A welding method for a top cover side seam of a blade battery and a computer storage medium

Abstract

The application provides a welding method for a top cover side seam of a blade battery and a computer storage medium. The method comprises the following steps: obtaining a welding power parameter set by a user, determining a welding mode according to the welding power parameter, the welding mode comprises a constant power mode and a variable power mode, the constant power mode is a mode in which a preset fixed welding power of a welding laser is used for welding, and the variable power mode is a mode in which the welding power of the welding laser is determined according to a variable power position and / or a welding speed; and adjusting the welding power of the welding laser when a preset welding track of the top cover side seam is executed according to the welding mode. The method effectively combines the welding track and the laser energy control technology, and uniform welding of the top cover side seam of the blade battery is realized.

Description

Technical Field

[0001] This invention relates to the field of welding technology, specifically to a welding method for the side seam of the top cover of a blade battery and a computer storage medium. Background Technology

[0002] In the lithium battery industry, the main types of square aluminum-cased power batteries are currently "lithium iron phosphate" and "ternary lithium". With the rise of blade batteries (lithium iron phosphate) on the market, compared with the widely used "ternary lithium batteries", blade batteries (lithium iron phosphate) have significantly improved in terms of safety and space utilization, and also have the advantages of long life and long range. Under this trend, leading battery manufacturers have successively developed blade battery process production routes. The main difference between blade batteries and conventional batteries is that the positive and negative electrodes are at both ends (with tabs at both ends), and the weld is on the side. When welding the weld, a multi-axis linkage welding equipment with a laser head is required. Moreover, the corner radius of blade batteries is much smaller than that of conventional batteries, making welding at the corners more difficult and requiring a high degree of ability to combine welding trajectory and laser energy control.

[0003] Existing methods for welding blade batteries typically use constant power mode welding, treating corners as straight lines for welding. The welding trajectory follows four straight lines, with each corner being welded twice. This can lead to energy accumulation at the corners, excessive weld depth and width, and sharp corners. Consequently, the side seams of the welded blade battery top cover are not smooth and uniform, making it easy to be scratched during film wrapping.

[0004] Therefore, there is an urgent need for a technical solution that can achieve uniform welding of the side seams of the blade battery top cover. Summary of the Invention

[0005] The method provided by this invention can achieve uniform welding of the side seams of the blade battery top cover.

[0006] In one aspect, an embodiment provides a welding method for the side seam of the top cover of a blade battery. The blade battery includes a cell, a casing, and a top cover that mates with the casing. The side seam of the top cover is a weld between the casing and the top cover. The method includes: acquiring welding power parameters set by a user, the welding power parameters including a variable power position, a welding speed, and a welding power, wherein the welding power of a welding laser can be determined based on the variable power position and / or the welding speed; determining a welding mode based on the welding power parameters, the welding mode including a constant power mode and a variable power mode, wherein the constant power mode is a mode in which the welding laser uses the welding power for welding, and the variable power mode is a mode in which the welding power of the welding laser is determined based on the variable power position and / or the welding speed; and adjusting the welding power of the welding laser while executing a preset welding trajectory for the side seam of the top cover according to the welding mode.

[0007] In some embodiments, the welding trajectory includes: a first welding line, a second welding line, a third welding line, and a fourth welding line; the first welding line, the second welding line, the third welding line, and the fourth welding line each include a starting welding idle section, a welding section, and a ending welding idle section; when welding the starting welding idle section and the ending welding idle section, the welding laser is controlled to not emit light, and when welding the welding section, the welding laser is controlled to emit light; adjusting the welding power of the welding laser when executing the preset welding trajectory of the top cover side seam includes: when welding the welding section, adjusting the welding power of the welding laser according to the welding mode.

[0008] In some embodiments, the variable power mode includes: a position variable power mode, a speed variable power mode, and a position-speed variable power mode. The position variable power mode determines the welding power based on the variable power position. The speed variable power mode determines the welding power based on the welding speed. The position-speed variable power mode determines the welding power based on both the variable power position and the welding speed. Adjusting the welding power of the welding laser according to the welding mode when welding the welding segment includes: when the welding mode is the position variable power mode, adjusting the welding power of the welding laser based on the variable power position when welding the welding segment; or when the welding mode is the speed variable power mode, adjusting the welding power of the welding laser based on the welding speed when welding the welding segment; or when the welding mode is the position-speed variable power mode, adjusting the welding power of the welding laser based on both the variable power position and the welding speed when welding the welding segment.

[0009] In some embodiments, the variable power position includes a starting position for welding variable power and a starting position for welding variable power, and the welding power includes a starting welding variable power corresponding to the starting welding variable power position and a final welding variable power corresponding to the final welding variable power position; adjusting the welding power of the welding laser according to the variable power position when welding the welding segment includes: obtaining the current starting welding variable power position and the current final welding variable power position of the welding equipment; obtaining the starting welding variable power according to the current starting welding variable power position, the starting welding variable power position, the starting welding variable power distance, a preset maximum power and a preset first proportional coefficient; obtaining the final welding variable power according to the current final welding variable power position, the starting position for final welding variable power, the preset maximum power and a preset second proportional coefficient; the starting welding variable power can be obtained in the following way: P1=P+(W q1 +L1-W q2 )*K1, where P1 is the starting welding power, P is the maximum power, and W q1 W represents the starting position of the welding power change. q2The current starting position for welding power change is L1, the starting distance for welding power change is L1, and K1 is the first proportional coefficient; the final welding power change can be obtained as follows: P2 = P + (W1 - W o In K2, P2 is the final welding power, and P is the maximum power (W). o W1 is the starting position of the final welding power change, W2 is the current final welding power change position, and K2 is the second proportional coefficient.

[0010] In some embodiments, adjusting the welding power of the welding laser according to the welding speed when welding the welding segment includes: obtaining the current welding speed of the welding equipment; obtaining the welding power according to the current welding speed, the preset welding speed, the preset maximum power, and the preset third proportional coefficient; the welding power can be obtained in the following way: P0 = P + (S2 - S1) * K3, where P0 is the welding power, P is the maximum power, S1 is the preset welding speed, S2 is the current welding speed, and K3 is the third proportional coefficient.

[0011] In some embodiments, the variable power position includes a starting position for welding variable power and a starting position for welding variable power, and the welding power includes a starting welding variable power corresponding to the starting position for welding variable power and a final welding variable power corresponding to the starting position for welding variable power; adjusting the welding power of the welding laser according to the variable power position and the welding speed when welding the welding segment includes: obtaining the current starting welding variable power position, the current final welding variable power position, and the current welding speed of the welding equipment; obtaining the starting welding variable power according to the current starting welding variable power position, the starting position for welding variable power, the current welding speed, the preset welding speed, the preset maximum power, the preset first proportional coefficient, and the third proportional coefficient; obtaining the final welding variable power according to the current final welding variable power position, the starting position for final welding variable power, the starting welding variable power distance, the current welding speed, the preset welding speed, the preset maximum power, the preset second proportional coefficient, and the third proportional coefficient; the starting welding variable power can be obtained in the following way: P1=P+(W q1 +L1-W q2 )*K1+(S2-S1)*K3, where P1 is the starting welding power, P is the maximum power, and W q1 W represents the starting position of the welding power change. q2 Where L1 is the starting position of the welding power change, S1 is the preset welding speed, S2 is the current welding speed, K1 is the first proportional coefficient, and K3 is the third proportional coefficient; the final welding power change can be obtained as follows: P2 = P + (W1 - W o)*K2+(S2-S1)*K3, where P2 is the final welding power, P is the maximum power, and W o W1 is the starting position of the final welding power, K2 is the current position of the final welding power, S1 is the welding speed, S2 is the current welding speed, and K3 is the third proportional coefficient.

