Pole welding control method and device, computer equipment, storage medium and product

Abstract

The invention relates to a pole welding control method and device, computer equipment, a storage medium and a product. The method comprises the steps that a target welding point position of a remodeling template module is demonstrated to a welding robot, so that when a galvanometer mechanism emits light according to a welding drawing file, light emitting points are all located at center points of all polar columns corresponding to the target welding point position, and welding point position demonstration coordinates of the target welding point position are obtained; welding tool pole column template coordinates corresponding to all pole columns in the remodeling template module are obtained, calculation point location template coordinates corresponding to all welding point locations are obtained through calculation according to all the welding tool pole column template coordinates, first offset data are obtained according to the calculation point location template coordinates corresponding to the target welding point location and the welding point location teaching coordinates, and the first offset data are obtained; and according to each calculation point position template coordinate and the first offset data, each welding point position template coordinate corresponding to the remodeling template module is obtained, so that the welding robot can call the welding point position template coordinates in the process of welding the target battery module. By adopting the method, the remodeling efficiency of the new template can be improved.

Description

Technical Field

[0001] The present application relates to the field of battery generation technology, and in particular to a pole welding control method, device, computer equipment, storage medium and product. Background Art

[0002] In the field of new energy technology, the battery pole and busbar (also known as busbar) need to be welded during the production process of battery modules. Generally, a welding robot in a welding station mechanism is used to implement the welding process.

[0003] When producing battery modules of different sizes and types on the same production line, it is necessary to use the corresponding template change module to teach the welding robot's welding points one by one to obtain the corresponding template coordinate set for use in subsequent actual production.

[0004] However, the efficiency of the changeover phase in the above-mentioned pole welding control method is low. Summary of the invention

[0005] Based on this, it is necessary to provide a pole welding control method, device, computer equipment, storage medium and product that can improve the efficiency of the changeover stage in order to solve the above technical problems.

[0006] In a first aspect, the present application provides a pole welding control method, comprising:

[0007] By teaching the welding robot the target welding point corresponding to the template change module, the galvanometer mechanism emits light according to the preset welding drawing, and the light emission points are all at the center points of each pole corresponding to the target welding point, and the welding point teaching coordinates corresponding to the target welding point are obtained. The target welding point is any one of the multiple welding points corresponding to the template change module;

[0008] Obtain the welding tool pole template coordinates corresponding to each pole in the changeover template module, and perform calculation processing according to each welding tool pole template coordinate to obtain the calculation point template coordinates corresponding to each welding point, wherein the welding tool pole template coordinates and the welding point teaching coordinates are coordinate data under the welding tool coordinate system;

[0009] Obtaining first offset data according to the calculated point template coordinates and the welding point teaching coordinates corresponding to the target welding point;

[0010] According to the template coordinates of each calculated point and the first offset data, the template coordinates of each welding point corresponding to the mold change template module are obtained, wherein the template coordinates of each welding point are used for the welding robot to call during the process of welding the target battery module, and the target battery module is the battery module in the production stage corresponding to the mold change template module.

[0011] In one embodiment, the method further comprises:

[0012] The target coordinates of the welding tool poles corresponding to each pole in the target battery module are obtained; the target coordinates of the calculated points corresponding to each welding position are calculated according to the target coordinates of each welding tool pole, and the three-axis moving coordinates of each welding corresponding to the target battery module are obtained according to the mapping relationship between the target coordinates of each calculated point and the first coordinate, and the first coordinate mapping relationship includes the mapping relationship between the welding tool coordinate system and the welding three-axis coordinate system; when welding the target battery module based on the template coordinates of each welding point, the movement of the welding three-axis mechanism is controlled based on the three-axis moving coordinates of each welding.

[0013] In one embodiment, the method further comprises:

[0014] According to the target coordinates of each welding tool pole and the template coordinates of each welding tool pole, the offset data of each pole corresponding to the target battery module is obtained; according to the mapping relationship between each pole offset data and the second coordinate, the offset data of each galvanometer corresponding to the target module is obtained, and the second coordinate mapping relationship includes the mapping relationship between the welding tool coordinate system and the galvanometer coordinate system; when welding the target battery module based on the template coordinates of each welding point, the galvanometer mechanism is controlled to adjust the galvanometer light output position at each welding point based on each galvanometer offset data.

[0015] In one of the embodiments, the welding tool pole template coordinates corresponding to each pole in the mold change template module are obtained, including: by teaching the target pole in the mold change template module to the pre-welding three-axis mechanism, the pre-welding three-axis pole teaching coordinates corresponding to the target pole are obtained, and the target pole is any one of the multiple poles of the mold change template module; according to the pre-welding three-axis pole teaching coordinates and the product parameters corresponding to the mold change template module, the pre-welding three-axis pole template coordinates corresponding to each pole are obtained, and the product parameters include the pole spacing; coordinate mapping processing is performed according to the pre-welding three-axis pole template coordinates to obtain the template coordinates of each welding tool pole.

[0016] In one of the embodiments, according to the pre-welding three-axis pole teaching coordinates and the product parameters corresponding to the mold changing template module, the pre-welding three-axis pole template coordinates corresponding to the mold changing template module are obtained, including: for each pole in the mold changing template module, the corresponding pre-welding three-axis pole coordinates are obtained through the following steps: according to the product parameters and the pre-welding three-axis pole teaching coordinates, the pre-welding three-axis photographing coordinates corresponding to the pole are obtained; the pre-welding three-axis mechanism is controlled to move to the pre-welding three-axis photographing coordinates to obtain the pre-welding image corresponding to the pole; according to the position deviation between the pole and the image center point in the pre-welding image and the pre-welding three-axis photographing coordinates, the pre-welding three-axis pole template coordinates corresponding to the pole are obtained.

[0017] In one of the embodiments, coordinate mapping processing is performed according to the coordinates of each pre-welding three-axis pole template to obtain the coordinates of each welding tool pole template, including: obtaining the first mark pre-welding three-axis template coordinates and the second mark pre-welding three-axis template coordinates of the first mark point and the second mark point in the mold change template module in the pre-welding three-axis coordinate system; obtaining the first mark welding tool template coordinates and the second mark welding tool template coordinates of the first mark point and the second mark point in the welding tool coordinate system; obtaining the coordinate system template angle between the pre-welding three-axis coordinate system and the welding tool coordinate system according to the first mark pre-welding three-axis template coordinates, the second mark pre-welding three-axis template coordinates, the first mark welding tool template coordinates and the second mark welding tool template coordinates; obtaining the welding tool pole template coordinates corresponding to each pole according to the coordinate system template angle, the pre-welding three-axis template coordinates corresponding to each pole, the pre-welding three-axis template coordinates corresponding to the reference point, and the welding tool template coordinates, wherein the reference point is the first mark point or the second mark point.

[0018] In a second aspect, the present application also provides a pole welding control device, comprising:

[0019] A teaching point acquisition module is used to obtain the welding point teaching coordinates corresponding to the target welding point by teaching the welding robot the target welding point corresponding to the mold change template module, and the target welding point is any one of the multiple welding points corresponding to the mold change template module;

[0020] The pre-welding welding address transmission module is used to obtain the welding tool pole template coordinates corresponding to each pole in the change template module;

[0021] The welding point calculation module is used to calculate and process the coordinates of the pole template of each welding tool to obtain the calculation point template coordinates corresponding to each welding point, and obtain the first offset data according to the calculation point template coordinates corresponding to the target welding point and the welding point teaching coordinates;

[0022] The welding point determination module obtains the welding point template coordinates corresponding to the mold change template module according to the calculated point template coordinates and the first offset data, wherein the welding point template coordinates are used for the welding robot to call during the welding process of the target battery module, and the target battery module corresponds to the mold change template module.

[0023] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in the first aspect when executing the computer program.

[0024] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method described in the first aspect.

[0025] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which implements the steps of the method described in the first aspect when executed by a processor.

