Welding control method and device for battery shell cover and welding equipment

Abstract

The invention relates to a battery shell cover welding control method and device and welding device.The method comprises the steps that a rotating mechanism for clamping a to-be-welded battery is controlled to rotate around a rotating shaft perpendicular to a cover plate of the to-be-welded battery, and a seam between the edge of the cover plate and a shell of the to-be-welded battery comprises an arc part; and a welding head is controlled to move along a welding track corresponding to the rotating track of the arc part in the rotating process, so that the cover plate and the shell are welded together at the arc part in the rotating process of the battery to be welded.

Description

Technical Field

[0001] The present disclosure relates to battery welding technology, and more specifically, to a welding control method, a control device and welding equipment for a battery shell cover. Background Art

[0002] At present, during the production and assembly process of square batteries, the cover plate and the shell need to be sealed and welded, and the quality of the sealing welding directly affects the quality and safety of the battery.

[0003] In the prior art, the welding method used only performs straight-line welding on the four sides, and the welding at the fillet is covered by two intersecting straight sides. Since the fillet is not fully welded, the fillet position leaks. In addition, since only straight-line welding is performed on the four sides, the welding head needs to move to avoid welding after welding one straight side. When the other straight side of the battery moves to the welding position, the welding head also moves, and then welds the straight side, which affects the welding efficiency. Summary of the invention

[0004] An object of the present invention is to provide a new technical solution for a welding control method of a battery case cover.

[0005] According to a first aspect of the present invention, there is provided a welding control method for a battery case cover, comprising:

[0006] Controlling a rotating mechanism for clamping the battery to be welded to rotate around a rotating axis perpendicular to the cover plate of the battery to be welded, wherein the joint between the edge of the cover plate and the shell of the battery to be welded includes an arc portion;

[0007] The welding head is controlled to move along a welding trajectory corresponding to the rotation trajectory of the circular arc portion during rotation, so that the cover plate and the shell are welded together at the circular arc portion during the rotation of the battery to be welded.

[0008] Optionally, controlling the welding head to move along a welding trajectory corresponding to a rotation trajectory of the circular arc portion during rotation includes:

[0009] Control the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory; wherein the first moving mechanism is a moving mechanism that drives the welding head to move in a first direction perpendicular to the rotation axis, and the second moving mechanism is a moving mechanism that drives the welding head to move in a second direction perpendicular to the rotation axis, and the first direction is perpendicular to the second direction.

[0010] Optionally, controlling the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding track includes:

[0011] According to the welding trajectory information corresponding to the arc portion, controlling the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory;

[0012] The welding trajectory information corresponding to the arc portion includes the position coordinates of the welding head at the welding time in the first welding period, and the first welding period corresponds to the time period when the rotating mechanism drives the battery to be welded to rotate.

[0013] The welding trajectory information corresponding to the arc portion is determined based on the starting position coordinate information of the welding head, the size information of the straight edge portion and the rotation angle information of the battery to be welded, wherein the straight edge portion is the straight edge portion of the seam between the cover plate and the shell of the battery to be welded.

[0014] Optionally, the method further includes:

[0015] The welding head is controlled to move along a welding track corresponding to the straight edge portion to weld the cover plate and the shell together at the straight edge portion, wherein the straight edge portion is a straight edge portion of a seam between the cover plate and the shell of the battery to be welded.

[0016] Optionally, controlling the welding head to move along a welding track corresponding to the straight edge portion to weld the cover plate and the shell together at the straight edge portion includes:

[0017] Control the first moving mechanism or the second moving mechanism to drive the welding head to move along the welding trajectory corresponding to the straight edge portion; wherein the first moving mechanism is a moving mechanism that drives the welding head to move in a first direction perpendicular to the rotation axis, and the second moving mechanism is a moving mechanism that drives the welding head to move in a second direction perpendicular to the rotation axis, and the first direction is perpendicular to the second direction.

