Battery side seam welding system

Abstract

The application relates to a battery side seam welding system. The system comprises a rotating platform fixedly installed with a battery to be welded, a battery measuring device, a battery welding device and a controller; wherein the controller is used for receiving a measuring signal of the battery measuring device, determining side seam contour position information of the battery to be welded on the rotating platform according to the measuring signal; the controller is further used for generating a battery side seam welding track according to the side seam contour position information; and the controller is further used for controlling a welding head of the battery welding device to weld the side seam of the battery to be welded in the rotating process of the rotating platform according to the battery side seam welding track. Through the system, accurate side seam welding contour position information can be obtained by using the rotating platform and the battery measuring device, and then an accurate battery side seam welding track can be generated, and the side seam of the battery to be welded can be welded according to the battery side seam welding track by using the welding device in the rotating process of the rotating platform, so that the welding accuracy of the battery side seam welding is improved.

Description

Technical Field

[0001] This application relates to the field of welding, and in particular to a battery side seam welding system. Background Technology

[0002] With the technological development in the battery field, products have placed higher demands on battery safety performance. To ensure the safe operation of batteries, precise welding of battery seams is required. However, since the weld seams of some lithium battery top covers are on the side, traditional battery welding methods may result in missed welds during the laser full welding process of battery side seams, leading to incomplete welding of battery side seams, reducing battery safety performance, and hindering the improvement of welding accuracy of battery side seams. Summary of the Invention

[0003] Therefore, it is necessary to provide a battery side seam welding system that can improve the welding accuracy of battery side seam welding in response to the above-mentioned technical problems.

[0004] In a first aspect, this application provides a battery side seam welding system. The system includes: a rotating platform on which a battery to be welded is fixedly mounted, a battery measuring device, a battery welding device, and a controller;

[0005] The controller is used to receive the measurement signal from the battery measuring device and determine the side seam contour position information of the battery to be welded on the rotating platform based on the measurement signal.

[0006] The controller is also used to generate a battery side seam welding trajectory based on the side seam contour position information;

[0007] The controller is also used to control the welding head of the battery welding device to weld the side seam of the battery to be welded during the rotation of the rotating platform, according to the welding trajectory of the battery side seam.

[0008] In one embodiment, the battery measuring device is used to measure the distance information between the battery measuring device and each side of the battery to be welded, and send a signal carrying the distance information to the controller as the measurement signal.

[0009] In one embodiment, the controller is configured to acquire the rotation center position information of the rotating platform, and determine the key point position information corresponding to each rounded corner key point in the side seam of the battery to be welded based on the rotation center position information, the distance information, and the installation position information of the battery measuring device; each key point position information is used to characterize the side seam contour position information.

[0010] In one embodiment, the battery measuring device includes a first displacement sensor disposed in a first direction and a second displacement sensor disposed in a second direction, the first direction being parallel to the direction pointed to by the welding head, the second direction being perpendicular to the first direction, and the plane formed by the first direction and the second direction being parallel to the plane of the rotating platform.

[0011] In one embodiment, the first displacement sensor is used to measure a first distance corresponding to a first side of the battery to be welded, and to obtain distance information corresponding to the first side; the first distance is the vertical distance between the first displacement sensor and the first side; the first side is perpendicular to the direction pointed to by the welding head.

[0012] In one embodiment, the second displacement sensor is used to measure a second distance corresponding to the second side of the battery to be welded, and obtain distance information corresponding to the second side; the second distance is the vertical distance between the second displacement sensor and the second side; the first side is perpendicular to the second side.

[0013] In one embodiment, the controller is configured to determine the position information of each of the key points based on the rotation center position information, the first distance, the second distance, and the installation position information.

[0014] In one embodiment, the controller is configured to determine the rotation center position information based on the first distance, the second distance, the installation position information, and the size information of the battery standard component.

[0015] In one embodiment, the controller is configured to determine the rotated position information corresponding to each rounded corner key point based on the position information of each key point and a preset rotation angle.

[0016] In one embodiment, during the welding process of the side seam of the battery to be welded, there is a preset defocusing amount between the welding head of the battery welding device and the side seam of the battery to be welded.

[0017] Secondly, this application provides a method for generating a battery side seam welding trajectory, the method comprising:

[0018] Obtain distance information between the battery measuring device and each side of the battery to be welded, which is fixedly mounted on the rotating platform;

[0019] Obtain the rotation center position information of the rotating platform, and determine the side seam contour position information of the battery to be welded on the rotating platform based on the rotation center position information, the installation position information of the battery measuring device, and the distance information;

[0020] Based on the side seam contour position information, a battery side seam welding trajectory is generated; the battery side seam welding trajectory is used to control the welding head of the battery welding device to weld the side seam of the battery to be welded during the rotation of the rotating platform.

[0021] In one embodiment, the distance information includes a first distance and a second distance. The first distance represents the vertical distance between the first displacement sensor of the battery measuring device and the first side of the battery to be welded. The second distance represents the vertical distance between the second displacement sensor of the battery measuring device and the second side of the battery to be welded. The first side and the second side are perpendicular to each other. The setting direction of the first displacement sensor is perpendicular to the setting direction of the second displacement sensor, and the plane formed by the first direction and the second direction is parallel to the plane of the rotating platform.

