A welding method and device of a module, an electronic device, and a storage medium

Abstract

The application provides a welding method and device of a module, electronic equipment and a storage medium, and relates to the field of welding.The method comprises the following steps: generating a pre-press adjustment instruction according to the center position of a to-be-welded module, the pre-press adjustment instruction being used for instructing the respective movement of the whole pressing plates on both sides of a servo extrusion mechanism to the corresponding pre-press positions on both sides of the to-be-welded module; in the case that the distances between the corresponding pre-press positions on both sides of the to-be-welded module and the center position of the to-be-welded module are the same, generating an extrusion instruction, the extrusion instruction being used for instructing the respective extrusion of the whole pressing plates on both sides of the servo extrusion mechanism to the bus bars on both sides of the to-be-welded module; and generating a welding instruction after the extrusion is completed, the welding instruction being used for instructing the respective welding of the welding mechanisms on both sides to the corresponding to-be-welded sides of the to-be-welded module. The servo extrusion mechanism can realize the synchronous extrusion of the whole pressing plates on both sides of the module, so that the welding motion efficiency is improved, and the welding quality and the production efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of welding, and more particularly to a welding method, apparatus, electronic device, and storage medium for a module. Background Technology

[0002] In the double-sided welding process of energy storage battery modules, the busbars on the energy storage battery modules need to be squeezed by a servo extrusion mechanism before welding to ensure that the busbars are in close contact with the terminals.

[0003] Because the energy storage battery modules are loaded manually by trolleys, the positions of each module on the transmission line are different, and the center lines of each module cannot be guaranteed to be in the same position. Consequently, without moving the module position, the servo extrusion mechanism's pressure plate cannot simultaneously extrude both sides of the module, resulting in a sequential extrusion process on both sides of the module, which affects the extrusion effect. Summary of the Invention

[0004] This invention provides a module welding method, apparatus, electronic device, and storage medium to solve the problem of insufficient precision in the extrusion effect of existing modules.

[0005] In a first aspect, the present invention provides a method for welding a module, comprising:

[0006] A pre-pressure adjustment command is generated based on the center position of the module to be welded. The pre-pressure adjustment command is used to instruct the pressure plates on both sides of the servo extrusion mechanism to move to the corresponding pre-pressure positions on both sides of the module to be welded.

[0007] When it is determined that the distance between the pre-press positions on both sides of the module to be welded and the center position of the module to be welded is the same, an extrusion command is generated. The extrusion command is used to instruct the pressure plates on both sides of the servo extrusion mechanism to extrude the busbars on both sides of the module to be welded.

[0008] After extrusion is completed, a welding command is generated, which instructs the welding mechanisms on both sides to weld the corresponding side of the module to be welded.

[0009] According to the module welding method provided by the present invention, after generating a preload adjustment command based on the center position of the module to be welded, the method further includes:

[0010] Determine a first distance between the first ranging sensor and the first side of the module to be welded, determine a second distance between the first ranging sensor and the first pressing plate of the servo extrusion mechanism, and determine a first distance difference based on the first distance and the second distance;

[0011] A third distance is determined between the second ranging sensor and the second side of the module to be welded; a fourth distance is determined between the second ranging sensor and the second pressing plate of the servo extrusion mechanism; and a second distance difference is determined based on the third distance and the fourth distance.

[0012] If the first distance difference is equal to the second distance difference, it is determined that the distance between the pre-pressing positions on both sides of the module to be welded and the center position of the module to be welded is the same.

[0013] According to the module welding method provided by the present invention, after generating welding instructions, the method further includes:

[0014] All welding sub-regions of the module to be welded are determined according to the preset welding range of the welding mechanism;

[0015] According to the welding instructions, the welding mechanism is instructed to weld each welding sub-region in all welding sub-regions.

[0016] According to the module welding method provided by the present invention, after determining all welding sub-regions of the module to be welded based on the preset welding range of the welding mechanism, the method further includes:

[0017] Generate a first image capture command, and in response to the first image capture command, acquire the first image data corresponding to the side to be welded;

[0018] Based on the first image data corresponding to the side to be welded, a movement command is generated;

[0019] The movement command is used to instruct the servo motor to drive the welding mechanism to move to the current sub-area to be welded.

[0020] According to the welding method for a module provided by the present invention, the step of instructing the welding mechanism to weld each welding sub-region in all welding sub-regions includes:

[0021] For each welding sub-region, a pre-arranged welding point to be verified is determined from the welding sub-region;

[0022] Based on the distance of each welding point to be verified from the welding mechanism, determine the average first distance of all welding points to be verified from the welding mechanism.

[0023] If the average first distance is less than or equal to a preset distance, the welding mechanism is instructed to weld the corresponding welding sub-area.

[0024] If the average first distance is greater than the preset distance, a stop welding command is generated. The stop welding command is used to stop the welding of the corresponding module to be welded and to instruct the welding of the next module to be welded.