[0026] The pole welding control method, device, computer equipment, storage medium and product described above teach the welding robot the target welding point corresponding to the mold change template module, so that the galvanometer mechanism emits light according to the preset welding drawing, and the light emission points are all at the center points of each pole corresponding to the target welding point, and the welding point teaching coordinates corresponding to the target welding point are obtained, and the target welding point is any one of the multiple welding points corresponding to the mold change template module; the welding tool pole template coordinates corresponding to each pole in the mold change template module are obtained, and calculation processing is performed according to the template coordinates of each welding tool pole to obtain the calculated point template coordinates corresponding to each welding point, and the target welding point is obtained according to the target welding point. The corresponding calculation point template coordinates and welding point teaching coordinates are used to obtain the first offset data, and the welding point template coordinates corresponding to the change template module are obtained according to the calculation point template coordinates and the first offset data, wherein the welding point template coordinates are used for the welding robot to call during the process of welding the target battery module, and the target battery module is the battery module in the production stage corresponding to the change template module; in this way, when the new template is changed for the same battery module production line, only one welding point needs to be taught, and the other welding points corresponding to the change template module can be automatically calculated in combination with the template coordinates of the poles of each welding tool, thereby improving the efficiency of the new template change. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 An application environment diagram of a pole welding control method in an embodiment;

[0029] Figure 2 is an exemplary structural schematic diagram of a pre-welding station mechanism;

[0030] Figure 3 is a schematic diagram of an exemplary structure of a change template module;

[0031] Figure 4 is an exemplary structural schematic diagram of a welding station mechanism;

[0032] Figure 5 A schematic flow chart of a pole welding control method in one embodiment;

[0033] Figure 6 A schematic flow chart of a pole welding control method in another embodiment;

[0034] Figure 7 A schematic flow chart of a pole welding control method in another embodiment;

[0035] Figure 8 A schematic diagram of a process for obtaining the coordinates of a three-axis pole template before welding in an embodiment;

[0036] Fig. 9 A schematic diagram of a flow chart of steps for obtaining three-axis polar coordinates before welding in an embodiment;

[0037] Fig.10 A schematic flow chart of the steps of obtaining the coordinates of the welding tool pole template in one embodiment;

[0038] Fig.11 A structural block diagram of a pole welding control device in one embodiment;

[0039] Fig.12 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] The pole welding control method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The controller 300 is connected to the pre-welding station mechanism 100 and the welding station mechanism 200 for communication, and is used to control the pre-welding station mechanism 100 to address the mold change template module or the battery module to be produced on the production line, and control the welding station mechanism 200 to weld the battery pole and the bar piece of the battery module to be produced based on the addressing result. The controller 300 is a computer device with data processing capabilities, which can be a host computer, such as a server or various terminal devices, wherein the terminal devices can be but are not limited to various personal computers, laptops, smart phones, tablet computers and Internet of Things devices; the controller 300 can also be various slave computers, such as a programmable logic controller (PLC), a single-chip microcomputer or an industrial computer.

[0042] Please refer to Figure 2, which is an exemplary structural diagram of the pre-welding station mechanism 100. The pre-welding station mechanism 100 is also called an addressing station mechanism, including a pre-welding three-axis mechanism and a pre-welding camera 140, wherein the pre-welding three-axis mechanism includes a pre-welding X-axis 110, a pre-welding Y-axis 120 and a pre-welding Z-axis 130, and the pre-welding camera 140 is installed on the pre-welding Z-axis 130. The module 150 can be a changeover template module or a battery module to be produced; the pre-welding camera 140 can be a 2D line scan camera or a 3D line scan camera, or a 2D area array camera or a 3D area array camera, or other industrial cameras.

[0043] Among them, the controller 300 is connected to each structure in the pre-welding station mechanism 100, and is used to control the movement of the pre-welding three-axis mechanism, control the pre-welding camera 140 to obtain the image of the mold change template module or the battery module to be produced, and perform image analysis to obtain the position data of each pole, and control the welding station mechanism 200 to perform battery pole welding based on the position data of each pole.

[0044] Please refer to Figure 3 , is a schematic diagram of an exemplary structure of a mold change template module in an embodiment of the present application. Among them, the mold change template module is consistent with the structure of the battery module to be produced corresponding to the mold change template module. The structure of the mold change template module shown in the present application is also the structure of the corresponding battery module to be produced, and will not be described one by one. For example, Figure 3 As shown, the changeover template module includes a front plate hole 410, a rear plate hole 420 and a pole 430, and the welding area 440 can be considered as the first welding area corresponding to the changeover template module; Figure 4 A welding area 440 in the described changeover template module is composed of 4 poles (the poles numbered ①, ②, ③ and ④ in the figure), the welding point is the center point of the 4 poles, and the coordinates of the welding point are the average value of the coordinates of the 4 poles. Among them, the number of poles included in a welding area is related to the welding drawing selected by the welding tool, and the maximum number of poles included in a welding area is related to the number of copper nozzle mechanisms set on the three axes of welding. Among them, according to the selected welding drawing, the number of poles included in a welding area can be 4, 2, 6, or 1; the pole welding control method provided in the embodiment of the present application does not limit the division of the welding area.

[0045] Among them, when welding the battery tabs, when the welding three-axis mechanism moves to the corresponding welding area, the copper nozzle mechanism is required to press on the battery cell tab to guide and focus the welding laser beam to ensure that the laser beam can be accurately focused on the pole. The welding drawing is a drawing or document that describes the offset position of the galvanometer in the light output process.

[0046] For example, if the number of the copper nozzle mechanisms provided on the welding three-axis mechanism is 4, then the maximum number of poles included in one welding area is 4, and the number of poles included in one welding area in the welding drawing corresponding to the welding station mechanism is also 4; please refer to Figure 3 During the welding process, the welding robot and the welding three-axis mechanism are controlled to move to the corresponding position according to the position data of the first welding point, and then the welding three-axis mechanism is controlled to press down, and the copper nozzle mechanism is crimped to the four poles (the poles numbered ①, ②, ③ and ④ in the figure). The galvanometer mechanism is controlled to emit light once to the positions of poles ①, pole ②, pole ③ and pole ④ respectively along the preset light offset position in the welding drawing, and the poles ①, pole ②, pole ③ and pole ④ are welded to the bar.

[0047] Please refer to Figure 4 , which is an exemplary structural diagram of a welding station mechanism 200. The welding station mechanism 200 includes a welding three-axis mechanism, a copper nozzle structure 240, a welding robot 250, a galvanometer mechanism 260 and a welding camera 270; the welding three-axis mechanism includes a welding X-axis 210, a welding Y-axis 220 and a welding Z-axis 230, the copper nozzle mechanism 240 is arranged on the welding Z-axis 230, and the galvanometer mechanism 260 and the welding camera 270 are both installed on the welding robot 250 and move with the welding robot 250. The controller 300 is connected to the welding three-axis mechanism, the welding robot 250, the galvanometer mechanism 260 and the welding camera 270 in the welding station mechanism 200.

[0048] Combination Figure 2-4 It can be seen that the data conversion between five coordinate systems is involved in the embodiment of the present application, wherein the pre-welding station mechanism 100 includes a pre-welding three-axis coordinate system corresponding to the pre-welding three-axis mechanism and a pre-welding camera coordinate system corresponding to the pre-welding camera 140, and the welding working mechanism 200 includes a welding tool coordinate system corresponding to the welding robot 250, a welding three-axis coordinate system corresponding to the welding three-axis mechanism, and a galvanometer coordinate system corresponding to the galvanometer mechanism 260. Among them, because the position between the pre-welding three-axis mechanism and the pre-welding camera is relatively fixed, the mapping relationship between the pre-welding three-axis coordinate system and the pre-welding camera coordinate system is relatively fixed; based on the relatively fixed position between the welding robot 250, the welding three-axis mechanism and the galvanometer mechanism 260, the mapping relationship between the welding tool coordinate system, the welding three-axis coordinate system and the galvanometer coordinate system is relatively fixed.

[0049] In an exemplary embodiment, Figure 5 As shown, a pole welding control method is provided, which is applied to Figure 1 The controller 300 in FIG. 1 is taken as an example to illustrate the method, which includes the following steps 502 to 508. Among them:

[0050] Step 502, by teaching the welding robot the target welding point corresponding to the template change module, the galvanometer mechanism emits light according to the preset welding drawing, and the light output points are all at the centers of the poles corresponding to the target welding point, thereby obtaining the welding point teaching coordinates corresponding to the target welding point.

[0051] The target welding point is any one of the multiple welding points corresponding to the template change module. Exemplarily, the target welding point can be the first welding point or the last welding point among the multiple welding points corresponding to the template change module.

