A control method and system for welding sealing nails for battery cells

Abstract

This application provides a control method and system for welding sealing nails to battery cells, relating to the field of battery cell equipment technology. The control method includes: acquiring image data of the injection hole of the battery cell to be processed; performing edge-grabbing and verification processing based on the injection hole image data to obtain injection hole image processing data; controlling a nail-removing mechanism to grasp the sealing nail, and placing the sealing nail into the injection hole of the battery cell to be processed based on the injection hole image processing data; acquiring image data of the injection hole and sealing nail of the battery cell to be processed; performing edge-grabbing and verification processing based on the injection hole and sealing nail image data to obtain injection hole and sealing nail processing data; obtaining pre-welding operation data for the sealing nail based on the injection hole image processing data and the injection hole and sealing nail processing data; and controlling the injection hole and sealing nail of the battery cell to be processed to perform a pre-welding operation based on the pre-welding operation data. This control method can achieve the technical effects of improving the detection accuracy of the sealing nail concentricity and enhancing the safety of battery cell applications.

Description

Technical Field

[0001] This application relates to the field of battery cell equipment technology, and more specifically, to a control method and system for welding sealing nails to battery cells. Background Technology

[0002] To adapt to the continuous improvement of battery cell energy density, the thickness of mainstream battery cell casings has been reduced from 1.0mm to 0.5mm, and is still developing towards thinner thicknesses (e.g., 0.35mm, 0.3mm, etc.), collectively referred to as thin-walled cells. Besides increasing cell energy density, thin-walled cells also offer a simpler layout and better thermal management. This is because the tabs of thin-walled cells are located on the side, allowing for compatibility with two-layer water-cooling systems. Based on these three factors, thin-walled cells represent the future trend of the industry and are gradually being adopted by mainstream new energy vehicles both domestically and internationally.

[0003] Generally, for thin-walled battery cells, such as thin-walled long aluminum-cased cells, sealing is achieved by welding with sealing pins after electrolyte injection and formation activation. The sealing pins and the cell top cover containing the electrolyte injection port are connected using laser-guided circumferential welding. To ensure the quality of the laser welding of the sealing pins, a CCD (Charge-coupled Device) vision system is typically used to control the concentricity of the sealing pins and the electrolyte injection port. When inspecting the assembly of the sealing pins, images are acquired using a 2D camera, and the concentricity of the projected surfaces of the sealing pins and the electrolyte injection port is detected in the image information. Misalignment between the sealing pins and the electrolyte injection port is considered a poor assembly. However, CCD imaging is affected by environmental factors and cell vibration. Problems such as reducing deviations during pin removal and placement, minimizing pin misalignment and warping caused by vibration during cell movement, and reducing the impact of laser energy on the warping of the sealing pins during pre-spot welding are difficult to solve. This results in low accuracy in detecting the concentricity of the cell's sealing pins, affecting the safety of cell applications. Summary of the Invention

[0004] The purpose of this application is to provide a control method, system, electronic device, and computer-readable storage medium for welding sealing nails in battery cells, which can achieve the technical effects of improving the detection accuracy of sealing nail concentricity and enhancing the safety of battery cell applications.

[0005] In a first aspect, this application provides a method for controlling the welding sealing nails of an electric cell, including:

[0006] Acquire image data of the electrolyte injection hole of the battery cell to be processed;

[0007] The injection hole image data is processed by edge grabbing and verification to obtain injection hole image processing data.

[0008] The nail-removing mechanism is controlled to grab the sealing nail, and the sealing nail is placed in the injection hole of the battery cell to be processed based on the image processing data of the injection hole.

[0009] Obtain image data of the injection hole and sealing nail of the battery cell to be processed;

[0010] Based on the image data of the injection hole and sealing nail, edge-grabbing and verification processing are performed to obtain the processing data of the injection hole and sealing nail.

[0011] Based on the injection hole image processing data and the injection hole-sealing nail processing data, pre-welding operation data for the sealing nail is obtained;

[0012] The pre-welding operation data of the sealing nail is used to control the liquid injection hole and sealing nail of the battery cell to be processed to perform the pre-welding operation.

[0013] In the above implementation process, before the sealing pin is placed in the injection hole, the injection hole of the cell to be processed is photographed, and the obtained injection hole image data is subjected to edge detection and verification processing to ensure the accuracy of subsequent concentricity detection. After the sealing pin is placed in the injection hole, the injection hole of the cell to be processed is photographed again, and the obtained injection hole-sealing pin image data is subjected to edge detection and verification processing. Based on the injection hole image processing data and the injection hole-sealing pin processing data, the concentricity detection accuracy between the sealing pin and the injection hole can be quickly improved. Then, the pre-welding operation of the injection hole and sealing pin of the cell to be processed is controlled by the pre-welding operation data of the sealing pin, which effectively verifies the actual welding weak points of the cell sealing pin. Thus, this control method for welding sealing pins to cells can achieve the technical effects of improving the detection accuracy of sealing pin concentricity and enhancing the safety of cell application.

[0014] Further, the step of performing edge-grabbing and verification processing based on the injection hole image data to obtain injection hole image processing data includes:

[0015] The injection hole image data is processed to obtain injection hole edge data, wherein the injection hole edge data is the outer edge of the injection hole.