[0022] The step of determining the side seam contour position information of the battery to be welded on the rotating platform based on the rotation center position information, the installation position information of the battery measuring device, and the distance information includes:

[0023] Based on the first distance, the second distance, the installation position information, and the rotation center position information, determine the key point position information corresponding to each rounded corner key point of the battery to be welded;

[0024] The key point location information is determined as the side seam contour location information of the battery to be welded on the rotating platform.

[0025] In one embodiment, determining the key point position information corresponding to each rounded corner key point of the battery to be welded based on the first distance, the second distance, the installation position information, and the rotation center position information includes:

[0026] The dimensions of the battery to be welded are determined based on the first distance, the second distance, the installation position information, and the rotation center position information.

[0027] The key point location information is determined based on the first distance, the second distance, the installation location information, and the size information.

[0028] In one embodiment, generating the battery side seam welding trajectory based on the side seam contour position information includes:

[0029] Obtain the position information of at least two equally divided points of each rounded corner in the side seam contour position information; the equally divided points of the rounded corner are points obtained by taking points from the key points of each rounded corner of the battery to be welded according to a preset angle.

[0030] Based on the position information of each of the equal division points and the preset rotation angle, determine the rotated position information corresponding to each of the rounded corner division points;

[0031] The welding trajectory of the battery side seam is determined based on the rotational position information corresponding to each of the equally divided rounded corners.

[0032] In one embodiment, the method further includes:

[0033] Obtain the first distance and the second distance between the battery measuring device and the battery standard component;

[0034] The dimensional information of the battery standard component is obtained, and the rotation center position information of the rotating platform is determined based on the first distance, the second distance, the installation position information, and the dimensional information of the battery standard component.

[0035] In one embodiment, after the step of generating the battery side seam welding trajectory based on the contour position information, the method further includes:

[0036] Obtain image information corresponding to the battery to be welded, captured by a depth camera;

[0037] Based on the image information, determine the compensation value for the battery side seam welding trajectory;

[0038] Based on the compensation value, the battery side seam welding trajectory is corrected to obtain the corrected battery side seam welding trajectory.

[0039] Thirdly, this application also provides a battery side seam welding trajectory generation device, the device comprising:

[0040] The acquisition module is used to acquire distance information between the battery measuring device and each side of the battery to be welded, which is fixedly installed on the rotating platform.

[0041] The determination module is used to obtain the rotation center position information of the rotating platform, and determine the side seam contour position information of the battery to be welded on the rotating platform based on the rotation center position information, the installation position information of the battery measuring device and the distance information.

[0042] The generation module is used to generate a battery side seam welding trajectory based on the side seam contour position information; the battery side seam welding trajectory is used to control the welding head of the battery welding device to weld the side seam of the battery to be welded during the rotation of the rotating platform.

[0043] Fourthly, this application also provides a battery side seam welding system, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0044] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0045] Sixthly, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the above-described method.

[0046] The aforementioned battery side seam welding trajectory generation method, apparatus, system, storage medium, and computer program product obtain basic position data information for determining the side seam contour position information by acquiring distance information between the battery measuring device and each side of the battery to be welded, which is fixedly installed on a rotating platform, and acquiring the rotation center position information of the rotating platform. Based on the rotation center position information, the installation position information and distance information of the battery measuring device, the side seam contour position information of the battery to be welded on the rotating platform is determined, and a battery side seam welding trajectory is generated. This trajectory is used to control the welding head of the battery welding device to weld the side seam of the battery to be welded during the rotation of the rotating platform. The system acquires the rotation center position information of the rotating platform, the installation position information of the battery measuring device, and the distance information between the battery measuring device and each side of the battery to be welded, which are required to determine the side seam contour position information of the battery to be welded. This enables the accurate acquisition of the side seam contour position information of the battery to be welded. Based on the side seam contour position information, a battery side seam welding trajectory is generated to control the welding head of the battery welding device to weld the side seam of the battery to be welded. This allows the system to acquire accurate side seam welding contour position information using the rotating platform and the battery measuring device, thereby generating an accurate battery side seam welding trajectory. The welding device then uses the battery side seam welding trajectory to weld the side seam of the battery to be welded during the rotation of the rotating platform, thereby improving the welding accuracy of the battery side seam welding. Attached Figure Description

[0047] Figure 1 This is a flowchart illustrating a method for generating a battery side seam welding trajectory in one embodiment.

