Weld seam excess height trimming method and trimming device

Abstract

The present application relates to the field of welding technology, and provides a weld excess height trimming method and a trimming device, wherein the weld excess height trimming method comprises: obtaining the plane coordinates and the first vertical coordinate of the weld surface on the weldment, wherein the first vertical coordinate is the vertical coordinate of the upper surface of the weldment; and controlling the welding head of the ultrasonic welding machine to grind the weld excess height according to the plane coordinates and the first vertical coordinate. Through the technical solution of the present application, the welding head of the ultrasonic welding machine is used to perform ultrasonic vibration to grind the weld excess height, which can effectively improve the grinding quality and grinding efficiency of the poor weld excess height.

Description

Technical Field

[0001] The present application relates to the field of welding technology, and in particular to a weld excess height trimming method and a trimming device. Background Art

[0002] At present, the surface defects of conventional fusion welding welds include cracks, undercuts, excessive surface height and other defects. In related technologies, manual grinding is usually used to deal with defects such as excessive surface height of welds. Not only is the quality of grinding unstable, but it is also time-consuming, labor-intensive and costly. Summary of the invention

[0003] In view of the above problems, the purpose of the embodiments of the present application is to provide a weld excess height trimming method and a trimming device, which can improve the grinding quality and grinding efficiency of weld excess height.

[0004] In a first aspect, an embodiment of the present application provides a method for trimming weld excess height, comprising: obtaining the plane coordinates and a first vertical coordinate of the weld surface on the weldment, wherein the first vertical coordinate is the vertical coordinate of the upper surface of the weldment; and controlling the welding head of an ultrasonic welding machine to grind the excess height of the weld according to the plane coordinates and the vertical coordinates.

[0005] In the technical solution of the embodiment of the present application, by obtaining the plane coordinates of the weld surface, the position of the plane where the weld surface is located can be obtained, and then the vertical coordinates of the upper surface of the weldment (i.e., the first vertical coordinate) can be obtained to determine the target height to be polished by the ultrasonic welder's welding head; by controlling the ultrasonic welder's welding head to contact the weld surface, and controlling the ultrasonic welder to perform ultrasonic vibration, the welding head will polish and trim the poor excess height of the weld during the vibration process due to contact with the weld surface, so as to eliminate the poor excess height of the weld. The entire polishing process not only saves time and effort, but also improves the efficiency of welding excess height polishing, and can avoid the occurrence of defects on the weld surface due to manual trimming of the weld excess height, thereby improving the quality of welding excess height polishing.

[0006] In some embodiments, the method of controlling the welding head of an ultrasonic welding machine to grind the excess height of the weld according to the plane coordinates and the vertical coordinates includes: controlling the welding head to move above the weld surface according to the plane coordinates; controlling the welding head to move downward, and continuously detecting whether the pressure feedback from the weld is obtained during the downward movement of the welding head, and controlling the welding head to perform ultrasonic vibration grinding after detecting the weld feedback pressure.

[0007] In the above technical scheme, the position of the plane where the weld is located can be determined according to the plane coordinates of the weld surface, so that the welding head can be controlled to move above the plane where the weld surface is located, and then the welding head can be controlled to move downward. During the downward movement of the welding head, the pressure sensor can continuously detect whether the weld has feedback of a pressure signal. When a pressure signal is detected, it indicates that the welding head is in contact with the surface of the weld. At this time, the welding head of the ultrasonic welding machine is controlled to perform ultrasonic vibration, so as to achieve grinding and trimming of the weld excess height to eliminate the undesirable weld excess height.

[0008] In some embodiments, the method also includes: obtaining a second vertical coordinate, which is the vertical coordinate of the weld surface; wherein, controlling the ultrasonic welding machine's welding head to grind the weld's excess height according to the plane coordinate and the first vertical coordinate includes: determining the target coordinate position of the welding head according to the plane coordinate and the second vertical coordinate; controlling the welding head to move to the target coordinate position so that the welding head contacts the surface of the weld; setting the height of the first vertical coordinate as the target height for pressing the welding head down; and controlling the welding head to perform ultrasonic vibration grinding according to the target height for pressing the welding head down.