[0016] The injection hole image data is verified to obtain injection hole verification data.

[0017] Image processing data for the injection hole is obtained based on the edge-grabbing data and the verification data of the injection hole.

[0018] In the above implementation process, the edge of the fitting circle for the injection hole image data is set as the outer edge of the injection hole. Compared with the traditional solution where the edge of the fitting circle is the outer edge of the laser cleaning circle, the edge-gripping accuracy of the injection hole can be effectively improved.

[0019] Further, the step of performing verification processing based on the injection hole image data to obtain injection hole verification data includes:

[0020] The injection hole image data is fitted to obtain the inner ring data and outer ring data of the injection hole;

[0021] The data of the inner ring and the outer ring of the injection hole are verified according to the preset injection hole model to obtain injection hole verification data.

[0022] In the above implementation process, the inner and outer rings of the injection hole are fitted, and their dimensions are compared with the preset injection hole model to reduce fitting error.

[0023] Furthermore, the steps for controlling the nail-grabbing mechanism to grasp the sealing nail include:

[0024] The sealing nail is photographed for verification, and image data of the sealing nail before removal is obtained.

[0025] The nail removal mechanism is controlled to grasp the sealing nail based on the image processing data of the injection hole and the image data of the sealing nail before nail removal.

[0026] The step of controlling the pin-removing mechanism to place the sealing pin into the injection hole of the battery cell to be processed based on the injection hole image processing data includes:

[0027] The battery cell to be processed is photographed for verification to obtain image data of the injection hole before nailing;

[0028] After a first preset time of settling, position compensation information is generated based on the image processing data of the injection hole and the image data of the injection hole before nail placement. Based on the position compensation information, the nail removal mechanism is controlled to place the sealing nail into the injection hole of the battery cell to be processed.

[0029] In the above implementation process, a photo verification function is added before the sealing nail is picked up. After taking the photo, position compensation information is provided to the nail-grabbing mechanism to compensate for the progress of the nail-grabbing mechanism and ensure that the gripping position is within the set range and will not cause the nail to be gripped off-center. At the same time, the nail is slowly released after standing still for a first preset time, which effectively reduces the impact of the movement and shaking of the sealing nail.

[0030] Furthermore, prior to the step of acquiring the image data of the injection hole-sealing pin of the battery cell to be processed, the method further includes:

[0031] After the sealing pin is placed in the liquid injection hole of the battery cell to be processed and the battery cell to be processed is moved to the pre-welding station, it is left to stand for a second preset time.

[0032] In the above process, after the battery cell to be processed is moved to the pre-welding station, it is left to stand for a second preset time before proceeding with the next steps such as taking pictures and pre-welding. This avoids the problem of the chip being misaligned before it has come to a complete stop, and improves the pre-welding accuracy.

[0033] Further, the step of obtaining the sealing pin pre-welding operation data based on the injection hole image processing data and the injection hole-sealing pin processing data includes:

[0034] Based on the image processing data of the injection hole and the processing data of the injection hole-sealing nail, the fitted circle of the injection hole of the battery cell to be processed is checked to obtain the check result;

[0035] After the verification results are passed, the pre-welding operation data for the sealing nails is obtained.

[0036] In the above implementation process, the image processing data of the injection hole includes the fitted circle at the nailing station, and the processing data of the injection hole-sealing nail includes the fitted circle at the pre-welding station. Thus, by checking the fitted circle of the pre-welding station and the fitted circle of the nailing station, if the center and radius are within the specified deviation range, it is judged to be qualified and pre-spot welded, thereby increasing the comparison and improving the fitting accuracy.

[0037] Secondly, this application provides a control system for welding sealing nails on battery cells, comprising:

[0038] The image module is used to: acquire image data of the injection hole of the battery cell to be processed;

[0039] The edge-grabbing and verification module is used to: perform edge-grabbing and verification processing based on the injection hole image data to obtain injection hole image processing data;

[0040] The nail removal module is used to: control the nail removal mechanism to grasp the sealing nail, and control the nail removal mechanism to place the sealing nail into the injection hole of the battery cell to be processed according to the image processing data of the injection hole;

[0041] The image module is also used to: acquire image data of the injection hole-sealing nail of the battery cell to be processed;

[0042] The edge-grabbing and verification module is also used to: perform edge-grabbing and verification processing based on the injection hole-sealing nail image data to obtain injection hole-sealing nail processing data;

[0043] The pre-welding operation module is used to: obtain sealing nail pre-welding operation data based on the injection hole image processing data and the injection hole-sealing nail processing data; and control the injection hole and sealing nail of the cell to be processed to perform pre-welding operation through the sealing nail pre-welding operation data.

[0044] Furthermore, the edge-grabbing and verification module is also used for:

[0045] The injection hole image data is processed to obtain injection hole edge data, wherein the injection hole edge data is the outer edge of the injection hole.

[0046] The injection hole image data is verified to obtain injection hole verification data.

[0047] Image processing data for the injection hole is obtained based on the edge-grabbing data and the verification data of the injection hole.

[0048] Furthermore, the edge-grabbing and verification module is also used for:

[0049] The injection hole image data is fitted to obtain the inner ring data and outer ring data of the injection hole;

[0050] The data of the inner ring and the outer ring of the injection hole are verified according to the preset injection hole model to obtain injection hole verification data.