[0025] The preset welding range is a preset welding matrix composed of different welding positions;

[0026] Before determining the pre-arranged welding points to be verified from the welding sub-region, the method further includes:

[0027] The preset arrangement layout is determined based on the horizontal welding positions corresponding to the preset welding matrix;

[0028] The preset arrangement layout is determined based on the vertical welding positions corresponding to the preset welding matrix;

[0029] Alternatively, the preset arrangement layout can be determined based on all welding positions corresponding to the preset welding matrix.

[0030] According to the welding method for the module provided by the present invention, after instructing the welding mechanism to weld the corresponding welding sub-region, the method further includes:

[0031] Generate a second image capture command, and in response to the second image capture command, acquire the second image data corresponding to the corresponding welding sub-region;

[0032] Based on the second image data, the welding mechanism is controlled to perform compensatory welding on each welding point to be verified in the corresponding welding sub-region;

[0033] The second image data includes distance and / or angle information from all welding points to be verified to the welding mechanism in the corresponding welding sub-region.

[0034] According to the welding method of the module provided by the present invention, the step of controlling the welding mechanism to perform compensatory welding on each welding point to be verified in the corresponding welding sub-region based on the second image data includes:

[0035] For each weld point to be verified, the weld point is welded if it is located at the center of the weld hole.

[0036] If there is a misalignment between the welding point to be verified and the center position of the welding hole, the welding point to be verified is compensated by welding according to the second image data.

[0037] The compensation welding includes distance compensation welding and / or galvanometer compensation welding;

[0038] The distance-compensated welding is used to adjust the distance between the welding mechanism and the welding point to be verified before welding the point;

[0039] The galvanometer-compensated welding is used to weld the welding point by adjusting the welding trajectory of the welding mechanism after changing the rotation angle of the galvanometer.

[0040] The center position of the welding hole is a hole pre-drilled on the busbar according to the module model and battery model, used to indicate the orientation of the welding point to be verified and the battery terminal.

[0041] Secondly, the present invention also provides a module welding apparatus, comprising:

[0042] The first generation unit is used to generate a pre-pressure adjustment command based on the center position of the module to be welded. The pre-pressure adjustment command is used to instruct the pressure plates on both sides of the servo extrusion mechanism to move to the corresponding pre-pressure positions on both sides of the module to be welded.

[0043] The second generation unit is used to generate an extrusion command when the distance between the pre-press positions on both sides of the module to be welded and the center position of the module to be welded is the same. The extrusion command is used to instruct the pressure plates on both sides of the servo extrusion mechanism to extrude the busbars on both sides of the module to be welded.

[0044] The third generation unit is used to generate welding instructions after extrusion. The welding instructions are used to instruct the welding mechanisms on both sides to weld the corresponding side of the module to be welded.

[0045] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the welding method of the module.

[0046] Fourthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the welding method of the module as described above.

[0047] This invention provides a module welding method, apparatus, electronic device, and storage medium. Based on the center position of the module to be welded, the pressure plates on both sides of the servo extrusion mechanism are instructed to move to corresponding pre-pressing positions on both sides of the module. When the distance between the pre-pressing positions on both sides of the module and the center position of the module is determined to be the same, the pressure plates on both sides of the servo extrusion mechanism are instructed to extrude the busbars on both sides of the module. After extrusion, a welding command is generated, instructing the welding mechanisms on both sides to weld the corresponding sides of the module. This invention enables the pressure plates of the servo extrusion mechanism to simultaneously extrude both sides of the module, improving welding efficiency, welding quality, and production efficiency, and providing favorable welding conditions for subsequent welding. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0049] Figure 1 This is one of the flowcharts illustrating the welding method for the module provided by the present invention;

[0050] Figure 2 This is the second schematic flowchart of the welding method for the module provided by the present invention;

[0051] Figure 3 This is the third flowchart illustrating the welding method for the module provided by the present invention;

[0052] Figure 4 This is the fourth flowchart illustrating the welding method for the module provided by the present invention;

[0053] Figure 5 This is a schematic diagram of the process by which the welding mechanism is instructed to weld each welding sub-region in all welding sub-regions, as provided by the present invention.

[0054] Figure 6 This is the fifth flowchart illustrating the welding method for the module provided by the present invention;

[0055] Figure 7 This is a schematic diagram of the welding device for the module provided by the present invention;

[0056] Figure 8 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0058] For welding energy storage battery modules, a single-sided vertical welding method is usually used. After welding one side of the positive electrode, the module is flipped over to weld the other side of the negative electrode. For cylindrical modules that require double-sided welding, the flipping process can easily affect the already welded side, requiring additional welding steps and equipment to complete. This increases the number of work steps, affects efficiency and quality, and results in higher manufacturing costs.

[0059] As an optimization of existing technology, double-sided welding can overcome the aforementioned technical defects. The cylindrical energy storage battery module is erected, with the welding surfaces of the positive and negative terminals divided into left and right sides. A dual-drive, full-plate extrusion process is used. However, because the energy storage battery modules are manually loaded onto trolleys, the positions of each module on the transmission line are inaccurate, resulting in inconsistent positions for each module. This makes it impossible to ensure that each module is in the same position. Consequently, when the servo extrusion mechanism's pressure plate simultaneously extrudes both sides of the module, the order of extrusion affects the extrusion effect. To overcome this technical defect, this invention provides a module welding method, apparatus, electronic device, and storage medium. Figure 1 This is one of the flowcharts illustrating the welding method for a module provided by the present invention. The welding method for the module includes:

[0060] Step 101: Generate a pre-pressure adjustment command based on the center position of the module to be welded. The pre-pressure adjustment command is used to instruct the pressure plates on both sides of the servo extrusion mechanism to move to the corresponding pre-pressure positions on both sides of the module to be welded.

