the first distance value and the second distance value includes: if the first outer straight line and the second outer straight line are obliquely arranged, the first manipulator assembly is controlled to pull the first matching rod piece, and/or the second manipulator assembly is controlled to pull the second matching rod piece so as to adjust the inclination angle of the first outer straight line relative to the second outer straight line; when the deviation sensing assembly judges that the first outer straight line and the second outer straight line are arranged in parallel, the first adjusting assembly is controlled to stop pulling.
In one example of the invention, the first positioning assembly includes a plurality of positioning robots; the welding area comprises a plurality of first areas and second areas which are adjacently arranged, the first areas are covered areas when the first pressing action is executed by the corresponding first positioning components, and the first areas are matched with the positioning manipulators one by one; the second area is an exposed area which is not shielded by the first positioning component; controlling the welding manipulator to move to a position corresponding to the welding area, and executing a welding action on a fit gap formed on the welding area by fitting the surrounding frame and the pressing plate piece, wherein the welding action comprises the following steps: when the welding manipulator moves to the position above any one of the first areas, the positioning manipulator converts a first pressing action executed by the first area into an opening action, and controls the welding manipulator to execute a welding action on a fit gap formed on the first area; when the welding manipulator moves to the next first area, the positioning manipulator correspondingly restores to the first pressing action from the opening action; wherein, when any one of the plurality of positioning manipulators keeps opening, the remaining plurality of positioning manipulators keep the first pressing action.
In one example of the invention, controlling a welding robot to perform a welding action on a mating gap formed onto the first region includes: shooting the fit clearance subjected to welding action treatment to obtain imaging information; judging whether the similarity between the imaging information and standard image information in the historical database meets the standard welding requirement or not; if the similarity meets the standard welding requirement, controlling the welding manipulator to move to the rest area of the welding area to execute the welding action; and if the similarity does not meet the standard welding requirement, controlling the welding manipulator to stop running.
In one example of the present invention, determining whether the first outer line and the second outer line are parallel based on the first distance value and the second distance value includes:
acquiring a first distance d2 between the ith moment and the first outer straight line and a second distance d1 between the ith moment and the second outer straight line through the deviation sensing assembly, and acquiring a third distance d3 between the ith moment and the first outer straight line and a fourth distance d4 between the ith moment and the first outer straight line and the fourth distance d4 between the ith moment and the second outer straight line; the angle of the deviation sensing assembly from the ith moment to the (i+1) th moment is a; if d1, d2, d3, d4 and a satisfy the following formula 1, determining that the first outer straight line is parallel to the second outer straight line;
Equation 1:；
for the movement distance of the second sensor from the i-th moment to the i + 1-th moment to the second outer straight line,
is the moving distance of the first sensor from the i-th moment to the i+1-th moment corresponding to the first outer straight line.
After the technical scheme of the invention is adopted, the following technical effects can be achieved:
(1) The coordination operation of the first adjusting component and the deviation sensing component can be used for adjusting the placement position of the pressing plate piece on the bottom plate relative to the surrounding frame so as to form the position in each welding process, and the aluminum alloy battery tray produced in practice can keep a consistent welding effect; furthermore, the positioning effect of the first positioning assembly on the pressing plate member is utilized, and the heating effect of the heating assembly is combined, so that the stable heating environment can be kept on the stable pressing area, and the risk of large deformation of the bottom plate caused by welding is reduced. In other words, the welding effect of the welded aluminum alloy battery trays is improved by the welding assembly device, and the consistency of the outgoing quality of each aluminum alloy battery tray is ensured.
Drawings
Fig. 1 is a schematic structural diagram of a welding assembly device for an aluminum alloy battery tray according to an embodiment of the present invention;
FIG. 2 is an enlarged view of FIG. 1 at A;
FIG. 3 is an enlarged view at B in FIG. 1;
FIG. 4 is a schematic diagram of the hidden deviation sensor assembly of FIG. 1;
FIG. 5 is a partial schematic view of FIG. 4;
FIG. 6 is a schematic diagram showing a distance change relationship between the deviation sensing assembly and a first outer straight line and a second outer straight line in the process of rotating an angle a from the ith moment to the (i+1) th moment;
fig. 7 is a flow chart of a welding assembly method of an aluminum alloy battery tray according to a second embodiment of the invention.