[0051] Furthermore, the nail removal module is also used for:

[0052] The sealing nail is photographed for verification, and image data of the sealing nail before removal is obtained.

[0053] The nail removal mechanism is controlled to grasp the sealing nail based on the image processing data of the injection hole and the image data of the sealing nail before nail removal.

[0054] The battery cell to be processed is photographed for verification to obtain image data of the injection hole before nailing;

[0055] After a first preset time of settling, position compensation information is generated based on the image processing data of the injection hole and the image data of the injection hole before nail placement. Based on the position compensation information, the nail removal mechanism is controlled to place the sealing nail into the injection hole of the battery cell to be processed.

[0056] Furthermore, the pre-welding operation module is also used for:

[0057] Based on the image processing data of the injection hole and the processing data of the injection hole-sealing nail, the fitted circle of the injection hole of the battery cell to be processed is checked to obtain the check result;

[0058] After the verification results are passed, the pre-welding operation data for the sealing nails is obtained.

[0059] Thirdly, this application provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method described in any of the first aspects.

[0060] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described in any of the first aspects.

[0061] Fifthly, this application provides a computer program product that, when run on a computer, causes the computer to perform the method described in any of the first aspects.

[0062] Other features and advantages disclosed in this application will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the above-described technology disclosed in this application.

[0063] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0064] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 A flowchart illustrating a method for controlling a battery cell welding sealing nail, provided in an embodiment of this application;

[0066] Figure 2 A flowchart illustrating another method for controlling the welding sealing nail of a battery cell provided in an embodiment of this application;

[0067] Figure 3 This is a structural block diagram of the control system for the battery cell welding sealing nail provided in an embodiment of this application;

[0068] Figure 4 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0069] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0070] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0071] Generally, thin-walled battery cells, such as thin-walled long aluminum-cased cells, have several advantages, specifically:

[0072] High platform integration and high space utilization: The cell height is between 80mm and 110mm, which can effectively accommodate the space height requirements of different platforms (A / B / C) of vehicles. It is easy to adapt to different requirements of battery pack layout and vehicle ground clearance indicators. The space volume utilization rate is as high as 80%, making it easier to achieve a higher energy-to-weight ratio.

[0073] High production efficiency and low cost: Traditional electrode connection methods involve pre-welding the cell electrodes together ultrasonically, then ultrasonically welding the electrodes to a connecting piece, which is then laser-welded to the terminal post on the top cover of the cell. This connection method requires two ultrasonic welding processes and one laser welding process. The second ultrasonic welding process has high power and high cost, and it also requires an additional connecting piece. This not only complicates the process but also increases production costs. Thin-walled long aluminum shell cells use electrode-free connecting piece technology, which improves production efficiency and reduces production costs.

[0074] Vertical cell layout with high efficiency of double-sided thermal management: The harmonica tube liquid cooling plate can be arranged on both sides of the large surface of the cell, or on the top and bottom of the cell, to achieve double-sided cooling of the cell, increase the contact area of ​​the liquid cooling plate, and improve the heat exchange capacity of the cell. When encountering superimposed conditions such as high-speed climbing and high-power fast charging, the temperature difference is 3-5℃, which greatly improves the competitiveness of the product.

[0075] Typically, thin-walled, long aluminum-cased battery cells are sealed using sealing pins after electrolyte injection and formation activation. The sealing pins and the top cover of the battery cell containing the electrolyte injection hole are connected by laser circumferential welding. To ensure the quality of the laser welding of the sealing pins, the concentricity of the sealing pins and the electrolyte injection hole is usually controlled by a CCD vision system. When inspecting the assembly of the sealing pins, images are mainly acquired by a 2D camera, and the concentricity of the projection surfaces of the sealing pins and the electrolyte injection hole in the image information is detected. If the sealing pins and the electrolyte injection hole are not concentric, it is judged as poor assembly.

[0076] Generally, the sealing nail welding process consists of four steps: ① laser cleaning near the top cover injection hole → ② sealing nail installation → ③ sealing nail pre-welding → ④ sealing nail full welding. For the control method of cell welding sealing nails provided in this application embodiment, two important process steps are involved: ② sealing nail installation; ③ sealing nail pre-welding. In actual production, it has been found that there are several scenarios as shown below. Each scenario will affect the concentricity, and even an eighth scenario may occur. Even if the concentricity test of the sealing nail assembly is qualified, there may still be cases where the sealing nail is lifted or not fully installed, which will cause problems such as pinholes and cracks in the subsequently welded battery, creating safety hazards and affecting the competitiveness of the product.

[0077] ① Error in edge detection when fitting a circle after CCD image capture;

[0078] ②The fitted circle after CCD photography is too large or too small, and there is a lack of verification with design drawings;

[0079] ③ Lack of verification during nail removal leads to misalignment of the nail;

[0080] ④ Lack of verification during nail placement led to nails being placed off-center;

[0081] ⑤ When the upper nail is moved to the pre-welding position, the sealing nail may shift or tilt.