[0061] In step 101, the module to be welded can be a cylindrical module or a square module. Since different models of modules may differ in shape and size, the material receiving positions of different modules may not be the same, and consequently, the positions of the module centerlines may also differ. For different centerline positions, the positions of the two pressure plates are adjusted separately to achieve pre-extrusion centering adjustment without moving the module. This allows for subsequent extrusion of the module with the same torque on both sides, ensuring uniform force on both sides of the module and avoiding scratches or deformation that may be caused by moving the module, thus reducing safety risks during subsequent use. This invention first uses a distance sensor to locate the centerline of the module to be welded. Typically, a distance sensor located below the welding heads on both sides of the module is used for distance measurement, and the midpoint is taken as the centerline to determine the center position of the module to be welded.

[0062] Optionally, a pre-pressure adjustment command is generated based on the center position of the module to be welded. The pre-pressure adjustment command is used to instruct the pressure plates on both sides of the servo extrusion mechanism to move to the corresponding pre-pressure positions on both sides of the module to be welded. In this invention, distance sensors can be set on the welding heads on both sides of the module to be welded. First, the relative distance between the sensor and the pressure plate is determined, for example, the pressure plate is set to be flush with the sensor. Then, the distance between the distance sensor and the side of the module is measured by the distance sensor. The servo extrusion mechanism, which operates independently on both sides, controls the pressure plate to move according to the data measured by the distance sensor on the corresponding laser welding mechanism, so that the pressure plates on both sides of the module move to the same pre-pressure distance from the module to be welded. The pre-pressure distance can be 4cm to 5cm, that is, the pressure plates move to the center pre-pressure position to complete the centering. Since the distance between the pressure plates on both sides and the side of the module to be welded is equal, the center line of the pressure plate is the center line of the module to be welded, and the center line of the module to be welded can be found.

[0063] Optionally, after controlling the movement of the pressure plates so that the pressure plates on both sides of the module move to the same pre-pressing distance from the module to be welded, the present invention can also perform a second distance measurement to see if the distance between one side pressure plate and the corresponding distance measuring sensor is equal to the distance between the other side pressure plate and the corresponding distance measuring sensor, so as to ensure accuracy.

[0064] Step 102: When it is determined that the distance between the pre-pressing positions on both sides of the module to be welded and the center position of the module to be welded is the same, an extrusion command is generated. The extrusion command is used to instruct the pressure plates on both sides of the servo extrusion mechanism to extrude the busbars on both sides of the module to be welded.

[0065] In step 102, since the pressure plates on both sides of the module each reach the same pre-pressure distance from the module to be welded, and given that the distances between the corresponding pre-pressure positions on both sides of the module to be welded and the center position of the module to be welded are the same, an extrusion command is generated. At this time, the servo extrusion mechanisms on both sides are controlled to synchronously extrude the busbar on the module to be welded. The speed and torque parameters of the servo extrusion mechanisms driving the pressure plates are controlled to ensure that the speed and torque of the pressure plates on both sides remain synchronized, so that the busbar and the pole are in close contact. This invention utilizes the control advantage of dual-drive synchronization to make the upright cylindrical module reach the pre-pressure point through distance measurement and then synchronously extrude, achieving a balance of extrusion torque on the left and right welding surfaces, increasing welding stability, and improving efficiency.

[0066] Step 103: After extrusion is completed, a welding command is generated. The welding command is used to instruct the welding mechanisms on both sides to weld the corresponding side of the module to be welded.

[0067] In step 103, for each side of the module to be welded, when the busbar abuts against the pole of the module to be welded, the extrusion is determined to be complete, a welding command is generated, and the welding mechanisms on both sides are instructed to weld the corresponding side of the module to be welded. Optionally, the present invention utilizes the high-response motion characteristics and high-precision motion control of the linear motor to improve the welding motion efficiency, thereby improving the welding quality and production efficiency.

[0068] This invention provides a technical solution for welding a module to be welded, wherein the module to be welded is an energy storage battery module, having two sides to be welded, positive and negative terminals. A dual-drive, simultaneous extrusion of the entire plate is employed. Specifically, a ranging mechanism is provided on the laser welding mechanism to position the plates on both sides of the battery cell, ensuring that the plates are aligned. Then, a servo motor controls the torque, using the same force to extrude the cylindrical module, thereby ensuring uniform force distribution. Lasers located on both sides of the cylindrical module simultaneously weld the positive and negative terminals, thus improving welding efficiency.