[0009] In the above technical solution, after obtaining the plane coordinates of the weld surface, the vertical coordinates of the weld surface (i.e., the second vertical coordinates) are obtained. The specific coordinate position of the weld in the three-dimensional coordinate system can be determined based on the plane coordinates of the weld surface and the second vertical coordinates. At this time, the target coordinate position of the welding head can be determined, that is, the target coordinate position when the welding head contacts the weld surface. By setting the height of the vertical coordinate (i.e., the first vertical coordinate) of the upper surface of the weld as the target height of the welding head pressing down, it can be ensured that when the welding head of the ultrasonic welding machine performs ultrasonic vibration, the welding head is pressed down to the target height, that is, the residual height of the weld is ground to the height of the first vertical coordinate.

[0010] In some embodiments, after the welding head of the ultrasonic welding machine is controlled to move to contact the surface of the weld, it also includes: detecting whether the welding head is in contact with the surface of the weld; if the welding head is not in contact with the surface of the weld, adjusting the position of the welding head so that the welding head is in contact with the surface of the weld.

[0011] In the above technical scheme, since there may be errors in obtaining the three-dimensional coordinate position of the weld, and whether the welding head is in contact with the weld surface will directly affect the quality of the weld excess height grinding, it is necessary to detect whether the welding head is actually in contact with the weld surface. If the welding head is not in contact with the weld surface, it is necessary to adjust the position of the welding head for a second time to make the welding head contact with the weld surface, thereby ensuring the quality of the weld excess height grinding by the welding head.

[0012] In some embodiments, detecting whether the welding head is in contact with the surface of the weld includes: setting a pressure sensor on the welding head; and determining whether the welding head is in contact with the surface of the weld through a pressure signal fed back by the pressure sensor.

[0013] In the above technical solution, a pressure sensor can be set on the welding head, and the pressure signal fed back by the pressure sensor can be used to determine whether the welding head is in contact with the weld surface. Specifically, when the pressure signal fed back by the pressure sensor is greater than zero, it indicates that the welding head is in contact with the weld surface. At this time, the ultrasonic welder can be controlled to perform ultrasonic vibration to grind and trim the weld excess height through the welding head. When the pressure signal fed back by the pressure sensor is zero, it indicates that the welding head is not in contact with the weld surface. At this time, the position of the welding head needs to be readjusted, so that after the welding head is adjusted to contact with the weld surface, the ultrasonic welder can be controlled to perform ultrasonic vibration.

[0014] In some embodiments, while controlling the welding head to perform ultrasonic vibration, the method also includes: removing dust generated when the excess height of the weld is ground.

[0015] In the above technical scheme, since the welding head will generate metal powder and other dust during the process of grinding the weld excess height, the dust will affect the quality of the product after the weld is assembled. Therefore, it is necessary to remove the dust generated during the grinding process of the weld excess height to ensure the assembly quality of subsequent products.

[0016] In some embodiments, the method of removing dust generated when the excess height of the weld is ground includes: providing a dust removal hood on the outside of the weld and the ultrasonic welder; connecting the dust removal hood to a dust suction device through a dust suction pipe; and controlling the operation of the dust suction device.

[0017] In the above technical solution, the dust hood can isolate the ultrasonic welder and the weldment from the outside air, and the dust suction device is connected to the dust hood through the dust suction pipe, so that the dust in the dust hood can be sucked out when the dust suction device is running.

[0018] In some embodiments, before obtaining the coordinate position of the weld on the weldment, the method further includes: fixing the weldment with a fixture.

[0019] In the above technical solution, before grinding the weld excess height, the weldment can be fixed by a clamp to prevent the weldment from moving when grinding the weld excess height on the weldment, thereby helping to improve the quality of the weld excess height grinding.

[0020] In the second aspect, an embodiment of the present application provides a weld excess height trimming device, comprising: a clamp for fixing a weldment; a visual positioning system for obtaining the plane coordinates of the weld on the weldment; a distance measuring device for obtaining a first vertical coordinate and a second vertical coordinate, wherein the first vertical coordinate is the vertical coordinate of the upper surface of the weldment, and the second vertical coordinate is the vertical coordinate of the weld surface; an ultrasonic welder, comprising a welding head, wherein the welding head is used to grind the surface of the weld when the ultrasonic welder performs ultrasonic vibration; an industrial computer, electrically connected to the visual positioning system, the distance measuring device and the ultrasonic welder, the industrial computer being used to receive the plane coordinates, the first vertical coordinates and the second vertical coordinates, and controlling the welding head to move to contact the surface of the weld according to the plane coordinates and the second vertical coordinates, and controlling the target height of the welding head to be pressed down to be the same as the height of the first vertical coordinate.