Reference numerals illustrate:
100-welding assembly device; 10-accommodating a frame; 20-a platen member; 21-a first outer straight line; 30-a deviation sensing assembly; 31-a mounting base; 32-a swinging part; 331-a first sensor; 332-a second sensor; 34-signal rays; 35-clockwise direction; 40-a first positioning component; 50-a first adjustment assembly; 51-fixing seats; 52-connecting rods; 53-first mating lever; 60-a second positioning assembly; 70-a combined platform;
201-a bottom plate; 202-enclosing a frame; 203-a second outer straight line; 204-a welding area; 205-first mating hole.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
Embodiment one:
referring to fig. 1, a schematic structural diagram of a welding assembly device 100 for an aluminum alloy battery tray according to an embodiment of the invention is shown, wherein the aluminum alloy battery tray is used for being mounted to a chassis of an electric automobile; and the aluminum alloy battery tray includes a surrounding frame 202 and a bottom plate 201 mounted to the surrounding frame 202. Referring to fig. 2-6, in particular, the welding assembly device 100 includes, for example, a receiving frame 10, a combining stage 70, a platen member 20, a deviation sensing assembly 30, a first adjustment assembly 50, a first positioning assembly 40, and a welding robot. One end of the accommodating frame 10 is provided with an opening; the combining platform 70 is disposed in the first receiving space of the receiving frame 10 through the opening, and the combining platform 70 includes a heating assembly for preheating the enclosure frame 202 disposed thereon; the pressing member 20 is used for pressing the bottom plate 201 onto the surrounding frame 202, and the first outer contour dimension of the pressing member 20 and the second outer contour dimension of the surrounding frame 202 satisfy a first ratio coefficient, and the first outer contour dimension is smaller than the second outer contour dimension.
Further, the deviation sensing assembly 30 is slidably disposed around the second outer contour of the surrounding frame 202, and the deviation sensing assembly 30 is used for detecting a second distance from the second outer contour and detecting a first distance from the first outer contour of the pressing plate member 20; the first adjusting assemblies 50 are arranged outside two opposite sides of the accommodating frame 10, and the first adjusting assemblies 50 are connected with the matching holes on the pressing plate pieces 20 to adjust the pressing plate pieces 20 to move on the surrounding frame 202; the first positioning assembly 40 is used for positioning the platen 20 to the enclosure frame 202; the welding manipulator is used for performing a welding action on a fit gap formed by the fit of the bottom plate 201 and the surrounding frame 202; when the welding assembly device 100 is assembled with the enclosure frame 202 and the bottom plate 201, if the deviation sensing assembly 30 satisfies the first ratio between the first variation value of the first distance and the second variation value of the second distance, the welding manipulator enters the welding state, and the welding manipulator performs the welding operation on the fit gap formed on the welding area 204 between the enclosure frame 202 and the pressing plate 20.
Specifically, enclose frame 202 and bottom plate 201 all are the aluminum alloy material, enclose frame 202 by many aluminum alloy boundary beams head and the tail welding shaping, form the frame construction that both ends set up for the opening from this, according to actual installation requirement, set up spacing heavy groove on enclosing the port that frame 202 is used for mounting bottom plate 201, then, bottom plate 201 is through installing to spacing heavy groove in for the corresponding surface parallel and level of frame 202 is enclosed to the surface of bottom plate 201, in addition, still through installing bottom plate 201 in the spacing heavy groove, in order to make the reduction welding degree of difficulty, avoid bottom plate 201 and enclose frame 202 separation.
In a specific example, the aluminum alloy material has good thermal conductivity, and combines the thinner characteristic of the bottom plate 201, so that the welding high temperature generated at the welding position in the welding process can be quickly transferred to other positions of the bottom plate 201, the surface area of the bottom plate 201 is larger, and further heat loss is aggravated, so that when heat is quickly lost in a short time, deformation and retraction of the bottom plate 201 are caused, that is, according to the physical characteristics of thermal expansion and cold contraction, the overall size of the bottom plate 201 is further reduced, especially the edge position welded with the surrounding frame 202 is even easy to cause that the welding is not stable, the edge position is retracted due to the overlarge heat loss in a short time, that is, the fit clearance between the edge position and the surrounding frame 202 is increased, so that the welding effect is reduced, and moreover, the surface of the bottom plate 201 is easy to be bent and deformed due to the characteristic of large welding deformation in the aluminum alloy welding process.
Then, in combination with the present disclosure, by sandwiching the bottom plate 201 between the pressing plate 20 and the surrounding frame 202, and combining the heating effect of the heating assembly, the temperature difference between the welding part and the pressing part pressed by the pressing plate 20 is reduced in the process of welding the bottom plate 201 by the welding manipulator, and the surface of the pressing part exposed to the air is reduced, so that the heat lost to the air is further reduced, and furthermore, the deformation degree of the bottom plate 201 is further reduced by pressing the bottom plate 201 by the pressing plate 20.