[0018] Optionally, controlling the first moving mechanism or the second moving mechanism to drive the welding head to move along the welding track corresponding to the straight edge portion includes:

[0019] According to the welding trajectory information corresponding to the straight edge portion, controlling the first moving mechanism or the second moving mechanism to move along the welding trajectory corresponding to the straight edge portion;

[0020] The welding trajectory information corresponding to the straight edge portion includes the position coordinates of the welding head at the welding time in the second welding period, and the welding trajectory information is determined according to the starting position coordinate information of the welding head and the size information of the straight edge portion.

[0021] According to a second aspect of the present invention, there is provided a welding control device for a battery case cover, comprising:

[0022] A first control module, used to control the rotating mechanism for clamping the battery to be welded to rotate around a rotating axis perpendicular to the cover plate of the battery to be welded; wherein the joint between the edge of the cover plate and the shell of the battery to be welded includes an arc portion;

[0023] The second control module is used to control the welding head to move along a welding trajectory corresponding to the rotation trajectory of the circular arc portion during rotation, so as to weld the cover plate and the shell together at the circular arc portion during the rotation of the battery to be welded.

[0024] According to a third aspect of the present invention, a welding control device for a battery shell cover is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is used to control the processor to operate to execute a welding control method for a battery shell cover according to any one of the first aspects of the present invention.

[0025] According to a fourth aspect of the present invention, there is provided a welding device, comprising a welding control device, a rotating mechanism and a welding head for a battery shell cover as described in the second aspect or the third aspect, wherein:

[0026] The battery shell cover welding control device is used to control the rotating mechanism holding the battery to be welded to rotate around a rotating axis perpendicular to the cover plate of the battery to be welded, wherein the seam between the edge of the cover plate and the shell of the battery to be welded includes an arc portion,

[0027] The welding control device of the battery shell cover is used to control the welding head to move along a welding trajectory corresponding to the rotation trajectory of the arc portion during rotation, so as to weld the cover plate and the shell together at the arc portion during the rotation of the battery to be welded.

[0028] Optionally, the welding equipment further includes a first moving mechanism and a second moving mechanism, wherein:

[0029] The welding control device of the battery shell cover is used to control the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory; wherein, the first moving mechanism is a moving mechanism that drives the welding head to move in a first direction perpendicular to the rotation axis, and the second moving mechanism is a moving mechanism that drives the welding head to move in a second direction perpendicular to the rotation axis, and the first direction is perpendicular to the second direction.

[0030] The welding control method of the battery shell cover provided by the present invention includes controlling a rotating mechanism that clamps the battery to be welded to rotate around a rotating axis perpendicular to the cover plate of the battery to be welded, wherein the joint between the edge of the cover plate and the shell of the battery to be welded includes an arc portion; controlling the welding head to move along a welding trajectory corresponding to the rotation trajectory of the arc portion during rotation, so as to weld the cover plate and the shell together at the arc portion during the rotation of the battery to be welded. This method can weld the arc portion of the joint between the edge of the cover plate and the shell of the battery to be welded, thereby improving the welding quality of the arc portion. In addition, when the battery to be welded rotates, the welding head is controlled to weld the arc portion at the same time. This method of welding while rotating improves production efficiency.

[0031] Features and advantages of the embodiments of the present specification will become apparent from the following detailed description of exemplary embodiments of the present specification with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the specification and, together with the description, serve to explain the principles of the embodiments of the specification.

[0033] Figure 1 FIG. 4 is a process flow chart of a welding control method for a battery case cover according to an embodiment of the present invention.

[0034] Figure 2a is a schematic diagram of a battery to be welded according to an embodiment of the present invention.

[0035] Figure 2b Schematic diagram of a joint between an edge of a cover plate and a shell of a battery to be welded according to an embodiment of the present invention.

[0036] Figure 3 Schematic diagram of a battery to be welded, a rotating mechanism and a moving mechanism according to an embodiment of the present invention.

[0037] Figure 4 is another process flow chart of a welding control method for a battery case cover according to an embodiment of the present invention.

[0038] Figure 5a Schematic diagram of a welding process of a battery to be welded according to an embodiment of the present invention.