[0052] In a possible implementation, the template change module may be a machine adjustment module, wherein the machine adjustment module is generally formed by stacking normal cells and is used for whole-line machine adjustment.

[0053] In a possible implementation, the mold change template module can be a digital model first piece tooling. The digital model first piece tooling is processed by a machine tool according to digital model parameters. It is generally not a real battery cell. The appearance size is almost the same as the standard size of the digital model. It is installed with a pole to make the first product and is used as a welding station adjustment module.

[0054] Among them, the welding point teaching coordinates are the coordinate data in the welding tool coordinate system corresponding to the welding robot 250, that is, the coordinate data for controlling the movement of the welding robot 250. Exemplarily, the welding robot 250 is taught to move to the vicinity of the first welding point, the robot is fine-tuned and the preview galvanometer mechanism 260 is previewed according to the welding drawing. When the light-emitting points are all at the center points of each pole in the welding area, the controller 300 records the current coordinate data of the welding robot 250 as the welding point teaching coordinates in the data1 in the position register corresponding to the current recipe of the controller. In this example, the first welding point in the template module is used as the target welding point to facilitate data storage and recording.

[0055] Exemplarily, teaching the welding robot 250 to move to a target welding point may be achieved by the controller 300 through a teaching pendant (not shown in the figure).

[0056] Step 504, obtaining the welding tool pole template coordinates corresponding to each pole in the mold change template module, and performing calculation processing based on each welding tool pole template coordinate to obtain the calculation point template coordinates corresponding to each welding point.

[0057] Among them, the welding tool pole template coordinates refer to the coordinate data of each pole in the mold change template module under the welding tool coordinate system.

[0058] For example, the pre-welding camera 140 in the pre-welding station mechanism 100 can be used to take a picture of the mold change template module, obtain the pre-welding three-axis pole coordinates corresponding to each pole in the mold change template module, and store them in data2 in the position register of the controller 300. Then, the pre-welding three-axis pole coordinates in data2 are converted into pre-welding tool pole template coordinates in the welding tool coordinate system, and stored in data3 in the position register of the controller 300.

[0059] Exemplarily, the coordinate mapping relationship between the pre-welding three-axis coordinate system and the welding tool coordinate system is first obtained, and then based on the coordinate mapping relationship, each pre-welding three-axis pole coordinate is converted into each pre-welding tool pole template coordinate.

[0060] The calculated point template coordinates are coordinate data in the welding tool coordinate system. Exemplarily, the calculation processing according to the template coordinates of each welding tool pole refers to averaging the coordinates of the welding tool pole template corresponding to each pole included in each welding area to obtain the coordinate data of the center point of each welding area, that is, the calculated point template coordinates corresponding to each welding point.

[0061] In a possible implementation, the calculation processing is performed according to the template coordinates of the poles of each welding tool to obtain the calculated template coordinates of the corresponding welding points, including: obtaining the welding drawing corresponding to the galvanometer mechanism 260; and obtaining the calculated template coordinates of the corresponding welding points according to the template coordinates of the poles of each welding tool and the welding drawing. In this implementation, the target welding point in step 502 is also determined based on the welding drawing.

[0062] In a possible implementation, for a specific production line, the welding drawing of the galvanometer mechanism 260 is fixed, the number of the copper nozzle mechanism 240 is also fixed, and the division of the welding area is also determined; in this implementation, the calculation point template coordinates corresponding to each welding point can be directly obtained according to the coordinates of each welding tool pole template and the preset welding area division method. Exemplarily, the coordinates of each welding tool pole template form a matrix data, wherein each element in the matrix data is a welding tool pole template coordinate; for the matrix data, according to the row step length and column step length are both 2, the calculation point template coordinates corresponding to each welding point are determined.

[0063] Exemplarily, the coordinates of each calculated point template obtained after calculating and processing the coordinates of each welding tool pole template in data3 in the position register of the controller 300 are stored in data4 in the position register.

[0064] Step 506, obtaining first offset data according to the calculated point template coordinates and the welding point teaching coordinates corresponding to the target welding point.

[0065] For example, if the target welding point is the first welding point among multiple welding points, that is, Figure 3 The welding point corresponding to the welding area 440 shown in the figure; then the first calculated point template coordinate in data4 is taken out and subtracted from the welding point teaching coordinate to obtain the first offset data (△X, △Y).

[0066] Exemplarily, if the target welding point is the nth welding point among multiple welding points, the nth calculated point template coordinates in data4 are taken out and subtracted from the welding point teaching coordinates to obtain the first offset data (△X, △Y).

[0067] Step 508, obtaining the template coordinates of each welding point corresponding to the template change module according to the template coordinates of each calculation point and the first offset data.

[0068] Among them, the template coordinates of each welding point are used for the welding robot to call during the process of welding the target battery module, and the target battery module corresponds to the change template module.

[0069] Exemplarily, the template coordinates of each calculated point in data4 are respectively moved by the first offset data (△X, △Y), and the obtained template coordinates of each welding point are stored in data5 in the position register of the controller 300. When welding the target battery module corresponding to the replacement template module, the welding robot 250 is moved according to the template coordinates of each welding point stored in data5 to achieve welding of each battery pole.

[0070] In a possible implementation, coordinate conversion is performed according to the template coordinates of each welding point corresponding to the template change module to obtain the welding three-axis template coordinates corresponding to the welding three-axis mechanism, and the welding three-axis movement is controlled based on the welding three-axis movement coordinates when welding the target battery module. In this way, the welding three-axis movement is controlled based on the welding three-axis template coordinates obtained by the template change module during actual production, which can improve welding efficiency.

[0071] The pole welding control method provided in the above embodiment teaches the welding robot the target welding point corresponding to the mold changing template module, so that the galvanometer mechanism emits light according to the preset welding drawing, and the light emitting points are all at the center points of each pole corresponding to the target welding point, and the welding point teaching coordinates corresponding to the target welding point are obtained, and the target welding point is any one of the multiple welding points corresponding to the mold changing template module; the welding tool pole template coordinates corresponding to each pole in the mold changing template module are obtained, and calculation processing is performed according to the template coordinates of each welding tool pole to obtain the calculated point template coordinates corresponding to each welding point, and the calculated point template coordinates corresponding to the target welding point are obtained according to the calculated point template coordinates corresponding to the target welding point. The template coordinates and the welding point teaching coordinates are used to obtain the first offset data, and the template coordinates of each welding point corresponding to the change template module are obtained according to the template coordinates of each calculated point and the first offset data, wherein the template coordinates of each welding point are used for the welding robot to call during the process of welding the target battery module, and the target battery module is the battery module in the production stage corresponding to the change template module; in this way, when a new template is changed for the same battery module production line, only one welding point needs to be taught, and combined with the template coordinates of each welding tool pole, the other welding points corresponding to the change template module can be automatically calculated, thereby improving the efficiency of the new template change.

[0072] By adopting the pole welding control method provided in the above embodiment, when repair welding is required in the actual production process, the corresponding welding point template coordinates can be quickly called to control the movement and welding of the welding robot.

[0073] By adopting the pole welding control method provided in the above embodiment, when one or several groups of pole points need to be randomly welded before actual production to verify the welding effect and confirm whether it meets the production conditions, the welding robot can be directly moved according to the corresponding welding point template coordinates to perform the welding task, thereby achieving a quick verification effect.

[0074] In order to solve the problem of incorrect crimping position caused by poor consistency of incoming materials of the battery module to be produced and further improve the welding accuracy of the electrode welding control method, in an exemplary embodiment, please refer to Figure 6 ,based on Figure 5 In the embodiment shown, the pole welding control method provided in this embodiment further includes steps 602 to 608, wherein:

[0075] Step 602, obtaining the target coordinates of the welding tool poles corresponding to each pole in the target battery module.

[0076] The target battery module refers to the battery module in the actual production process. The name of the welding tool pole target coordinate is mainly to distinguish it from the welding tool pole template coordinate corresponding to the changeover template module. The "target" and "template" respectively represent the pole coordinates of the welding tool coordinate system obtained in the actual production stage and the pole coordinates of the welding tool coordinate system obtained in the changeover stage, without limiting the method of obtaining the coordinate data.