Further, to facilitate understanding, the area of the bottom plate 201 that participates in welding may be divided into a welding area 204 and a pressing area, the portion of the bottom plate 201 corresponding to the welding area 204 participates in welding with the surrounding frame 202, and the portion of the bottom plate 201 corresponding to the pressing area cooperates with the pressing plate member 20, on one hand, the bottom plate 201 cooperates with the heating component in the combination platform 70 to provide a stable heating environment for the bottom plate 201, so as to reduce the deformation degree of the portion on the pressing area caused by the heat dissipation transferred by welding on the welding area 204, on the other hand, by combining with the positioning action of the first positioning component 40 on the pressing plate member 20, the welding process of the welding manipulator on the matching gap can be further reduced, the bottom plate 201 deforms to drive the pressing plate member 20 to move, thereby affecting the size of the welding area 204, that is, the area size of the welding area 204 and the pressing area changes, so that the quality of the welded aluminum alloy battery tray is difficult to maintain uniformity.
In conjunction with fig. 3, further, in conjunction with the foregoing, various factors influencing the welding effect, such as the specific placement of the platen member 20 on the base plate 201, it will be appreciated that, for the platen member 20 to be disposed at the center of the base plate 201, that is, the welding region 204 surrounds the pressing region, in order to ensure that the welding robot performs a welding action on the plurality of fit gaps formed on the welding region 204 to ensure the welding effect, it is often necessary to ensure that the welding width formed by the welding region 204 is consistent, whereas in the related art, with respect to adjusting the position of the platen member 20 disposed on the base plate 201 relative to the base plate 201, usually by means of manual repeated adjustment, the overall welding efficiency is low, and the platen member 20 is disposed on the base plate 201 for multiple times, which increases friction between the platen member 20 and the base plate 201, and thus abrades the surface of the base plate 201. Wherein the welding width is defined as D.
Therefore, in this solution, before the welding operation is performed, the first adjusting component 50 is often used to replace the manual adjustment mode of the pressing plate 20, so as to improve the overall adjustment efficiency, and in combination with the cooperative operation of the deviation sensing component 30, it can be detected by the deviation sensing component 30 whether the position of the pressing plate 20 placed on the peripheral frame 202 meets the welding requirement, that is, whether the first outer contour and the second outer contour are equidistant corresponding to the annular welding area 204 formed in the top view, for example, when the first outer contour and the second outer contour respectively include the oppositely disposed straight outer edges, the two straight outer edges are disposed parallel to each other.
In summary, the coordination between the first adjusting component 50 and the deviation sensing component 30 can adjust the placement position of the pressing component 20 on the bottom plate 201 relative to the surrounding frame 202, so as to ensure that the actually produced aluminum alloy battery trays can maintain a consistent welding effect in each welding process; furthermore, by utilizing the positioning effect of the first positioning assembly 40 on the pressing plate member 20, in combination with the heating effect of the heating assembly, it is possible to ensure that a continuous and stable heating environment is maintained in the forming stable pressing area, and the risk of large deformation of the bottom plate 201 due to welding is reduced. In other words, the welding effect of the welding-shaped aluminum alloy battery trays is improved by the welding assembly device 100, and the consistency of the outgoing quality of each aluminum alloy battery tray is ensured.
Preferably, the welding assembly device 100 is electrically connected with the power supply system to supply power to the heating assembly, the heating assembly is provided with a plurality of electric heating strips, a circuit electrically connected between any one of the plurality of electric heating strips and the power supply system is a first circuit, a circuit electrically connected between the other one of the plurality of electric heating strips and the power supply system is a second circuit, and the first circuit and the second circuit are arranged in parallel; the combined platform 70 comprises, for example, a first placement platform and a second support platform. Specifically, one end of the first placing platform facing the opening is provided with a plurality of first mounting grooves which are arranged at equal intervals, and the first mounting grooves are matched with the electric heating strips in a one-to-one correspondence manner; the second support platform is stacked to the first placing platform to cover the plurality of first mounting grooves; wherein, the electric heating strip is long strip structure or arc structure.