[0048] Figure 2 This is a schematic diagram of a battery side seam welding trajectory in one embodiment;

[0049] Figure 3 A top view of a battery side seam welding system in one embodiment;

[0050] Figure 4 This is a schematic diagram of the rotation state of a rotating platform in one embodiment;

[0051] Figure 5 This is a schematic diagram showing the location of key points in a battery in one embodiment;

[0052] Figure 6 This is a schematic diagram of another battery side seam welding system in one embodiment;

[0053] Figure 7 This is a schematic diagram of a process for determining the welding trajectory of the battery side seam in one embodiment;

[0054] Figure 8 This is a structural block diagram of a battery side seam welding trajectory generation device in one embodiment;

[0055] Figure 9 This is an internal structural diagram of a battery side seam welding system in one embodiment. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0057] In some embodiments, such as Figure 1 As shown, a method for generating battery side seam welding trajectories is provided. This embodiment illustrates the application of this method to a terminal. It is understood that this method can also be applied to a server, and further to a system including both a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0058] Step S102: Obtain the distance information between the battery measuring device and each side of the battery to be welded, which is fixedly installed on the rotating platform.

[0059] Among them, the battery measuring device can refer to a device that measures distance data information of the battery. In practical applications, the battery measuring device may include a displacement sensor.

[0060] The rotating platform can refer to a rotatable platform used to fix and install the battery to be welded.

[0061] The battery to be welded can refer to a battery that requires side seam welding. In practical applications, the battery to be welded can include lithium batteries.

[0062] Among them, distance information can refer to the data information after the battery measuring device measures the distance to the battery to be welded.

[0063] As an example, before welding the battery to be welded, the battery measuring device measures the distance information between the battery measuring device and each side of the battery to be welded, which is fixedly installed on the rotating platform, and the terminal obtains the distance information measured by the battery measuring device.

[0064] Step S104: Obtain the rotation center position information of the rotating platform, and determine the side seam contour position information of the battery to be welded on the rotating platform based on the rotation center position information, the installation position information of the battery measuring device, and the distance information.

[0065] Among them, the rotation center position information can refer to the position information of the center point of the rotating platform.

[0066] The installation location information may refer to the distance between the installation location of the battery measuring device and a preset reference point.

[0067] Among them, the side seam contour position information can refer to the position information of the contour of the side seam of the battery to be welded. In practical applications, the side seam contour position information can include the position information of several key points.

[0068] As an example, the terminal obtains the distance information between the battery measuring device and each side of the battery standard component. Based on the installation position information, distance information and size information of the battery measuring device, the terminal determines the rotation center position information of the rotating platform. Based on the rotation center position information, installation position information and distance information of the battery measuring device, the terminal generates the position information of several key points in the side seam contour position information of the battery to be welded on the rotating platform.

[0069] Step S106: Generate a battery side seam welding trajectory based on the side seam contour position information; the battery side seam welding trajectory is used to control the welding head of the battery welding device to weld the side seam of the battery to be welded during the rotation of the rotating platform.

[0070] Among them, the battery side seam welding trajectory can refer to the movement trajectory of the welding head of the battery welding device when welding the side seam of the battery to be welded during the rotation of the rotating platform.

[0071] As an example, the terminal generates the position information of each point in the side seam contour after rotation based on the side seam contour position information, and then determines, based on the position information of each point in the side seam contour after rotation, how to... Figure 2 The diagram shows a battery side seam welding trajectory, and the controller then controls the welding head of the battery welding device to weld the battery side seam according to the battery side seam welding trajectory.

[0072] In the aforementioned method for generating battery side seam welding trajectories, the distance information between the battery measuring device and each side of the battery to be welded, fixedly installed on the rotating platform, is obtained, along with the rotation center position information of the rotating platform. This yields basic position data information for determining the side seam contour position information. Based on the rotation center position information, the installation position information of the battery measuring device, and the distance information, the side seam contour position information of the battery to be welded on the rotating platform is determined. Therefore, based on the side seam contour position information, a battery side seam welding trajectory is generated. This trajectory is used to control the welding head of the battery welding device to weld the side seam of the battery to be welded during the rotation of the rotating platform. The method obtains the basic position data information for determining the side seam contour position information. The system requires the rotation center position information of the rotating platform, the installation position information of the battery measuring device, and the distance information between the battery measuring device and each side of the battery to be welded. This enables the precise acquisition of the side seam contour position information of the battery to be welded. Based on the side seam contour position information, a battery side seam welding trajectory is generated to control the welding head of the battery welding device to weld the side seam of the battery to be welded. This allows the system to obtain accurate side seam welding contour position information using the rotating platform and the battery measuring device, thereby generating an accurate battery side seam welding trajectory. The welding device then uses the battery side seam welding trajectory to weld the side seam of the battery to be welded during the rotation of the rotating platform, thereby improving the welding accuracy of the battery side seam welding.

[0073] In some embodiments, the distance information includes a first distance and a second distance, wherein the first distance characterizes the vertical distance between the first displacement sensor of the battery measuring device and the first side of the battery to be welded; and the second distance characterizes the vertical distance between the second displacement sensor of the battery measuring device and the second side of the battery to be welded. Determining the side seam contour position information of the battery to be welded on the rotating platform based on the rotation center position information, the installation position information of the battery measuring device, and the distance information includes:

[0074] Based on the first distance, the second distance, the installation position information, and the rotation center position information, the key point position information corresponding to each rounded corner key point of the battery to be welded is determined.