[0012] In some embodiments, the starting welding power change distance can be calculated in the following way:

[0013] The distance for starting welding and changing power is equal to the length of the starting and repair welding section plus the radius of the rounded corner.

[0014] In some embodiments, the method is implemented based on a welding X-axis, welding Y-axis, welding Z-axis, welding R-axis, and top cover R-axis. Both the welding R-axis and the top cover R-axis are rotation axes, and their origins are the center point of the battery cell. The welding X-axis corresponds to the X-axis motion device of the welding equipment, which is used to adjust the welding position of the blade battery weld. The welding Y-axis corresponds to the Y-axis motion device of the welding equipment, which is used to execute the welding trajectory. The welding Z-axis corresponds to the welding... The welding Z-axis motion device of the welding equipment is used to adjust the height of the laser welder. The welding R-axis corresponds to the welding R-axis motion device of the welding equipment, and the top cover R-axis corresponds to the top cover R-axis motion device of the welding equipment. The top cover R-axis motion device and the welding R-axis motion device are used to cooperate during welding to rotate the blade battery. The welding section includes a starting welding section, a long side / short side welding section, and a final welding section. The long side welding section corresponds to the long side of the top cover side seam, and the short side welding section corresponds to the top cover side seam. The short side; the method for generating the welding trajectory includes: when the R-axis group is at 0 degrees, obtaining the starting and ending points of each segment included in the first weld line according to preset point positions on the welding X-axis, the welding Y-axis, and the welding Z-axis, respectively; the preset point positions are the ending points of the starting and repair welding segments of the first weld line on the welding X-axis, the welding Y-axis, and the welding Z-axis, respectively; the R-axis group includes the welding R-axis and the top cover R-axis; when the R-axis group is at 90 degrees, obtaining the short side; the starting and ending points of each segment included in the first weld line according to preset point positions on the welding X-axis, the welding Y-axis, and the welding Z-axis, respectively; the short side; the welding X-axis group is at 90 degrees ... The starting and ending points of each segment of the second weld line are respectively located on the welding X-axis, the welding Y-axis, and the welding Z-axis; when the R-axis group is at 180 degrees, the starting and ending points of each segment of the third weld line are respectively located on the welding X-axis, the welding Y-axis, and the welding Z-axis according to the preset point positions; when the R-axis group is at 270 degrees, the starting and ending points of each segment of the fourth weld line are respectively located on the welding X-axis, the welding Y-axis, and the welding Z-axis according to the preset point positions.

[0015] In some embodiments, the control method of the welding equipment includes: when the R-axis group is not rotating, controlling the first axis group to perform linear interpolation motion, the first axis group including the welding X-axis, the welding Y-axis and the welding Z-axis; when the R-axis group rotates, controlling the R-axis group to perform linear interpolation motion, and controlling the first axis group to perform periodic synchronous absolute positioning motion with the welding R-axis as the main axis, the periodic synchronous absolute positioning motion being achieved by the welding X-axis, the welding Y-axis and the welding Z-axis moving together with the main axis according to the real-time position of the main axis in each scanning cycle.

[0016] Secondly, another embodiment of the present invention provides a computer storage medium storing a program that, when executed by a processor, implements the method as described above.

[0017] The welding method for the top cover side seam of the blade battery provided in the above embodiment obtains the welding power parameters set by the user, determines the welding mode according to the welding power parameters, and adjusts the welding power of the welding laser according to the welding mode when executing the preset welding trajectory of the top cover side seam. The welding trajectory and laser energy control technology are effectively combined to achieve uniform welding of the top cover side seam of the blade battery. Attached Figure Description

[0018] Figure 1 This is a structural diagram of a blade battery according to one embodiment;

[0019] Figure 2 A flowchart of the welding method for the top cover side seam of the blade battery provided by the present invention;

[0020] Figure 3 A flowchart illustrating the adjustment of the welding power of the welding laser based on the variable power position during a welding segment, as described in one embodiment;

[0021] Figure 4 This is a schematic diagram of the structure of a welding device according to one embodiment;

[0022] Figure 5 A flowchart illustrating how the welding power of a welding laser is adjusted according to the welding speed during the welding segment, as described in one embodiment.

[0023] Figure 6 This is a flowchart illustrating how the welding power of a welding laser is adjusted based on the variable power position and welding speed during welding of a welding segment, according to one embodiment.

[0024] Figure 7 This is a schematic diagram of the welding trajectory in one embodiment;

[0025] Figure 8 A structural diagram of the computer storage medium provided by the present invention. Detailed Implementation

[0026] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0027] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the order of the steps or actions in the method description can be changed or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0028] The serial numbers assigned to components in this article, such as "first" and "second", are used only to distinguish the objects being described and have no sequential or technical meaning.

[0029] When welding the side seam of the top cover of the blade battery using a multi-axis (including welding X-axis, welding Y-axis, welding Z-axis and welding R-axis) linkage welding equipment, it is necessary to repeatedly adjust the welding Z-axis to adjust the height of the laser welder in order to complete the seamless connection welding process at the straight edge and rounded corner. However, the rounded corner radius of the blade battery is much smaller than that of conventional batteries, so it is impossible to repeatedly adjust the welding Z-axis in a very short time.

[0030] In the welding method for the top cover side seam of the blade battery provided by the present invention, the welding mode is determined according to the welding power parameters set by the user, and the welding power of the welding laser is adjusted when executing the preset welding trajectory of the top cover side seam according to the welding mode, so as to achieve uniform welding of the top cover side seam of the blade battery.

[0031] One embodiment of the present invention provides a welding method for the side seam of the top cover of a blade battery, such as... Figure 1 As shown, the blade battery includes a cell, a casing, and a top cover that fits with the casing. The side seam of the top cover is a weld between the casing and the top cover. The cell is set in the enclosed space formed by the casing and the top cover. The top cover includes a positive electrode top cover and a negative electrode top cover.

[0032] In some embodiments, such as Figure 2 As shown, the method includes:

[0033] S10: Obtain the welding power parameters set by the user. The welding power parameters include variable power position, welding speed and welding power. The welding power of the welding laser can be determined based on the variable power position and / or welding speed.

[0034] S20: Determine the welding mode based on the welding power. The welding modes include constant power mode and variable power mode. The constant power mode is the mode in which the welding laser uses welding power for welding. The variable power mode is the mode in which the welding power of the welding laser is determined based on the variable power position and / or welding speed.

[0035] In some embodiments, the top cover side seam is a rectangle with rounded corners. A coordinate system is established based on this rectangle, with the X-axis pointing to the direction of the blade battery feeding, the Y-axis pointing to the direction of the long side of the rectangle, and the Z-axis pointing to the direction of the short side of the rectangle.

[0036] In some embodiments, if the user sets the welding power, welding is performed in a constant power mode.