[0069] This invention provides a welding method, apparatus, electronic device, and storage medium for modules. Based on the center position of the module to be welded, the pressure plates on both sides of the servo extrusion mechanism are instructed to move to corresponding pre-pressing positions on both sides of the module. When the distance between the pre-pressing positions on both sides of the module and the center position is determined to be the same, the pressure plates on both sides of the servo extrusion mechanism are instructed to extrude the busbars on both sides of the module. After extrusion, a welding command is generated, instructing the welding mechanisms on both sides to weld the corresponding sides of the module. This invention enables the pressure plates of the servo extrusion mechanism to simultaneously extrude both sides of the module, thereby improving the extrusion effect, reducing the scrap rate, and providing better welding conditions for subsequent welding.

[0070] Figure 2 This is a second schematic flowchart of the welding method for the module provided by the present invention. After generating a preload adjustment command based on the center position of the module to be welded, the method further includes:

[0071] Step 201: Determine the first distance between the first ranging sensor and the first side of the module to be welded, determine the second distance between the first ranging sensor and the first pressing plate of the servo extrusion mechanism, and determine the first distance difference based on the first distance and the second distance.

[0072] In step 201, after generating a pre-pressure adjustment command based on the center position of the module to be welded, the present invention measures the distance to the first side of the module to be welded based on the distance sensors set below the welding heads on both sides of the module to be welded, obtains the first distance between the first distance sensor and the first side of the module to be welded, measures the first pressure plate of the servo extrusion mechanism, obtains the second distance between the first distance sensor and the first pressure plate of the servo extrusion mechanism, and determines the first distance difference based on the difference between the first distance and the second distance.

[0073] Step 202: Determine the third distance between the second ranging sensor and the second side of the module to be welded, determine the fourth distance between the second ranging sensor and the second pressing plate of the servo extrusion mechanism, and determine the second distance difference based on the third distance and the fourth distance.

[0074] In step 202, the distance to the second side of the module to be welded is measured to obtain the third distance between the second distance sensor and the second side of the module to be welded. The second pressing plate of the servo extrusion mechanism is measured to obtain the fourth distance between the second distance sensor and the second pressing plate of the servo extrusion mechanism. The second distance difference is determined based on the difference between the third distance and the fourth distance.

[0075] Step 203: When the first distance difference is equal to the second distance difference, determine that the distance between the pre-pressing positions on both sides of the module to be welded and the center position of the module to be welded is the same.

[0076] In step 203, the pressure plates are controlled to move, so that the pressure plates on both sides of the module move to the same pre-pressing distance from the module to be welded. The first distance difference and the second distance difference are determined. During the continuous control of the pressure plate movement, the first distance difference and the second distance difference are continuously determined. When the first distance difference is equal to the second distance difference, it is determined that the distance between the corresponding pre-pressing positions on both sides of the module to be welded and the center position of the module to be welded is the same, so as to generate an extrusion command. After extrusion, the left and right sides of the cylindrical module can be welded simultaneously using a laser, breaking the conventional method of welding only one side, reducing the need for flipping welding, and greatly improving work efficiency and welding quality.

[0077] Figure 3 This is the third flowchart illustrating the welding method for the module provided by the present invention. After generating the welding command, the method further includes:

[0078] Step 301: Determine all welding sub-regions of the module to be welded according to the preset welding range of the welding mechanism.

[0079] In step 301, since the present invention can be applied to different models and specifications of modules to be welded, and the welding side of different modules to be welded usually requires the welding mechanism to continuously adjust the welding trajectory to complete all welding work on the welding side, in order to facilitate welding, the present invention first needs to determine the preset welding range of the welding mechanism, and then divide all welding sub-regions of the module to be welded according to the area size of the welding area required on the welding side of the module to be welded. The present invention will perform welding or compensation welding for each welding sub-region. After completing the welding task of the welding sub-region, the position of the welding mechanism is adjusted, and the next welding sub-region is welded until all welding tasks of all welding sub-regions are completed.

[0080] Step 302: According to the welding instruction, instruct the welding mechanism to weld each welding sub-region in all welding sub-regions.

[0081] In step 302, the welding command is used to instruct the welding mechanisms on both sides to weld the corresponding side of the module to be welded. For each side to be welded, all welding sub-regions of the module to be welded are determined according to the preset welding range of the welding mechanism, and then the welding mechanism is instructed to weld each welding sub-region in all welding sub-regions.

[0082] Figure 4 This is the fourth flowchart illustrating the welding method for the module provided by the present invention. After determining all welding sub-regions of the module to be welded according to the preset welding range of the welding mechanism, the method further includes:

[0083] Step 401: Generate a first image capture command, and in response to the first image capture command, acquire the first image data corresponding to the side to be welded.

[0084] In step 401, after determining all welding sub-regions of the module to be welded, the present invention acquires image data of the side to be welded by using a camera module set on the welding mechanism to take pictures of the marked points, that is, to generate a first picture instruction, and in response to the first picture instruction, acquires the first image data corresponding to the side to be welded.

[0085] Step 402: Generate a movement command based on the first image data corresponding to the side to be welded;

[0086] The movement command is used to instruct the servo motor to drive the welding mechanism to move to the current sub-area to be welded.