[0075] For the convenience of those skilled in the art, Figure 3 An exemplary top view of a battery side seam welding system is provided, wherein the first side is perpendicular to the second side; the setting direction of the first displacement sensor is perpendicular to the setting direction of the second displacement sensor, and the plane formed by the first direction and the second direction is parallel to the plane of the rotating platform.

[0076] The first distance can refer to the distance between the first displacement sensor and the long side of the battery.

[0077] The second distance can refer to the distance between the second displacement sensor and the short side of the battery.

[0078] Among them, the key points of rounded corners can refer to the starting point and the ending point of the rounded corners of the battery.

[0079] Among them, the key point location information can refer to the location information of the rounded corner key points.

[0080] The key point location information is determined as the side seam contour location information of the battery to be welded on the rotating platform.

[0081] As an example, the terminal acquires the first distance, second distance, installation position information, and rotation center position information measured by the battery measuring device. Based on the first distance, second distance, installation position information, and rotation center position information, the terminal determines the distance information between each side of the battery to be welded. Based on the distance information between each side and the corner radius information preset during battery production, the terminal determines the key point position information corresponding to each corner key point of the battery to be welded. The terminal determines the key point position information corresponding to each corner key point of the battery to be welded as the side seam contour position information of the battery to be welded on the rotating platform.

[0082] In this embodiment, the side seam contour position information of the battery to be welded is determined by measuring the first distance and the second distance by the battery measuring device. This enables precise positioning of the key rounded corners of the battery to be welded, thereby obtaining more accurate battery side seam contour position information.

[0083] In some embodiments, determining the key point position information corresponding to each rounded corner key point of the battery to be welded based on the first distance, the second distance, the installation position information, and the rotation center position information includes:

[0084] The dimensions of the battery to be welded are determined based on the first distance, the second distance, the installation position information, and the rotation center position information.

[0085] Among them, size information can refer to information that characterizes the length and size of the battery to be welded. In practical applications, size information can include length information, width information and height information.

[0086] As an example, with Figure 3The spatial state of the battery to be welded shown is the initial state, i.e., the 0° state. At this time, the battery measuring device measures the first distance La in the vertical direction and the second distance Lb in the horizontal direction. The terminal determines the difference between the installation position of the first displacement sensor and the first distance, Za = Zp - La, and the difference between the installation position of the second displacement sensor and the second distance, Xa = Xp - Lb, based on the first distance La, the second distance Lb, the installation position Zp of the first displacement sensor, and the installation position Xp of the second displacement sensor. Figure 4 As shown, when the rotating platform rotates 180°, the battery measuring device measures a first distance Lc in the vertical direction and a second distance Ld in the horizontal direction. The terminal determines the difference between the installation position of the first displacement sensor and the first distance Zb = Zp - Lc and the difference between the installation position of the second displacement sensor and the second distance Xb = Xp - Ld based on the first distance Lc, the second distance Ld, the installation position of the first displacement sensor Zp, and the installation position of the second displacement sensor Xp. The terminal determines the width W and height H of the battery to be welded based on the actual battery width calculation formula W = Xa + Xb - 2 * Xrotate and the actual battery height calculation formula H = Za + Zb - 2 * Zrotate. The coordinates (Xrotate, Zrotate) can represent the rotation center position information.

[0087] The key point location information is determined based on the first distance, the second distance, the installation location information, and the size information.

[0088] As an example, such as Figure 5 As shown, points A, B, C, D, E, F, G, and H are the eight key points of the battery to be welded. Figure 5 In the Cartesian coordinate system shown, the terminal determines the coordinates of point A as (Xa-W+R, Za), point B as (Xa-R, Za), point C as (Xa, Za-R), point D as (Xa, Za-H+R), point E as (Xa-R, Za-H), point F as (Xa-W+R, Za-H), point G as (Xa-W, Za-H+R), and point H as (Xa-W, Za-R) based on the first distance, the second distance, installation position information, size information, and the preset fillet radius R. At this time, the key point position information is the key point position information under the initial spatial state of 0° of the battery. The first side can refer to side AB or side EF, and the second side can refer to side CD and side GH.

[0089] In this embodiment, the key point location information is determined by the first distance, the second distance, the rotation center location information, and the installation location information, which can achieve accurate acquisition of the key point location information and improve the accuracy of the key point location.

[0090] In some embodiments, generating the battery side seam welding trajectory based on the side seam contour position information includes:

[0091] Obtain the position information of at least two equally divided points of each rounded corner in the side seam contour position information; the equally divided points of the rounded corner are points obtained by taking points from the key points of each rounded corner of the battery to be welded according to a preset angle.

[0092] Among them, the rounded corner division point refers to the point obtained by taking points from the rounded corner key point of the battery to be welded according to the preset angle. In practical applications, the line segment corresponding to one rounded corner of the battery to be welded can be divided into 180 equal division points.

[0093] Among them, the location information of the division point can refer to the location information corresponding to the division point of the rounded corner.

