Material taking and deviation rectifying device, laser welding equipment and laser welding deviation rectifying method

Abstract

The present application relates to a material taking and deviation rectifying device, a laser welding device and a laser welding deviation rectifying method, belonging to the technical field of batteries. The material taking and deviation rectifying device includes a first manipulator and a material taking and deviation rectifying mechanism. The material taking and deviation rectifying mechanism is installed at the execution end of the first manipulator. The material taking and deviation rectifying mechanism includes a first material taking mechanism, a first adjustment driving mechanism, a second material taking mechanism and a second adjustment driving mechanism. The first material taking mechanism is used for taking the first workpiece, the second material taking mechanism is used for taking the second workpiece, the first adjustment driving mechanism is used for driving the first material taking mechanism to move along the X direction, and the second adjustment driving mechanism is used for driving the second material taking mechanism to move along the Y direction. The material taking and deviation rectifying device can realize the material taking of two workpieces and the adjustment of the relative positions, improving the material taking efficiency and ensuring the material taking accuracy at the same time.

Description

Technical Field

[0001] The present application relates to the technical field of batteries, and more specifically, to a material taking and deviation rectifying device, a laser welding device, and a laser welding deviation rectifying method. Background Art

[0002] Existing battery welding devices and welding processes are mainly applicable to the assembly of batteries with regular shapes. First, the positive and negative electrode tabs are welded to the cap, and then the cap is welded to the housing. The existing welding devices have poor welding and assembly effects for irregularly shaped batteries, and the assembly efficiency is low. Summary of the Invention

[0003] The purpose of the present application is to provide a material taking and deviation rectifying device, which can realize the material taking and relative position adjustment of two workpieces, is applicable to the material taking of workpieces with different shapes, and can improve the material taking efficiency while ensuring the material taking accuracy.

[0004] Another purpose of the present application is to provide a laser welding device for welding two first workpieces and two second workpieces, which improves the assembly efficiency.

[0005] Another purpose of the present application is to provide a laser welding deviation rectifying method, which can realize the welding deviation rectification of two first workpieces and two second workpieces, and ensure the welding accuracy of two first workpieces and two second workpieces.

[0006] The material taking and deviation rectifying device according to the first aspect embodiment of the present application includes a first manipulator and a material taking and deviation rectifying mechanism. The material taking and deviation rectifying mechanism is installed at the execution end of the first manipulator. The material taking and deviation rectifying mechanism includes a first material taking mechanism, a first adjustment driving mechanism, a second material taking mechanism, and a second adjustment driving mechanism. The first material taking mechanism is used to take the first workpiece, the second material taking mechanism is used to take the second workpiece, the first adjustment driving mechanism is used to drive the first material taking mechanism to move along the X direction, and the second adjustment driving mechanism is used to drive the second material taking mechanism to move along the Y direction.

[0007] The material taking and deviation rectifying device according to the embodiment of the present application can drive the first material taking mechanism to move along the X direction through the first adjustment driving mechanism and drive the second material taking mechanism to move along the Y direction through the second adjustment driving mechanism, so as to realize the adjustment of the relative position of the first workpiece and the second workpiece, thereby ensuring that the relative position of the first workpiece and the second workpiece matches the corresponding workpiece to be assembled. This material taking and deviation rectifying device can realize the material taking and position deviation rectification of two workpieces, is applicable to the material taking of workpieces with different shapes, and improves the assembly efficiency.

[0008] In addition, the material taking and deviation rectifying device according to the embodiment of the present application also has the following additional technical features:

[0009] According to some embodiments of the present application, the first manipulator can drive the material taking and deviation correcting mechanism to move in the X direction and the Z direction.

[0010] In the above embodiment, by driving the material taking and deviation correcting mechanism to move in the X direction and the Y direction with the first manipulator, the material taking of the first workpiece and the second workpiece is realized, and the material taking movement is flexible.

[0011] According to some embodiments of the present application, both the first material taking mechanism and the second material taking mechanism are negative pressure adsorption mechanisms.

[0012] In the above embodiment, the negative pressure adsorption mechanism is adopted to realize the material taking operation, which is flexible and reduces the damage to the workpiece.

[0013] According to some embodiments of the present application, the material taking and deviation correcting device further includes a first light passing member and a second light passing member. The first light passing member is installed on the first material taking mechanism, and the second light passing member is installed on the second material taking mechanism. A first light passing hole for the laser to pass through is provided on the first light passing member, and a second light passing hole for the laser to pass through is provided on the second light passing member.

[0014] In the above embodiment, by corresponding the first light passing member with the first material taking mechanism and the second light passing member with the second material taking mechanism, the laser welding of the first workpiece and the second workpiece can be realized, and spot welding (pre-positioning) is respectively performed on the first workpiece and the second workpiece to ensure the welding accuracy of the product.