In connection with fig. 6, it is preferred that at least one first outer straight line 21 is included in the outer contour line of the first outer contour dimension corresponding to the press plate member 20; the second outline dimension corresponds to at least one second outer straight line 203 in the outline line of the surrounding frame 202, and the first outer straight line 21 and the second outer straight line 203 are correspondingly arranged; the deviation sensing assembly 30 includes, for example, a mount 31, a swinging portion 32, a first sensor 331, and a second sensor 332. The mounting seat 31 is mounted to the outside of the accommodating frame 10, and a first space is formed between the mounting seat 31 and the accommodating frame 10; the swinging part 32 is rotatably connected to the end of the mounting seat 31, and the swinging part 32 swings reciprocally in the length direction corresponding to the first outer edge line 21 and the second outer edge line 203; the first sensor 331 is connected to the first height installation site of the swing portion 32, and the signal emitting port of the first sensor 331 is disposed toward the first outer straight line 21; the second sensor 332 is connected to the second height installation position of the swing portion 32, and the signal emission port of the second sensor 332 is disposed toward the second outer straight line 203; wherein the first sensor 331 and the second sensor 332 are swung in the same direction and in synchronization by the swinging portion 32.
Specifically, in order to accurately obtain the distance between the first sensor 331 and the first outer edge line 21 of the pressing plate member 20, the rotation direction of the first sensor 331 is defined herein to be kept on the same level, for example, the first sensor 331 is kept to rotate on the level of the first level, and the corresponding first outer edge line 21 is also a line on the level of the first level; in contrast, the distance between the second sensor 332 and the second outer line 203 of the surrounding frame 202 is defined herein to rotate on a horizontal plane with a second height, which is not described herein.
Preferably, the matching holes comprise a first matching hole 205 and a second matching hole, and a connecting line between the circle center of the first matching hole 205 and the circle center of the second matching hole forms a first included angle with the first outer straight line 21 or the second outer straight line 203; the first adjustment assembly 50 includes, for example, a first manipulator assembly and a second manipulator assembly. The first manipulator assembly is arranged at one end of the combined platform 70, and is provided with a first matching rod piece 53 connected with the first matching hole 205; the second manipulator assembly is arranged at the other end of the combined platform 70, and is provided with a second matching rod piece connected with the second matching hole; when the platen member 20 is disposed on the enclosure frame 202, the first manipulator assembly and the second manipulator assembly are pulled by the first fitting hole 205 and the second fitting hole, respectively, so that the first outer straight line 21 and the second outer straight line 203 are parallel to each other.
With reference to fig. 5, further, the first manipulator assembly and the second manipulator assembly have the same structure; the first manipulator assembly comprises, for example, a fixed seat 51, a drive assembly and a connecting rod 52. The fixed seat 51 and the combined platform 70 are relatively fixed, and the top end of the fixed seat 51 is provided with a matched sliding groove; the driving component is arranged in the installation space of the fixed seat 51, and a movable opening communicated with the installation space is arranged at the bottom of the matched sliding groove; one end of the connecting rod 52 is matched with the matching sliding groove, and the other end of the connecting rod is provided with a limiting groove which is spliced with the first matching rod piece 53; wherein, one side of the connecting rod 52 near the movable opening is provided with a rack arranged along the length direction of the connecting rod, and the rack is meshed with a gear of the driving assembly through the movable opening; wherein the drive assembly moves the connecting rod 52 through the drive gear toward or away from the combining stage 70.
Embodiment two:
referring to fig. 7, a flow chart of a welding assembly method of an aluminum alloy battery tray according to a second embodiment of the invention is shown. Referring to fig. 1 to 6, specifically, the welding assembly method is applied to, for example, the welding assembly apparatus 100 of the first embodiment described above, and the welding assembly apparatus 100 further includes the second adjusting assembly and the second positioning assembly 60; the welding assembly method includes, for example:
in step S1, the enclosure frame 202 is placed on the second support platform of the combination platform 70.
In step S2, it is determined whether the deviation value between the actual placement position of the surrounding frame 202 and the preset position meets the preset first deviation value.
In step S21, if the deviation value does not satisfy the preset first deviation value, the position of the enclosure frame 202 on the second support platform is corrected by the second adjusting component.
In step S22, if the deviation value meets the preset first deviation value, the enclosure frame 202 is positioned to the second supporting platform by the second positioning assembly 60, and then the bottom plate 201 is placed in the accommodating groove of the enclosure frame 202.
In step S221, when the deviation value meets the preset first deviation value, the pressing plate 20 is placed on the bottom plate 201, and the first manipulator assembly is adjusted to insert the first mating rod 53 into the first mating hole 205 and the second manipulator assembly is adjusted to insert the second mating rod into the second mating hole.
In step S222, the deviation sensing component 30 is controlled to rotate a first angle towards a first direction within a first preset time to obtain a first distance value from the first outer line 21 and a second distance value from the second outer line 203. Wherein the first direction is, for example, clockwise 35.