[0037] In some embodiments, the variable power mode includes: position variable power mode, speed variable power mode, and position-speed variable power mode. The position variable power mode is a mode in which the welding power is determined based on the variable power position. The speed variable power mode is a mode in which the welding power is determined based on the welding speed. The position-speed variable power mode is a mode in which the welding power is determined based on the variable power position and the welding speed.

[0038] In some embodiments, if the user sets the variable power position to 0 or very small, and the current welding speed on the welding Y-axis is less than the welding speed set by the user, a speed-variable power mode or a position-speed-variable power mode can be used to determine the welding power of the laser welder.

[0039] In some embodiments, during the welding segment, the welding power of the welding laser is adjusted according to the welding mode, including: when the welding mode is a position-variable power mode, the welding power of the welding laser is adjusted according to the variable power position during the welding segment; or when the welding mode is a speed-variable power mode, the welding power of the welding laser is adjusted according to the welding speed during the welding segment; or when the welding mode is a position-speed-variable power mode, the welding power of the welding laser is adjusted according to the variable power position and the welding speed during the welding segment.

[0040] In some embodiments, the variable power position includes a starting variable power position and a ending variable power position, and the welding power includes a starting variable power corresponding to the starting position and a ending variable power corresponding to the starting position; during the welding segment, the welding power of the welding laser is adjusted according to the variable power position, such as... Figure 3As shown, it includes:

[0041] S100: Obtain the current starting and ending power positions of the welding equipment.

[0042] In some embodiments, such as Figure 4 As shown, the method provided by this invention is based on welding X-axis, welding Y-axis, welding Z-axis, welding R-axis, and top cover R-axis. Both the welding R-axis and the top cover R-axis are rotation axes, and their origins are the center points of the battery cells. The welding X-axis corresponds to the X-axis motion device of the welding equipment, which is used to adjust the welding position of the blade battery weld. The welding Y-axis corresponds to the Y-axis motion device of the welding equipment, which is used to execute the welding trajectory. The welding Z-axis corresponds to the Z-axis motion device of the welding equipment, which is used to adjust the height of the laser welder. The welding R-axis corresponds to the welding R-axis motion device of the welding equipment, and the top cover R-axis corresponds to the top cover R-axis motion device of the welding equipment. The top cover R-axis motion device and the welding R-axis motion device cooperate to rotate the blade battery during welding.

[0043] In some embodiments, the current starting and ending welding power positions are obtained based on the current welding Y-axis position, and the current starting and ending welding power positions are fed back in real time by the PLC (Programmable Logic Controller).

[0044] S101: The starting power of welding is obtained based on the current starting power position, the starting power starting position, the starting power distance, the preset maximum power, and the preset first proportional coefficient. The starting power starting position is calculated based on the parameters set by the user. The current starting power position is obtained based on the current welding Y-axis position. The specific method for obtaining the current starting power position is as described above.

[0045] In some embodiments, the starting welding power can be obtained in the following ways:

[0046] P1=P+(W q1 +L1-W q2 )*K1

[0047] Where P1 is the initial welding power, P is the maximum power, and W q1 W is the starting position for welding power conversion. q2 L1 represents the current starting position of the welding power change, L1 represents the starting distance of the welding power change, and K1 represents the first proportional coefficient.

[0048] S102: The final welding power is obtained based on the current final welding power position, the final welding power start position, the preset maximum power, and the preset second proportional coefficient.

[0049] In some embodiments, the final welding power can be obtained in the following ways:

[0050] P2 = P + (W1 - W) o )*K2

[0051] Where P2 is the final welding power, P is the maximum power, and W o W1 is the starting position of the final welding power, W2 is the current final welding power position, and K2 is the second proportional coefficient.

[0052] In some embodiments, the welding power of the welding laser is adjusted according to the welding speed during the welding segment, such as... Figure 5 As shown, it includes:

[0053] S110: Obtain the current welding speed of the welding equipment.

[0054] S111: The welding power is obtained based on the current welding speed, the welding speed, the preset maximum power, and the preset third proportional coefficient. The preset welding speed is set by the user, and the current welding speed is the current speed of the welding Y-axis. For example, the welding speed can be set to 1 mm / s, and K3 is the third proportional coefficient of the power change corresponding to this welding speed.

[0055] In some embodiments, the welding power can be obtained in the following ways:

[0056] P0 = P + (S2 - S1) * K3

[0057] Where P0 is the welding power, P is the maximum power, S1 is the welding speed, S2 is the current welding speed, and K3 is the third proportional coefficient.

[0058] In some embodiments, the variable power position includes a starting variable power position and a ending variable power position, and the welding power includes a starting variable power corresponding to the starting position and a ending variable power corresponding to the starting position; during the welding segment, the welding power of the welding laser is adjusted according to the variable power position and the welding speed, such as... Figure 6 As shown, it includes:

[0059] S120: Obtain the current starting position of the welding power change, the current ending position of the welding power change, and the current welding speed of the welding equipment.

[0060] S121: The starting power is obtained based on the current starting power position, starting power distance, current welding speed, welding speed, preset maximum power, preset first proportional coefficient and third proportional coefficient.

[0061] In some embodiments, the starting welding power can be obtained in the following ways:

[0062] P1=P+(W q1 +L1-W q2 )*K1+(S2-S1)*K3

[0063] Where P1 is the initial welding power, P is the maximum power, and W q1 W is the starting position for welding power conversion. q2 L1 is the current starting position of the welding power change, S1 is the welding speed, S2 is the current welding speed, K1 is the first proportional coefficient, and K3 is the third proportional coefficient.

[0064] S122: The final welding power is obtained based on the current final welding power position, the final welding power start position, the current welding speed, the welding speed, the preset maximum power, the preset second proportional coefficient, and the third proportional coefficient.

[0065] In some embodiments, the final welding power can be obtained in the following ways:

[0066] P2 = P + (W1 - W) o )*K2+(S2-S1)*K3

[0067] Where P2 is the final welding power, P is the maximum power, and W o Here, W1 represents the starting position of the final welding power, K2 is the second proportional coefficient, S1 is the welding speed, and S2 is the current welding speed.

[0068] K3 is the third proportionality coefficient.

[0069] In some embodiments, the starting welding power change distance can be calculated in the following way:

[0070] The distance for starting welding and changing power is equal to the length of the starting and repair welding section plus the radius of the rounded corner.

[0071] In some embodiments, the final welding power transition distance can be calculated in the following ways:

[0072] Final welding power distance = length of final welding repair section + radius of fillet.

[0073] In some embodiments, the radius of the rounded corner refers to the radius of the rounded corner of the blade battery top cover, such as... Figure 7 As shown in the diagram, R1, R2, R3, and R4 are typically the same radius for all fillets. During the welding of fillets, a position-variable power mode can be used to adjust the power. This is because the distance between the laser welder and the weld seam changes during the welding process. Since the change in the laser focal length leads to a change in laser energy, the further the focal length, the lower the energy. Therefore, it is necessary to change the welding power to ensure that the welding energy of the fillet is consistent with that of the straight segment.

[0074] S30: Adjust the welding power of the welding laser while executing the preset welding trajectory of the top cover side seam according to the welding mode.