[0039] Figure 5b is another schematic diagram of a welding process of a battery to be welded according to an embodiment of the present invention.

[0040] Figure 5c is another schematic diagram of a welding process of a battery to be welded according to an embodiment of the present invention.

[0041] Figure 5dis another schematic diagram of a welding process of a battery to be welded according to an embodiment of the present invention.

[0042] Figure 5e is another schematic diagram of a welding process of a battery to be welded according to an embodiment of the present invention.

[0043] Figure 5f is another schematic diagram of a welding process of a battery to be welded according to an embodiment of the present invention.

[0044] Figure 5g is another schematic diagram of a welding process of a battery to be welded according to an embodiment of the present invention.

[0045] Figure 5h is another schematic diagram of a welding process of a battery to be welded according to an embodiment of the present invention.

[0046] Figure 6 4 is a schematic block diagram of a welding control device for a battery case cover according to an embodiment of the present invention.

[0047] Figure 7 Schematic diagram of the hardware structure of a welding control device for a battery shell cover according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] Various exemplary embodiments of the present specification will now be described in detail with reference to the accompanying drawings.

[0049] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the embodiments of the present specification and its application or uses.

[0050] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0051] <Method Example>

[0052] One embodiment of the present invention provides a welding control method for a battery case cover.

[0053] according to Figure 1 As shown, the welding control method of the battery case cover of this embodiment includes at least the following steps S110 to S120.

[0054] Step S110, controlling the rotating mechanism that clamps the battery to be welded to rotate around a rotating axis that is perpendicular to the cover plate of the battery to be welded, wherein the joint between the edge of the cover plate and the shell of the battery to be welded includes an arc portion.

[0055] Step S120, controlling the welding head to move along a welding trajectory corresponding to the rotation trajectory of the circular arc portion during rotation, so as to weld the cover plate and the shell together at the circular arc portion during the rotation of the battery to be welded.

[0056] In one embodiment, the welding head is mounted on a first moving mechanism and a second moving mechanism. The first moving mechanism is a moving mechanism that drives the welding head to move in a first direction perpendicular to the rotation axis. The second moving mechanism is a moving mechanism that drives the welding head to move in a second direction perpendicular to the rotation axis. The first direction is perpendicular to the second direction.

[0057] Specifically, controlling the welding head to move along a welding trajectory corresponding to the rotation trajectory of the arc portion during rotation includes: controlling the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory.

[0058] See also Figure 2a , the seam between the edge of the shell 220 and the cover plate 230 of the battery to be welded is welded by using a welding head 210. The welding head can be a laser welding head.

[0059] Figure 2b A schematic diagram showing a joint between an edge of a cover plate and a shell of a battery to be welded according to an embodiment of the present invention is shown.

[0060] See also Figure 2b The joint between the edge of the cover plate and the shell of the battery to be welded includes an arc portion 211 , an arc portion 212 , an arc portion 213 and an arc portion 214 .

[0061] according to Figure 3 As shown, the battery 310 to be welded is mounted on a rotating mechanism 320. The rotating mechanism 320 rotates around a rotating axis perpendicular to the cover plate of the battery 310 to be welded, so as to drive the battery 310 to be welded to rotate.

[0062] The welding head 330 is mounted on a first moving mechanism 341 and a second moving mechanism 342. The first moving mechanism 341 can drive the welding head 330 to move in a first direction perpendicular to the rotation axis. The second moving mechanism 342 can drive the welding head 330 to move in a second direction perpendicular to the rotation axis. The first direction is perpendicular to the second direction.

[0063] When a circular arc portion is welded by the welding head, the rotation of the rotating mechanism 320, the movement of the first moving mechanism 341 and the movement of the second moving mechanism 342 are controlled so that the welding head 330 can weld the circular arc portion during the rotation of the circular arc portion.

[0064] In one embodiment of the present invention, controlling the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory specifically includes: controlling the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory according to the welding trajectory information corresponding to the arc portion.

[0065] The welding trajectory information corresponding to the arc portion includes the position coordinates of the welding head at the welding time in the first welding period, and the first welding period corresponds to the time period when the rotating mechanism drives the battery to be welded to rotate.