In step S223, it is determined whether the first outer straight line 21 and the second outer straight line 203 are parallel or not according to the first distance value and the second distance value.
In step S2231, if it is determined that the first outer line 21 is parallel to the second outer line 203, the rotation angle of the deviation sensing assembly 30 is controlled to obtain the second minimum distance between the second sensor 332 and the second outer line 203 and the first minimum distance between the first sensor 331 and the first outer line 21, and the actual distance difference between the first minimum distance and the second minimum distance is obtained according to the first minimum distance and the second minimum distance. The second minimum distance may be understood as a perpendicular distance between the second sensor 332 and the second outer line 203, that is, a perpendicular distance between the second sensor 332 and the second outer line 203, and the first minimum distance may be understood as a perpendicular distance between the first sensor 331 and the first outer line 21, that is, a perpendicular distance between the first sensor 331 and the first outer line 21.
And S3, judging whether the actual distance difference value falls into a preset welding distance interval.
Specifically, based on the above, the actual distance difference may be used to represent the weld width of the corresponding weld zone 204. The weld width is defined as D.
Step S4, if it is determined that the welding distance range falls within the preset welding distance range, the first positioning component 40 is controlled to execute the first pressing operation in the direction of the pressing component 20. Otherwise, if the actual distance difference does not fall within the preset welding distance range, the first manipulator assembly is controlled to pull the first matching rod 53, and/or the second manipulator assembly is controlled to pull the second matching rod to adjust the actual distance difference.
Specifically, by adjusting the pulling rate and the pulling stroke of the first mechanical arm assembly and the second mechanical arm assembly, which respectively pull the first mating hole 205 and the second mating hole, the driving press plate 20 is moved in position or rotated in position on the base plate 201, so that the actual distance difference is changed during the movement in position, and the inclined included angle between the first outer straight line 21 and the second outer straight line 203 is adjusted to be parallel to each other during the rotation in position.
Step S5, controlling the heating assembly to start to operate, and when the surface temperature of the second supporting platform sensed by the heating assembly meets the preset temperature, controlling the welding manipulator to move to the position corresponding to the welding area 204, and executing the welding action on the fit clearance formed on the welding area 204 by the fit of the surrounding frame 202 and the pressing plate piece 20.
Preferably, step S223 specifically includes:
if it is determined that the first outer straight line 21 and the second outer straight line 203 are obliquely arranged, the first manipulator assembly is controlled to pull the first matching rod 53, and/or the second manipulator assembly is controlled to pull the second matching rod to adjust the inclination angle of the first outer straight line 21 relative to the second outer straight line 203; when the first outer straight line 21 and the second outer straight line 203 are disposed obliquely, it means that the pressing of the pressing plate 20 against the bottom plate 201 does not meet the welding requirement, and at this time, the welding area 204 formed between the first outer straight line 21 and the second outer straight line 203 cannot ensure that the welding width at each portion is consistent.
When it is judged by the deviation sensing means 30 that the first outer straight line 21 and the second outer straight line 203 are disposed parallel to each other, the first regulating means 50 is controlled to stop pulling.
Preferably, the first positioning assembly 40 includes a plurality of positioning robots; the welding area 204 includes a plurality of first areas and second areas adjacent to the first areas, wherein the first areas are covered areas corresponding to the first positioning assembly 40 when performing the first pressing action, and the plurality of first areas are matched with the plurality of positioning manipulators one by one; the second region is an uncovered region not obscured by the first positioning assembly 40. The welding robot is controlled to move to a position corresponding to the welding area 204, and performs a welding action on the fit gap formed by the fit of the surrounding frame 202 and the pressing plate member 20 to the welding area 204, specifically including:
when the welding manipulator moves to the position above any one of the first areas, the positioning manipulator converts a first pressing action executed by the first area into an opening action, and controls the welding manipulator to execute a welding action on a fit gap formed on the first area;
when the welding manipulator moves to the next first area, the positioning manipulator correspondingly restores to the first pressing action from the opening action;
Wherein, when any one of the plurality of positioning manipulators keeps opening, the remaining plurality of positioning manipulators keep the first pressing action. It can be understood that after the welding manipulator finishes the welding treatment to the position, in order to avoid the situation that the cooling body type is seriously retracted after heat loss to influence the welding effect, when the welding manipulator moves to the next welding position, the positioning manipulator at the position is timely controlled to recover the first pressing action so as to position the welding position, reduce the deformation of the cooling retraction, and further ensure the welding effect.