[0094] Based on the position information of each of the equal division points and the preset rotation angle, determine the rotated position information corresponding to each of the rounded corner division points.

[0095] The position information after rotation can refer to the position information corresponding to each corner point after rotating by a preset rotation angle.

[0096] The welding trajectory of the battery side seam is determined based on the rotational position information corresponding to each of the equally divided rounded corners.

[0097] As an example, when the terminal determines the position information of each rounded corner division point after rotation during the process of rotating the battery to be welded from 0° to 90°, the position information of each rounded corner division point when the battery to be welded rotates to 0° is used as the calculation basis; when the terminal determines the position information of each rounded corner division point after rotation during the process of rotating the battery to be welded from 90° to 180°, the position information of each rounded corner division point when the battery to be welded rotates to 90° is used as the calculation basis combined with the preset rotation angle, and so on. The terminal calculates the rotation point using the formula X=(X1-Xrotate)*c The formula osα-(Z1-Zrotate)*sinα+Xrotate, where Z=(X1-Xrotate)*sinα+(Z1-Zrotate)*cosα+Zrotate, determines the position information of each point on the battery side seam contour after rotation. Here, the coordinates (X, Z) represent the position information after rotation, and the coordinates (X1, Z1) represent the position information of any point on the battery side seam contour before rotation. Any point on the battery side seam contour before rotation can include key points and corner equidistant points. Here, α is the rotation angle.

[0098] In this embodiment, by equally dividing the rounded corners of the battery to be welded and determining the position information of the rounded corner division points after rotation, and determining the battery side seam welding trajectory based on the position information of the rounded corner division points after rotation, it is possible to accurately obtain the rounded corner division points and improve the accuracy of the battery side seam welding trajectory.

[0099] In some embodiments, the method further includes:

[0100] Obtain the first distance and the second distance between the battery measuring device and the battery standard component.

[0101] Among them, standard battery components can refer to batteries whose size information is known.

[0102] The dimensional information of the battery standard component is obtained, and the rotation center position information of the rotating platform is determined based on the first distance, the second distance, the installation position information, and the dimensional information of the battery standard component.

[0103] As an example, during the initial battery welding operation of the aforementioned system, the battery measuring device measures a first distance La0 in the vertical direction and a second distance Lb0 in the horizontal direction for the battery standard component. The terminal, based on the first distance La0, the second distance Lb0, the installation position Zp0 of the first displacement sensor, and the installation position Xp0 of the second displacement sensor, determines the difference between the installation position of the first displacement sensor and the first distance (Za0 = Zp0 - La0) and the difference between the installation position of the second displacement sensor and the second distance (Xa0 = Xp0 - Lb0). When the rotating platform rotates 180°, the battery measuring device measures a first distance Lc0 in the vertical direction and a second distance Ld0 in the horizontal direction. The terminal, based on the first distance La0, the second distance Lb0, the installation position Zp0 of the first displacement sensor, and the installation position Xp0 of the second displacement sensor, determines the difference between the installation position of the first displacement sensor and the first distance (Za0 = Zp0 - La0) and the installation position of the second displacement sensor (Xp0). The first distance Lc0, the second distance Ld0, the installation position Zp0 of the first displacement sensor, and the installation position Xp0 of the second displacement sensor are used to determine the difference between the installation position of the first displacement sensor and the first distance Zb0 = Zp0 - Lc0 and the difference between the installation position of the second displacement sensor and the second distance Xb0 = Xp0 - Ld0. The terminal determines the coordinates (Xrotate, Zrotate) corresponding to the rotation center position of the rotating platform according to the rotation center position calculation formula Xrotate = (Xa0 + Xb0 - W0) and Zrotate = (Za0 + Zb0 - H0), where W0 is the width information of the battery standard part and H0 is the height information of the battery standard part.

[0104] In this embodiment, the rotation center position information is determined by the first distance, the second distance, the battery standard component size information, and the installation position information. This enables the accurate acquisition of the rotation center position information of the rotating platform, avoiding errors in the battery side seam welding trajectory caused by inaccurate rotation center position information.

[0105] In some embodiments, after the step of generating the battery side seam welding trajectory based on the contour position information, the method further includes:

[0106] Obtain image information corresponding to the battery to be welded, captured by a depth camera.

[0107] Depth cameras can refer to cameras that can detect distance information in the shooting space.

[0108] The image information can refer to the image information of the battery to be welded, which is captured by a depth camera.

[0109] Based on the image information, the compensation value of the battery side seam welding trajectory is determined.

[0110] The compensation value can refer to the data value used to adjust the welding trajectory of the battery side seam.

[0111] Based on the compensation value, the battery side seam welding trajectory is corrected to obtain the corrected battery side seam welding trajectory.