[0015] The laser welding equipment according to the second aspect embodiment of the present application includes a first positioning fixture, a second positioning fixture, a first image acquisition device, a second image acquisition device, a laser welding device, a controller, and a material taking and deviation correcting device according to the first aspect embodiment of the present application;

[0016] The first positioning fixture is used for positioning two first workpieces;

[0017] The first image acquisition device is used for acquiring the images of the two first workpieces on the first positioning fixture and obtaining the position information of the two first workpieces;

[0018] The second positioning fixture is used for positioning two second workpieces;

[0019] The first material taking mechanism and the second material taking mechanism are respectively used for taking materials of the two second workpieces on the second positioning fixture;

[0020] The second image acquisition device is used for acquiring the images of the two second workpieces and obtaining the position information of the two second workpieces;

[0021] The controller is used to control the actions of the first adjustment driving mechanism and / or the second adjustment driving mechanism according to the position information obtained by the first image acquisition device and the second image acquisition device, so as to adjust the relative positions of the two second workpieces to match the relative positions of the two first workpieces;

[0022] The laser welding device is used to weld the first workpiece and the second workpiece.

[0023] According to the laser welding equipment of the embodiment of the present application, the relative positions of the two second workpieces are adjusted through the material taking and deviation rectifying device to match the relative positions of the two first workpieces, so that the welding of the two first workpieces and the two second workpieces can be realized, the welding precision between the first workpiece and the second workpiece is ensured, and the welding assembly efficiency is improved.

[0024] In addition, the laser welding equipment according to the embodiment of the present application also has the following additional technical features:

[0025] According to some embodiments of the present application, the first manipulator is used to move the material taking and deviation rectifying mechanism to the position corresponding to the second image acquisition device after the first material taking mechanism and the second material taking mechanism take the two second workpieces, so that the second image acquisition device can obtain the position information of the two second workpieces.

[0026] In the above embodiment, after the first material taking mechanism and the second material taking mechanism take the materials, the material taking and deviation rectifying mechanism is moved to the position corresponding to the second image acquisition device by the first manipulator, with flexible operation and convenient movement.

[0027] According to some embodiments of the present application, the laser welding equipment further includes a second manipulator, the first positioning fixture is installed at the execution end of the second manipulator, and the second manipulator is used to move the first positioning fixture from the first position to the second position along the Y direction;

[0028] At the first position, the first image acquisition device obtains the position information of the two first workpieces;

[0029] At the second position, the laser welding device welds the first workpiece and the second workpiece.

[0030] In the above embodiment, the movement of the first positioning fixture between the first position and the second position is realized by the second manipulator, so that the first positioning fixture moves flexibly and is suitable for different operations.

[0031] According to some embodiments of the present application, the laser welding device includes a laser welding head and a third manipulator, the laser welding head is installed at the execution end of the third manipulator, and the third manipulator is used to drive the laser welding head to move along the X direction and the Z direction.

[0032] In the above embodiment, the third robot is used to move the laser welding head in the X direction and the Z direction to be applicable to the welding of different workpieces and ensure welding flexibility.

[0033] A laser welding deviation correction method according to an embodiment of the third aspect of the present application is applied to a laser welding device. The laser welding device includes a first positioning jig, a laser welding device, and a material taking deviation correction device according to an embodiment of the first aspect of the present application. The first positioning jig is used to position two first workpieces, the material taking deviation correction device is used to take materials of two second workpieces, and the laser welding device is used to weld the first workpiece and the second workpiece. The method includes:

[0034] Obtain the position information of two first workpieces on the first positioning jig;

[0035] Obtain the position information of two second workpieces on the material taking deviation correction device;

[0036] According to the position information of the two first workpieces and the position information of the two second workpieces, control the first adjustment driving mechanism and / or the second adjustment driving mechanism to act to adjust the relative positions of the two second workpieces to match the relative positions of the two first workpieces.

[0037] According to the laser welding deviation correction method of the embodiment of the present application, the positions of the two second workpieces can be corrected to ensure that the relative positions of the two second workpieces match the relative positions of the two first workpieces, thereby ensuring the welding accuracy of the two second workpieces and the two first workpieces, and ensuring the welding accuracy while improving the assembly efficiency.

[0038] According to some embodiments of the present application, in the step of obtaining the position information of the two first workpieces, the coordinates of the two first workpieces obtained are A(X1, Y1) and B(X2, Y2) respectively;

[0039] In the step of obtaining the position information of the two second workpieces, the coordinates of the second workpiece on the first material taking mechanism obtained are a(X3, Y3), and the coordinates of the second workpiece on the second material taking mechanism obtained are b(X4, Y4);

[0040] In the step of adjusting the relative positions of the two second workpieces, adjust the position of the first material taking mechanism in the X direction so that the coordinates of the second workpiece on the first material taking mechanism are a'(X4 + △X, Y3), and adjust the position of the second material taking mechanism in the Y direction so that the coordinates of the second workpiece on the second material taking mechanism are b'(X4, Y3 - △Y), where △X = X1 - X2 and △Y = Y1 - Y2.

[0041] In the above - mentioned embodiment, by adjusting the positions of the first material - taking mechanism and the second material - taking mechanism, the positions of the second workpieces on the first material - taking mechanism and the second material - taking mechanism are adjusted, so that the relative positions of the two second workpieces match the relative positions of the two first workpieces, realizing the position deviation correction of the two second workpieces.