[0082] ⑥ Move to the pre-welding position and take a CCD photo immediately before the battery cell comes to a complete stop, resulting in a deviation in the photo's accuracy;

[0083] ⑦ Move to the pre-welding position, the battery cell also stops, the CCD photo fit circle is too large or too small, and it is not verified with the fit circle of the nailing position.

[0084] ⑧ High local energy during laser spot welding can cause misaligned or warped nails;

[0085] In existing technologies, CCD imaging is affected by factors such as the environment and the vibration state of the battery cell. Problems such as how to reduce the deviation of nail picking and placing, how to reduce the deviation and warping of nails caused by vibration during battery cell movement, and how to reduce the impact of laser energy on the warping of sealing aluminum nails during pre-spot welding are difficult to solve. As a result, the detection accuracy of the concentricity of the battery cell sealing nails is low, which affects the safety of battery cell applications.

[0086] To address the aforementioned technical problems, this application provides a method for controlling the welding of sealing nails on battery cells; please refer to... Figure 1 , Figure 1 The following is a flowchart illustrating a method for controlling a battery cell welding sealing nail according to an embodiment of this application. The method includes the following steps:

[0087] S100: Acquire image data of the liquid injection hole of the battery cell to be processed;

[0088] Optionally, the electrolyte injection hole of the battery cell to be treated has an inner ring and an outer ring, wherein the height of the inner ring is lower than the height of the outer ring; generally, a sealing pin is placed in the inner ring, thereby sealing the battery cell to be treated by the sealing pin.

[0089] For example, the liquid injection hole of the battery cell to be processed can be photographed by a CCD device to obtain liquid injection hole image data.

[0090] S200: Perform edge grabbing and verification processing based on the injection hole image data to obtain injection hole image processing data;

[0091] For example, the injection hole image data after being photographed by the CCD mechanism is subjected to edge grabbing and verification processing, and the injection hole is fitted to obtain the fitted circle of the injection hole and its corresponding size data from the injection hole image data.

[0092] S300: Controls the nail-removing mechanism to grab the sealing nail, and controls the nail-removing mechanism to place the sealing nail into the liquid injection hole of the cell to be processed based on the liquid injection hole image processing data;

[0093] S400: Acquire image data of the injection hole and sealing nail of the battery cell to be processed;

[0094] For example, a CCD device can be used to photograph the battery cell to be processed, in which a sealing pin has been placed, to obtain image data of the injection hole and the sealing pin.

[0095] S500: Perform edge grabbing and verification processing based on the injection hole-sealing nail image data to obtain injection hole-sealing nail processing data;

[0096] For example, the injection hole-sealing nail processing data after being photographed by the CCD mechanism is subjected to edge grabbing and verification processing, thereby performing fitting processing on the injection hole and sealing nail, so as to obtain the fitting circle of the injection hole and its corresponding size data, and the fitting circle of the sealing nail and its corresponding size data from the injection hole-sealing nail image data.

[0097] S600: Obtain sealing nail pre-welding operation data based on injection hole image processing data and injection hole-sealing nail processing data;

[0098] S700: The pre-welding operation of the electrolyte injection hole and sealing nail of the battery cell to be processed is controlled by the pre-welding operation data of the sealing nail.

[0099] In some embodiments, S100 to S300 are used for the nailing station, which is equipped with a CCD mechanism and a nail-removing mechanism. The CCD mechanism takes a picture of the battery cell to be processed, and the nail-removing mechanism picks up the sealing nail and places the sealing nail into the liquid injection hole of the battery cell to be processed.

[0100] S400 to S700 are used for pre-welding stations, which also include a CCD mechanism and a pre-welding mechanism. The CCD mechanism takes pictures of the battery cell to be processed, and the pre-welding mechanism pre-welds the sealing nails to the liquid injection holes of the battery cell to be processed. Optionally, the CCD mechanism of the nailing station and the CCD mechanism of the pre-welding station can be shared, which is not limited here.

[0101] For example, the control method for welding sealing nails in battery cells provided in this application involves taking a picture of the injection hole of the battery cell to be processed before placing the sealing nail in the injection hole, and performing edge-grabbing and verification processing on the obtained injection hole image data to ensure the accuracy of subsequent concentricity detection. After the sealing nail is placed in the injection hole, the same process is repeated, taking a picture of the injection hole of the battery cell to be processed, and performing edge-grabbing and verification processing on the obtained injection hole-sealing nail image data. Based on the injection hole image processing data and the injection hole-sealing nail processing data, the concentricity detection accuracy between the sealing nail and the injection hole can be quickly improved. Then, the pre-welding operation data of the sealing nail is used to control the injection hole and sealing nail of the battery cell to be processed to perform a pre-welding operation, effectively verifying the actual welding weak points of the battery cell sealing nail. Thus, this control method for welding sealing nails in battery cells can achieve the technical effects of improving the detection accuracy of sealing nail concentricity and enhancing the safety of battery cell applications.

[0102] Please see Figure 2 , Figure 2 This is a flowchart illustrating another method for controlling the welding sealing nail of a battery cell, as provided in an embodiment of this application.

[0103] For example, S200: The step of performing edge-grabbing and verification processing on the injection hole image data to obtain injection hole image processing data includes:

[0104] S210: Perform edge grabbing processing based on the injection hole image data to obtain injection hole edge grabbing data, wherein the injection hole edge grabbing data is the outer ring edge of the injection hole.