[0112] As an example, due to wear or uneven force on the mechanical fixture, the battery may be slightly deformed, such as a small angle between the long and short sides of the battery and the horizontal plane of the fixture, or a depression. After the horizontal plane of the fixture is adjusted and marked, when the battery is received, an image of the battery to be welded is captured by a depth camera. The terminal acquires the image of the battery to be welded and performs image analysis to obtain the outline and tilt of the battery side seam. The terminal compensates for the tilt in the welding trajectory of the battery side seam, and then applies different compensation values ​​to the four sides. In addition to the overall compensation of the welding trajectory of the battery side seam, the terminal can also obtain the protrusion of the local welding line in a small range through image analysis, and change the trajectory from a single line segment to a line segment to fit the actual trajectory of the battery box (the controller supports interpolation motion), thereby calibrating mechanical errors through the depth camera.

[0113] As an example, after welding is completed, the depth camera records the weld appearance, and the terminal also performs preliminary data digitization and classification of the weld appearance to provide data for machine learning to generate the battery side seam contour.

[0114] In this embodiment, by analyzing the images acquired by the depth camera, a compensation value is determined, and the compensation value is used to correct the battery side seam welding trajectory. This can correct the battery side seam welding trajectory, reduce the error of the battery side seam welding trajectory, and improve the accuracy of battery side seam welding.

[0115] In some embodiments, a battery side seam welding system is provided, the system comprising: a rotating platform on which a battery to be welded is fixedly mounted, a battery measuring device, a battery welding device, and a controller.

[0116] The controller is used to receive the measurement signal from the battery measuring device and determine the side seam contour position information of the battery to be welded on the rotating platform based on the measurement signal.

[0117] The measurement signal can refer to a signal carrying distance information between the battery measuring device and each side of the battery to be welded.

[0118] The controller is also used to generate a battery side seam welding trajectory based on the side seam contour position information.

[0119] In practical applications, the controller determines the battery side seam welding trajectory based on the side seam contour position information and the rotated side seam contour position information.

[0120] The controller is also used to control the welding head of the battery welding device to weld the side seam of the battery to be welded during the rotation of the rotating platform, according to the welding trajectory of the battery side seam.

[0121] In practical applications, a battery side seam welding system can consist of a rotating platform, a laser moving welding system, a rotating motor, a horizontal displacement sensor, a vertical displacement sensor, a depth camera, an anti-collision circuit, a worktable, and a software control system. The laser moving welding system includes a horizontal linear motor X, a vertical linear motor Y, a common camera, and a laser welding head (laser emitter), which is driven by the horizontal and vertical linear motors.

[0122] As an example, such as Figure 5 As shown, when the rotation angle of the battery to be welded is a special angle of 0 degrees, 90 degrees, 180 degrees, and 270 degrees, the controller controls the welding head of the battery welding device to move linearly along the Z and X directions according to the welding trajectory of the battery side seam. When the rounded corner is divided into 180 points, the controller sequentially transmits the position information of each rounded corner division point, the position information after rotation, and the coordinates of the rotation center to the control card. The control card then moves the laser welding head according to the 180 three-axis point interpolation to weld the battery side seam corresponding to the rounded corner.

[0123] In some embodiments, the battery measuring device is used to measure the distance information between the battery measuring device and each side of the battery to be welded, and send a signal carrying the distance information to the controller as the measurement signal.

[0124] In some embodiments, the controller is configured to acquire the rotation center position information of the rotating platform, and determine the key point position information corresponding to each rounded corner key point in the side seam of the battery to be welded based on the rotation center position information, the distance information, and the installation position information of the battery measuring device; each key point position information is used to characterize the side seam contour position information.

[0125] In some embodiments, the battery measuring device includes a first displacement sensor disposed in a first direction and a second displacement sensor disposed in a second direction, the first direction being parallel to the direction pointed to by the welding head, the second direction being perpendicular to the first direction, and the plane formed by the first direction and the second direction being parallel to the plane of the rotating platform.

[0126] For the convenience of those skilled in the art, Figure 6 An exemplary battery side seam welding system is provided, such as Figure 6 As shown, the orientation of position sensor-1 is perpendicular to the orientation of position sensor-2, and the plane formed by the orientations of position sensor-1 and position sensor-2 is parallel to the plane of the rotating platform.

[0127] In some embodiments, the first displacement sensor is used to measure a first distance corresponding to a first side of the battery to be welded, and to obtain distance information corresponding to the first side; the first distance is the vertical distance between the first displacement sensor and the first side; the first side is perpendicular to the direction pointed to by the welding head.

[0128] In practical applications, the first side can refer to the long side of the battery to be welded, and the second side can refer to the short side of the battery to be welded.

[0129] In some embodiments, the second displacement sensor is used to measure a second distance corresponding to the second side of the battery to be welded, and to obtain distance information corresponding to the second side; the second distance is the vertical distance between the second displacement sensor and the second side; the first side is perpendicular to the second side.

[0130] In some embodiments, the controller is configured to determine the position information of each of the key points based on the rotation center position information, the first distance, the second distance, and the installation position information.

[0131] In practical applications, the controller obtains information on the rotation center position, laser focus, battery size, and rotation platform tilt from the welding of standard battery components. When the battery to be welded is placed on the rotation platform, the sensor measures the distance between the sensor and each side of the battery to be welded when the rotation platform rotates at 0° and 180°. The controller then determines the position information of each key point.