[0087] In step 402, for example, if the side to be welded has multiple welding sub-regions, and each welding sub-region has 9 welding points, then the first group, second group, and third group are set from left to right to analyze the first image data corresponding to the side to be welded. If the welding work is in the initial stage, and the current welding sub-region is the first group, then instructing the servo motor to drive the welding mechanism to move to the current welding sub-region means instructing the welding mechanism to move to the position of the 9 welding points corresponding to the first group. The position of the welding points is the position of the pressed pole and busbar. Optionally, the present invention can not only adopt a left-to-right approach, but also a right-to-left approach, a top-to-bottom approach, or a bottom-to-top approach. Different settings correspond to different welding sequences of the relevant welding sub-regions, and also correspond to different current welding sub-regions.

[0088] Figure 5 This is a schematic diagram of the process of instructing the welding mechanism to weld each welding sub-region in all welding sub-regions, as provided by the present invention. The instructing the welding mechanism to weld each welding sub-region in all welding sub-regions includes:

[0089] Step 501: For each welding sub-region, determine the welding points to be verified from the welding sub-region in a preset arrangement.

[0090] In step 501, the present invention requires further testing to determine whether welding is feasible before welding. Specifically, by measuring the average distance from a portion of the selected welding points to be verified or all the welding points to be verified in the welding sub-region to the welding head, it is determined whether the average distance meets the welding requirements. The portion of the selected welding points to be verified refers to the welding points to be verified selected according to a preset point selection method. For all welding sub-regions, the preset point selection method includes selecting a preset number of preset positions of welding points to be verified. For example, if the welding sub-region is a 3*3 matrix, that is, including 3 rows and 3 columns with a total of 9 points, it can be set to select one point from each row or each column (it can be 3 points in the same row or column, or 3 points on the diagonal), and finally select 3 points as the welding points to be verified in the welding sub-region. It is only necessary to measure the distance from the 3 points to the welding head, and take the average value as the distance from the welding sub-region to the welding head, that is, the first average distance of the welding sub-region. This method can meet the actual busbar welding requirements while reducing the amount of data that needs to be measured, thereby reducing welding waiting time and increasing welding cycle time.

[0091] Optionally, the preset welding range is a preset welding matrix composed of different welding positions; before determining the welding points to be verified in the preset arrangement from the welding sub-region, the method further includes: determining the preset arrangement based on the horizontal welding positions corresponding to the preset welding matrix; determining the preset arrangement based on the vertical welding positions corresponding to the preset welding matrix; or, determining the preset arrangement based on all welding positions corresponding to the preset welding matrix.

[0092] Optionally, the preset welding range is a preset welding matrix composed of the welding positions of different welding points, such as a 3*3 matrix, a 4*4 matrix, or a 3*4 matrix, etc. In this case, the welding points to be verified can be selected from the preset welding matrix according to a preset arrangement. For example, the welding points to be verified can be selected by the horizontal welding positions corresponding to the preset welding matrix; the welding points to be verified can be selected by the vertical welding positions corresponding to the preset welding matrix; and the welding points to be verified can be selected by all the welding positions corresponding to the preset welding matrix.

[0093] Optionally, if the preset welding matrix is ​​a 3*3 matrix, the present invention can measure the distance of 3 out of 9 points to be welded, thereby shortening the total welding time and increasing the welding frequency while ensuring the welding qualification rate. However, in other embodiments, if welding efficiency is ensured while considering welding accuracy, the present application can also measure the distance of all 9 points to be welded in each group, adjust the galvanometer to the position of the corresponding group based on the average value of the 9 points, and compensate the welding parameters for each point to be welded based on the specific data of each of the 9 points before starting welding.

[0094] Step 502: Determine the average first distance of all welding points to be verified from the welding mechanism based on the distance of each welding point to be verified from the welding mechanism.

[0095] In step 502, the distance between each welding point to be verified and the welding mechanism is determined based on the distance sensor. Then, the distances between all welding points to be verified and the welding mechanism are averaged to determine the first average distance between all welding points to be verified and the welding mechanism.

[0096] Step 503: When the average first distance is less than or equal to a preset distance, instruct the welding mechanism to weld the corresponding welding sub-area.

[0097] In step 503, if the average first distance is less than or equal to a preset distance, then the welding sub-region is considered to meet the welding standard, and the accuracy of the points to be welded in the welding sub-region meets the welding standard, and the welding mechanism is instructed to weld the welding sub-region.

[0098] Step 504: When the average first distance is greater than the preset distance, a stop welding command is generated. The stop welding command is used to stop the welding of the corresponding module to be welded and to instruct the welding of the next module to be welded to be executed.

[0099] In step 504, if the average first distance is greater than the preset distance, it is considered that the welding sub-region does not meet the welding standard, and a stop welding command is generated. The stop welding command is used to stop the welding of the corresponding module to be welded and to instruct the welding of the next module to be welded. The present invention can make the welding sub-region meet the welding standard by welding compensation or other methods before welding the welding sub-region. The present invention can also further determine that the module to be welded is unqualified after determining that the welding sub-region does not meet the welding standard. At this time, it is necessary to stop the welding work of the module to be welded and instruct the welding of the next module to be welded.