[0021] In some embodiments, the weld excess height trimming device further includes: a dust removal device electrically connected to the industrial control machine, and used to remove dust generated when the weld excess height is ground.

[0022] In some embodiments, the dust removal device includes: a dust hood, which is arranged outside the ultrasonic welder and the weldment; a dust collector, which is connected to the dust hood through a dust suction pipe, and the dust collector is used to remove the dust from the dust hood.

[0023] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of the process of a weld excess height grinding method according to an embodiment of the present application;

[0026] Figure 2 A schematic diagram of a flow chart of a weld excess height grinding method according to another embodiment of the present application;

[0027] Figure 3 A schematic diagram of a flow chart of a weld excess height grinding method according to another embodiment of the present application;

[0028] Figure 4 It is a partial cross-sectional structural schematic diagram of a weld excess height grinding device according to an embodiment of the present application.

[0029] The reference numerals in the specific implementation manner are as follows:

[0030] Weld seam excess height grinding device 1;

[0031] Fixture 10 , ultrasonic welder 20 ; welding head 201 ; battery 30 ; welding seam 40 . DETAILED DESCRIPTION

[0032] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0034] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0035] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0037] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0038] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "plane", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0039] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like 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 a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0040] At present, when dealing with the poor weld excess height caused by fusion welding, the existing treatment method is to use manual trimming and grinding operations. The manual trimming and grinding method not only consumes a lot of time and labor costs, but also easily leads to inconsistent trimming and grinding quality, which can easily lead to the scrapping of the entire workpiece.

[0041] Based on the above considerations, in order to solve the problem that manual trimming and grinding of poor weld excess height can easily lead to uneven grinding quality and even cause the entire workpiece to be scrapped, the inventor has designed a weld excess height grinding method after in-depth research. The method involves bringing the welding head of an ultrasonic welding machine into contact with the weld surface and utilizing the heat and vibration force generated by the welding head during ultrasonic vibration to grind the poor weld excess height, thereby making the weld surface smooth, thereby improving the quality and efficiency of weld grinding.

[0042] The weld excess height grinding method disclosed in the embodiment of the present application can be used in, but is not limited to, battery manufacturing processes.

[0043] Please refer to Figure 1 , Figure 1 A schematic diagram of a flow chart of a weld excess height grinding method provided in an embodiment of the present application. The first aspect of the present application provides a weld excess height trimming method, comprising:

[0044] Step S110: obtaining the plane coordinates and the first vertical coordinate of the weld surface on the weldment, wherein the first vertical coordinate is the vertical coordinate of the upper surface of the weldment.

[0045] Step S120: controlling the welding head of the ultrasonic welding machine to grind the excess height of the weld according to the plane coordinate and the first vertical coordinate.

[0046] A weldment is a workpiece with a fusion weld.

[0047] The weld reinforcement is the height that the weld surface protrudes above the weldment surface.

[0048] An ultrasonic welder is a welding device that uses ultrasonic waves for welding. The welding head is the component that is in direct contact with the workpiece during ultrasonic welding. Before the ultrasonic welder is operated, the welding power, welding head pressure, amplitude and downward pressure amount need to be set in advance. The downward pressure amount is the height to which the welding head needs to be pressed during the welding process to ensure the quality of the workpiece welding.

[0049] The weld excess height trimming method provided by the first aspect embodiment of the present application can obtain the plane coordinates of the weld surface to obtain the position of the plane where the weld surface is located, and then obtain the vertical coordinates of the upper surface of the weld (i.e., the first vertical coordinate) to determine the target height to be polished by the ultrasonic welding head; by controlling the ultrasonic welding head to contact the surface of the weld and controlling the ultrasonic welding machine to perform ultrasonic vibration, the welding head will polish and trim the poor excess height of the weld during the vibration process due to contact with the weld surface to eliminate the poor excess height of the weld. The entire polishing process not only saves time and effort, but also improves the efficiency of welding excess height grinding, and can avoid the occurrence of defects on the weld surface due to manual trimming of the weld excess height, thereby improving the quality of welding excess height grinding. Among them, when establishing a coordinate system, the origin of the coordinate can be determined first, such as taking the center of one edge of the weld as the origin of the coordinate, or using a fixed point in the working environment as the origin of the coordinate.

[0050] It is worth mentioning that for welds with different process requirements, the weld excess height can be ground to the same height as the upper surface of the weldment, or it can be ground to a height slightly higher than the upper surface of the weldment. For example, if the upper surface height of the weldment is 0.1m, the surface height of the weld can be ground to 0.11m or 0.12m, etc.