[0077] For example, in the actual production process, the controller 300 obtains the pre-welding three-axis pole coordinates corresponding to each battery module to be produced in real time through the pre-welding station mechanism 100, and stores them in data101 in the position register of the controller 300, and then converts the pre-welding three-axis pole coordinates in data101 into coordinate data in the welding tool coordinate system to obtain the target coordinates of each welding tool pole, which are stored in data102 in the position register of the controller 300.

[0078] Step 604, performing calculation processing according to the target coordinates of each welding tool pole to obtain the calculated point target coordinates corresponding to each welding point.

[0079] In this case, in a manner similar to step 504, calculation processing is performed based on the target coordinates of each welding tool pole to obtain the calculated point target coordinates corresponding to each welding point.

[0080] Exemplarily, the controller 300 stores the target coordinates of each calculated point in data 103 in the position register.

[0081] Step 606, obtaining the three-axis moving coordinates of the target battery module corresponding to each welding according to the mapping relationship between the target coordinates of each calculation point and the first coordinate.

[0082] The first coordinate mapping relationship includes a mapping relationship between a welding tool coordinate system and a welding three-axis coordinate system.

[0083] In a possible implementation, the first coordinate mapping relationship includes a first rotation coefficient between the welding tool coordinate system and the welding three-axis coordinate system. In a possible implementation of this embodiment, the first rotation coefficient can be obtained in the following manner:

[0084] A three-axis mark point is set on the copper nozzle mechanism 240 of the welding three-axis mechanism; the initial position of the three-axis mark point is recorded as coordinate A1; the welding camera 270 is moved above the three-axis mark point so that the three-axis mark point is at the center point of the camera image, image P1 is acquired, and image P1 is set as a template, and the controller 300 acquires the current position coordinate of the welding robot 250 as coordinate B1; the welding X-axis 210 is moved a sufficient distance to record the position as coordinate A2, the welding camera 270 is moved above the current three-axis mark point, image P2 is acquired, image P2 is analyzed, and the distance between the three-axis mark point in image P2 and the center of the image is acquired. The controller 300 converts the offset data from the welding camera coordinate system to the robot tool coordinate system and then adds the current position coordinates of the welding robot, which is recorded as coordinate B2; the welding Y axis 220 is moved a sufficient distance to record the position as coordinate A3, and the welding camera 270 is moved to the current top of the three-axis mark point to obtain image P3, and image P3 is analyzed to obtain the offset data between the three-axis mark point and the center point of the image in image P3. The controller 300 converts the offset data from the welding camera coordinate system to the robot tool coordinate system and then adds the current position coordinates of the welding robot, which is recorded as coordinate B3. The first rotation coefficient between the robot tool coordinate system and the welding three-axis coordinate system is calculated through the positional relationship of coordinates A1, coordinates A2, coordinates A3, coordinates B1, coordinates B2 and coordinates B3. Exemplarily, the welding camera coordinate system and the robot tool coordinate system can be associated by means of nine-point marking.

[0085] The first rotation coefficient in the above implementation method takes into account the coordinate offset that may be caused when moving the welding X-axis, the welding Y-axis and the welding camera; when the first rotation coefficient is obtained based on the above implementation method for coordinate mapping, the accuracy of the coordinate mapping can be improved.

[0086] In this possible implementation manner, coordinate mapping processing is performed on the target coordinates of each calculation point based on the first rotation coefficient, and each calculation point target coordinate is converted into each welding three-axis movement coordinate in the welding three-axis coordinate system.

[0087] In a possible implementation, the first coordinate mapping relationship includes an external parameter matrix between the welding coordinate system and the welding three-axis coordinate system. In a possible implementation, the external parameter matrix between the welding tool coordinate system and the welding three-axis coordinate system is obtained by nine-point marking.

[0088] Exemplarily, the controller 300 stores each welding three-axis movement coordinate in data104 in the position register. Based on each welding three-axis movement coordinate, when the welding robot 250 moves to each welding point template coordinate, the controller 300 controls the welding three-axis mechanism to move downward based on the corresponding welding three-axis movement coordinate.

[0089] Step 608, when welding the target battery module based on the template coordinates of each welding point, the movement of the welding three-axis mechanism is controlled based on the welding three-axis movement coordinates.

[0090] In the pole welding control method provided in the above embodiment, the pole target coordinates of the welding tool corresponding to each pole in the target battery module are obtained, and calculation and processing are performed according to the pole target coordinates of each welding tool to obtain the calculated point target coordinates corresponding to each welding point. Combined with the first coordinate mapping relationship, each calculated point target coordinate is converted into each welding three-axis moving coordinate in the welding three-axis coordinate system. In this way, based on each welding three-axis moving coordinate, when welding is performed for each welding point, the moving downward position of the welding three-axis mechanism can be fine-tuned following the pole coordinates of the target battery module, which can avoid the problem of incorrect crimping position caused by poor consistency of incoming materials of the battery module to be produced, and at the same time reduce the probability of light blocking by the copper nozzle mechanism, and optimize the light blocking problem of the copper nozzle mechanism. The pole welding control method provided by this embodiment has high welding accuracy and reliability.

[0091] In an exemplary embodiment, please refer to Figure 7 ,based on Figure 6 In the embodiment shown, the pole welding control method provided in this embodiment also includes steps 702 to 706, wherein:

[0092] Step 702, obtaining the pole offset data corresponding to the target battery module according to the pole target coordinates of each welding tool and the pole template coordinates of each welding tool.

[0093] Among them, the offset data in the welding tool coordinate system obtained by calculating the replacement template module and the target battery module of each pole one by one.

[0094] Exemplarily, the controller 300 subtracts the coordinates in data3 and data102 in the position register to obtain the offset data of each pole, and stores the offset data of each pole in data105 in the position register.

[0095] Among them, the pole offset data is used to characterize the coordinate difference between the actual battery module to be produced and the pole in the replacement template module. The coordinate difference may be caused by poor module consistency; especially for battery modules with longer sizes, coordinate differences are more likely to exist.

[0096] Step 704 , obtaining the galvanometer offset data corresponding to the target module according to the mapping relationship between the pole offset data and the second coordinate.

[0097] The second coordinate mapping relationship includes a mapping relationship between the welding tool coordinate system and the galvanometer coordinate system.

[0098] In a possible implementation, the second coordinate mapping relationship includes a second rotation coefficient between the welding tool coordinate system and the galvanometer coordinate system. In a possible implementation of this implementation, the second rotation coefficient can be obtained in the following manner:

[0099] Take the galvanometer observation plate and place it under the galvanometer mechanism 260, trigger the galvanometer mechanism 260 to emit light once at zero offset, mark the position coordinate of the galvanometer mechanism 260 at this time as coordinate Z1, and then the welding camera 270 takes a photo and takes a picture, and the current coordinate offset data of the welding robot is recorded as coordinate C1 (0, 0); the galvanometer mechanism 260 is offset in the X direction for a certain distance to emit light once, and the position coordinate of the galvanometer mechanism 260 at this time is marked as coordinate Z2, keep the position of the welding robot 250 unchanged, take a photo and take a picture through the welding camera 270, and record the coordinate between the light emitting point coordinate in the image and point C1 The offset data is recorded as coordinate C2 (△X1, 0); the galvanometer mechanism 260 is offset in the Y direction for a certain distance to emit light once, and the position coordinate of the galvanometer mechanism 260 at this time is recorded as coordinate Z3, the position of the welding robot 250 is kept stationary, and the welding camera 270 is used to take a picture, and the coordinate offset data between the coordinate of the light-emitting point in the image and the coordinate C1 is recorded as coordinate C3 (0, △Y1); according to the positional relationship among coordinates Z1, coordinate Z2, coordinate Z3, coordinate C1, coordinate C2 and coordinate C3, the second rotation coefficient between the robot tool coordinate system and the galvanometer coordinate system is calculated.

[0100] In this possible implementation manner, coordinate mapping processing is performed on each pole offset data based on the second rotation coefficient, and each pole offset data is converted into each pole offset data in the galvanometer coordinate system.

[0101] In a possible implementation, the second coordinate mapping relationship includes an external parameter matrix between the welding tool coordinate system and the galvanometer coordinate system. In a possible implementation, the external parameter matrix between the welding tool coordinate system and the galvanometer coordinate system is obtained by nine-point marking.