[0075] In some embodiments, such as Figure 7 As shown, the welding trajectory includes: a first welding line 10, a second welding line 20, a third welding line 30, and a fourth welding line 40. Each of these lines includes a starting welding idle section, a welding section, and a ending welding idle section. The starting welding idle section of the first welding line 10 begins at A1 and ends at B1; the welding section begins at B1 and ends at E1; and the ending welding idle section begins at E1 and ends at F1. Similarly, the starting welding idle section of the second welding line 20 begins at A2 and ends at B2; the welding section begins at B2 and ends at E2; and the ending welding idle section... The starting point of the first welding line 10 is E2, and the ending point is F2; ​​the starting point of the first welding line 30 is A3, and the ending point is B3; the starting point of the welding section is B3, and the ending point is E3; the starting point of the last welding section is E3, and the ending point is F3; the starting point of the second welding line 20 is A4, and the ending point is B4; the starting point of the welding section is B4, and the ending point is E4; the starting point of the last welding section is E4, and the ending point is F4. The welding sections included by the first welding line 10 and the third welding line 30 correspond to the long side of the battery cell, and the welding sections included by the second welding line 20 and the fourth welding line 40 correspond to the short side of the battery cell.

[0076] In some embodiments, the welding laser is controlled to not emit light during the initial idle phase of welding in order to accelerate the process in advance and reach the set speed when welding begins; the welding laser is controlled to not emit light during the final idle phase of welding in order to eliminate the communication delay of the welding light emission signal, which could cause missed welds in the earlier stages.

[0077] In some embodiments, adjusting the welding power of the welding laser while executing a preset welding trajectory for the top cover side seam includes: adjusting the welding power of the welding laser according to the welding mode when welding a welding segment.

[0078] In some embodiments, the welding segment includes a starting weld repair segment, a long side / short side weld segment, and a final weld repair segment. The long side weld segment corresponds to the long side of the top cover side seam, and the short side weld segment corresponds to the short side of the top cover side seam, such as... Figure 7As shown, the starting point of the first welding line 10 is B1, the ending point is C1, the starting point of the long side welding section is C1, the ending point is D1, and the starting point of the final welding section is D1, the ending point is E1; the starting point of the second welding line 20 is B2, the ending point is C2, the starting point of the short side welding section is C2, the ending point is D2, and the starting point of the final welding section is D2, the ending point is E2; the starting point of the third welding line 30 is B3, the ending point is C3, the starting point of the long side welding section is C3, the ending point is E1, the starting point of the first welding line 10 is B1, the ending point is C1, the starting point of the long side welding section is C1, the ending point is E2, the starting point of the second welding line 20 is B2, the ending point is C2, the starting point of the short side welding section is C2, the ending point is D2, and the ending point is E2; the starting point of the third welding line 30 is B3, the ending point is C3, the starting point of the first welding line 30 is B3, the ending point is C3, the starting point of the first welding line 30 is C3, the ending point is E1 ... starting point of the first welding line 30 is C3, the ending point is E1, the starting point of the first welding line 30 is C1, the starting point of the first welding line 30 is C1, the ending point is E1, the starting point of the first welding line 30 is C1, the starting point of the first welding line 30 is C1, the ending point is E1, the starting point of the first welding D3 is the starting point of the final weld repair section and E3 is the ending point; the starting point of the fourth weld line 40 is B4 and the ending point is C4, the starting point of the short side weld section is C4 and the ending point is D4, and the starting point of the final weld repair section is D4 and the ending point is E4; the bright welding at the starting weld repair section is to eliminate the communication delay of the welding bright signal, which may cause missed welding in the previous section; the bright welding at the final weld repair section is to prevent the rounded corners from not being completely welded; the length of the final weld repair section and the starting weld repair section should be set according to actual needs during application.

[0079] It should be noted that the embodiments of the present invention only illustrate the clockwise welding method. When counterclockwise welding is required in actual application, the execution order of each welding line remains unchanged, but the starting point of each welding line, the rotation direction of the R-axis group and the welding direction of the welding Y-axis are changed. For example, when welding clockwise, it is from point A1 to point F1 of the first welding line, and when welding counterclockwise, it is from point F1 to point A1 of the first welding line. This is not limited here.

[0080] In some embodiments, the method for generating the welding trajectory includes:

[0081] S200: When the R-axis group is at the 0-degree position, the starting point and ending point of each segment included in the first welding line are obtained according to the preset point position, and are respectively at the welding X-axis, welding Y-axis and welding Z-axis. The preset point position is that the starting and ending points of the welding and repair welding segments of the first welding line are respectively at the welding X-axis, welding Y-axis and welding Z-axis. The R-axis group includes the welding R-axis and the top cover R-axis.

[0082] S201: When the R-axis group is at 90 degrees, the starting and ending points of each segment included in the second welding line are obtained according to the preset point positions on the welding X-axis, welding Y-axis and welding Z-axis respectively.

[0083] S202: When the R-axis group is at 180 degrees, the starting and ending points of each segment included in the third welding line are obtained according to the preset point positions on the welding X-axis, welding Y-axis and welding Z-axis respectively.

[0084] S203: When the R-axis group is at 270 degrees, the starting and ending points of each segment included in the fourth welding line are obtained according to the preset point positions on the welding X-axis, welding Y-axis and welding Z-axis respectively.

[0085] The following details the conditions when the R-axis group is at 0 degrees, 90 degrees, 180 degrees, and 270 degrees. Figure 7 The calculation method for the start and end points of each segment included in the shown solder lines:

[0086] 1. When the R-axis group is in the 0-degree position, the debugging personnel first demonstrate the welding X-axis, welding Y-axis, and welding Z-axis positions of point C1 of the first welding line 10. The calculation methods for the welding X-axis, welding Y-axis, and welding Z-axis positions of each point included in the first welding line 10 are as follows:

[0087] (1) Point A1:

[0088] Welding X-axis position = Welding X-axis position of point C1

[0089] Welding Y-axis position = Welding Y-axis position of point C1 - Welding start and repair section - Welding Z-axis position of the first weld line = Welding Z-axis position of point C1;

[0090] (2) Point B1:

[0091] Welding X-axis position = Welding X-axis position of point C1

[0092] Welding Y-axis position = Welding Y-axis position of point C1 - Welding Z-axis position of the starting and repair welding section of the first weld line = Welding Z-axis position of point C1;

[0093] (3) Point C1: The teaching position for the debugging personnel;

[0094] (4) Point D1:

[0095] Welding X-axis position = Welding X-axis position of point C1

[0096] Welding Y-axis position = Welding Y-axis position of point C1 + Length of battery cell; Welding Z-axis position = Welding Z-axis position of point C1;

[0097] (5) Point E1:

[0098] Welding X-axis position = Welding X-axis position of point C1

[0099] Welding Y-axis position = Welding Y-axis position of point C1 + Length of battery cell + Welding Z-axis position of final weld repair section of first weld wire = Welding Z-axis position of point C1;

[0100] (6) Point F1:

[0101] Welding X-axis position = Welding X-axis position of point C1

[0102] Welding Y-axis position = Welding Y-axis position of point C1 + Length of battery cell + Final weld repair section of the first weld wire +

[0103] The final welding idle section of the first welding wire

[0104] Welding Z-axis position = Welding Z-axis position of point C1;

[0105] 2. When the R-axis group is at 90 degrees, the calculation method for the welding X-axis, welding Y-axis, and welding Z-axis positions of each point included in the second welding line 20 is as follows:

[0106] (1) Point A2:

[0107] Welding X-axis position = Welding X-axis position of point C2 Welding Y-axis position = Welding Y-axis position of point C2 - Starting and repair welding section of the second weld line - Starting and idle section of the second weld line