[0100] Optionally, after instructing the welding mechanism to weld the corresponding welding sub-area, the method further includes:

[0101] Generate a second image capture command, and in response to the second image capture command, acquire the second image data corresponding to the corresponding welding sub-region;

[0102] Based on the second image data, the welding mechanism is controlled to perform compensatory welding on each welding point to be verified in the corresponding welding sub-region;

[0103] The second image data includes distance and / or angle information from all welding points to be verified to the welding mechanism in the corresponding welding sub-region.

[0104] Optionally, the present invention will first determine the distance information and / or angle information of all welding points to be verified in the corresponding welding sub-region to the welding mechanism, and then control the welding mechanism to perform compensating welding on each welding point to be verified in the corresponding welding sub-region according to the distance information and / or angle information of all welding points to be verified in the corresponding welding sub-region.

[0105] Optionally, before actually performing the welding operation on the welding sub-region, the present invention instructs the welding mechanism to perform welding on the welding sub-region, and then performs a photographing operation again. This time, the welding sub-region is photographed. Specifically, a second photographing instruction is generated, and in response to the second photographing instruction, the second image data corresponding to the welding sub-region is acquired.

[0106] Optionally, the present invention needs to determine that all welding points in the second image data correspond to each welding hole to ensure accurate welding. That is, when it is determined that all welding points in the second image data correspond to each welding hole, the target welding operation is performed. If any welding point in the second image data does not correspond to each welding hole, the welding mechanism can be controlled to perform compensatory welding on each welding point to be verified in the corresponding welding sub-region based on the distance information and / or angle information of all welding points to be verified in the corresponding welding sub-region.

[0107] Figure 6 This is the fifth flowchart illustrating the welding method for the module provided by the present invention. The step of controlling the welding mechanism to perform compensatory welding on each welding point to be verified in the corresponding welding sub-region based on the second image data includes:

[0108] Step 601: For each weld point to be verified, if the weld point is located at the center of the weld hole, weld the weld point.

[0109] In step 601, the present invention needs to determine whether all the welding points to be verified within the welding sub-region are within the welding hole, and whether there is a positional offset between the welding points to be verified and the welding hole. The present invention can check the position of the welding points to be verified and the welding hole through the circular holes set at the corresponding pole positions on the busbar. If any welding point is not within the welding hole or at the center of the welding hole, it is considered that there is an offset, and welding compensation needs to be performed on this part of the welding points to be verified. Specifically, the distance of the corresponding offset welding points is measured, and the distance compensation is performed by controlling the movement of the welding mechanism through the servo mechanism, and / or the angle compensation is performed by adjusting the welding angle through the galvanometer.

[0110] Step 602: If there is an offset between the welding point to be verified and the center position of the welding hole, compensate the welding point according to the second image data;

[0111] The compensation welding includes distance compensation welding and / or galvanometer compensation welding;

[0112] The distance-compensated welding is used to adjust the distance between the welding mechanism and the welding point to be verified before welding the point;

[0113] The galvanometer-compensated welding is used to weld the welding point to be verified by adjusting the welding trajectory of the welding mechanism after changing the rotation angle of the galvanometer.

[0114] The center position of the welding hole is a hole pre-drilled on the busbar according to the module model and battery model, used to indicate the orientation of the welding point to be verified and the battery terminal.

[0115] In step 602, the present invention will use distance compensation and galvanometer compensation for welding compensation. Optionally, the present invention uses welding mechanisms on both sides to weld the two sides of the cylindrical module to be welded. Both sides can be welded simultaneously, that is, when the preset welding matrix is ​​a 3*3 matrix, 18 welding points can be welded, but only the distance data is measured once. The present invention uses the distance data to weld 9 welding points, while ensuring that the position of the welding mechanism remains unchanged, and welding the 9 welding points of the welding sub-region is welded separately by changing the angle of the galvanometer.

[0116] Optionally, the present invention takes pictures of the module to be welded using a camera. If it is determined that there is an offset between the welding point and the center of the welding hole, the welding point is compensated for welding. Since the welding work is achieved using a laser and a galvanometer, if any one of the groups can be welded, the remaining welding points in the group can be welded by adjusting the beam angle of the galvanometer. Based on the measured distance data between the welding head and the welding point, the welding points of this group are compensated for welding. If the distance at this time is exactly the focal length of welding, no compensation is needed. If the measured distance at this time is not the focal length of welding, or the welding point is not at the center of the welding hole and there is an offset, the welding can be compensated by distance compensation and galvanometer compensation. If neither distance compensation nor galvanometer compensation can compensate, a stop welding command is generated.

[0117] Optionally, after the welding of the module to be welded is completed, the welding position of the welding mechanism is adjusted, and it moves to the next sub-area to be welded. The photographing, testing, and welding operations are performed again. If welding compensation is required, the welding compensation operation is performed again until all sub-areas to be welded on the welding side of the module to be welded are welded. Optionally, the orientation state indicating the position of the welding point to be verified relative to the battery terminal indicates whether the position of the welding point to be verified and the position of the battery terminal are concentric.