Preferably, the controlling the welding manipulator performs a welding action on the fit gap formed on the first area, specifically includes:
shooting the fit clearance subjected to welding action treatment to obtain imaging information;
judging whether the similarity between the imaging information and standard image information in the historical database meets the standard welding requirement or not;
if the similarity meets the standard welding requirement, controlling the welding manipulator to move to the rest area of the welding area 204 to execute the welding action; and if the similarity does not meet the standard welding requirement, controlling the welding manipulator to stop running.
Preferably, determining whether the first outer straight line 21 and the second outer straight line 203 are parallel according to the first distance value and the second distance value specifically includes:
referring to fig. 6, a first distance d2 from the first outer straight line 21 and a second distance d1 from the second outer straight line 203 at the i-th time are acquired by the deviation sensing assembly 30, and a third distance d3 from the first outer straight line 21 and a fourth distance d4 from the second outer straight line 203 at the i+1-th time are acquired; wherein, the angle of the deviation sensing component 30 from the ith moment to the (i+1) th moment is a;
if d1, d2, d3, d4, and a satisfy the following formula 1, it is determined that the first outer straight line 21 is parallel to the second outer straight line 203;
equation 1:；
for the movement distance of the second sensor 332 corresponding to the second outside straight line 203 from the i-th time to the i + 1-th time,
is the moving distance of the first sensor 331 from the i-th time to the i+1-th time to the first outer straight line 21.
Referring to fig. 6, in one embodiment, the first sensor 331 forms a first triangle formed by d2, d3, and c1 in a process of rotating by an angle a corresponding to the first outer straight line 21 from the i-th time to the i+1-th time, and the second sensor 332 forms a second triangle formed by d1, d4, and c2 in a process of rotating by an angle a corresponding to the second outer straight line 203 from the i-th time to the i+1-th time. Specifically, since the first sensor 331 and the second sensor 332 rotate synchronously in the same direction, the rays emitted by the first sensor 331 and the second sensor 332 toward the first outer straight line 21 and the second outer straight line 203, respectively, are arranged in a collinear manner in a plan view, that is, the rays forming the distances d1 and d2 at the i-th time are arranged in a collinear manner, and similarly, the rays forming the distances d3 and d4 at the i+1-th time are also arranged in a collinear manner.
Thus, if the first outer straight line 21 and the second outer straight line 203 are disposed parallel to each other, the first triangle and the second triangle are similar triangles, that is, the ratio of d1 to d2, the ratio of d4 to d3, and the ratio of c2 to c1 are made the same.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Claims (10)
1. A welding assembly device of an aluminum alloy battery tray, the aluminum alloy battery tray is used for being mounted to a chassis of an electric automobile, and the aluminum alloy battery tray comprises a surrounding frame and a bottom plate mounted to the surrounding frame; the welding assembly device is characterized by comprising:
the accommodating frame is provided with an opening at one end;
the combined platform is arranged in the first accommodating space of the accommodating frame through the opening and comprises a heating component for preheating the surrounding frame arranged on the combined platform;
the pressing plate is used for pressing the bottom plate to the surrounding frame, a first outer contour size of the pressing plate and a second outer contour size of the surrounding frame meet a first ratio coefficient, and the first outer contour size is smaller than the second outer contour size;
A deviation sensing assembly slidably disposed about a second outer contour of the peripheral frame, the deviation sensing assembly for detecting a second distance from the second outer contour and detecting a first distance from a first outer contour of the platen;
the first adjusting component is arranged outside two sides of the accommodating frame, which are opposite to each other, and is connected with the matching holes on the pressing plate piece to adjust the pressing plate piece to move on the bottom plate;
a first positioning assembly for positioning the platen assembly to the base plate;
the welding manipulator is used for executing welding action on a fit gap formed by the fit of the bottom plate and the surrounding frame;
when the welding assembly device is matched with the surrounding frame and the bottom plate, if the first ratio coefficient is met between the first change value of the first distance and the second change value of the second distance acquired by the deviation sensing assembly in the moving process, the welding manipulator enters a welding state, and the welding manipulator executes the welding action on the fit gap formed to the welding area between the surrounding frame and the pressing plate piece.