[0066] The welding trajectory information corresponding to the arc portion is determined based on the starting position coordinate information of the welding head, the size information of the straight edge portion and the rotation angle information of the battery to be welded, wherein the straight edge portion is the straight edge portion of the seam between the cover plate and the shell of the battery to be welded.

[0067] The starting position information coordinate information of the welding head is the coordinate information of the welding head before welding, and is pre-stored in the control device of the welding head.

[0068] The dimension information of the straight edge portion is pre-stored information.

[0069] According to the welding trajectory information corresponding to the arc portion, the first moving mechanism and the second moving mechanism are controlled to drive the welding head to move along the welding trajectory, so that the distance between the welding head and the arc portion is constant, achieving equidistant welding of the arc portion and improving the welding quality of the arc portion.

[0070] In one embodiment of the present invention, the welding control method of the battery shell cover also includes: controlling the welding head to move along a welding trajectory corresponding to the straight edge portion to weld the cover plate and the shell together at the straight edge portion, wherein the straight edge portion is the straight edge portion of the joint between the cover plate and the shell of the battery to be welded.

[0071] Specifically, the first moving mechanism or the second moving mechanism is controlled to drive the welding head to move along the welding track corresponding to the straight edge portion. The first moving mechanism is a moving mechanism that drives the welding head to move in a first direction perpendicular to the rotation axis. The second moving mechanism is a moving mechanism that drives the welding head to move in a second direction perpendicular to the rotation axis. The first direction is perpendicular to the second direction.

[0072] When the straight edge to be welded is parallel to the first direction, only the first moving mechanism is controlled to drive the welding head to move along the welding track corresponding to the straight edge.

[0073] When the straight edge to be welded is parallel to the second direction, only the second moving mechanism is controlled to drive the welding head to move along the welding track corresponding to the straight edge.

[0074] In one embodiment of the present invention, controlling the first moving mechanism or the second moving mechanism to drive the welding head to move along a welding trajectory corresponding to the straight edge portion specifically includes: controlling the first moving mechanism or the second moving mechanism to move along the welding trajectory corresponding to the straight edge portion according to the welding trajectory information corresponding to the straight edge portion.

[0075] The welding trajectory information corresponding to the straight edge portion includes the position coordinates of the welding head at the welding time in the second welding period. The welding trajectory information is determined according to the starting position coordinate information of the welding head and the size information of the straight edge portion.

[0076] The first moving mechanism or the second moving mechanism is controlled to drive the welding head to move based on the starting position coordinate information of the welding head and the size information of the straight edge.

[0077] The starting position information coordinate information of the welding head is the coordinate information of the welding head before welding, and is pre-stored in the control device of the welding head.

[0078] The dimension information of the straight edge portion is pre-stored information.

[0079] According to the welding trajectory information corresponding to the straight edge, the first moving mechanism or the second moving mechanism is controlled to drive the welding head to move along the welding trajectory, so that the distance between the welding head and the straight edge is constant, achieving equidistant welding of the straight edge and improving the welding quality of the straight edge.

[0080] 2 , the joint between the edge of the cover plate and the shell of the battery to be welded further includes a straight edge portion 221 , a straight edge portion 222 , a straight edge portion 223 and a straight edge portion 224 . The four arc portions and the four straight edges are connected at intervals.

[0081] When welding the four arc parts and the four straight sides with the welding head, the welding can be started from one of the straight sides first, and then the welding can be completed in sequence according to the connection order of the eight parts. Alternatively, the welding can be started from one of the arc parts, and then the welding can be completed in sequence according to the connection order of the eight parts.

[0082] The battery shell cover welding control method provided by the embodiment of the present invention can weld the arc portion of the joint between the edge of the cover plate and the shell of the battery to be welded, thereby improving the welding quality of the arc portion. In addition, when the battery to be welded rotates, the welding head is controlled to weld the arc portion at the same time. This method of welding while rotating improves production efficiency.