[0118] Figure 7 This is a schematic diagram of the welding device for the module provided by the present invention. The welding device for the module includes a first generating unit 1. The first generating unit is used to generate a pre-pressure adjustment command according to the center position of the module to be welded. The pre-pressure adjustment command is used to instruct the pressure plates on both sides of the servo extrusion mechanism to move to the corresponding pre-pressure positions on both sides of the module to be welded. The working principle of the first generating unit 1 can be referred to the aforementioned step 101, and will not be repeated here.

[0119] The welding device for the module further includes a second generation unit 2. The second generation unit is used to generate an extrusion command when it is determined that the distance between the pre-pressing positions on both sides of the module to be welded and the center position of the module to be welded is the same. The extrusion command is used to instruct the pressure plates on both sides of the servo extrusion mechanism to extrude the busbars on both sides of the module to be welded. The working principle of the second generation unit 2 can be referred to the aforementioned step 102, and will not be repeated here.

[0120] The welding device of the module also includes a third generation unit 3, which is used to generate a welding command after extrusion. The welding command is used to instruct the welding mechanisms on both sides to weld the corresponding side of the module to be welded. The working principle of the third generation unit 3 can be referred to the aforementioned step 103, and will not be repeated here.

[0121] This invention provides a welding method, apparatus, electronic device, and storage medium for modules. Based on the center position of the module to be welded, the pressure plates on both sides of the servo extrusion mechanism are instructed to move to corresponding pre-pressing positions on both sides of the module. When the distance between the pre-pressing positions on both sides of the module and the center position is determined to be the same, the pressure plates on both sides of the servo extrusion mechanism are instructed to extrude the busbars on both sides of the module. After extrusion, a welding command is generated, instructing the welding mechanisms on both sides to weld the corresponding sides of the module. This invention enables the pressure plates of the servo extrusion mechanism to simultaneously extrude both sides of the module, thereby improving the extrusion effect, reducing the scrap rate, and providing better welding conditions for subsequent welding.

[0122] Figure 8 This is a schematic diagram of the structure of the electronic device provided by the present invention. For example... Figure 8As shown, the electronic device may include a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute a module welding method. This method includes: generating a pre-pressure adjustment instruction based on the center position of the module to be welded, the pre-pressure adjustment instruction instructing the pressure plates on both sides of the servo extrusion mechanism to move to the corresponding pre-pressure positions on both sides of the module to be welded; generating an extrusion instruction when the distance between the corresponding pre-pressure positions on both sides of the module to be welded and the center position of the module to be welded is determined to be the same, the extrusion instruction instructing the pressure plates on both sides of the servo extrusion mechanism to extrude the busbars on both sides of the module to be welded; and generating a welding instruction after extrusion, the welding instruction instructing the welding mechanisms on both sides to weld the corresponding sides of the module to be welded.

[0123] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute a module welding method provided by the above methods. The method includes: generating a pre-pressure adjustment command based on the center position of the module to be welded, the pre-pressure adjustment command being used to instruct the pressure plates on both sides of the servo extrusion mechanism to move to the corresponding pre-pressure positions on both sides of the module to be welded; generating an extrusion command when it is determined that the distance between the corresponding pre-pressure positions on both sides of the module to be welded and the center position of the module to be welded is the same, the extrusion command being used to instruct the pressure plates on both sides of the servo extrusion mechanism to extrude the busbars on both sides of the module to be welded; and generating a welding command after the extrusion is completed, the welding command being used to instruct the welding mechanisms on both sides to weld the corresponding sides of the module to be welded.

[0125] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a welding method for the modules provided by the above methods. The method includes: generating a pre-pressure adjustment command based on the center position of the module to be welded, the pre-pressure adjustment command instructing the pressure plates on both sides of the servo extrusion mechanism to move to corresponding pre-pressure positions on both sides of the module to be welded; generating an extrusion command when the distance between the corresponding pre-pressure positions on both sides of the module to be welded and the center position of the module to be welded is determined to be the same, the extrusion command instructing the pressure plates on both sides of the servo extrusion mechanism to extrude the busbars on both sides of the module to be welded; and generating a welding command after extrusion is completed, the welding command instructing the welding mechanisms on both sides to weld the corresponding sides of the module to be welded.

[0126] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0127] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of welding a module, characterized by, The method comprises the following steps: generating a pre-pressing adjustment instruction according to the center position of the to-be-welded module, the pre-pressing adjustment instruction being used to instruct the respective movement of the two whole pressing plates on the two sides of the servo pressing mechanism to the corresponding pre-pressing positions on the two sides of the to-be-welded module; in the case where it is determined that the distances from the corresponding pre-pressing positions on the two sides of the to-be-welded module to the center position of the to-be-welded module are the same, generating a pressing instruction, the pressing instruction being used to instruct the respective pressing of the two whole pressing plates on the two sides of the servo pressing mechanism to the bus bars on the two sides of the to-be-welded module; generating a welding instruction after the pressing is completed, the welding instruction being used to instruct the respective welding of the two welding mechanisms to the corresponding to-be-welded sides of the to-be-welded module.