[0102] Exemplarily, the controller 300 performs coordinate conversion on each pole offset data in data105 in the position register according to the second coordinate mapping relationship to obtain each galvanometer offset data in the galvanometer coordinate system, and stores each galvanometer offset data in data106 in the position register.

[0103] Step 706 , when welding the target battery module based on the template coordinates of each welding point, the galvanometer mechanism is controlled to adjust the galvanometer light output position at each welding point based on each galvanometer offset data.

[0104] Exemplarily, when the galvanometer mechanism is performing light welding, a welding drawing with four apertures is set. When the drawing is not set, the four apertures all fall on the origin of the galvanometer field of view. Therefore, when making the drawing, it is necessary to preset the relative coordinates of the four apertures relative to the origin of the galvanometer field of view in the control module corresponding to the galvanometer structure; for example, welding drawing 1 includes: XY1 (10.0, 10.0), XY2 (-10.0, 10.0), XY3 (-10.0, -10.0), XY4 (10.0, -10.0), so that the aperture can just cover the center of the corresponding pole. When welding the target battery module, the controller 300 notifies the galvanometer to call drawing 1 for light emission. At this time, the corresponding galvanometer offset data is sent to the control module corresponding to the galvanometer mechanism. After adding the corresponding galvanometer offset data to each relative coordinate, the light is emitted according to the adjusted coordinates. Exemplarily, Figure 3 When welding the first welding area shown in Figure 3 The galvanometer offset data corresponding to poles ① to ④ described in the figure (assuming they are (1, 1), (2, 2), (3, 3), and (4, 4)) are sent to the galvanometer control module, so that the galvanometer mechanism emits light according to coordinates XY1 (10.0+1, 10.0+1), XY2 (-10.0+2, 10.0+2), XY3 (-10.0+3, -10.0+3), and XY4 (10.0+4, -10.0+4).

[0105] In an exemplary embodiment, the replacement template module uses a machine adjustment module, because the machine adjustment module is made of normal battery cells stacked together, not a standard module; the calculation point template coordinates automatically calculated based on the pole positions in the machine adjustment module are not an arithmetic progression, and there may be deviations between the pole positions of the corresponding battery cells in the machine adjustment module and the target battery module. In this embodiment, the accuracy of the galvanometer light output is improved by adjusting the offset data of each galvanometer used when welding the target battery module based on the welding point target coordinates.

[0106] In a possible implementation, step 706 further includes:

[0107] Step A1, for the test target battery module, the test target battery module is welded based on the template coordinates of each welding point, and at the same time, the galvanometer structure is controlled to adjust the galvanometer light output position at each welding point based on each galvanometer offset data.

[0108] Among them, the low-power target battery module refers to the use of at least one target battery module to be completely welded once in a welding station mechanism using welding tools according to the production process under low-power conditions after obtaining the template coordinates of each welding point. The target battery module in this process is referred to as a test target battery module in the embodiment of the present application. By completing welding of at least one target battery module once under low-power conditions, observing the welding results, and adjusting the light output position of the galvanometer mechanism based on the welding results, the problem of inaccurate galvanometer offset data obtained when using the machine adjustment module as the template module for changing the mold can be avoided.

[0109] Step A2, after the welding of the first target battery module is completed, the welding deviation data corresponding to each welding point in the finished battery module is obtained, wherein the welding deviation data includes the coordinate deviation data between the actual welding point of each pole corresponding to the welding point and the center point of the pole.

[0110] For example, each welding deviation data can be obtained by manual observation. For another example, each pole of the finished battery module can be photographed by a welding camera to obtain the welding deviation data.

[0111] Step A3, updating each galvanometer offset data based on each welding offset data to obtain updated galvanometer offset data.

[0112] Step A4, when the actual target battery module is actually produced, the galvanometer mechanism is controlled to adjust the galvanometer light output position at each welding point based on the updated galvanometer offset data. The actual target battery module refers to the target battery module that needs to be welded after the galvanometer offset data has been updated based on the test target battery module.

[0113] For example, Figure 3 When welding the first welding area shown in Figure 3The galvanometer offset data corresponding to poles ① to ④ described in the above-mentioned method (assuming that they are (1, 1), (2, 2), (3, 3), and (4, 4)) are sent to the galvanometer control module, so that the galvanometer mechanism emits light according to the coordinates XY1 (10.0+1, 10.0+1), XY2 (-10.0+2, 10.0+2), XY3 (-10.0+3, -10.0+3), and XY4 (10.0+4, -10.0+4) in step A1; the welding deviation data for the first welding point obtained in step A2 are (0.1, 0.1), (0.2, The updated galvanometer offset data corresponding to the first welding point is (1.1, 1.1), (2.2, 2.2), (3.3, 3.3), (4.4, 4.4), and the galvanometer mechanism is arranged in step A4 according to the coordinates XY1 (10.0+1.1, 10.0+1.1), XY2 (-10.0+2.2, 10.0+2.2), XY3 (-10.0+3.3, -10.0+3.3), and XY4 (10.0+4.4, -10.0+4.4).

[0114] In the pole welding control method provided in the above embodiment, when the welding robot moves according to the template coordinates of each welding point, the difference between the coordinates of each pole in the target battery module at the light output position of the galvanometer mechanism and the coordinates of each pole in the replacement template module is compensated and adjusted, which can improve the accuracy of the galvanometer light output and improve the reliability of the welding results.

[0115] Furthermore, in the above embodiment, by establishing a second coordinate mapping relationship between the robot tool coordinate system and the galvanometer coordinate system, the installation difficulty of the galvanometer mechanism is reduced, and the need to manually fine-tune the galvanometer offset at each welding point due to installation angle problems is avoided, thereby improving the installation efficiency of the galvanometer mechanism.

[0116] In an exemplary embodiment, based on Figure 5 The embodiment shown in the figure is related to the process of how to obtain the welding tool pole template coordinates corresponding to each pole in the change template module. Figure 8 As shown, the process includes steps 802 to 806, wherein:

[0117] Step 802, by teaching the target pole in the mold change template module to the pre-welding three-axis mechanism, obtain the pre-welding three-axis pole teaching coordinates corresponding to the target pole, wherein the target pole is any one of the multiple poles of the mold change template module.

[0118] Exemplarily, the target pole is the first pole in the conversion template module, that is, the various coordinate indexes corresponding to the pole are 1.

[0119] Among them, teaching the target pole in the mold change template module to the pre-welding three-axis mechanism includes: moving the pre-welding three-axis mechanism so that the target pole is located at the center point of the image acquired by the pre-welding camera, and marking the position coordinates of the pre-welding three-axis mechanism at this time as the pre-welding three-axis pole teaching coordinates.

[0120] Step 804, obtaining the pre-welding three-axis pole template coordinates corresponding to each pole according to the pre-welding three-axis pole teaching coordinates and the product parameters corresponding to the template change module group.

[0121] Among them, the product parameters corresponding to the template module include cell spacing, pole spacing, and cell quantity, etc. According to the pole spacing in the product parameters, the distance relationship between each pole and the target pole can be obtained.

[0122] In a possible embodiment, the target pole is the first pole in the mold change template module. According to the pre-welding three-axis pole teaching coordinates and the product parameters corresponding to the mold change template module, the process of obtaining the pre-welding three-axis pole template coordinates corresponding to each pole includes: adding the pre-welding three-axis pole teaching coordinates and the pole transverse spacing and the pole longitudinal spacing to obtain the pre-welding three-axis pole template coordinates.

[0123] In a possible implementation, the target pole is the first pole in the mold change template module. According to the pre-welding three-axis pole teaching coordinates and the product parameters corresponding to the mold change template module, the process of obtaining the pre-welding three-axis pole template coordinates corresponding to each pole includes: for each pole in the mold change template module, obtaining the corresponding pre-welding three-axis pole template coordinates through steps 902 to 906:

[0124] Step 902, obtaining the three-axis photographing coordinates before welding corresponding to the poles according to the pole spacing and the three-axis pole teaching coordinates before welding.

[0125] Exemplarily, the product parameters are the lateral spacing of the poles and the longitudinal spacing of the poles.

[0126] Step 904, control the pre-welding three-axis mechanism to move to the pre-welding three-axis photography coordinates to obtain a pre-welding image corresponding to the pole.