[0042] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Brief Description of the Drawings

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0044] Figure 1 Structural schematic diagram of the material - taking deviation - correction device provided by the first - aspect embodiment of the present application;

[0045] Figure 2 Top - view of the material - taking deviation - correction mechanism of the material - taking deviation - correction device provided by the first - aspect embodiment of the present application;

[0046] Figure 3 Bottom - view of the material - taking deviation - correction mechanism of the material - taking deviation - correction device provided by the first - aspect embodiment of the present application;

[0047] Figure 4 Cross - sectional view of the material - taking deviation - correction mechanism of the material - taking deviation - correction device provided by the first - aspect embodiment of the present application;

[0048] Figure 5 Structural schematic diagram of the laser - welding device provided by the second - aspect embodiment of the present application;

[0049] Figure 6 Structural schematic diagram of a perspective of the first positioning jig of the laser - welding device provided by the second - aspect embodiment of the present application;

[0050] Figure 7 Structural schematic diagram of another perspective of the first positioning jig of the laser - welding device provided by the second - aspect embodiment of the present application;

[0051] Figure 8 Structural schematic diagram of the laser - welding device of the laser - welding device provided by the second - aspect embodiment of the present application;

[0052] Figure 9Schematic structural diagram of the second positioning jig of the laser welding device provided in the second aspect of the present application;

[0053] Figure 10 Cross-sectional view of the second positioning jig of the laser welding device provided in the second aspect of the present application.

[0054] Icon: 100 - Pick-up deviation correction device; 10 - First manipulator; 11 - First linear motion module; 12 - Second linear motion module; 20 - Pick-up deviation correction mechanism; 21 - First pick-up mechanism; 211 - Suction action part; 212 - Suction pipeline; 213 - Connector; 22 - Second pick-up mechanism; 23 - First adjustment drive mechanism; 231 - First drive motor; 232 - First lead screw nut drive assembly; 24 - Second adjustment drive mechanism; 241 - Second drive motor; 242 - Second lead screw nut drive assembly; 25 - Machine base; 26 - First slider; 27 - Second slider; 31 - First light-passing part; 32 - Second light-passing part; 400 - Laser welding device; 401 - Workbench; 41 - First positioning jig; 410 - Battery cell; 411 - First frame; 412 - Fixed block; 4121 - Positioning part; 413 - First positioning component; 4131 - First positioning block; 4132 - Second positioning block; 4133 - Clamp opening part; 4134 - First limit block; 4135 - Second limit block; 4136 - Clamp opening drive part; 414 - Second positioning component; 42 - Second positioning jig; 420 - Top cover; 421 - Second frame; 422 - Top cover positioning and fixing block; 4221 - Top cover positioning part; 423 - Connecting block; 424 - Bracket; 425 - Top cover adjustment drive part; 51 - First image acquisition device; 52 - Second image acquisition device; 60 - Laser welding device; 61 - Laser welding head; 62 - Third manipulator; 621 - Fourth linear motion module; 622 - Fifth linear motion module; 63 - Dust removal mechanism; 64 - Fourth manipulator; 71 - Second manipulator. Detailed implementation manners

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0056] Accordingly, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0057] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0058] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is customarily placed. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application. In addition, terms such as "first", "second", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0059] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0060] In the present application, taking the welding of the top cover of the battery cell and the housing as an example, a material taking and deviation rectifying device, a laser welding device, and a laser welding deviation rectifying method are introduced. The material taking and deviation rectifying device is used for the material taking and deviation rectifying of two top covers; the laser welding device is used for the welding of two top covers and two housings; the laser welding deviation rectifying method is used for the relative position adjustment of two top covers to be applicable to the welding of two housings. Different from the welding process of existing regular batteries, in the present application, the battery cell is first welded to the housing as a whole, and then the battery cell welded with the housing is assembled with the top cover, and the top cover is welded to the housing to complete the assembly of the battery.

[0061] The material taking and deviation rectifying device 100 according to the first aspect embodiment of the present application will be described below with reference to the drawings.

[0062] As Figure 1 shown, the material taking and deviation rectifying device 100 according to the embodiment of the present application includes: a first manipulator 10, a material taking and deviation rectifying mechanism 20.

[0063] Specifically, the material taking and deviation rectifying mechanism 20 is installed at the execution end of the first manipulator 10. The material taking and deviation rectifying mechanism 20 can realize the material taking of workpieces under the drive of the first manipulator 10. The material taking and deviation rectifying mechanism 20 includes a first material taking mechanism 21, a first adjustment driving mechanism 23, a second material taking mechanism 22, and a second adjustment driving mechanism 24. The first material taking mechanism 21 can take the first workpiece (top cover), the second material taking mechanism 22 can take the second workpiece (top cover), the first adjustment driving mechanism 23 can drive the first material taking mechanism 21 to move along the X direction, and the second adjustment driving mechanism 24 can drive the second material taking mechanism 22 to move along the Y direction, so as to realize the adjustment of the relative positions of the first workpiece and the second workpiece.

[0064] It should be noted that the top cover here can be either the top cover of an irregularly shaped battery or the top cover of a cylindrical battery, with a wide range of applications; especially for the top cover of an irregularly shaped battery, it has a good effect on material taking and deviation rectification. In other embodiments of the present application, the moving directions of the first material taking mechanism 21 and the second material taking mechanism 22 can be interchanged, that is, the first adjustment driving mechanism 23 can drive the first material taking mechanism 21 to move along the Y direction, and the second adjustment driving mechanism 24 can drive the second material taking mechanism 22 to move along the X direction. The specific driving and moving directions are determined according to the installation position.