[0108] Welding Z-axis position = Welding Z-axis position of point C2;

[0109] (2) Point B2:

[0110] Welding X-axis position = Welding X-axis position of point C2

[0111] Welding Y-axis position = Welding Y-axis position of point C2 - Welding Z-axis position of the starting and repair welding section of the second weld line = Welding Z-axis position of point C2;

[0112] (3) Point C2:

[0113] Welding X-axis position = Welding X-axis position of point C1

[0114] Welding Y-axis position = Welding Y-axis position of point C1 + (Cell length - Cell width) / 2

[0115] Welding Z-axis position = Welding Z-axis position of point C1 - (Length of cell - Width of cell) / 2;

[0116] (4) Point D2:

[0117] Welding X-axis position = Welding X-axis position of point C2

[0118] Welding Y-axis position = Welding Y-axis position of point C2 + Width of battery cell; Welding Z-axis position = Welding Z-axis position of point C2;

[0119] (5) Point E2:

[0120] Welding X-axis position = Welding X-axis position of point C2

[0121] Welding Y-axis position = welding Y-axis position of point C2 + width of battery cell + welding Z-axis position of final weld repair section = welding Z-axis position of point C2;

[0122] (6) Point F2:

[0123] Welding X-axis position = Welding X-axis position of point C2

[0124] Welding Y-axis position = Welding Y-axis position of point C2 + Width of battery cell + Final welding repair section + Final welding idle section Welding Z-axis position = Welding Z-axis position of point C2;

[0125] 3. When the R-axis is at 180 degrees, the calculation method for the welding X-axis, welding Y-axis, and welding Z-axis positions of each point included in the third welding line 30 is as follows:

[0126] (1) Point A3:

[0127] Welding X-axis position = Welding X-axis position of point C3

[0128] Welding Y-axis position = Welding Y-axis position of point C3 - Welding start and repair section - Welding start and idle section; Welding Z-axis position = Welding Z-axis position of point C3.

[0129] (2) Point B3:

[0130] Welding X-axis position = Welding X-axis position of point C3

[0131] Welding Y-axis position = Welding Y-axis position of point C3 - Welding Z-axis position of the starting and repair welding section = Welding Z-axis position of point C3;

[0132] (3) Point C3:

[0133] Welding X-axis position = Welding X-axis position of point C1

[0134] Welding Y-axis position = Welding Y-axis position of point C1

[0135] Welding Z-axis position = Welding Z-axis position of point C1;

[0136] (4) Point D3:

[0137] Welding X-axis position = Welding X-axis position of point C3

[0138] Welding Y-axis position = Welding Y-axis position of point C3 + Length of battery cell; Welding Z-axis position = Welding Z-axis position of point C3;

[0139] (5) Point E3:

[0140] Welding X-axis position = Welding X-axis position of point C3

[0141] Welding Y-axis position = Welding Y-axis position of point C3 + Length of battery cell + Welding Z-axis position of final weld repair section = Welding Z-axis position of point C3;

[0142] (6)F3 point:

[0143] Welding X-axis position = Welding X-axis position of point C3

[0144] Welding Y-axis position = Welding Y-axis position of point C3 + Length of battery cell + Final welding repair section + Final welding idle section Welding Z-axis position = Welding Z-axis position of point C3;

[0145] 4. When the R-axis is at 270 degrees, the calculation method for the welding X-axis, welding Y-axis, and welding Z-axis positions of each point included in the fourth welding line 40 is as follows:

[0146] (1) Point A4:

[0147] Welding X-axis position = Welding X-axis position of point C4

[0148] Welding Y-axis position = Welding Y-axis position of point C4 - Welding start and repair section - Welding start and idle section; Welding Z-axis position = Welding Z-axis position of point C4.

[0149] (2) Point B4:

[0150] Welding X-axis position = Welding X-axis position of point C4

[0151] Welding Y-axis position = Welding Y-axis position of point C4 - Welding Z-axis position of the starting and repair welding section = Welding Z-axis position of point C4;

[0152] (3) Point C4:

[0153] Welding X-axis position = Welding X-axis position of point C1

[0154] Welding Y-axis position = Welding Y-axis position of point C1 + (Cell length - Cell width) / 2

[0155] Welding Z-axis position = Welding Z-axis position of point C1 - (Length of cell - Width of cell) / 2;

[0156] (4)D4 point:

[0157] Welding X-axis position = Welding X-axis position of point C4

[0158] Welding Y-axis position = Welding Y-axis position of point C4 + Width of battery cell; Welding Z-axis position = Welding Z-axis position of point C4;

[0159] (5)E4 point:

[0160] Welding X-axis position = Welding X-axis position of point C4

[0161] Welding Y-axis position = welding Y-axis position of point C4 + width of the battery cell + welding Z-axis position of the final weld repair section = welding Z-axis position of point C4;

[0162] (7) Point F4:

[0163] Welding X-axis position = Welding X-axis position of point C4

[0164] Welding Y-axis position = welding Y-axis position of point C4 + width of battery cell + final welding repair section + final welding idle section Welding Z-axis position = welding Z-axis position of point C4.

[0165] In some embodiments, the control method for the welding equipment includes:

[0166] S210: When the R-axis group is not rotating, control the first axis group to perform linear interpolation motion. The first axis group includes the welding X-axis, welding Y-axis and welding Z-axis. Linear interpolation motion is a motion mode built into the PLC, which will not be elaborated here. PLC (Programmable Logic Controller) is an electronic device specifically used to control industrial automation systems. It realizes the automated control and monitoring of machines, production lines or industrial processes through programming.

[0167] S211: When the R-axis group rotates, control the R-axis group to perform linear interpolation motion, and control the first axis group to perform periodic synchronous absolute positioning motion with the welding R-axis as the main axis. The periodic synchronous absolute positioning motion is to realize that the welding X-axis, welding Y-axis and welding Z-axis move together with the main axis according to the real-time position of the main axis in each scanning cycle.

[0168] In some embodiments, based on the real-time position of the spindle within each scanning cycle, the built-in cycle synchronization absolute positioning function of Omron is used to enable the welding X-axis, welding Y-axis and welding Z-axis to move together with the spindle, and the scanning cycle can be set as needed.

[0169] In some embodiments, the calculation formulas for the positional changes of the welding Y-axis and welding Z-axis during the rotation of the R-axis group from 0 degrees to 90 degrees are as follows:

[0170] 1. Calculate the current directional position differences AY and AZ between point F1 of the first weld line 10 and point A2 of the second weld line 20;

[0171] AY = -(Final welding repair section of the first weld wire + Final welding idle section of the first weld wire)

[0172] AZ = -(the starting and repair section of the second weld wire + the starting and idle section of the second weld wire);

[0173] 2. Calculate the position change of the spindle during rotation in each scanning cycle:

[0174] B = Current spindle position - Spindle 0 degree position

[0175] Where B is the position change value of the main axis;

[0176] 3. Calculate the changes in welding Y-axis and welding Z-axis positions from point F1 of the first weld line 10 to point A2 of the second weld line 20 within each scanning cycle:

[0177] CY = AY * B / 90

[0178] CZ = AZ * B / 90

[0179] Wherein, CY is the change value of the welding Y-axis position from point F1 to point A2 in each scanning cycle, CZ is the change value of the welding Z-axis position from point F1 to point A2 in each scanning cycle, AY is the change value of the welding Y-axis position from point F1 to point A2, and AZ is the change value of the welding Z-axis position from point F1 to point A2.