[0127] Step 906, obtaining the three-axis pole coordinates before welding corresponding to the pole according to the position deviation between the pole and the center point of the image in the pre-welding image and the three-axis photographing coordinates before welding.

[0128] Among them, the position deviation between the pole and the center point of the image before welding is converted from the pre-welding camera coordinate system to the pre-welding three-axis coordinate system, and then the converted position deviation is added to the pre-welding three-axis camera coordinate to obtain the pre-welding three-axis pole coordinate corresponding to the pole. Exemplarily, the pre-welding camera coordinate system and the pre-welding three-axis coordinate system can be associated by nine-point annotation.

[0129] In this implementation, the three-axis welding mechanism is controlled to move the three-axis welding mechanism in sequence according to the taught coordinates of the three-axis poles before welding, the lateral spacing of the poles, and the longitudinal spacing of the poles. The image of each pole is acquired through the pre-welding camera, and the pre-welding three-axis pole template coordinates corresponding to each pole are obtained by analyzing the deviation data of each pole from the center point of the image in the corresponding image. The pre-welding three-axis pole template coordinates obtained in this way can improve the accuracy of pole coordinate acquisition.

[0130] In the pole welding control method provided in the above embodiment, combined with the product parameters of the adjustment module, by teaching the pole coordinates corresponding to a pole, the three-axis pole template coordinates before welding corresponding to each pole can be accurately and quickly obtained.

[0131] Step 806, mapping the three-axis pole template coordinates before welding to the welding tool coordinate system to obtain the pole template coordinates of each welding tool.

[0132] In an exemplary embodiment, based on Figure 8 and Fig. 9 The illustrated embodiment can accurately and quickly obtain the pre-welding three-axis pole template coordinates corresponding to each pole in the target battery module during the actual production process based on the pre-welding three-axis pole teaching coordinates and product parameters taught during machine adjustment.

[0133] In an exemplary embodiment, based on Figure 8 The embodiment shown in the figure provides a process of mapping the three-axis pole template coordinates before welding to the welding tool coordinate system to obtain the pole template coordinates of each welding tool. Fig.10 As shown, the process includes:

[0134] Step 1002, obtaining the first mark pre-welding three-axis template coordinates and the second mark pre-welding three-axis template coordinates of the first mark point and the second mark point in the mold change template module in the pre-welding three-axis coordinate system.

[0135] Among them, the first mark point and the second mark point are generally points with obvious features on the welding surface of the battery module that are easy to visually identify; and the first mark point and the second mark point must have a certain difference in the XY direction, and the larger the difference, the smaller the error of the angle after the first mark point and the second mark point are connected in the current coordinate system.

[0136] Exemplarily, the first landmark is Figure 3 The front plate hole 410 in the changeover template module shown in the figure has a second marking point Figure 3 The rear plate hole 420 in the changeover template module is shown.

[0137] Exemplarily, the process of obtaining the first mark pre-welding three-axis template coordinates and the second mark pre-welding three-axis template coordinates in the mold change template module may include: first, by teaching the first mark point of the pre-welding three-axis mechanism, the first mark point is at the center point of the image acquired by the pre-welding camera, and the position coordinates of the pre-welding three-axis mechanism at this time are recorded as the first mark pre-welding three-axis teaching coordinates; by teaching the second mark point of the pre-welding three-axis mechanism, the second mark point is at the center point of the image acquired by the pre-welding camera, and the position coordinates of the pre-welding three-axis mechanism at this time are recorded as the second mark pre-welding three-axis teaching coordinates; wherein the first mark pre-welding three-axis teaching coordinates, the second mark pre-welding three-axis teaching coordinates and the target pole pre-welding three-axis pole teaching coordinates in the aforementioned embodiment can be set as the pre-welding station template corresponding to the mold change template module.

[0138] Secondly, according to the first mark welding pre-three-axis teaching coordinates, the pre-welding three-axis mechanism is moved to obtain the corresponding image, the deviation data between the first mark point and the center point of the image is recorded, and the first mark welding pre-three-axis teaching coordinates are added with the deviation data to obtain the first mark welding pre-three-axis template coordinates. According to the second mark welding pre-three-axis teaching coordinates, the pre-welding three-axis mechanism is moved to obtain the corresponding image, the deviation data between the second mark point and the center point of the image is recorded, and the second mark welding pre-three-axis teaching coordinates are added with the deviation data to obtain the second mark welding pre-three-axis template coordinates.

[0139] Step 1004, obtaining first mark welding tool template coordinates and second mark welding tool template coordinates of the first mark point and the second mark point in the welding tool coordinate system.

[0140] For example, first, by teaching the welding robot a first mark point, the first mark point is located at the center point of the image acquired by the welding camera, and the position coordinates of the welding robot at this time are recorded as the first mark welding tool teaching coordinates; by teaching the welding robot a second mark point, the second mark point is located at the center point of the image acquired by the welding camera, and the position coordinates of the welding robot at this time are recorded as the second mark welding tool teaching coordinates; wherein the first mark welding tool teaching coordinates and the second mark welding tool teaching coordinates can be set as the welding station template corresponding to the changeover template module.

[0141] Secondly, the welding robot is moved according to the first mark welding tool teaching coordinates, the corresponding image is acquired, the deviation data between the first mark point in the image and the center point of the image is recorded, and the first mark welding tool teaching coordinates are added with the deviation data to obtain the first mark welding tool template coordinates; the welding robot is moved according to the second mark welding tool teaching coordinates, the corresponding image is acquired, the deviation data between the second mark point in the image and the center point of the image is recorded, and the second mark welding tool teaching coordinates are added with the deviation data to obtain the second mark welding tool template coordinates.

[0142] Step 1006, obtaining the coordinate system template angle between the three-axis coordinate system before welding and the welding tool coordinate system according to the first mark three-axis template coordinate before welding, the second mark three-axis template coordinate before welding, the first mark welding tool template coordinate and the second mark welding tool template coordinate.

[0143] Among them, the angle between the line segments is obtained by connecting the first mark three-axis template coordinates before welding and the second mark three-axis template coordinates before welding, and connecting the first mark welding tool template coordinates and the second mark welding tool template coordinates, which is the coordinate system template angle between the three-axis coordinate system before welding and the welding tool coordinate system.

[0144] Step 1008, obtain the welding tool pole template coordinates corresponding to each pole according to the coordinate system template angle, the pre-welding three-axis template coordinates corresponding to each pole, the pre-welding three-axis template coordinates corresponding to the reference point, and the welding tool template coordinates, wherein the reference point is the first marking point or the second marking point.

[0145] Exemplarily, the reference point is the first marking point; the distance and angle relationship between each pole and the first marking point will not change due to the change of the coordinate system. Therefore, based on the coordinate system template angle, the first marking three-axis template coordinates before welding and the first marking welding tool template coordinates and the three-axis template coordinates before welding corresponding to each pole, the welding tool template coordinates corresponding to each pole can be obtained.

[0146] Exemplarily, the reference point is the second standard point; the principle and method of obtaining the welding tool template coordinates corresponding to each pole are similar to the previous example and will not be repeated here.

[0147] In the above embodiment, based on the first marking point and the second marking point, the coordinate system template angle between the robot tool coordinate system and the pre-welding three-axis tool coordinate system is determined in real time. Considering that the welding robot and the pre-welding three-axis are two relatively independent workstations, the problem of possible errors in coordinate conversion caused by the use of a fixed coordinate system mapping relationship is avoided. The coordinate conversion steps provided in this embodiment can improve the accuracy of the coordinates of the pole template of each welding tool.

[0148] In an exemplary embodiment, based on Fig.10 In the embodiment shown, for each battery module to be produced, the first mark three-axis target coordinates before welding, the second mark three-axis target coordinates before welding, the first mark welding tool target coordinates and the second mark welding tool target coordinates are obtained in real time, and the coordinate system target angle corresponding to each battery module to be produced is obtained in real time, and the target coordinates of each welding tool pole are obtained based on the coordinate system target angle. In this way, the possible inconsistency between the changeover template module and the target battery module can be avoided, and the accuracy of the target coordinates of each welding tool pole can be improved.