[0083] The following is a specific example of a method for controlling the welding of a battery case cover. Figure 4 The method at least includes the following steps S401 to S416.

[0084] The initial position of the battery to be welded after loading is shown in Figure 5a The first moving mechanism can drive the welding head to move along the y-axis, and the second moving mechanism can drive the welding head to move along the z-axis. Figure 5a , the straight side portion 221 and the straight side portion 223 are both parallel to the y-axis, and the straight side portion 222 and the straight side portion 224 are both parallel to the z-axis.

[0085] 2 , after the battery to be welded is loaded, the welding head is used to weld the straight edge 221 , the arc portion 211 , the straight edge 222 , the arc portion 212 , the straight edge 223 , the arc portion 213 , the straight edge 224 and the arc portion 214 in sequence.

[0086] Step S401 , obtaining welding trajectory information corresponding to the straight edge portion 221 .

[0087] The welding trajectory information corresponding to the straight edge portion 221 may be determined according to the starting position coordinate information of the welding head and the size information of the straight edge portion 221 .

[0088] Based on formulas (1a) and (1b), the coordinate information of the end point position of the welding head welding the straight edge portion 221 is calculated,

[0089] Y2=Y1+L1—formula (1a),

[0090] Z2=Z1-Formula (1b),

[0091] Among them, (Y1, Z1) is the starting position coordinate information of the welding head welding the straight edge portion 221, L1 is the length value of the straight edge portion 221, and (Y2, Z2) is the end position coordinate information of the welding head welding the straight edge portion 221. (Y1, Z1) is pre-stored coordinate information.

[0092] Step S402 , according to the welding trajectory information corresponding to the straight edge portion 221 , controlling the first moving mechanism to move along the welding trajectory corresponding to the straight edge portion 221 .

[0093] Based on the starting position coordinate information and the end position coordinate information of the welding head, the first moving mechanism is controlled to drive the welding head to move along the y-axis to complete the welding of the straight edge portion 221 .

[0094] Step S403 , obtaining welding trajectory information corresponding to the arc portion 211 .

[0095] The rotating mechanism rotates around a rotating axis perpendicular to the cover plate of the battery to be welded, so as to drive the battery to be welded to rotate. The rotating axis is an axis passing through the center of the cover plate.

[0096] The welding track information corresponding to the arc portion 211 is determined according to the starting position coordinate information of the welding head, the size information of the straight edge portion and the rotation angle information of the battery to be welded.

[0097] Based on formulas (2a) and (2b), the position coordinate information of a specific welding moment when the welding head welds the arc portion 211 is calculated.

[0098]

[0099]

[0100]

[0101] Among them, (Y act , Z act ) is the position coordinate information of a specific welding moment when the welding head welds the arc portion 211, (Y2, Z2) is the starting position coordinate information of the welding head welding the arc portion 211, L1 and L2 are the length values ​​of the straight edge portion 221 and the straight edge portion 222 respectively, and A2 is the rotation angle of the battery to be welded.

[0102] It should be noted that (Y2, Z2) is the starting position coordinate information of the welding head welding arc portion 211, and is also the end position coordinate information of the welding head welding straight edge portion 221, and is not pre-stored coordinate information. The pre-stored welding head coordinate information is the coordinate information corresponding to the initial position of the welding head before welding.

[0103] Step S404, control the rotating mechanism that clamps the battery to be welded to rotate around the rotating axis perpendicular to the cover plate of the battery to be welded, and at the same time control the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory according to the welding trajectory information corresponding to the arc portion 211.

[0104] Based on the position coordinate information at multiple welding moments when the welding head welds the arc portion 211 , the first moving mechanism and the second moving mechanism are controlled to drive the welding head to move, so as to complete the welding of the arc portion 211 .

[0105] See also Figure 5b , the battery to be welded is Figure 5a Position shown, rotate 90° counterclockwise to Figure 5b During the process of being in the position shown, the welding head welds the arc portion 211 .

[0106] Step S405 , obtaining welding trajectory information corresponding to the straight edge portion 222 .