[0180] 4. Taking the center of the battery cell as the origin, calculate the coordinates of the Y-axis and Z-axis corresponding to the welding of point F1 of the first bonding wire 10:

[0181] DY = Length of the battery cell / 2 - Radius of R1

[0182] DZ = - Cell width / 2

[0183] Where DY is the coordinate corresponding to the Y-axis of welding, and DZ is the coordinate corresponding to the Z-axis of welding;

[0184] 5. Calculate the coordinates of the welding Y-axis and welding Z-axis when the spindle is not rotating:

[0185] EY = DY + CY

[0186] EZ = DZ + CZ

[0187] Where EY is the welding Y-axis coordinate and EZ is the welding Z-axis coordinate;

[0188] 6. Calculate the coordinates of the welding Y-axis and welding Z-axis during the spindle rotation, using counterclockwise rotation:

[0189] FY = EZ*SIN(B) + EY*COS(B)

[0190] FZ = EZ*COS(B) - EY*SIN(B)

[0191] Where FY is the rotational coordinate of the welding Y-axis, and FZ is the rotational coordinate of the welding Z-axis;

[0192] 7. Calculate the corresponding position values ​​of the welding Y-axis and welding Z-axis during the spindle rotation process:

[0193] GY = FY + welding Y-axis position of point C1 + cell length / 2

[0194] GZ = FZ + welding Z-axis position of point C1 + cell width / 2

[0195] Where GY is the welding Y-axis position value and GZ is the welding Z-axis position value.

[0196] In some embodiments, the calculation formulas for the positional changes of the welding Y-axis and welding Z-axis during the rotation of the R-axis group from 90 degrees to 180 degrees are as follows:

[0197] 1. Calculate the positional differences AY and AZ in the welding Y-axis and welding Z-axis directions from point F2 of the second welding line 20 to point A3 of the third welding line 30;

[0198] AY = -(Final welding repair section of the second weld wire + Final welding idle section of the second weld wire)

[0199] AZ = -(starting and repair section of the third weld wire + starting and idle section of the third weld wire)

[0200] 2. Calculate the position change of the spindle during each scanning cycle:

[0201] B = Current spindle position - Spindle 90-degree position

[0202] Where B is the position change value of the main axis;

[0203] 3. Calculate the changes in welding Y-axis and welding Z-axis positions from point F2 of the second weld line 20 to point A3 of the third weld line 30 within each scanning cycle:

[0204] CY = AY * B / 90

[0205] CZ = AZ * B / 90

[0206] Wherein, CY is the change value of the welding Y-axis position from point F2 to point A3 in each scanning cycle, CZ is the change value of the welding Z-axis position from point F2 to point A3 in each scanning cycle, AY is the change value of the welding Y-axis position from point F2 to point A3, and AZ is the change value of the welding Z-axis position from point F2 to point A3.

[0207] 4. Taking the center of the battery cell as the origin, calculate the coordinates of the welding Y-axis and welding Z-axis corresponding to point F2 of the second welding wire 20:

[0208] DY = Width of the battery cell / 2 - Radius of R2

[0209] DZ = - Length of the battery cell / 2

[0210] Where DY is the coordinate corresponding to the Y-axis of welding, and DZ is the coordinate corresponding to the Z-axis of welding;

[0211] 5. Calculate the coordinates of the welding Y-axis and welding Z-axis when not rotating:

[0212] EY = DY + CY

[0213] EZ = DZ + CZ

[0214] Where EY is the welding Y-axis coordinate and EZ is the welding Z-axis coordinate;

[0215] 6. Calculate the coordinates of the welding Y-axis and welding Z-axis during the spindle rotation, using counterclockwise rotation:

[0216] FY = EZ*SIN(B) + EY*COS(B)

[0217] FZ = EZ*COS(B) - EY*SIN(B)

[0218] Where FY is the rotational coordinate of the welding Y-axis, and FZ is the rotational coordinate of the welding Z-axis;

[0219] 7. Calculate the corresponding position values ​​of the welding Y-axis and welding Z-axis during the spindle rotation process:

[0220] GY = FY + welding Y-axis position of point C1 + cell length / 2

[0221] GZ = FZ + welding Z-axis position of point C1 + cell width / 2

[0222] Where GY is the welding Y-axis position value and GZ is the welding Z-axis position value.

[0223] In some embodiments, the calculation formulas for the positional changes of the welding Y-axis and welding Z-axis during the rotation of the R-axis group from 180 degrees to 270 degrees are as follows:

[0224] 1. Calculate the positional differences AY and AZ in the welding Y-axis and welding Z-axis directions from point F3 of the third weld line 30 to point A4 of the fourth weld line 40;

[0225] AY = -(final weld repair section of the third weld line + final weld idle section of the third weld line)

[0226] AZ = -(the starting and repair section of the fourth weld wire + the starting and idle section of the fourth weld wire)

[0227] 2. Calculate the position change of the spindle during each scanning cycle:

[0228] B = Current spindle position - Spindle 180-degree position

[0229] Where B is the position change value of the main axis;

[0230] 3. Calculate the changes in welding Y-axis and welding Z-axis positions from point F3 of the third weld line 30 to point A4 of the fourth weld line 40 within each scanning cycle:

[0231] CY = AY * B / 90

[0232] CZ = AZ * B / 90

[0233] Wherein, CY is the change value of the welding Y-axis position from point F3 to point A4 in each scanning cycle, CZ is the change value of the welding Z-axis position from point F3 to point A4 in each scanning cycle, AY is the change value of the welding Y-axis position from point F3 to point A4, and AZ is the change value of the welding Z-axis position from point F3 to point A4.

[0234] 4. Using the cell center as the origin, calculate the Y-axis and Z-axis coordinates corresponding to the welding of point F3 of the third welding wire 30:

[0235] DY = Length of the battery cell / 2 - Radius of R3

[0236] DZ = - Width of the battery cell / 2

[0237] Where DY is the coordinate corresponding to the Y-axis of welding, and DZ is the coordinate corresponding to the Z-axis of welding;

[0238] 5. Calculate the coordinates of the welding Y-axis and welding Z-axis when not rotating:

[0239] EY = DY + CY

[0240] EZ = DZ + CZ

[0241] Where EY is the welding Y-axis coordinate and EZ is the welding Z-axis coordinate;

[0242] 6. Calculate the coordinates of the welding Y-axis and welding Z-axis during the spindle rotation, using counterclockwise rotation: FY = EZ * SIN(B) + EY * COS(B)

[0243] FZ = EZ*COS(B) - EY*SIN(B)

[0244] Where FY is the rotational coordinate of the welding Y-axis, and FZ is the rotational coordinate of the welding Z-axis;

[0245] 7. Calculate the corresponding position values ​​of the welding Y-axis and welding Z-axis during the spindle rotation process:

[0246] GY = FY + welding Y-axis position of point C1 + cell length / 2

[0247] GZ = FZ + welding Z-axis position of point C1 + cell width / 2

[0248] Where GY is the welding Y-axis position value and GZ is the welding Z-axis position value.