[0051] Please refer to Figure 2 , Figure 2 This is a flow chart of a weld excess height grinding method according to another embodiment of the present application. In some embodiments, step S120: controlling the welding head of the ultrasonic welding machine to grind the weld excess height according to the plane coordinate and the first vertical coordinate, comprising:

[0052] Step S121: Control the welding head to move above the weld surface according to the plane coordinates.

[0053] Step S122: Control the welding head to move downward, and continuously detect whether the weld feedback pressure is obtained during the downward movement of the welding head, and control the welding head to perform ultrasonic vibration grinding after the weld feedback pressure is detected.

[0054] The position of the plane where the weld is located can be determined according to the plane coordinates of the weld surface, so that the welding head can be controlled to move above the plane where the weld surface is located, and then the welding head can be controlled to move downward. During the downward movement of the welding head, the pressure sensor can continuously detect whether the weld has feedback of a pressure signal. When a pressure signal is detected, it indicates that the welding head is in contact with the surface of the weld. At this time, the welding head of the ultrasonic welding machine is controlled to perform ultrasonic vibration grinding, so as to achieve grinding and trimming of the weld excess height to eliminate the undesirable weld excess height.

[0055] Please refer to Figure 3 , Figure 3 This is a schematic diagram of a flow chart of a weld excess height grinding method according to another embodiment of the present application. In some embodiments, the weld excess height grinding method further includes:

[0056] Step S130: Acquire a second vertical coordinate, where the second vertical coordinate is the vertical coordinate of the weld surface.

[0057] Wherein, step S120: controlling the welding head of the ultrasonic welding machine to grind the excess height of the weld according to the plane coordinate and the first vertical coordinate, comprises:

[0058] Step S123: Determine the target coordinate position of the welding head according to the plane coordinate and the second vertical coordinate.

[0059] Step S124: Control the welding head of the ultrasonic welding machine to move to the target coordinate position so that the welding head contacts the surface of the weld.

[0060] Step S125: setting the height of the second vertical coordinate as the target height for pressing down the welding head.

[0061] Step S126: According to the target height of the welding head, the welding head is controlled to perform ultrasonic vibration grinding.

[0062] After obtaining the plane coordinates of the weld surface, the vertical coordinates of the weld surface (i.e., the second vertical coordinates) are obtained. The specific coordinate position of the weld in the three-dimensional coordinate system can be determined based on the plane coordinates of the weld surface and the second vertical coordinates. At this time, the target coordinate position of the welding head can be determined, that is, the target coordinate position when the welding head contacts the weld surface. The height of the vertical coordinate of the upper surface of the weld (i.e., the first vertical coordinate) is set as the target height of the welding head pressing down, which can ensure that when the welding head of the ultrasonic welding machine performs ultrasonic vibration, the welding head is pressed down to the target height, that is, the residual height of the weld is polished to the height of the first vertical coordinate.

[0063] Specifically, the plane coordinates of the weld surface can be located by a visual positioning system, which includes multiple charge-coupled device cameras and visual detection processing equipment. By collecting images of the weld surface and converting the image signals of the weld surface into digital signals, the plane coordinates of the weld surface can be located after being processed by the visual detection processing equipment, that is, the X-axis and Y-axis coordinates of the weld in the coordinate system are obtained. Then, the surface height of the weld is measured by a rangefinder based on the calibrated height of the upper surface of the weldment. The surface height of the weld is the second vertical coordinate, that is, the Z-axis coordinate of the weld in the coordinate system. Therefore, the position of the weld surface can be located by the X-axis, Y-axis and Z-axis coordinates of the weld in the coordinate system, so that the welding head can contact the surface of the weld.

[0064] In some embodiments, after controlling the welding head of the ultrasonic welder to move to contact the surface of the weld, it also includes: detecting whether the welding head is in contact with the surface of the weld; if the welding head is not in contact with the surface of the weld, adjusting the position of the welding head so that the welding head is in contact with the surface of the weld.

[0065] Since there may be errors in obtaining the three-dimensional coordinate position of the weld, and whether the welding head is in contact with the weld surface will directly affect the quality of the weld excess height grinding, it is necessary to detect whether the welding head is actually in contact with the weld surface. If the welding head is not in contact with the weld surface, it is necessary to adjust the position of the welding head for a second time to make the welding head contact with the weld surface, thereby ensuring the quality of the weld excess height grinding by the welding head.