2. The welding assembly as defined in claim 1, wherein the welding assembly is configured to power the heating assembly by being electrically connected to a power system,
the heating assembly is provided with a plurality of electric heating strips, a circuit electrically connected between any one of the plurality of electric heating strips and the power supply system is a first circuit, a circuit electrically connected between the other one of the plurality of electric heating strips and the power supply system is a second circuit, and the first circuit and the second circuit are arranged in parallel; the combination platform comprises:
the first placing platform is provided with a plurality of first mounting grooves which are arranged at equal intervals on one end facing the opening, and the first mounting grooves are matched with the electric heating strips in a one-to-one correspondence manner;
the second support platform is stacked to the first placing platform and covers the plurality of first mounting grooves;
wherein, the electric heating strip is rectangular form structure or arc structure.
3. The welding assembly device of claim 1 wherein the first outer contour dimension corresponds to at least one first outer straight line in the outer contour line of the platen member; the second outline dimension corresponds to at least one second outer straight line in the outline line of the surrounding frame, and the first outer straight line and the second outer straight line are correspondingly arranged; the deviation sensing assembly includes:
The mounting seat is mounted outside the accommodating frame, and a first interval is formed between the mounting seat and the accommodating frame;
a swinging part rotatably connected to an end of the mounting base, and the swinging part swings reciprocally in a length direction corresponding to the first outer straight line and the second outer straight line;
a first sensor connected to a first height installation position of the swing part, and a signal emitting port of the first sensor is arranged linearly toward the first outer edge;
a second sensor connected to a second height installation position of the swing part, and a signal emitting port of the second sensor is arranged toward the second outer line;
the first sensor and the second sensor swing in the same direction and synchronously through the swinging part.
4. The welding assembly device according to claim 3, wherein the mating holes comprise a first mating hole and a second mating hole, and a connecting line between a center of the first mating hole and a center of the second mating hole forms a first included angle with the first outer straight line or the second outer straight line; the first adjustment assembly includes:
The first manipulator assembly is arranged at one end of the combined platform and is provided with a first matching rod piece connected with the first matching hole;
the second manipulator assembly is arranged at the other end of the combined platform and is provided with a second matching rod piece connected with the second matching hole;
when the pressing plate piece is arranged on the surrounding frame, the first manipulator assembly and the second manipulator assembly are respectively pulled by the first matching hole and the second matching hole so that the first outer straight line and the second outer straight line are parallel to each other.
5. The welding assembly device of claim 4 wherein the first and second manipulator assemblies are identical in construction; the first manipulator assembly includes:
the fixing seat is arranged between the fixing seat and the combined platform in a relatively fixed manner, and the top end of the fixing seat is provided with a matched sliding groove;
the driving assembly is arranged in the installation space of the fixed seat, and a movable opening communicated with the installation space is arranged at the bottom of the matching chute;
One end of the connecting rod is matched with the matching sliding groove, and the other end of the connecting rod is provided with a limiting groove which is spliced with the first matching rod piece; a rack arranged along the length direction of the connecting rod is arranged on one side of the connecting rod, which is close to the movable opening, and the rack is meshed with a gear of the driving assembly through the movable opening;
wherein, drive assembly is through driving the gear so that the connecting rod is towards being close to or keep away from the direction of combination platform.
6. A welding assembly method of an aluminum alloy battery tray, characterized in that the welding assembly method is applied to the welding assembly device of claim 5, the welding assembly device further comprising a second adjusting component and a second positioning component; the welding assembly device is electrically connected with a power supply system and used for supplying power to a heating assembly, the heating assembly is provided with a plurality of electric heating strips, a circuit electrically connected between any one of the plurality of electric heating strips and the power supply system is a first circuit, a circuit electrically connected between the other of the plurality of electric heating strips and the power supply system is a second circuit, and the first circuit and the second circuit are arranged in parallel; the combination platform comprises: the first placing platform is provided with a plurality of first mounting grooves which are arranged at equal intervals on one end facing the opening, and the first mounting grooves are matched with the electric heating strips in a one-to-one correspondence manner; the second support platform is stacked to the first placing platform and covers the plurality of first mounting grooves; wherein the electric heating strip is of a strip-shaped structure or an arc-shaped structure; the welding assembly method comprises the following steps:
Placing the enclosure frame on a second support platform of the combined platform;
judging whether the deviation value between the actual placement position of the surrounding frame and the preset position meets a preset first deviation value or not;
if the deviation value does not meet the preset first deviation value, correcting the position of the surrounding frame on the second supporting platform through the second adjusting component;
if the deviation value meets the preset first deviation value, positioning the surrounding frame to the second supporting platform through the second positioning assembly, and then placing the bottom plate in a containing groove of the surrounding frame;
when the deviation value meets the preset first deviation value, placing the pressing plate piece on the bottom plate, adjusting the first manipulator assembly to enable the first matching rod piece to be inserted into the first matching hole, and adjusting the second manipulator assembly to enable the second matching rod piece to be inserted into the second matching hole;
controlling the deviation sensing assembly to rotate a first angle towards a first direction within a first preset time to obtain a first distance value between the deviation sensing assembly and the first outer straight line and a second distance value between the deviation sensing assembly and the second outer straight line;
Judging whether the first outer straight line is parallel to the second outer straight line or not according to the first distance value and the second distance value;
if the first outer straight line and the second outer straight line are parallel, controlling the rotation angle of the deviation sensing assembly to obtain a second minimum distance between the second sensor and the second outer straight line and a first minimum distance between the first sensor and the first outer straight line, and obtaining an actual distance difference value between the first minimum distance and the second minimum distance according to the first minimum distance and the second minimum distance;
judging whether the actual distance difference value falls into a preset welding distance interval or not;
if the welding distance range falls into the preset welding distance range, controlling the first positioning component to execute a first pressing action towards the direction of the pressing component;
and controlling the heating assembly to start to operate, and controlling the welding manipulator to move to a position corresponding to the welding area when the surface temperature of the second supporting platform meets the preset temperature through the heating assembly, and executing welding action on the fit clearance formed by the fit of the surrounding frame and the pressing plate piece to the welding area.