[0105] S220: Perform verification processing based on the injection hole image data to obtain injection hole verification data;

[0106] S230: Obtain injection hole image processing data based on injection hole edge data and injection hole verification data.

[0107] For example, the edge of the fitting circle for the injection hole image data is set as the outer edge of the injection hole. Compared with the traditional solution where the edge of the fitting circle is the outer edge of the laser cleaning ring, the edge-gripping accuracy of the injection hole can be effectively improved.

[0108] For example, S220: The step of performing verification processing based on the injection hole image data to obtain injection hole verification data includes:

[0109] The injection hole image data is fitted to obtain the inner circle data and outer circle data of the injection hole;

[0110] The data of the inner and outer rings of the injection hole are verified based on the preset injection hole model to obtain the injection hole verification data.

[0111] For example, the inner and outer rings of the injection hole are fitted, and their dimensions are compared with a preset injection hole model to reduce fitting error.

[0112] Optionally, the preset injection hole model is a digital design model of the injection hole of the battery cell to be processed, which includes information such as the design dimensions of the injection hole.

[0113] For example, S300: The step of controlling the nail-removing mechanism to grasp the sealing nail and placing the sealing nail into the injection hole of the battery cell to be processed based on the injection hole image processing data includes:

[0114] S310: Take a photo to verify the sealing nail and obtain the image data of the sealing nail before it is removed;

[0115] S320: Controls the nail removal mechanism to grab the sealing nail based on the injection hole image processing data and the sealing nail image data before nail removal;

[0116] S330: Takes photos of the battery cell to be processed for verification and obtains image data of the injection hole before nailing;

[0117] S340: After a first preset time of settling, position compensation information is generated based on the image processing data of the injection hole and the image data of the injection hole before nail placement. Based on the position compensation information, the nail removal mechanism is controlled to place the sealing nail into the injection hole of the battery cell to be processed.

[0118] For example, a photo verification function is added before the sealing nail is removed. After taking the photo, position compensation information is provided to the nail-grabbing mechanism to compensate for the progress of the nail-grabbing mechanism and ensure that the gripping position is within the set range, so as not to cause the nail to be gripped off-center. At the same time, the nail is slowly released after standing still for a first preset time, which effectively reduces the impact of the movement and shaking of the sealing nail.

[0119] For example, prior to step S400: acquiring image data of the injection hole-sealing pin of the battery cell to be processed, the method further includes:

[0120] After the sealing pin is placed in the liquid injection hole of the battery cell to be treated and the battery cell to be treated is moved to the pre-welding station, it is left to stand for a second preset time.

[0121] For example, after the battery cell to be processed is moved to the pre-welding station, it is left to stand for a second preset time before proceeding with the subsequent steps such as taking pictures and pre-welding. This avoids the problem of the pin being easily misaligned before it has come to a complete stop, thereby improving the pre-welding accuracy.

[0122] For example, S600: the step of obtaining sealing pin pre-welding operation data based on injection hole image processing data and injection hole-sealing pin processing data includes:

[0123] S610: Based on the image processing data of the injection hole and the processing data of the injection hole-sealing nail, the fitting circle of the injection hole of the battery cell to be processed is checked to obtain the check result;

[0124] S620: After the verification results are approved, obtain the pre-welding operation data for the sealing nails.

[0125] For example, the image processing data of the injection hole includes the fitted circle at the nailing station, and the processing data of the injection hole-sealing nail includes the fitted circle at the pre-welding station. Thus, by checking the fitted circle at the pre-welding station and the fitted circle at the nailing station, if the center and radius are within the specified deviation range, it is determined to be qualified and pre-spot welded, thereby increasing the comparison and improving the fitting accuracy.

[0126] In some trial scenarios, combined Figures 1 to 2 The control method for the welding sealing nails of the battery cell shown is illustrated with the following specific implementation steps:

[0127] 1. Concentricity testing procedure and method for the sealing nail mounting station:

[0128] 1.1 Optimize CCD edge detection and verification algorithms:

[0129] 1.1.1 Optimization of the edge-grabbing algorithm for fitted circles:

[0130] The edge of the circular fitting after CCD imaging was changed from the outer edge of the laser cleaning ring to the outer edge of the injection hole in order to improve the edge gripping accuracy.

[0131] 1.1.2 Optimization of the size verification algorithm for the fitted circle:

[0132] Fit the inner and outer rings of the injection hole, compare their dimensions with the design model, and calculate the deviation. If they are not within the range, refit and recalculate the deviation. Repeat the process 3-5 times to reduce fitting error.

[0133] The fitting accuracy and precision are improved through the 1.1 scheme;

[0134] 1.2 Optimize the process and method for removing and placing sealing nails:

[0135] 1.2.1. Add CCD photo verification before nail removal:

[0136] Before optimization: There was no CCD photo verification function before removing the sealing nail, which made it easy to grab the nail off-center;

[0137] After optimization: A CCD photo verification function is added before removing the sealing nail. After taking the photo, the progress of the nail-removing mechanism is compensated to ensure that the gripping position is within the set range and will not cause the nail to be gripped off-center. The cycle count is 3-5 times.