[0065] According to the material taking and deviation rectifying device 100 of the embodiment of the present application, after the first material taking mechanism 21 and the second material taking mechanism 22 complete the material taking, by driving the first material taking mechanism 21 to move along the X direction through the first adjustment driving mechanism 23 and driving the second material taking mechanism 22 to move along the Y direction through the second adjustment driving mechanism 24, the relative positions of the first workpiece and the second workpiece can be adjusted, so as to ensure that the relative positions of the first workpiece and the second workpiece match the corresponding workpieces to be assembled. The first manipulator 10 can move the adjusted first workpiece and second workpiece to the next station, realizing the material taking and position deviation rectification of the first workpiece and the second workpiece, thereby ensuring the assembly accuracy and improving the assembly efficiency.

[0066] Next, the structural features and connection modes of the components of the material taking and deviation rectifying device 100 according to the embodiment of the present application will be described with reference to the accompanying drawings.

[0067] As Figure 1As shown in the figure, the first manipulator 10 includes a first linear motion module 11 and a second linear motion module 12. The first linear motion module 11 is installed on a fixed base (which can be the workbench of the equipment cooperating with the material taking and deviation rectifying device 100), the second linear motion module 12 is installed at the execution end of the first linear motion module 11, and the material taking and deviation rectifying mechanism 20 is installed at the execution end of the second linear motion module 12. The first linear motion module 11 is arranged along the X direction, and the first linear motion module 11 can drive the second linear motion module 12 and the material taking and deviation rectifying mechanism 20 to move along the X direction. The second linear motion module 12 is arranged along the Z direction, and the second linear motion module 12 can drive the material taking and deviation rectifying mechanism 20 to move along the Z direction. Through the cooperation of the first linear motion module 11 and the second linear motion module 12, the material taking and deviation rectifying mechanism 20 can move along the X direction and the Y direction, realizing the flexible material taking of the material taking and deviation rectifying mechanism 20.

[0068] As Figure 2 shown, the material taking and deviation rectifying mechanism 20 includes a base 25, a first material taking mechanism 21, a first adjustment driving mechanism 23, a second material taking mechanism 22, and a second adjustment driving mechanism 24. The first material taking mechanism 21 is slidably matched with the base 25, the first adjustment driving mechanism 23 is connected to the first material taking mechanism 21, and the first adjustment driving mechanism 23 can drive the first material taking mechanism 21 to move along the X direction relative to the base 25; the second material taking mechanism 22 is slidably matched with the base 25, the second adjustment driving mechanism 24 is connected to the second material taking mechanism 22, and the second adjustment driving mechanism 24 can drive the second material taking mechanism 22 to move along the Y direction relative to the base 25.

[0069] Specifically, a first guide rail (not marked in the figure) and a second guide rail (not marked in the figure) are arranged on the base 25. The first guide rail is arranged along the X direction, and the second guide rail is arranged along the Y direction; as Figure 2 shown, the first adjustment driving mechanism 23 includes a first driving motor 231 and a first lead screw nut transmission component 232. The output end of the first driving motor 231 is connected to the lead screw of the first lead screw nut transmission component 232. The second adjustment driving mechanism 24 includes a second driving motor 241 and a second lead screw nut transmission component 242. The output end of the second driving motor 241 is connected to the lead screw of the second lead screw nut transmission component 242; as Figure 3 shown, the material taking and deviation rectifying mechanism 20 further includes a first slider 26 and a second slider 27. The first slider 26 is slidably matched with the first guide rail, the first slider 26 is connected to the nut of the first lead screw nut transmission component 232, the second slider 27 is slidably matched with the second guide rail, and the second slider 27 is connected to the nut of the second lead screw nut transmission component 242. Both the first material taking mechanism 21 and the second material taking mechanism 22 are negative pressure adsorption mechanisms. The first material taking mechanism 21 is installed on the first slider 26, and the second material taking mechanism 22 is installed on the second slider 27. As Figure 4As shown, each material taking mechanism includes a suction acting part 211 and a suction pipeline 212. The suction acting part 211 is located at the bottom of the machine base 25. One end of the suction pipeline 212 is connected to the suction acting part 211, and the other end is provided with a connector 213 for connecting to a gas source.

[0070] As Figure 3 and Figure 4 shown, the material taking and deviation rectifying device 100 further includes a first light passing member 31 and a second light passing member 32. The first light passing member 31 is installed on the first material taking mechanism 21 and corresponds to the suction acting part 211 of the first material taking mechanism 21. A first light passing hole (not marked in the figure) for the laser to pass through is provided on the first light passing member 31; the second light passing member 32 is installed on the second material taking mechanism 22 and corresponds to the suction acting part 211 of the second material taking mechanism 22. A second light passing hole (not marked in the figure) for the laser to pass through is provided on the second light passing member 32. The laser can act on the workpiece picked up by the first material taking mechanism 21 through the first light passing hole, perform spot welding on the workpiece picked up by the first material taking mechanism 21 to achieve pre-positioning; the laser can act on the workpiece picked up by the second material taking mechanism 22 through the second light passing hole, perform spot welding on the workpiece picked up by the second material taking mechanism 22 to achieve pre-positioning.

[0071] The working principle of the material taking and deviation rectifying device 100 according to the embodiment of the present application is as follows:

[0072] The first workpiece and the second workpiece are picked up through the first material taking mechanism 21 and the second material taking mechanism 22. By the operation of the first driving motor 231, the first workpiece is moved along the X direction. By the operation of the second driving motor 241, the second workpiece is moved along the Y direction, so as to adjust the relative positions of the first workpiece and the second workpiece. The material taking and deviation rectifying mechanism 20 is driven by the first manipulator 10 to move, so as to pick up the two workpieces and correct the positions, so as to ensure the assembly accuracy of the next working station.