[0132] In some embodiments, the controller is configured to determine the rotation center position information based on the first distance, the second distance, the installation position information, and the size information of the battery standard component.

[0133] In practical applications, the position of the rotation center can be the position of the rotating motor.

[0134] In some embodiments, the controller is configured to determine the rotated position information corresponding to each rounded corner key point based on the position information of each key point and a preset rotation angle.

[0135] In some embodiments, during the welding process of the side seam of the battery to be welded, there is a preset defocusing amount between the welding head of the battery welding device and the side seam of the battery to be welded.

[0136] In practical applications, during the welding process of the battery to be welded according to the welding trajectory of the battery side seam, at the beginning of welding, the rotating platform is stationary, and the laser welding head moves in a straight line along the long side of the battery to be welded; when welding the rounded corner section, the rotating platform starts to rotate at a certain angular velocity. The welding point of the laser welding head is the intersection of the radius of the rounded corner and the laser line on the surface of the rounded corner. During this process, the normal of the intersection point coincides with the laser line. When the rounded corner welding is completed, the rotation angle of the rotating platform is about 90° (due to compensation, it is not necessarily 90 degrees). During welding, there is a preset defocusing amount between the welding head of the battery welding device and the side seam of the battery to be welded to avoid over-welding and ensure welding quality.

[0137] For the convenience of those skilled in the art, Figure 7 An exemplary method for determining the position information of the rotation center is provided, in combination with Figure 6 and Figure 7 The process is as follows: First, a standard battery component with known dimensions is placed on a rotating platform. Then, the welding head moves onto the battery, emits a laser, and linearly changes the height of the Z-motor to find the point with the best welding effect, which is then designated as the focal point of the welding head. The Z-motor uses the focal point height Hz. The welding head then creates a welding point P1. The X-motor moves the red light spot of sensor 2 to point P1 and measures the distance dp1 from the top of the battery to sensor 2. Simultaneously, sensor 1 measures the distance dp3 from the left side of the battery to sensor 1. The rotating platform rotates 180 degrees (rotating the standard battery component 180 degrees), and the sensors measure dp2 and dp3. p4; The controller calculates the battery center and the motor center of the rotating platform (rotation center coordinates), then moves the camera so that the camera's laser focus is aligned with the battery side on the same side as the sensor, and records the value of the X motor movement CDDx; Since the welding plane and the rotation plane are both on the XZ plane, the battery welding contour image is acquired by the depth camera, and the battery contour in the image is identified by the image processing library OpenCV. The regenerated contour curve is compared with the horizontal surface of the fixture to calculate the tilt of the battery to be welded. The tilt is compensated to the battery side seam welding trajectory to complete the first piece correction and generate the corrected battery side seam welding trajectory.

[0138] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0139] Based on the same inventive concept, this application also provides a battery side seam welding trajectory generation device for implementing the battery side seam welding trajectory generation method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more battery side seam welding trajectory generation device embodiments provided below can be found in the limitations of the battery side seam welding trajectory generation method described above, and will not be repeated here.

[0140] In one embodiment, such as Figure 8 As shown, a battery side seam welding trajectory generation device is provided, including: an acquisition module 802, a determination module 804, and a generation module 806, wherein:

[0141] The acquisition module 802 is used to acquire distance information between the battery measuring device and each side of the battery to be welded, which is fixedly installed on the rotating platform.

[0142] The determining module 804 is used to obtain the rotation center position information of the rotating platform, and determine the side seam contour position information of the battery to be welded on the rotating platform based on the rotation center position information, the installation position information of the battery measuring device and the distance information.

[0143] The generation module 806 is used to generate a battery side seam welding trajectory based on the side seam contour position information; the battery side seam welding trajectory is used to control the welding head of the battery welding device to weld the side seam of the battery to be welded during the rotation of the rotating platform.

[0144] In one embodiment, the determining module 804 is specifically used to determine the key point position information corresponding to each rounded corner key point of the battery to be welded based on the first distance, the second distance, the installation position information and the rotation center position information, and to determine the key point position information as the side seam contour position information of the battery to be welded on the rotating platform.

[0145] In one embodiment, the determining module 804 is further configured to determine the size information of the battery to be welded based on the first distance, the second distance, the installation position information and the rotation center position information, and to determine the key point position information based on the first distance, the second distance, the installation position information and the size information.

[0146] In one embodiment, the generation module 806 is specifically used to obtain the position information of at least two equidistant points corresponding to the rounded corners of each rounded corner in the side seam contour position information; the equidistant points are points obtained by taking points from the rounded corner key points of the battery to be welded according to a preset angle; the rotational position information corresponding to each equidistant point is determined according to the position information of each equidistant point and the preset rotation angle; and the welding trajectory of the battery side seam is determined according to the rotational position information corresponding to each equidistant point.