[0138] 1.2.2. Add CCD photo verification before placing the nail:

[0139] Before optimization: After the CCD takes a picture, it provides position compensation information to the nail-grabbing mechanism. The nail-grabbing mechanism then moves to the top of the injection hole and moves downward. After it is in place, the nail is released. There is shaking at the scene during the nail release process, which will cause the nail to deviate.

[0140] After optimization: After CCD photo capture, position compensation information is provided to the nail-grabbing mechanism. The nail-grabbing mechanism first moves to the space above the injection hole, remains still for 1-30 seconds, and after multiple CCD photo captures for compensation confirmation, the nail is slowly released. This cycle is repeated 3-5 times to reduce the impact of the moving and shaking of the sealing nail.

[0141] The solution in section 1.2 reduces the impact of sealing pin movement and vibration.

[0142] 1.3 Application Effects:

[0143] The above solution can completely solve the problem of CCD misjudgment caused by the jitter of nail picking and placing, improve the accuracy of CCD edge grasping and verification algorithm, and increase the nailing yield from the current 82% to 100% after the solution.

[0144] 2. Concentricity inspection process and method for the pre-welding station of sealing nails:

[0145] 2.1 Optimize CCD edge detection and verification algorithms:

[0146] 2.1.1 Optimization of the edge-grabbing algorithm for fitted circles:

[0147] The edge of the fitting circle after CCD imaging is changed from the outer edge of the laser cleaning circle to the inner edge of the injection hole in order to improve the edge gripping accuracy.

[0148] 2.1.2 Optimization of the algorithm for verifying the dimensions of the injection hole fitted circle:

[0149] Fit the outer ring of the injection hole, compare its dimensions with the design model, and calculate the deviation. If it is not within the range, refit and recalculate the deviation. Repeat the cycle 3-5 times to reduce fitting error.

[0150] 2.1.3 Optimization of the dimension verification algorithm for the fitted circle of the sealing nail:

[0151] Fit the outer ring of the sealing nail, compare its dimensions with the design model, and calculate the deviation. If it is not within the range, refit and recalculate the deviation, repeating the process 3-5 times.

[0152] The method described in section 2.1 improves the accuracy and precision of the fitting.

[0153] 2.2 Optimize the pre-tack welding process and method for sealing nails:

[0154] 2.2.1. Add CCD photo verification before pre-welding:

[0155] Before optimization: After the sealing nail is installed, it moves from the nailing station to the pre-welding station. As soon as it arrives, the CCD takes a picture once. If it is qualified, pre-tack welding is performed. If it has not stopped completely, the nail is prone to deviating.

[0156] After optimization: After the sealing nail is installed, the device moves from the nailing station to the pre-welding station. After waiting for the battery cell to come to a standstill (e.g., a delay of 0.5 seconds), and after 3-5 CCD photo confirmations, it is deemed qualified and pre-spot welded, thus solving the problem of inaccurate edge gripping caused by the reflection of the sealing nail.

[0157] 2.2.2 Inspection of the fitted circle of the outer ring of the injection hole at the two additional stations before pre-welding:

[0158] Before optimization: After the sealing nail is installed, it moves from the nailing station to the pre-welding station. As soon as it arrives, the CCD takes a picture once. If it is qualified, pre-tack welding is performed. If it has not stopped completely, the nail is prone to deviating.

[0159] After optimization: After the sealing nail is installed, the device moves from the nailing station to the pre-welding station. After waiting for the battery cell to come to a standstill (e.g., a delay of 0.5 seconds), the device takes 3-5 CCD photos for confirmation. The fitted circle of the device is then compared with the fitted circle of the nailing station. If the center and radius of the circle are within the specified deviation range, the device is deemed qualified and pre-spot welded. This increases the comparison and improves the fitting accuracy.

[0160] The scheme in section 2.2 reduces the impact of grayscale deviation of the sealing pin on the fitting of the injection hole, and also reduces the impact of sealing pin movement.

[0161] 2.3 Application Effects:

[0162] The above solution can completely solve the problems of misaligned nails and warped nails caused by cell movement and laser local welding, improve the accuracy of CCD edge grasping and verification algorithms, and increase the nailing yield from the current 78% to 92% after the solution is implemented.

[0163] Furthermore, the control method for the welding sealing nails of this battery cell can also add a nail pressing function:

[0164] Without a nail-pressing mechanism during the entire process from the nailing station to the pre-welding station, the movement of the battery cell can cause nail misalignment, and the laser spot welding process can also cause nail warping, which will affect the concentricity and height of the sealing nail. Therefore, a nail-pressing mechanism is set between the nailing station and the pre-welding station. After the sealing nail is nailed, the nail-pressing mechanism is activated immediately and is not removed until the full welding process, which can reduce the impact of nail misalignment and spot welding warping.

[0165] For example, the concentricity of existing battery cell sealing nail welding using 2D visual inspection is affected by the following two aspects: ① The CCD image itself is affected by factors such as the environment and the vibration state of the battery cell, and its accuracy may deviate from the actual requirements to a certain extent. Therefore, it is necessary to optimize the edge-grabbing method and perform corresponding verification; ② How to reduce the deviation in nail picking and placing, how to reduce nail misalignment and warping caused by vibration during battery cell movement, and how to reduce the impact of laser energy on warping of the sealing aluminum nails during pre-spot welding. If these two factors are not effectively addressed, it will lead to problems such as pinholes and cracks in the subsequently welded batteries, affecting battery application safety.