[0073] Next, a laser welding device 400 according to the second aspect embodiment of the present application will be described with reference to the accompanying drawings.

[0074] As Figure 5 shown, the laser welding device 400 according to the embodiment of the present application includes: a first positioning fixture 41, a second positioning fixture 42, a first image acquisition device 51, a second image acquisition device 52, a laser welding device 60, a controller (not marked in the figure), and a material taking and deviation rectifying device 100 according to the first aspect embodiment of the present application.

[0075] Specifically, the first positioning jig 41 is used to position two battery cells 410 welded with the housing; the first image acquisition device 51 is used to acquire the housing images of the two battery cells 410 on the first positioning jig 41 and obtain the position information of the two housings; the second positioning jig 42 is used to position two top covers 420; the first material taking mechanism 21 and the second material taking mechanism 22 are respectively used to take the two top covers 420 on the second positioning jig 42; the second image acquisition device 52 is used to acquire the images of the two top covers 420 and obtain the position information of the two top covers 420; the controller is used to control the first adjustment driving mechanism 23 and / or the second adjustment driving mechanism 24 to act according to the position information obtained by the first image acquisition device 51 and the second image acquisition device 52, so as to adjust the relative positions of the two top covers 420 to match the relative positions of the two housings; the laser welding device 60 is used to weld the top cover 420 and the housing.

[0076] According to the laser welding equipment 400 of the embodiment of the present application, the material taking and deviation correction device 100 realizes the material taking of the two top covers 420 and the adjustment of their relative positions to match the relative positions of the two housings, can realize the welding of the two housings and the two top covers 420, ensures the welding precision of the housing and the top cover 420, and improves the welding and assembly efficiency.

[0077] As Figure 5 shown, the laser welding equipment 400 further includes a workbench 401, and the first positioning jig 41, the second positioning jig 42, the first image acquisition device 51, the second image acquisition device 52, the laser welding device 60, and the material taking and deviation correction device 100 are all arranged on the workbench 401. The first image acquisition device 51 is located at one end of the workbench 401, and the material taking and deviation correction device 100 and the second positioning jig 42 are located at the other end of the workbench 401.

[0078] The first positioning jig 41 is in sliding fit with the workbench 401. The laser welding equipment 400 further includes a second manipulator 71. The first positioning jig 41 is installed at the execution end of the second manipulator 71, and the second manipulator 71 can drive the first positioning jig 41 to move from the first position to the second position along the Y direction. At the first position, the first image acquisition device 51 can obtain the position information of the two housings; at the second position, the laser welding device 60 can weld the first workpiece and the second workpiece.

[0079] As an alternative implementation manner of the present application, the second manipulator 71 includes a third linear motion module, and the first positioning jig 41 is installed at the execution end of the third linear motion module. As Figure 5As shown in the figure, the first position is located at one end of the workbench 401 in the Y direction. The first image acquisition device 51 is located at the first position. When the second manipulator 71 drives the first positioning fixture 41 to move to the first position, the first positioning fixture 41 is located below the first image acquisition device 51. The first image acquisition device 51 can acquire images of the two shells on the first positioning fixture 41 to obtain the image information of the two shells. The second position is located at the other end of the workbench 401 in the Y direction. The laser welding device 60 is arranged at the second position.

[0080] As Figure 6 shown in the figure, the first positioning fixture 41 includes a first frame 411, a fixing block 412, a first positioning component 413, and a second positioning component 414. The fixing block 412 is installed on the first frame 411. Two positioning parts 4121 are arranged on the fixing block 412. The first positioning component 413 and the second positioning component 414 respectively correspond to the two positioning parts 4121 one by one. Each positioning component includes a first positioning block 4131, a second positioning block 4132, a clamping opening part 4133, a first limiting block 4134, a second limiting block 4135, a first return spring (not marked in the figure), a second return spring (not marked in the figure), and a clamping opening driving part 4136 (such as Figure 7As shown, the first positioning block 4131 and the second positioning block 4132 are located in the same horizontal plane. Both the first positioning block 4131 and the second positioning block 4132 are slidably engaged with the first rack 411. The first positioning block 4131 and the second positioning block 4132 are perpendicularly arranged. The positioning portions 4121 of the first positioning block 4131, the second positioning block 4132, and the fixed block 412 form a cell limiting space. The clip opening portion 4133 is vertically arranged and is slidably engaged with the first rack 411. The clip opening driving member 4136 is connected to the clip opening portion 4133 and is used to drive the clip opening portion 4133 to move vertically, so as to drive the first positioning block 4131 and the second positioning block 4132 away from the corresponding positioning portions 4121, facilitating the feeding of the cell 410. The first limiting block 4134 is correspondingly arranged with the first positioning block 4131, and the first positioning block 4131 is located between the first limiting block 4134 and the fixed block 412. The second limiting block 4135 is correspondingly arranged with the second positioning block 4132, and the second positioning block 4132 is located between the second limiting block 4135 and the fixed block 412. The two ends of the first return spring are respectively connected to the first limiting block 4134 and the first positioning block 4131, and the two ends of the second return spring are respectively connected to the second limiting block 4135 and the second positioning block 4132. Each positioning block (collectively referred to as the first positioning block 4131 and the second positioning block 4132) has an L-shaped structure. The first positioning block 4131 and the second positioning block 4132 enclose a rectangular area. The positioning portion 4121 and the clip opening portion 4133 are located at two opposite vertices of the rectangular area. One end of the positioning block is in sliding contact with the clip opening portion 4133 (a rolling bearing is sleeved on the end of the positioning block). The clip opening portion 4133 has a conical structure and extends upward from the bottom of the first rack 411. When the clip opening driving member 4136 drives the clip opening portion 4133 to move upward, the clip opening portion 4133 drives the first positioning block 4131 and the second positioning block 4132 away from the positioning portion 4121, thus realizing clip opening. At this time, the cell 410 can be placed on the positioning portion 4121 or taken away from the positioning portion 4121. When the clip opening driving member 4136 drives the clip opening portion 4133 to move downward, the first positioning block 4131 and the second positioning block 4132 respectively move toward the positioning portion 4121 under the action of the first return spring and the second return spring.