[0066] In some embodiments, detecting whether the welding head is in contact with the surface of the weld includes: providing a pressure sensor on the welding head; and determining whether the welding head is in contact with the surface of the weld through a pressure signal fed back by the pressure sensor.

[0067] A pressure sensor is a device or apparatus that can sense pressure signals and convert them into usable output electrical signals according to certain rules.

[0068] In this embodiment, a pressure sensor is provided on the welding head, and a pressure signal fed back by the pressure sensor is used to determine whether the welding head is in contact with the weld surface. Specifically, when the pressure signal fed back by the pressure sensor is greater than zero, it indicates that the welding head is in contact with the weld surface. At this time, the ultrasonic welder can be controlled to perform ultrasonic vibration, so as to grind and trim the weld excess height through the welding head. When the pressure signal fed back by the pressure sensor is zero, it indicates that the welding head is not in contact with the weld surface. At this time, it is necessary to re-detect and adjust the position of the welding head, so as to control the ultrasonic welder to perform ultrasonic vibration after adjusting the welding head to contact with the weld surface.

[0069] In some embodiments, while controlling the welding head to perform ultrasonic vibration, it also includes: removing dust generated when the excess height of the weld is ground.

[0070] Since the welding head will produce metal powder and other dust during the process of grinding the weld excess height, the dust will affect the quality of the product after the weld is assembled. Therefore, it is necessary to remove the dust generated during the grinding process of the weld excess height to ensure the assembly quality of subsequent products.

[0071] In some embodiments, removing dust generated when the excess height of the weld is ground includes: installing a dust cover on the outside of the weld and the ultrasonic welder; connecting the dust cover to a dust suction device through a dust suction pipe; and controlling the operation of the dust suction device.

[0072] The dust hood can isolate the ultrasonic welder and the weldment from the outside air, and the dust suction device is connected with the dust hood through the dust suction pipe, so that the dust in the dust hood can be sucked out when the dust suction device is running.

[0073] In some embodiments, before obtaining the coordinate position of the weld on the weldment, the method further includes: fixing the weldment with a fixture.

[0074] Before grinding the weld excess, the weld may be fixed by a clamp to prevent the weld from shifting while grinding the weld excess, thereby helping to improve the quality of the weld excess grinding.

[0075] In a specific embodiment, the present application provides a weld excess height trimming method for grinding the weld excess height on a battery current collector, including: clamping the battery, a current collector is provided on the battery, and the current collector has a weld; obtaining the three-dimensional coordinates of the weld surface, controlling the welding head of an ultrasonic welding machine to move to the same as the three-dimensional coordinates of the weld surface, and making the welding head contact the surface of the weld; measuring the vertical coordinate of the upper surface of the current collector, and setting the height of the vertical coordinate of the upper surface of the current collector as the target height for the welding head to press down; controlling the welding head to perform ultrasonic vibration grinding, and using a dust suction device to remove powder generated when the weld excess height is ground.

[0076] Please refer to Figure 4 , Figure 4A partial cross-sectional structural schematic diagram of a weld excess height trimming device provided in an embodiment of the present application. In a second aspect of the present application, a weld excess height trimming device 1 is provided, comprising: a fixture 10 for fixing a weldment; a visual positioning system (not shown in the figure) for obtaining the plane coordinates of a weld 40 on the weldment; a distance measuring device (not shown in the figure) for obtaining a first vertical coordinate and a second vertical coordinate, wherein the first vertical coordinate is the vertical coordinate of the upper surface of the weldment, and the second vertical coordinate is the vertical coordinate of the weld surface; an ultrasonic welder 20, comprising a welding head 201, the welding head 201 being used to grind the surface of the weld 40 when the ultrasonic welder 20 performs ultrasonic vibration; an industrial computer (not shown in the figure), electrically connected to the visual positioning system, the distance measuring device and the ultrasonic welder 20, the industrial computer being used to receive the plane coordinates, the first vertical coordinates and the second vertical coordinates, and controlling the welding head 201 to move to contact the surface of the weld 40 according to the plane coordinates and the second vertical coordinates, and controlling the welding head 201 to press down to a target height that is the same as the height of the first vertical coordinate.

[0077] Specifically, the weld excess height trimming device 1 includes but is not limited to being used for manufacturing a battery 30 , where a current collector is provided on the battery 30 , and a weld 40 is provided on the current collector.

[0078] In some embodiments, the weld excess height trimming device 1 further includes: a dust removal device (not shown in the figure), which is electrically connected to the industrial control machine and is used to absorb dust generated when the excess height of the weld 40 is ground.