[0166] The control method for the cell welding sealing nails provided in this application effectively verifies the actual weak points of the cell welding sealing nails, rapidly conducts DOE verification of the welding process, shortens the product development verification cycle, and enables the cell to successfully pass cell vibration tests, whole-pack vibration tests, and whole-vehicle drive durability tests. The risk of leakage due to driving vibration is reduced to zero, completely avoiding safety hazards caused by leakage of the casing due to dynamic vibration of the cell after packaging, and significantly improving the application safety of the cell.

[0167] Please see Figure 3 , Figure 3 This is a structural block diagram of the control system for the battery cell welding sealing nail provided in an embodiment of this application. The control system for the battery cell welding sealing nail includes:

[0168] Image module 100 is used to: acquire image data of the injection hole of the battery cell to be processed;

[0169] The edge-grabbing and verification module 200 is used to: perform edge-grabbing and verification processing based on the injection hole image data to obtain injection hole image processing data;

[0170] The nail removal module 300 is used to: control the nail removal mechanism to grab the sealing nail, and control the nail removal mechanism to place the sealing nail into the liquid injection hole of the battery cell to be processed based on the liquid injection hole image processing data;

[0171] The image module 100 is also used to: acquire image data of the liquid injection hole-sealing nail of the battery cell to be processed;

[0172] The edge-grabbing and verification module 200 is also used to: perform edge-grabbing and verification processing based on the injection hole-sealing nail image data to obtain injection hole-sealing nail processing data;

[0173] The pre-welding operation module 400 is used to: obtain pre-welding operation data for sealing nails based on the image processing data of the injection hole and the processing data of the injection hole and sealing nail; and control the injection hole and sealing nail of the battery cell to be processed to perform pre-welding operation through the pre-welding operation data for sealing nails.

[0174] For example, the edge grabbing and verification module 200 is also used for:

[0175] The edge-grabbing data of the injection hole is obtained by performing edge-grabbing processing on the injection hole image data, where the injection hole edge-grabbing data is the outer edge of the injection hole.

[0176] Verification data of the injection hole is obtained by performing verification processing on the injection hole image data.

[0177] Image processing data for the injection hole is obtained based on the edge-grabbing data and verification data of the injection hole.

[0178] For example, the edge grabbing and verification module 200 is also used for:

[0179] The injection hole image data is fitted to obtain the inner circle data and outer circle data of the injection hole;

[0180] The data of the inner and outer rings of the injection hole are verified based on the preset injection hole model to obtain the injection hole verification data.

[0181] For example, the nail removal module 300 is also used for:

[0182] The sealing nail is photographed for verification, and image data of the sealing nail before removal is obtained.

[0183] The nail removal mechanism is controlled to grab the sealing nail based on the image processing data of the injection hole and the image data of the sealing nail before nail removal.

[0184] Photograph the battery cell to be processed for verification and obtain image data of the injection hole before nailing;

[0185] After a first preset time of settling, position compensation information is generated based on the image processing data of the injection hole and the image data of the injection hole before nail placement. Based on the position compensation information, the nail removal mechanism is controlled to place the sealing nail into the injection hole of the battery cell to be processed.

[0186] For example, the pre-soldering operation module 400 is also used for:

[0187] The fitting circle of the injection hole of the battery cell to be processed is checked based on the image processing data of the injection hole and the processing data of the injection hole-sealing nail, and the check result is obtained.

[0188] After the verification results are approved, the pre-welding operation data for the sealing nails is obtained.

[0189] It should be noted that the control system for the cell welding sealing nail provided in this application embodiment is related to... Figure 1 and Figure 2 The method embodiments shown correspond to each other, and will not be described again here to avoid repetition.

[0190] This application also provides an electronic device, please refer to [link to application]. Figure 4 , Figure 4This is a structural block diagram of an electronic device provided in an embodiment of this application. The electronic device may include a processor 510, a communication interface 520, a memory 530, and at least one communication bus 540. The communication bus 540 is used to enable direct communication between these components. In this embodiment, the communication interface 520 of the electronic device is used for signaling or data communication with other node devices. The processor 510 may be an integrated circuit chip with signal processing capabilities.

[0191] The processor 510 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor, or the processor 510 can be any conventional processor.

[0192] The memory 530 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. The memory 530 stores computer-readable instructions. When these computer-readable instructions are executed by the processor 510, the electronic device can perform the aforementioned operations. Figures 1 to 2 The various steps involved in the method implementation examples.

[0193] Alternatively, the electronic device may also include a storage controller and an input / output unit.

[0194] The memory 530, storage controller, processor 510, peripheral interface, and input / output unit are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses 540. The processor 510 is used to execute executable modules stored in the memory 530, such as software function modules or computer programs included in electronic devices.

[0195] The input / output unit is used to provide users with the ability to create tasks and to set optional start periods or preset execution times for those tasks, thereby enabling user-server interaction. The input / output unit may be, but is not limited to, a mouse and keyboard.