[0081] To facilitate the positioning of the cell 410, the positioning portion 4121 is a negative pressure adsorption structure.

[0082] As Figure 8As shown, the laser welding device 60 includes a laser welding head 61, a third robot 62, a dust removal mechanism 63, and a fourth robot 64. The laser welding head 61 is installed at the execution end of the third robot 62. The third robot 62 can drive the laser welding head 61 to move in the X direction and the Z direction, improving the welding efficiency. Without waiting for the incoming material, welding can continue, and the welding is flexible. The dust removal mechanism 63 is installed at the execution end of the fourth robot 64. The fourth robot 64 can drive the dust removal mechanism 63 to move in the X direction so that the dust removal mechanism 63 can remove dust from the welding operation of the laser welding head 61.

[0083] As an optional implementation manner of the present application, the third robot 62 includes a fourth linear motion module 621 and a fifth linear motion module 622. The fourth linear motion module 621 is mounted on the workbench 401 and is located above the second robot 71. The fourth linear motion module 621 is arranged in the X direction; the fifth linear motion module 622 is installed at the execution end of the fourth linear motion module 621. The fifth linear motion module 622 is arranged in the Z direction, and the laser welding head 61 is installed at the execution end of the fifth linear motion module 622. The fourth robot 64 includes a sixth linear motion module. The sixth linear motion module is mounted on the workbench 401. The sixth linear motion module is located above the second robot 71 and is arranged in parallel with the fourth linear motion module 621. The dust removal mechanism 63 is installed at the execution end of the sixth linear module.

[0084] As Figure 9 and Figure 10 shown, the second positioning fixture 42 includes a second frame 421, a top cover positioning and fixing block 422, two connecting blocks 423, a bracket 424, and a top cover adjustment driving member 425. Two adjustment guide rails (not marked in the figure) are provided on the second frame 421. The two connecting blocks 423 are respectively slidably arranged on the two adjustment guide rails; two top cover positioning portions 4221 are provided on the top cover positioning and fixing block 422. The two connecting blocks 423 correspond to the two top cover positioning portions 4221 one by one; one end of each connecting block 423 is connected to the bracket 424, and the other end is provided with a V-shaped groove (not marked in the figure) corresponding to the top cover positioning portion 4221; the top cover adjustment driving member 425 is connected to the bracket 424. The top cover adjustment driving member 425 is used to drive the bracket 424 to drive the two connecting blocks 423 to move along the adjustment guide rail to cooperate with the top cover positioning and fixing block 422 to realize the positioning of the two top covers 420.

[0085] As an optional implementation manner of the present application, the top cover positioning portion 4221 is a negative pressure adsorption structure. After being connected to the air source, it can realize the adsorption and positioning of the top cover 420; the top cover adjustment driving member 425 is a cylinder. The expansion and contraction of the cylinder drive the bracket 424 to approach or move away from the top cover positioning portion 4221 so that the connecting block 423 can cooperate with or separate from the top cover positioning portion 4221.

[0086] To save installation space and facilitate obtaining the position information of the two top covers 420, as Figure 5 Figure 9 shown, the second image acquisition device 52 is arranged adjacent to the second positioning jig 42. The second image acquisition device 52 is installed on the second rack 421 and is spaced from the top cover positioning and fixing block 422 in the X direction. When the first linear motion module 11 of the first manipulator 10 drives the material taking and deviation correcting mechanism 20 to move in the X direction, it can not only take the two top covers 420 on the top cover positioning and fixing block 422 of the second positioning jig 42, but also place the two sucked top covers 420 above the second image acquisition device 52 to obtain the position information of the two top covers 420 through the second image acquisition device 52, with flexible and convenient operation.

[0087] Optionally, both the first image acquisition device 51 and the second image acquisition device 52 are CCD (Charge Coupled Device) cameras, which have the advantages of high sensitivity, strong light resistance, small distortion, small volume, long service life, and vibration resistance.

[0088] According to some embodiments of the present application, the controller is arranged on the workbench 401. The controller is electrically connected to each electronic component of the laser welding device 400. After receiving the position information obtained by the first image acquisition device 51 and the second image acquisition device 52 (the position information of the two housings and the position information of the two top covers 420), the controller controls the first adjustment driving mechanism 23 and / or the second adjustment driving mechanism 24 to act, so as to change the relative position of the two top covers 420, so that the relative position of the two top covers 420 after the position change matches the relative position of the two housings.