[0147] In one embodiment, the above-mentioned device further includes a calibration module, which is specifically used to obtain a first distance and a second distance between the battery measuring device and the battery standard, obtain the size information of the battery standard, and determine the rotation center position information of the rotating platform based on the first distance, the second distance, the installation position information and the size information of the battery standard.

[0148] In one embodiment, the above-mentioned device further includes a compensation module, which is specifically used to acquire image information corresponding to the battery to be welded captured by the depth camera, determine the compensation value of the battery side seam welding trajectory based on the image information, and correct the battery side seam welding trajectory based on the compensation value to obtain the corrected battery side seam welding trajectory.

[0149] Each module in the aforementioned battery side seam welding trajectory generation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0150] In one embodiment, a battery side seam welding system is provided. This battery side seam welding system can be a terminal, and its internal structure diagram can be as follows: Figure 9As shown, the battery side seam welding system includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the battery side seam welding system implements a method for generating battery side seam welding trajectories. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the battery side seam welding system can be a touch layer covering the display screen, or a button, trackball, or touchpad set on the casing of the battery side seam welding system, or an external keyboard, touchpad, or mouse, etc.

[0151] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the battery side seam welding system to which the present application is applied. A specific battery side seam welding system may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0152] In one embodiment, a battery side seam welding system is provided, including a memory and a processor. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the battery side seam welding trajectory generation method described above. The steps of the battery side seam welding trajectory generation method described here can be steps from one of the battery side seam welding trajectory generation methods in the various embodiments described above.

[0153] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, causes the processor to perform the steps of the battery side seam welding trajectory generation method described above. The steps of the battery side seam welding trajectory generation method described here can be steps from one of the battery side seam welding trajectory generation methods in the various embodiments described above.

[0154] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, causes the processor to perform the steps of the battery side seam welding trajectory generation method described above. The steps of the battery side seam welding trajectory generation method described here can be steps from one of the battery side seam welding trajectory generation methods in the various embodiments described above.

[0155] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0156] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0157] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0158] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A battery side seam welding system, characterized in that, The system includes: a rotating platform on which the battery to be welded is fixedly mounted, a battery measuring device, a battery welding device, and a controller; The controller is used to receive the measurement signal from the battery measuring device and determine the side seam contour position information of the battery to be welded on the rotating platform based on the measurement signal. The controller is also used to generate a battery side seam welding trajectory based on the side seam contour position information; The controller is also used to control the welding head of the battery welding device to weld the side seam of the battery to be welded during the rotation of the rotating platform, according to the welding trajectory of the battery side seam; The battery measuring device includes a first displacement sensor disposed in a first direction and a second displacement sensor disposed in a second direction; the first displacement sensor is used to measure a first distance corresponding to a first side of the battery to be welded, and obtain distance information corresponding to the first side; the second displacement sensor is used to measure a second distance corresponding to a second side of the battery to be welded, and obtain distance information corresponding to the second side. The battery measuring device is used to measure the distance information between the battery measuring device and each side of the battery to be welded, and send the signal carrying the distance information to the controller as the measurement signal; The controller is used to acquire the rotation center position information of the rotating platform, and determine the key point position information corresponding to each rounded corner key point in the side seam of the battery to be welded based on the rotation center position information, the distance information and the installation position information of the battery measuring device; each key point position information is used to characterize the side seam contour position information. The controller is used to determine the position information of each of the key points based on the rotation center position information, the first distance, the second distance, and the installation position information; The controller is used to determine the rotation center position information based on the first distance, the second distance, the installation position information, and the size information of the battery standard component; The controller is used to determine the rotated position information corresponding to each rounded corner key point based on the position information of each key point and the preset rotation angle. The process of generating the battery side seam welding trajectory includes the following steps: Obtain the position information of at least two equally divided points of each rounded corner in the side seam contour position information; wherein, the equally divided points of the rounded corner are points obtained by taking points from the key points of each rounded corner according to a preset angle on the rounded corner of the battery to be welded; the position information of the equally divided points refers to the position information corresponding to the equally divided points of the rounded corner. Based on the position information of each of the equal division points and the preset rotation angle, determine the rotational position information corresponding to each of the rounded corner division points; wherein, the rotational position information may refer to the position information corresponding to each rounded corner division point after rotating by the preset rotation angle; The welding trajectory of the battery side seam is determined based on the rotational position information corresponding to each of the equally divided rounded corner points.

2. The system according to claim 1, characterized in that, The first direction is parallel to the direction pointed to by the welding head, the second direction is perpendicular to the first direction, and the plane formed by the first direction and the second direction is parallel to the plane where the rotating platform is located.

3. The system according to claim 1, characterized in that, The first distance is the vertical distance between the first displacement sensor and the first side; the first side is perpendicular to the direction pointed to by the welding head.

4. The system according to claim 3, characterized in that, The second distance is the vertical distance between the second displacement sensor and the second side; the first side is perpendicular to the second side.

5. The system according to claim 1, characterized in that, During the welding process of the side seam of the battery to be welded, there is a preset defocusing amount between the welding head of the battery welding device and the side seam of the battery to be welded.

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