7. The welding assembly method of claim 6, wherein the determining whether the first outer straight line and the second outer straight line are parallel based on the first distance value and the second distance value comprises:
if the first outer straight line and the second outer straight line are obliquely arranged, the first matching rod piece is pulled by controlling a first manipulator assembly, and/or the second matching rod piece is pulled by controlling a second manipulator assembly to adjust the inclination angle of the first outer straight line relative to the second outer straight line;
when the deviation sensing assembly judges that the first outer straight line and the second outer straight line are arranged in parallel, the first adjusting assembly is controlled to stop pulling.
8. The welding assembly of claim 7, wherein the first positioning assembly comprises a plurality of positioning manipulators; the welding area comprises a plurality of first areas and second areas which are adjacently arranged, the first areas are covered areas when the first pressing action is executed corresponding to the first positioning assembly, and the plurality of first areas are matched with the plurality of positioning manipulators one by one; the second area is an exposed area which is not shielded by the first positioning component;
The control the welding manipulator to move to the position corresponding to the welding area, executing welding action on the fit clearance formed by the fit of the surrounding frame and the pressing plate piece to the welding area, comprising:
when the welding manipulator moves to the position above any one of the first areas, the positioning manipulator is converted into an opening motion corresponding to the first pressing motion executed by the first area, and the welding manipulator is controlled to execute the welding motion on the fit gap formed on the first area;
when the welding manipulator moves to the next first area, the positioning manipulator correspondingly returns to the first pressing action from the opening action;
wherein, when any one of the plurality of positioning manipulators holds the opening motion, the remaining plurality of positioning manipulators hold the first pressing motion.
9. The welding assembly method of claim 8, wherein the controlling the welding robot to perform the welding action on the fit-gap formed onto the first region comprises:
shooting the fit clearance subjected to the welding action treatment to obtain imaging information;
Judging whether the similarity between the imaging information and standard image information in a historical database meets the standard welding requirement or not;
if the similarity meets the standard welding requirement, controlling the welding manipulator to move to the rest area of the welding area to execute the welding action; and if the similarity does not meet the standard welding requirement, controlling the welding manipulator to stop running.
10. The welding assembly method of claim 6, wherein the determining whether the first outer straight line and the second outer straight line are parallel based on the first distance value and the second distance value comprises:
acquiring a first distance d2 between the ith moment and the first outer straight line and a second distance d1 between the ith moment and the second outer straight line by the deviation sensing assembly, and acquiring a third distance d3 between the ith moment and the first outer straight line and a fourth distance d4 between the ith moment and the first outer straight line and the fourth distance d4 between the ith moment and the fourth outer straight line; the angle of the deviation sensing assembly from the ith moment to the (i+1) th moment is a;
if d1, d2, d3, d4 and a satisfy the following formula 1, judging that the first outer straight line is parallel to the second outer straight line;
Equation 1:；
for a moving distance of the second sensor from the i-th time to the i+1-th time to the second outside straight line,
a movement distance of the first sensor from the i-th time to the i+1-th time to the first outer straight line is set.
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| CN116441597B (en) * | 2023-06-20 | 2023-10-10 | 浙江祥晋汽车零部件股份有限公司 | Processing system and processing method of aluminum alloy battery shell and battery shell |
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