[0089] The working principle of the laser welding device 400 according to the embodiments of the present application is introduced below:

[0090] Two battery cells 410 welded with a housing are placed on a first positioning fixture 41 for positioning by a robotic arm (not shown in the figure). After the two battery cells 410 are positioned, a second robotic arm 71 drives the first positioning fixture 41 to move along the Y direction to a first position. The two battery cells 410 are located below a first image acquisition device 51, and the first image acquisition device 51 acquires the position information of the two housings. Two top covers 420 are placed on a second positioning fixture 42 for positioning by a robotic arm (not shown in the figure). After the two top covers 420 are positioned, a first robotic arm 10 drives a material taking and deviation correcting mechanism 20 to move along the X direction to the second positioning fixture 42. A first material taking mechanism 21 and a second material taking mechanism 22 respectively take the two top covers 420. The first robotic arm 10 drives the material taking and deviation correcting mechanism 20 to move above a second image acquisition device 52 along the X direction, and the second image acquisition device 52 acquires the position information of the two top covers 420. A controller controls a first adjustment driving mechanism 23 and / or a second adjustment driving mechanism 24 to act according to the received position information of the two housings and the position information of the two top covers 420, so as to adjust the relative positions of the two top covers 420 to match the relative positions of the two housings. After the relative positions of the two top covers 420 are adjusted, the first robotic arm 10 drives the material taking and deviation correcting mechanism 20 to move to a welding position along the X direction, and the second robotic arm 71 drives the first positioning fixture 41 to move to a second position along the Y direction. At this time, the two top covers 420 correspond to the two housings, and the two top covers 420 are located above the two housings. The first robotic arm 10 drives the material taking and deviation correcting mechanism 20 to move downward along the Z direction until the two top covers 420 coincide with the two housings. Laser emitted by a laser welding head 61 respectively passes through a first light passing hole and a second light passing hole and acts on the two top covers 420 and the two housings, so as to spot-weld the two top covers 420 and the two housings, realizing the pre-positioning of the top covers 420 and the housings. Then, the first material taking mechanism 21 and the second material taking mechanism 22 respectively release the two top covers 420, and the material taking and deviation correcting device 100 moves away. The laser welding head 61 continues to weld the two top covers 420 and the two housings, completing the assembly of the battery.

[0091] According to the laser welding device 400 of an embodiment of the present application, the material taking and deviation correcting device 100 is adopted to realize the material taking of the two top covers 420 and the adjustment of the relative positions of the two top covers 420 to match the relative positions of the two housings, so that the welding of the two housings and the two top covers 420 can be realized. While ensuring the welding accuracy of the housing and the top cover 420, the welding assembly efficiency is improved.

[0092] According to a laser welding deviation correcting method of a third aspect embodiment of the present application, which is applied to the above-mentioned laser welding device 400, the method includes:

[0093] Acquire the position information of the two housings on the first positioning fixture 41. The coordinates of the two acquired housings are respectively A(X1, Y1) and B(X2, Y2), and the relative position of the two housings is;

[0094] Obtain the position information of the two top covers 420 on the material taking and deviation rectifying mechanism 20. The coordinates of the top cover 420 on the first material taking mechanism 21 obtained are a(X3, Y3), and the coordinates of the top cover 420 on the second material taking mechanism 22 obtained are b(X4, Y4).

[0095] According to the position information of the two shells and the position information of the two top covers 420, control the first adjustment driving mechanism 23 to adjust the position of the first material taking mechanism 21 in the X direction, so that the coordinates of the top cover 420 on the first material taking mechanism 21 are a'(X4 + △X, Y3), and control the second adjustment driving mechanism 24 to adjust the position of the second material taking mechanism 22 in the Y direction, so that the coordinates of the top cover 420 on the second material taking mechanism 22 are b'(X4, Y3 - △Y), where △X = X1 - X2 and △Y = Y1 - Y2.

[0096] It should be noted that in the step of adjusting the relative positions of the two top covers 420, the adjustment method can be various. Different adjustment methods are selected according to actual needs, as long as the relative positions of the two adjusted top covers 420 match the relative positions of the two shells.

[0097] Assume that the welding point is the origin, the welding area formed by the laser welding head 61 is a circle centered on the origin, the transfer shell is moved a distance of (A + B) / 2 to the origin, and the transfer top cover is moved a distance of (a' + b') / 2 to the origin.

[0098] According to the laser welding deviation rectifying method of the embodiment of the present application, the relative positions of the two top covers 420 can be corrected to ensure that the relative positions of the two top covers 420 match the relative positions of the two shells, thereby ensuring the welding accuracy of the two top covers 420 and the two shells, and ensuring the welding accuracy while improving the assembly efficiency.

[0099] It should be noted that, without conflict, the features in the embodiments of the present application can be combined with each other.