[0196] Understandable. Figure 4 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 4 The more or fewer components shown, or having the same Figure 4 The different configurations shown. Figure 4 The components shown can be implemented using hardware, software, or a combination thereof.

[0197] This application also provides a storage medium storing instructions. When the instructions are run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment. To avoid repetition, the method will not be described again here.

[0198] This application also provides a computer program product that, when run on a computer, causes the computer to perform the method described in the method embodiment.

[0199] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0200] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0201] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion 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 this application. 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.

[0202] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0203] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0204] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for controlling the welding sealing nail of a battery cell, characterized in that, include: Acquire image data of the electrolyte injection hole of the battery cell to be processed; The injection hole image data is processed by edge grabbing and verification to obtain injection hole image processing data. The nail-removing mechanism is controlled to grab the sealing nail, and the sealing nail is placed in the injection hole of the battery cell to be processed based on the image processing data of the injection hole. Obtain image data of the injection hole and sealing nail of the battery cell to be processed; Based on the image data of the injection hole and sealing nail, edge-grabbing and verification processing are performed to obtain the processing data of the injection hole and sealing nail. Based on the injection hole image processing data and the injection hole-sealing nail processing data, pre-welding operation data for the sealing nail is obtained; The pre-welding operation data of the sealing nail is used to control the liquid injection hole and sealing nail of the battery cell to be processed to perform the pre-welding operation. The step of performing edge-grabbing and verification processing on the injection hole image data to obtain injection hole image processing data includes: The injection hole image data is processed to obtain injection hole edge data, wherein the injection hole edge data is the outer edge of the injection hole. The injection hole image data is verified to obtain injection hole verification data. Image processing data for the injection hole is obtained based on the edge-grabbing data and the verification data of the injection hole.

2. The method for controlling the welding sealing nail of the battery cell according to claim 1, characterized in that, The step of performing verification processing based on the injection hole image data to obtain injection hole verification data includes: The injection hole image data is fitted to obtain the inner ring data and outer ring data of the injection hole; The data of the inner ring and the outer ring of the injection hole are verified according to the preset injection hole model to obtain injection hole verification data.

3. The method for controlling the welding sealing nail of the battery cell according to claim 1, characterized in that, The steps for controlling the nail-grabbing mechanism to grasp the sealing nail include: The sealing nail is photographed for verification, and image data of the sealing nail before removal is obtained. The nail removal mechanism is controlled to grasp the sealing nail based on the image processing data of the injection hole and the image data of the sealing nail before nail removal. The step of controlling the pin-removing mechanism to place the sealing pin into the injection hole of the battery cell to be processed based on the injection hole image processing data includes: The battery cell to be processed is photographed for verification to obtain image data of the injection hole before nailing; After a first preset time of settling, position compensation information is generated based on the image processing data of the injection hole and the image data of the injection hole before nail placement. Based on the position compensation information, the nail removal mechanism is controlled to place the sealing nail into the injection hole of the battery cell to be processed.

4. The method for controlling the welding sealing nail of the battery cell according to claim 1, characterized in that, Prior to the step of acquiring the image data of the injection hole-sealing pin of the battery cell to be processed, the method further includes: After the sealing pin is placed in the liquid injection hole of the battery cell to be processed and the battery cell to be processed is moved to the pre-welding station, it is left to stand for a second preset time.

5. The method for controlling the welding sealing nail of the battery cell according to claim 1 or 4, characterized in that, The step of obtaining sealing pin pre-welding operation data based on the injection hole image processing data and the injection hole-sealing pin processing data includes: Based on the image processing data of the injection hole and the processing data of the injection hole-sealing nail, the fitted circle of the injection hole of the battery cell to be processed is checked to obtain the check result; After the verification results are passed, the pre-welding operation data for the sealing nails is obtained.

6. A control system for welding sealing nails to battery cells, characterized in that, include: The image module is used to: acquire image data of the injection hole of the battery cell to be processed; The edge-grabbing and verification module is used to: perform edge-grabbing and verification processing based on the injection hole image data to obtain injection hole image processing data; The nail removal module is used to: control the nail removal mechanism to grasp the sealing nail, and control the nail removal mechanism to place the sealing nail into the injection hole of the battery cell to be processed according to the image processing data of the injection hole; The image module is also used to: acquire image data of the injection hole-sealing nail of the battery cell to be processed; The edge-grabbing and verification module is also used to: perform edge-grabbing and verification processing based on the injection hole-sealing nail image data to obtain injection hole-sealing nail processing data; The pre-welding operation module is used to: obtain sealing nail pre-welding operation data based on the injection hole image processing data and the injection hole-sealing nail processing data; and control the injection hole and sealing nail of the cell to be processed to perform pre-welding operation through the sealing nail pre-welding operation data. The edge-grabbing and verification module is also used for: The injection hole image data is processed to obtain injection hole edge data, wherein the injection hole edge data is the outer edge of the injection hole. The injection hole image data is verified to obtain injection hole verification data. Image processing data for the injection hole is obtained based on the edge-grabbing data and the verification data of the injection hole.

7. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the control method for welding sealing studs of the battery cell as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the control method for welding sealing nails to the battery cell as described in any one of claims 1 to 5.

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