[0249] In some embodiments, the calculation formulas for the positional changes of the welding Y-axis and welding Z-axis during the rotation of the R-axis group from 270 degrees to 360 degrees are as follows:

[0250] 1. Calculate the positional differences AY and AZ in the welding Y-axis and welding Z-axis directions from point F4 of the fourth weld line 40 to point A1 of the first weld line 10;

[0251] AY = -(Final welding repair section of the fourth weld wire + Final welding idle section of the fourth weld wire)

[0252] AZ = -(Starting and repair section of the first weld + Starting and repair section of the first weld)

[0253] 2. Calculate the position change of the spindle during each scanning cycle:

[0254] B = Current spindle position - Spindle 270 degrees

[0255] Where B is the position change value of the main axis;

[0256] 3. Calculate the changes in welding Y-axis and welding Z-axis positions from point F4 of the fourth weld line 40 to point A1 of the first weld line 10 within each scanning cycle:

[0257] CY = AY * B / 90

[0258] CZ = AZ * B / 90

[0259] Wherein, CY is the change value of the welding Y-axis position from point F4 to point A1 in each scanning cycle, CZ is the change value of the welding Z-axis position from point F4 to point A1 in each scanning cycle, AY is the change value of the welding Y-axis position from point F4 to point A1, and AZ is the change value of the welding Z-axis position from point F4 to point A1.

[0260] 4. Using the cell center as the origin, calculate the Y-axis and Z-axis coordinates corresponding to the welding of point F4 of the fourth welding wire 40:

[0261] DY = Width of the battery cell / 2 - R4 radius

[0262] DZ = - Length of the battery cell / 2

[0263] Where DY is the coordinate corresponding to the Y-axis of welding, and DZ is the coordinate corresponding to the Z-axis of welding;

[0264] 5. Calculate the coordinates of the welding Y-axis and welding Z-axis when not rotating:

[0265] EY = DY + CY

[0266] EZ = DZ + CZ

[0267] Where EY is the welding Y-axis coordinate and EZ is the welding Z-axis coordinate;

[0268] 6. Calculate the coordinates of the welding Y-axis and welding Z-axis during the spindle rotation, using counterclockwise rotation:

[0269] FY = EZ*SIN(B) + EY*COS(B)

[0270] FZ = EZ*COS(B) - EY*SIN(B)

[0271] Where FY is the rotational coordinate of the welding Y-axis, and FZ is the rotational coordinate of the welding Z-axis;

[0272] 7. Calculate the corresponding position values ​​of the welding Y-axis and welding Z-axis during the spindle rotation process:

[0273] GY = FY + C1 point welding Y-axis position + cell length / 2

[0274] GZ = FZ + C1 point welding Z-axis position + cell width / 2

[0275] Where GY is the welding Y-axis position value and GZ is the welding Z-axis position value.

[0276] It should be noted that since the welding X-axis corresponds to the X-axis motion device used to adjust the welding position of the blade battery weld, the welding X-axis remains fixed after the position of the same blade battery is taught. Therefore, it is not necessary to calculate the position of the welding X-axis during the rotation of the R-axis group.

[0277] In some embodiments, the welding trajectory and welding mode are executed as follows (clockwise as an example): the first axis group includes the welding X-axis, welding Y-axis, and welding Z-axis, and the R-axis group includes the welding R-axis and the top cover R-axis.

[0278] 1. Perform welding of the first weld line:

[0279] (1) The first axis group first moves to the preset safe position (the safe position is the set protection position and is not related to the welding trajectory), the R axis group rotates to the 0-degree position, and the first axis group then moves to the starting welding position A1.

[0280] (2) When the R-axis group is at the 0-degree position, the first axis group moves from point A1 to point F1. When the trajectory reaches the point between B1 and E1, the laser welder is controlled to emit light for welding. At this time, the welding power can be changed in real time according to different welding modes. The specific method is as follows:

[0281] Obtain the user-defined variable power position and welding speed;

[0282] When the variable power position is set to 0 or very small, and the current welding speed on the Y-axis is less than the welding speed, the speed variable power mode or the position speed variable power mode can be used to change the welding power of the laser welder when welding from point B1 to point E1.

[0283] Otherwise, the welding power of the laser welder is determined using a position-variable power mode when welding from point B1 to point E1. Specifically, this involves obtaining the current starting and ending power positions of the welding equipment; Figure 7 In the process, the starting welding power distance is the sum of the length from point B1 to point C1 and the radius of the fillet, and the final welding power distance is the sum of the length from point D1 to point E1 and the radius of the fillet. The starting welding power is obtained based on the current starting welding power position, the starting welding power initial position, the starting welding power distance, the preset maximum power, and the preset first proportional coefficient. Figure 7 In the diagram, the current starting position of the welding power variable refers to the current position of the welding Y-axis. The starting position of the welding power variable is point B1. After obtaining the starting welding power variable, welding is performed at that power from point B1 to the end position of the first R-angle.

[0284] 2. Perform welding of the second welding line:

[0285] (1) Rotate the R-axis group from 0 degrees to 90 degrees. The first axis group takes the welding R-axis as the main axis and moves to the starting point A2 of the second welding line according to the position of the main axis.

[0286] (2) When the R-axis group is at 90 degrees, the first axis group moves from point A2 to point F2. When the trajectory is executed between points B2 and E2, the laser welder is controlled to emit light for welding. At this time, the welding power can be changed in real time according to different welding modes. The specific method of changing the welding power is the same as that of the first welding line, and will not be repeated here.

[0287] 3. Perform welding of the third welding wire:

[0288] (1) Rotate the R-axis group from 90 degrees to 180 degrees. The first axis group takes the welding R-axis as the main axis and moves to the starting position A3 of the third welding line according to the position of the main axis.

[0289] (2) When the R-axis group is at 180 degrees, the first axis group moves from point A3 to point F3. When the trajectory is executed between points B3 and E3, the laser welder is controlled to emit light for welding. At this time, the welding power can be changed in real time according to different welding modes. The specific method of changing the welding power is the same as that of the first welding line, and will not be repeated here.

[0290] 4. Perform welding on the fourth weld wire:

[0291] (1) Rotate the R-axis group from 180 degrees to 270 degrees. The first axis group takes the welding R-axis as the main axis and moves to the starting position A4 of the fourth welding line according to the position of the main axis.

[0292] (2) When the R-axis group is at 270 degrees, the first axis group moves from point A4 to point F4. When the trajectory is executed between points B4 and E4, the laser welder is controlled to emit light for welding. At this time, the welding power can be changed in real time according to different welding modes. The specific method of changing the welding power is the same as that of the first welding line, and will not be repeated here.

[0293] 5. Return from the final welding position F4 of the fourth weld line to the starting welding position A1 of the first weld line:

[0294] Rotate the R-axis group from 270 degrees to 0 degrees. The first axis group takes the welding R-axis as the main axis and moves to the starting point A1 of the first welding line according to the position of the main axis, so as to facilitate the welding of the next blade battery.

[0295] Another embodiment of the present invention provides a computer storage medium, such as... Figure 8 As shown, a program is stored on the storage medium 100, which implements the method described above when executed by the processor 200.