2. The method of welding a module according to claim 1, wherein, After the pre-pressing adjustment instruction is generated according to the center position of the to-be-welded module, the method further comprises the following steps: determining a first distance between the first distance measuring sensor and the first side of the to-be-welded module, determining a second distance between the first distance measuring sensor and the first whole pressing plate of the servo pressing mechanism, and determining a first distance difference value according to the first distance and the second distance; determining a third distance between the second distance measuring sensor and the second side of the to-be-welded module, determining a fourth distance between the second distance measuring sensor and the second whole pressing plate of the servo pressing mechanism, and determining a second distance difference value according to the third distance and the fourth distance; in the case where the first distance difference value is equal to the second distance difference value, it is determined that the distances from the corresponding pre-pressing positions on the two sides of the to-be-welded module to the center position of the to-be-welded module are the same.

3. The method of welding a module of claim 1, wherein, After the welding instruction is generated, the method further comprises the following steps: determining all welding sub-regions of the to-be-welded module according to a preset welding range of the welding mechanism; instructing the welding of each welding sub-region in all welding sub-regions by the welding mechanism according to the welding instruction.

4. The method of welding a module according to claim 3, wherein, After the all welding sub-regions of the to-be-welded module are determined according to the preset welding range of the welding mechanism, the method further comprises the following steps: generating a first photographing instruction, and acquiring first image data corresponding to the to-be-welded side in response to the first photographing instruction; generating a moving instruction according to the first image data corresponding to the to-be-welded side; the moving instruction is used to instruct the movement of the welding mechanism to the current to-be-welded sub-region by the servo motor.

5. The method of welding a module of claim 3, wherein, The instructing of the welding of each welding sub-region in all welding sub-regions by the welding mechanism comprises the following steps: for each welding sub-region, determining a preset arrangement layout of to-be-verified welding points in the welding sub-region; the to-be-verified welding points refer to to-be-verified welding points selected in a preset selection mode; the preset selection mode comprises selecting a preset number of to-be-verified welding points at preset positions; determining a first distance average of all to-be-verified welding points from the welding mechanism according to the distances of each to-be-verified welding point from the welding mechanism; in the case where the first distance average is less than or equal to a preset distance, instructing the welding of the corresponding welding sub-region by the welding mechanism; in the case where the first distance average is greater than the preset distance, generating a stop welding instruction, the stop welding instruction being used to stop the welding of the corresponding to-be-welded module and instructing the execution of the welding of the next to-be-welded module.

6. The method of welding a module according to claim 5, wherein, After instructing the welding mechanism to weld the corresponding welding sub-region, the method further comprises: generating a second photographing instruction, and acquiring second image data corresponding to the corresponding welding sub-region in response to the second photographing instruction; controlling the welding mechanism to compensate and weld each to-be-inspected welding point in the corresponding welding sub-region according to the second image data; the second image data comprises distance information and / or angle information of all to-be-inspected welding points in the corresponding welding sub-region to the welding mechanism.

7. The method of welding a module according to claim 6, wherein, the controlling the welding mechanism to compensate and weld each to-be-inspected welding point in the corresponding welding sub-region according to the second image data comprises: for each to-be-inspected welding point, if the to-be-inspected welding point is located at the welding hole center position, welding the to-be-inspected welding point; if the to-be-inspected welding point is offset from the welding hole center position, compensating and welding the to-be-inspected welding point according to the second image data; the compensating and welding comprises distance compensation welding and / or galvanometer compensation welding; the distance compensation welding is used to adjust the distance between the welding mechanism and the to-be-inspected welding point, and then weld the to-be-inspected welding point; the galvanometer compensation welding is used to adjust the welding track of the welding mechanism by changing the rotation angle of the galvanometer, and then weld the to-be-inspected welding point; the welding hole center position is a hole position pre-formed on the busbar according to the module model and the battery model, and is used to indicate the azimuth state of the position of the to-be-inspected welding point and the position of the battery pole.

8. A welding apparatus of a module, characterized by comprising: comprises: a first generating unit, configured to generate a pre-pressing adjustment instruction according to the center position of a to-be-welded module, the pre-pressing adjustment instruction being used to instruct the respective movement of the two whole pressing plates on the two sides of a servo pressing mechanism to the corresponding pre-pressing positions on the two sides of the to-be-welded module; a second generating unit, configured to generate a pressing instruction in a case where it is determined that the distances from the corresponding pre-pressing positions on the two sides of the to-be-welded module to the center position of the to-be-welded module are the same, the pressing instruction being used to instruct the respective pressing of the two whole pressing plates on the two sides of the servo pressing mechanism to the busbars on the two sides of the to-be-welded module; a third generating unit, configured to generate a welding instruction after the pressing is completed, the welding instruction being used to instruct the respective welding of the two welding mechanisms on the two sides to the corresponding to-be-welded sides of the to-be-welded module.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the welding method of the module in any one of claims 1-7.

10. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the welding method of the module in any one of claims 1-7.

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