[0100] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A laser welding device, characterized in that, it includes a first positioning jig, a second positioning jig, a first image acquisition device, a second image acquisition device, a laser welding device, a controller, a material taking and deviation correction device, a workbench and a second manipulator; The material taking and deviation correction device includes a first manipulator and a material taking and deviation correction mechanism. The material taking and deviation correction mechanism is installed at the execution end of the first manipulator. The material taking and deviation correction mechanism includes a first material taking mechanism, a first adjustment driving mechanism, a second material taking mechanism, and a second adjustment driving mechanism. The first material taking mechanism is used for taking the first workpiece, the second material taking mechanism is used for taking the second workpiece, the first adjustment driving mechanism is used for driving the first material taking mechanism to move along the X direction, and the second adjustment driving mechanism is used for driving the second material taking mechanism to move along the Y direction; The first positioning jig, the second positioning jig, the first image acquisition device, the second image acquisition device, the laser welding device, and the material taking and deviation correction device are all arranged on the workbench. The first image acquisition device is located at one end of the workbench. The material taking and deviation correction device and the second positioning jig are located at the other end of the workbench. The first positioning jig is slidably matched with the workbench. The first positioning jig is installed at the execution end of the second manipulator. The second manipulator can drive the first positioning jig to move from the first position to the second position along the Y direction. At the first position, the first image acquisition device can obtain the position information of the two first workpieces. At the second position, the laser welding device can weld the first workpiece and the second workpiece; The first positioning jig is used for positioning the two first workpieces. The first positioning jig includes a first frame, a fixed block, a first positioning component, and a second positioning component. There are two positioning parts arranged on the fixed block. The first positioning component and the second positioning component respectively correspond to the two positioning parts one by one. Each positioning component includes a first positioning block, a second positioning block, a first limiting block, and a second limiting block. The first positioning block and the second positioning block are in the same horizontal plane. Both the first positioning block and the second positioning block are slidably matched with the first frame. The first positioning block and the second positioning block are perpendicularly arranged. The first positioning block, the second positioning block, and the positioning part of the fixed block form a battery cell limiting space. The first limiting block is arranged corresponding to the first positioning block. The first positioning block is located between the first limiting block and the fixed block. The second limiting block is arranged corresponding to the second positioning block. The second positioning block is located between the second limiting block and the fixed block; The first image acquisition device is used for collecting the images of the two first workpieces on the first positioning jig and obtaining the position information of the two first workpieces; The second positioning fixture is used to position two second workpieces. The second positioning fixture includes a second frame, a top cover positioning and fixing block, two connecting blocks, a bracket, and a top cover adjusting driving member. Two adjusting guide rails are provided on the second frame, and the two connecting blocks are respectively slidably arranged on the two adjusting guide rails. Two top cover positioning portions are provided on the top cover positioning and fixing block, and the two connecting blocks correspond to the two top cover positioning portions one by one. One end of each connecting block is connected to the bracket, and the other end is provided with a V-shaped groove corresponding to the top cover positioning portion. The top cover adjusting driving member is connected to the bracket, and the top cover adjusting driving member is used to drive the bracket to drive the two connecting blocks to move along the adjusting guide rails; The first material taking mechanism and the second material taking mechanism are respectively used to take materials of the two second workpieces on the second positioning fixture; The second image acquisition device is used to acquire images of the two second workpieces and obtain the position information of the two second workpieces; The controller is used to control the first adjustment driving mechanism and / or the second adjustment driving mechanism to act according to the position information obtained by the first image acquisition device and the second image acquisition device, so as to adjust the relative positions of the two second workpieces to match the relative positions of the two first workpieces; The laser welding device is used to weld the first workpiece and the second workpiece.

2. The laser welding equipment according to claim 1, characterized in that, The first manipulator can drive the material taking deviation correction mechanism to move in the X direction and the Z direction.

3. The laser welding equipment according to claim 1, characterized in that, Both the first material taking mechanism and the second material taking mechanism are negative pressure adsorption mechanisms.

4. The laser welding equipment according to claim 1, characterized in that, The material taking deviation correction device further includes a first light passing member and a second light passing member. The first light passing member is installed on the first material taking mechanism, and the second light passing member is installed on the second material taking mechanism. A first light passing hole for the laser to pass through is provided on the first light passing member, and a second light passing hole for the laser to pass through is provided on the second light passing member.

5. The laser welding equipment according to claim 1, characterized in that, The first manipulator is used to move the material taking deviation correction mechanism to a position corresponding to the second image acquisition device after the first material taking mechanism and the second material taking mechanism take the two second workpieces, so that the second image acquisition device can obtain the position information of the two second workpieces.

6. The laser welding equipment according to claim 1, characterized in that, The laser welding device includes a laser welding head and a third manipulator. The laser welding head is installed at the execution end of the third manipulator, and the third manipulator is used to drive the laser welding head to move in the X direction and the Z direction.

7. A laser welding deviation correction method, characterized in that, The method is applied to the laser welding equipment according to any one of claims 1-6.

8. The laser welding deviation correction method according to claim 7, characterized in that, In the position information acquisition step of the two first workpieces, the coordinates of the two first workpieces obtained are A(X1, Y1) and B(X2, Y2) respectively; In the position information acquisition step of the two second workpieces, the coordinate of the second workpiece on the first material taking mechanism obtained is a(X3, Y3), and the coordinate of the second workpiece on the second material taking mechanism obtained is b(X4, Y4); In the relative position adjustment step of the two second workpieces, adjust the position of the first material taking mechanism along the X direction so that the coordinate of the second workpiece on the first material taking mechanism is a'(X4 + △X, Y3), and adjust the position of the second material taking mechanism along the Y direction so that the coordinate of the second workpiece on the second material taking mechanism is b'(X4, Y3 - △Y), where △X = X1 - X2 and △Y = Y1 - Y2.

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