[0296] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A method for welding the side seam of the top cover of a blade battery, the blade battery comprising a cell, a casing, and a top cover that mates with the casing, wherein the side seam of the top cover is a weld between the casing and the top cover, characterized in that, include: The welding power parameters set by the user are obtained. The welding power parameters include variable power position, welding speed and welding power. The welding power of the welding laser can be determined based on the variable power position and / or the welding speed. The welding mode is determined based on the welding power parameters. The welding mode includes a constant power mode and a variable power mode. The constant power mode is the mode in which the welding laser uses the welding power to perform welding. The variable power mode is the mode in which the welding power of the welding laser is determined based on the variable power position and / or the welding speed. According to the welding mode, the welding power of the welding laser is adjusted when executing the preset welding trajectory of the top cover side seam; The welding trajectory includes: a first welding line, a second welding line, a third welding line, and a fourth welding line; each of the first, second, third, and fourth welding lines includes a starting welding idle section, a welding section, and a ending welding idle section. When welding the starting welding idle section and the ending welding idle section, the welding laser is controlled to not emit light; when welding the welding section, the welding laser is controlled to emit light. Adjusting the welding power of the welding laser while executing the preset welding trajectory for the top cover side seam includes: When welding the welding segment, the welding power of the welding laser is adjusted according to the welding mode; The method is based on welding X-axis, welding Y-axis, welding Z-axis, welding R-axis, and top cover R-axis. Both the welding R-axis and the top cover R-axis are rotation axes, and their origins are the center points of the battery cells. The welding X-axis corresponds to the X-axis motion device of the welding equipment, which is used to adjust the welding position of the blade battery weld. The welding Y-axis corresponds to the Y-axis motion device of the welding equipment, which is used to execute the welding trajectory. The welding Z-axis corresponds to the Z-axis motion device of the welding equipment. The welding Z-axis is used to adjust the height of the welding laser; the welding R-axis corresponds to the welding R-axis motion device of the welding equipment; the top cover R-axis corresponds to the top cover R-axis motion device of the welding equipment; the top cover R-axis motion device and the welding R-axis motion device are used to cooperate during welding to rotate the blade battery; the welding segment includes a starting weld repair segment, a long side / short side weld segment, and a final weld repair segment; the long side weld segment corresponds to the long side of the top cover side seam, and the short side weld segment corresponds to the short side of the top cover side seam; the method for generating the welding trajectory includes: When the R-axis group is at the 0-degree position, the starting point and ending point of each segment included in the first welding line are obtained according to the preset point position, and are respectively located on the welding X-axis, the welding Y-axis and the welding Z-axis. The preset point position is the position of the starting and repair welding segment of the first welding line at the welding X-axis, the welding Y-axis and the welding Z-axis respectively. The R-axis group includes the welding R-axis and the top cover R-axis. When the R-axis group is at 90 degrees, the starting point and ending point of each segment included in the second welding line are obtained according to the preset point position, respectively, on the welding X-axis, the welding Y-axis and the welding Z-axis. When the R-axis group is at 180 degrees, the starting point and ending point of each segment included in the third welding line are obtained according to the preset point position, respectively, on the welding X-axis, the welding Y-axis and the welding Z-axis. When the R-axis group is at 270 degrees, the starting and ending points of each segment included in the fourth welding line are obtained according to the preset point positions on the welding X-axis, the welding Y-axis and the welding Z-axis, respectively.

2. The method as described in claim 1, characterized in that, The variable power mode includes: position variable power mode, speed variable power mode and position-speed variable power mode. The position variable power mode is a mode in which the welding power is determined based on the variable power position. The speed variable power mode is a mode in which the welding power is determined based on the welding speed. The position-speed variable power mode is a mode in which the welding power is determined based on the variable power position and the welding speed. The step of adjusting the welding power of the welding laser according to the welding mode when welding the welding segment includes: When the welding mode is the position-variable power mode, the welding power of the welding laser is adjusted according to the variable power position during welding of the welding segment; or When the welding mode is the speed-variable power mode, the welding power of the welding laser is adjusted according to the welding speed when welding the welding segment; or When the welding mode is the position-speed variable power mode, the welding power of the welding laser is adjusted according to the variable power position and the welding speed when welding the welding segment.

3. The method as described in claim 2, characterized in that, The variable power position includes a starting position for welding power and a starting position for welding power, and the welding power includes a starting power corresponding to the starting position for welding power and a final power corresponding to the starting position for welding power; adjusting the welding power of the welding laser according to the variable power position when welding the welding segment includes: Obtain the current starting and ending power positions of the welding equipment; The starting power is obtained based on the current starting power position, the starting power starting position, the starting power distance, the preset maximum power, and the preset first proportional coefficient. The final welding power is obtained based on the current final welding power position, the final welding power start position, the preset maximum power, and the preset second proportional coefficient; The starting welding power can be obtained in the following way: in, The starting welding power is... The maximum power, This refers to the starting position of the welding power change. The current welding power change position, The distance for starting welding power variation. This is the first proportionality coefficient; The final welding power can be obtained in the following way: in, The final welding power is... The maximum power, The starting position of the final welding power change. The current final welding power position, This is the second proportionality coefficient.

4. The method as described in claim 2, characterized in that, The step of adjusting the welding power of the welding laser according to the welding speed when welding the welding segment includes: Obtain the current welding speed of the welding equipment; The welding power is obtained based on the current welding speed, the welding speed, the preset maximum power, and the preset third proportional coefficient; The welding power can be obtained in the following way: in, The welding power, The maximum power, The welding speed is... The current welding speed, This is the third proportionality coefficient.

5. The method as described in claim 2, characterized in that, The variable power position includes a starting variable power position and a ending variable power position, and the welding power includes a starting variable power corresponding to the starting variable power position and a ending variable power corresponding to the ending variable power position; adjusting the welding power of the welding laser according to the variable power position and the welding speed when welding the welding segment includes: Obtain the current starting and ending power positions of the welding equipment, and the current welding speed; The starting power of welding is obtained based on the current starting position of the welding power, the starting position of the welding power, the distance of the welding power, the current welding speed, the welding speed, the preset maximum power, and the preset first and third proportional coefficients. The final welding power is obtained based on the current final welding power position, the final welding power start position, the current welding speed, the welding speed, the preset maximum power, the preset second proportional coefficient, and the third proportional coefficient. The starting welding power can be obtained in the following way: in, The starting welding power is... The maximum power, This refers to the starting position of the welding power change. The current welding power change position, The distance for starting welding power variation. The welding speed is... The current welding speed, This is the first proportionality coefficient. This is the third proportionality coefficient; The final welding power can be obtained in the following way: in, The final welding power is... The maximum power, The starting position of the final welding power change, W1 is the current final welding power change position. This is the second proportionality coefficient. The welding speed is... The current welding speed, This is the third proportionality coefficient.

6. The method as described in claim 3 or 5, characterized in that, The starting welding power change distance can be calculated in the following way: The starting distance for variable power welding = the length of the starting and repair welding section + the radius of the rounded corner.

7. The method as described in claim 1, characterized in that, The control method for the welding equipment includes: When the R-axis group is not rotating, the first axis group is controlled to perform linear interpolation motion. The first axis group includes the welding X-axis, the welding Y-axis, and the welding Z-axis. When the R-axis group rotates, it controls the R-axis group to perform linear interpolation motion, and controls the first axis group to perform periodic synchronous absolute positioning motion with the welding R-axis as the main axis. The periodic synchronous absolute positioning motion is to make the welding X-axis, the welding Y-axis and the welding Z-axis move together with the main axis according to the real-time position of the main axis in each scanning cycle.

8. A computer storage medium storing a program, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-7.

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