[0149] In an exemplary embodiment, a pole welding control method is provided, wherein the method is applied to Figure 1 The controller 300 in FIG. 1 is taken as an example to illustrate, including the following steps S2 to S38, wherein:

[0150] Step S2, by teaching the target pole in the mold changing template module to the pre-welding three-axis mechanism, obtain the pre-welding three-axis pole teaching coordinates corresponding to the target pole, the target pole is any one of the multiple poles of the mold changing template module.

[0151] Step S4, obtaining the pre-welding three-axis pole template coordinates corresponding to each pole according to the pre-welding three-axis pole teaching coordinates and the product parameters corresponding to the mold change template module.

[0152] Optionally, for each pole in the changeover template module, the corresponding pre-welding three-axis pole coordinates are obtained through the following steps: according to the product parameters and the pre-welding three-axis pole teaching coordinates, the pre-welding three-axis photographing coordinates corresponding to the pole are obtained; the pre-welding three-axis mechanism is controlled to move to the pre-welding three-axis photographing coordinates to obtain the pre-welding image corresponding to the pole; according to the position deviation between the pole and the image center point in the pre-welding image and the pre-welding three-axis photographing coordinates, the pre-welding three-axis pole template coordinates corresponding to the pole are obtained.

[0153] Step S6, obtaining the first mark pre-welding three-axis template coordinates and the second mark pre-welding three-axis template coordinates of the first mark point and the second mark point in the mold change template module in the pre-welding three-axis coordinate system.

[0154] Step S8, obtaining the first mark welding tool template coordinates and the second mark welding tool template coordinates of the first mark point and the second mark point in the welding tool coordinate system.

[0155] Step S10, obtaining a coordinate system template angle between the pre-welding three-axis coordinate system and the welding tool coordinate system according to the first mark pre-welding three-axis template coordinate, the second mark pre-welding three-axis template coordinate, the first mark welding tool template coordinate, and the second mark welding tool template coordinate;

[0156] Step S12, obtain the welding tool pole template coordinates corresponding to each pole according to the coordinate system template angle, the pre-welding three-axis template coordinates corresponding to each pole, the pre-welding three-axis template coordinates corresponding to the reference point, and the welding tool template coordinates, wherein the reference point is the first marking point or the second marking point.

[0157] Step S14, by teaching the welding robot the target welding point corresponding to the mold change template module, the welding point teaching coordinates corresponding to the target welding point are obtained, and the target welding point is any one of the multiple welding points corresponding to the mold change template module.

[0158] Step S16, performing calculation processing according to the coordinates of the pole template of each welding tool to obtain the calculation point template coordinates corresponding to each welding point.

[0159] Step S18, obtaining first offset data according to the calculated point template coordinates and the welding point teaching coordinates corresponding to the target welding point.

[0160] Step S20, according to the template coordinates of each calculated point and the first offset data, the template coordinates of each welding point corresponding to the mold change template module are obtained, wherein the template coordinates of each welding point are used for the welding robot to call during the welding process of the target battery module, and the target battery module corresponds to the mold change template module.

[0161] Step S22, obtaining the first mark pre-welding three-axis target coordinates and the second mark pre-welding three-axis target coordinates of the first mark point and the second mark point in the target battery module in the pre-welding three-axis coordinate system.

[0162] Step S24, obtaining the first mark welding tool target coordinates and the second mark welding tool target coordinates of the first mark point and the second mark point in the welding tool coordinate system.

[0163] Step S26, obtaining the coordinate system target angle between the three-axis coordinate system before welding and the welding tool coordinate system according to the first mark three-axis target coordinate before welding, the second mark three-axis target coordinate before welding, the first mark welding tool target coordinate and the second mark welding tool target coordinate.

[0164] Step S28, obtain the welding tool pole target coordinates corresponding to each pole according to the coordinate system target angle, the pre-welding three-axis target coordinates corresponding to each pole, the pre-welding three-axis target coordinates corresponding to the reference point, and the welding tool target coordinates, wherein the reference point is the first marking point or the second marking point.

[0165] Step S30, performing calculation processing according to the target coordinates of each welding tool pole to obtain the calculated point target coordinates corresponding to each welding point.

[0166] Step S32, obtaining the welding three-axis movement coordinates corresponding to the target battery module according to the target coordinates of each calculation point and the first coordinate mapping relationship, wherein the first coordinate mapping relationship includes the mapping relationship between the welding tool coordinate system and the welding three-axis coordinate system.

[0167] Step S34, obtaining the pole offset data corresponding to the target battery module according to the pole target coordinates of each welding tool and the pole template coordinates of each welding tool.

[0168] Step S36, obtaining the galvanometer offset data corresponding to the target module according to the pole offset data and the second coordinate mapping relationship, wherein the second coordinate mapping relationship includes the mapping relationship between the welding tool coordinate system and the galvanometer coordinate system.

[0169] Step S38, when welding the target battery module based on the template coordinates of each welding point, the galvanometer mechanism is controlled to adjust the galvanometer light output position at each welding point based on the galvanometer offset data.

[0170] Among them, step S1 to step S20 is the process of establishing the welding point template corresponding to the replacement template module, and step S22 to step S38 is the welding control method during the actual production of the target battery module.

[0171] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0172] It is understood that the term "based on" used in this application is used to describe one or more factors that affect the determination, and does not exclude other factors that may affect the determination. For example, the phrase "determine A based on B" means that the determination of A can be based entirely or at least partially on factor B, that is, B is a factor that affects the determination of A, but does not exclude that the determination of A is also based on C.

[0173] Based on the same inventive concept, the embodiment of the present application also provides a pole welding control device for implementing the pole welding control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more pole welding control device embodiments provided below can refer to the limitations of the pole welding control method above, and will not be repeated here.

[0174] In an exemplary embodiment, Fig.11 As shown, a pole welding control device is provided, including: a teaching point acquisition module 1102, a pre-welding welding address transmission module 1104, a welding point calculation module 1106 and a welding point determination module 1108, wherein:

[0175] The teaching point acquisition module 1102 is used to obtain the welding point teaching coordinates corresponding to the target welding point by teaching the welding robot the target welding point corresponding to the mold change template module, and the target welding point is any one of the multiple welding points corresponding to the mold change template module;

[0176] The pre-welding welding address transmission module 1104 is used to obtain the welding tool pole template coordinates corresponding to each pole in the change template module;

[0177] The welding point calculation module 1106 is used to perform calculation processing according to the coordinates of the pole template of each welding tool to obtain the calculation point template coordinates corresponding to each welding point, and obtain the first offset data according to the calculation point template coordinates corresponding to the target welding point and the welding point teaching coordinates;

[0178] The welding point determination module 1108 obtains the welding point template coordinates corresponding to the mold change template module based on the calculated point template coordinates and the first offset data, wherein the welding point template coordinates are used for the welding robot to call during the welding process of the target battery module, and the target battery module corresponds to the mold change template module.

[0179] In an exemplary embodiment, the pole welding control device includes a welding three-axis control module; in this embodiment, the pre-weld welding address transmission module 1104 is used to obtain the welding tool pole target coordinates corresponding to each pole in the target battery module; the welding point calculation module 1106 is used to perform calculations and processing based on the target coordinates of each welding tool pole to obtain the calculated point target coordinates corresponding to each welding point; the welding three-axis control module is used to obtain the welding three-axis moving coordinates corresponding to the target battery module based on the mapping relationship between the calculated point target coordinates and the first coordinate, and the first coordinate mapping relationship includes the mapping relationship between the welding tool coordinate system and the welding three-axis coordinate system.

[0180] In an exemplary embodiment, the pole welding control device includes a galvanometer control module; in this embodiment, the welding point calculation module 1106 is used to obtain the pole offset data corresponding to the target battery module according to the pole target coordinates of each welding tool and the pole template coordinates of each welding tool; the galvanometer control module is used to obtain the galvanometer offset data corresponding to the target module according to the mapping relationship between each pole offset data and the second coordinate, and the second coordinate mapping relationship includes the mapping relationship between the welding tool coordinate system and the galvanometer coordinate system. When the target battery module is welded based on the template coordinates of each welding point, the galvanometer mechanism is controlled to adjust the galvanometer light output position at each welding point based on each galvanometer offset data.