[0079] In some embodiments, the dust removal device includes: a dust hood, which is arranged outside the ultrasonic welder 20 and the weldment; a dust collector, which is connected to the dust hood through a dust suction pipe, and the dust collector is used to remove dust from the dust hood.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A method for trimming weld excess height, characterized in that: include: Obtaining a plane coordinate and a first vertical coordinate of a weld surface on a weldment, wherein the first vertical coordinate is a vertical coordinate of the upper surface of the weldment; Controlling the welding head of the ultrasonic welding machine to grind the excess height of the weld according to the plane coordinate and the first vertical coordinate; The step of controlling the ultrasonic welding machine's welding head to grind the weld excess height according to the plane coordinates and the vertical coordinates includes: Controlling the welding head to move above the weld surface according to the plane coordinates; Controlling the welding head to move downward, and continuously detecting whether the pressure of the weld feedback is obtained during the process of the welding head moving downward, and controlling the welding head to perform ultrasonic vibration grinding after detecting the weld feedback pressure; The method further comprises: Acquire a second vertical coordinate, where the second vertical coordinate is the vertical coordinate of the weld surface; Wherein, the step of controlling the welding head of the ultrasonic welding machine to grind the excess height of the weld according to the plane coordinate and the first vertical coordinate includes: Determining a target coordinate position of the welding head according to the plane coordinate and the second vertical coordinate; Controlling the welding head to move to the target coordinate position so that the welding head contacts the surface of the weld; Setting the height of the first vertical coordinate as the target height for pressing down the welding head; According to the target height of the welding head being pressed down, the welding head is controlled to perform ultrasonic vibration grinding.

2. The weld excess height trimming method according to claim 1, characterized in that: After the ultrasonic welding machine's welding head is controlled to move to contact the surface of the weld, the method further comprises: Detecting whether the welding head is in contact with the surface of the weld; If the welding head is not in contact with the surface of the weld, the position of the welding head is adjusted to make the welding head in contact with the surface of the weld.

3. The weld reinforcement trimming method according to claim 2, characterized in that: The detecting whether the welding head is in contact with the surface of the weld includes: A pressure sensor is arranged on the welding head; Whether the welding head is in contact with the surface of the weld is determined by the pressure signal fed back by the pressure sensor.

4. The weld reinforcement trimming method according to any one of claims 1 to 3, characterized in that: While controlling the welding head to perform ultrasonic vibration, it also includes: The dust generated when the weld reinforcement is ground is sucked away.

5. The weld reinforcement trimming method according to claim 4, characterized in that: The method of removing dust generated when the weld excess height is ground comprises: A dust removal cover is provided on the outer cover of the weldment and the ultrasonic welder; Connecting the dust removal hood to the dust collection device through a dust collection pipe; Control the dust collection device to operate.

6. The weld reinforcement trimming method according to any one of claims 1 to 3, characterized in that: Before obtaining the coordinate position of the weld on the weldment, the method further includes: The weldment is fixed with a clamp.

7. A weld excess height trimming device, characterized in that: include: Clamps, used to secure weldments; A visual positioning system, used to obtain the plane coordinates of the weld on the weldment; A distance measuring device, used to obtain a first vertical coordinate and a second vertical coordinate, wherein the first vertical coordinate is the vertical coordinate of the upper surface of the weldment, and the second vertical coordinate is the vertical coordinate of the weld surface; An ultrasonic welder, comprising a welding head, wherein the welding head is used to grind the surface of the weld when the ultrasonic welder is performing ultrasonic vibration; An industrial computer is electrically connected to the visual positioning system, the distance measuring device and the ultrasonic welder. The industrial computer is used to receive the plane coordinates, the first vertical coordinates and the second vertical coordinates, and control the welding head to move to contact the surface of the weld according to the plane coordinates and the second vertical coordinates, and control the target height of the welding head to be the same as the height of the first vertical coordinate.

8. The weld excess height trimming device according to claim 7, characterized in that: The weld excess height trimming device also includes: The dust removal device is electrically connected to the industrial control machine and is used to remove dust generated when the excess height of the weld is ground.

9. The weld excess height trimming device according to claim 8, characterized in that: The dust removal device comprises: A dust removal cover is arranged outside the ultrasonic welder and the weldment; A vacuum cleaner is connected to the dust hood through a dust suction pipe, and the vacuum cleaner is used to suck the dust from the dust hood.

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