[0181] In an exemplary embodiment, the teaching point acquisition module 1102 is used to teach the target pole in the mold change template module to the pre-welding three-axis mechanism to obtain the pre-welding three-axis pole teaching coordinates corresponding to the target pole, and the target pole is any one of the multiple poles of the mold change template module; the pre-welding welding address transmission module 1104 is used to obtain the pre-welding three-axis pole template coordinates corresponding to each pole according to the pre-welding three-axis pole teaching coordinates and the product parameters corresponding to the mold change template module; coordinate mapping processing is performed according to the pre-welding three-axis pole template coordinates to obtain the pole template coordinates of each welding tool.

[0182] In an exemplary embodiment, the pre-weld welding address transfer module 1104 is used to perform the following operations for each pole in the mold change template module: according to the product parameters and the pre-weld three-axis pole teaching coordinates, the pre-weld three-axis photography coordinates corresponding to the pole are obtained, the pre-weld three-axis mechanism is controlled to move to the pre-weld three-axis photography coordinates, and the pre-weld image corresponding to the pole is obtained; according to the position deviation between the pole and the image center point in the pre-weld image and the pre-weld three-axis photography coordinates, the pre-weld three-axis pole template coordinates corresponding to the pole are obtained.

[0183] In an exemplary embodiment, the pre-weld welding address transfer module 1104 is used to obtain the first mark pre-weld three-axis template coordinates and the second mark pre-weld three-axis template coordinates of the first mark point and the second mark point in the mold change template module in the pre-weld three-axis coordinate system; obtain the first mark welding tool template coordinates and the second mark welding tool template coordinates of the first mark point and the second mark point in the welding tool coordinate system; obtain the coordinate system template angle between the pre-weld three-axis coordinate system and the welding tool coordinate system according to the first mark pre-weld three-axis template coordinates, the second mark pre-weld three-axis template coordinates, the first mark welding tool template coordinates and the second mark welding tool template coordinates; obtain the welding tool pole template coordinates corresponding to each pole according to the coordinate system template angle, the pre-weld three-axis template coordinates corresponding to each pole, the pre-weld three-axis template coordinates corresponding to the reference point, and the welding tool template coordinates, wherein the reference point is the first mark point or the second mark point.

[0184] Each module in the above-mentioned pole welding control device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0185] In an exemplary embodiment, a computer device is provided. The computer device may be a PLC, and its internal structure diagram may be as follows: Fig.12As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data that needs to be stored and called when executing the pole welding control method. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a pole welding control method is implemented.

[0186] Those skilled in the art will understand that Fig.12 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0187] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0188] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0189] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0190] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0191] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0192] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0193] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A pole welding control method, characterized in that: The method comprises: By teaching the welding robot the target welding point corresponding to the template change module, the galvanometer mechanism emits light according to the preset welding drawing, and the light emission points are all at the center points of each pole corresponding to the target welding point, and the welding point teaching coordinates corresponding to the target welding point are obtained, and the target welding point is any one of the multiple welding points corresponding to the template change module; Obtain the welding tool pole template coordinates corresponding to each pole in the changeable template module, and perform calculation processing according to each welding tool pole template coordinate to obtain the calculated point template coordinates corresponding to each welding point, the welding tool pole template coordinates and the welding point teaching coordinates are coordinate data under the welding tool coordinate system; Obtaining first offset data according to the calculated point template coordinates corresponding to the target welding point and the welding point teaching coordinates; According to the calculated point template coordinates and the first offset data, the welding point template coordinates corresponding to the mold change template module are obtained, wherein the welding point template coordinates are used for the welding robot to call during the welding process of the target battery module, and the target battery module is the battery module in the production stage corresponding to the mold change template module.

2. The method according to claim 1, characterized in that: The method further comprises: Obtaining target coordinates of welding tool poles corresponding to each pole in the target battery module; Calculation is performed based on the target coordinates of the welding tool poles to obtain the target coordinates of the calculated points corresponding to the welding points; According to the target coordinates of each calculation point and the first coordinate mapping relationship, the welding three-axis movement coordinates corresponding to the target battery module are obtained, wherein the first coordinate mapping relationship includes the mapping relationship between the welding tool coordinate system and the welding three-axis coordinate system; When the target battery module is welded based on the template coordinates of each welding point, the movement of the welding three-axis mechanism is controlled based on the welding three-axis movement coordinates.

3. The method according to claim 2, characterized in that The method further comprises: According to the target coordinates of the welding tool poles and the template coordinates of the welding tool poles, the pole offset data corresponding to the target battery module are obtained; Obtaining the galvanometer offset data corresponding to the target battery module according to the pole offset data and the second coordinate mapping relationship, wherein the second coordinate mapping relationship includes a mapping relationship between the welding tool coordinate system and the galvanometer coordinate system; When the target battery module is welded based on the template coordinates of each welding point, the galvanometer mechanism is controlled to adjust the galvanometer light emitting position at each welding point based on the galvanometer offset data.

4. The method according to any one of claims 1 to 3, characterized in that: The step of obtaining the welding tool pole template coordinates corresponding to each pole in the changeover template module includes: By teaching the target pole in the mold change template module to the pre-welding three-axis mechanism, the pre-welding three-axis pole teaching coordinates corresponding to the target pole are obtained, and the target pole is any one of the multiple poles of the mold change template module; According to the pre-welding three-axis pole teaching coordinates and the product parameters corresponding to the template module, the pre-welding three-axis pole template coordinates corresponding to each pole are obtained, and the product parameters include the pole spacing; The coordinates of the three-axis pole templates before welding are mapped to the welding tool coordinate system to obtain the coordinates of the pole templates of the welding tools.

5. The method according to claim 4, characterized in that The method of obtaining the coordinates of each pre-welding three-axis pole template corresponding to the mold change template module according to the pre-welding three-axis pole teaching coordinates and the product parameters corresponding to the mold change template module comprises: For each pole in the changeover template module, the corresponding three-axis pole coordinates before welding are obtained through the following steps: According to the pole spacing and the pre-welding three-axis pole teaching coordinates, obtaining the pre-welding three-axis photographing coordinates corresponding to the pole; Control the pre-welding three-axis mechanism to move to the pre-welding three-axis photographing coordinates to obtain a pre-welding image corresponding to the pole; According to the position deviation between the pole and the center point of the image in the pre-welding image and the pre-welding three-axis photographing coordinates, the pre-welding three-axis pole template coordinates corresponding to the pole are obtained.

6. The method according to claim 4, characterized in that The mapping of the three-axis pole template coordinates before welding to the welding tool coordinate system to obtain the pole template coordinates of each welding tool includes: Obtaining first mark pre-welding three-axis template coordinates and second mark pre-welding three-axis template coordinates of a first mark point and a second mark point in the change template module in a pre-welding three-axis coordinate system; Acquire first mark welding tool template coordinates and second mark welding tool template coordinates of the first mark point and the second mark point in the welding tool coordinate system; Obtaining a coordinate system template angle between the pre-welding three-axis coordinate system and the welding tool coordinate system according to the first mark pre-welding three-axis template coordinate, the second mark pre-welding three-axis template coordinate, the first mark welding tool template coordinate, and the second mark welding tool template coordinate; According to the coordinate system template angle, the pre-welding three-axis template coordinates corresponding to each pole and the pre-welding three-axis template coordinates corresponding to the reference point and the welding tool template coordinates, the welding tool pole template coordinates corresponding to each pole are obtained, wherein the reference point is the first marking point or the second marking point.

7. A pole welding control device, characterized in that: The device comprises: A teaching point acquisition module is used to obtain the welding point teaching coordinates corresponding to the target welding point by teaching the welding robot the target welding point corresponding to the mold change template module, wherein the target welding point is any one of the multiple welding points corresponding to the mold change template module; A pre-welding welding address transmission module is used to obtain the welding tool pole template coordinates corresponding to each pole in the changeable template module; A welding point calculation module, used for performing calculation processing according to the coordinates of the welding tool pole template to obtain the calculation point template coordinates corresponding to each welding point, and obtaining the first offset data according to the calculation point template coordinates corresponding to the target welding point and the welding point teaching coordinates; The welding point determination module obtains the welding point template coordinates corresponding to the mold change template module according to the calculated point template coordinates and the first offset data, wherein the welding point template coordinates are used for the welding robot to call during the welding process of the target battery module, and the target battery module corresponds to the mold change template module.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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