[0107] The welding trajectory information corresponding to the straight edge portion 222 may be determined according to the starting position coordinate information of the welding head and the size information of the straight edge portion 222 .

[0108] Based on formulas (3a) and (3b), the coordinate information of the end point position of the welding head welding the straight edge portion 222 is calculated,

[0109] Y4=Y3+L2—formula (3a),

[0110] Z4=Z3-Formula (3b),

[0111] Among them, (Y3, Z3) is the starting position coordinate information of the welding head welding the straight edge portion 222, L2 is the length value of the straight edge portion 222, and (Y4, Z4) is the end position coordinate information of the welding head welding the straight edge portion 222.

[0112] It should be noted that (Y3, Z3) is the starting position coordinate information of the welding head welding the straight edge portion 222, and is also the end position coordinate information of the welding head welding the arc portion 211, and is not pre-stored coordinate information.

[0113] Step S406 , according to the welding trajectory information corresponding to the straight edge portion 222 , the first moving mechanism is controlled to move along the welding trajectory corresponding to the straight edge portion 222 .

[0114] Based on the starting position coordinate information and the end position coordinate information of the welding head, the first moving mechanism is controlled to drive the welding head to move along the y-axis to complete the welding of the straight edge portion 222 .

[0115] For specific welding trajectories, see Figure 5c .

[0116] Step S407 , obtaining welding trajectory information corresponding to the arc portion 212 .

[0117] The welding track information corresponding to the arc portion 212 is determined according to the starting position coordinate information of the welding head, the size information of the straight edge portion and the rotation angle information of the battery to be welded.

[0118] Based on formulas (4a) and (4b), the position coordinate information of a specific welding moment when the welding head welds the arc portion 212 is calculated.

[0119]

[0120]

[0121]

[0122] Among them, (Y act , Z act ) is the position coordinate information of a specific welding moment when the welding head welds the arc portion 212, (Y4, Z4) is the starting position coordinate information of the welding head welding the arc portion 212, L1 and L2 are the length values ​​of the straight edge portion 221 and the straight edge portion 222 respectively, and A2 is the rotation angle of the battery to be welded.

[0123] It should be noted that (Y4, Z4) is the starting position coordinate information of the welding head welding the arc portion 212, and is also the end position coordinate information of the welding head welding the straight edge portion 222, and is not pre-stored coordinate information.

[0124] Step S408, controlling the rotating mechanism that clamps the battery to be welded to rotate around a rotating axis perpendicular to the cover plate of the battery to be welded, and controlling the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory according to the welding trajectory information corresponding to the arc portion 212.

[0125] Based on the position coordinate information at multiple welding moments when the welding head welds the arc portion 212 , the first moving mechanism and the second moving mechanism are controlled to drive the welding head to move, so as to complete the welding of the arc portion 212 .

[0126] See also Figure 5d , the battery to be welded is Figure 5c Position shown, rotate 180° counterclockwise to Figure 5d During the process of being in the position shown, the welding head welds the arc portion 212 .

[0127] Step S409 , obtaining welding trajectory information corresponding to the straight edge portion 223 .

[0128] The welding trajectory information corresponding to the straight edge portion 223 may be determined according to the starting position coordinate information of the welding head and the size information of the straight edge portion 223 .

[0129] Based on formulas (5a) and (5b), the coordinate information of the end point position of the welding head welding the straight edge portion 223 is calculated,

[0130] Y6=Y5+L1—Formula (5a),

[0131] Z6=Z5-Formula (5b),

[0132] Among them, (Y5, Z5) is the starting position coordinate information of the welding head welding the straight edge portion 223, L1 is the length value of the straight edge portion 221, and (Y6, Z6) is the end position coordinate information of the welding head welding the straight edge portion 223.

[0133] It should be noted that (Y5, Z5) is the starting position coordinate information of the welding head welding the straight edge portion 223, and is also the end position coordinate information of the welding head welding the arc portion 212, and is not pre-stored coordinate information.

[0134] Step S410 , according to the welding trajectory information corresponding to the straight edge portion 223 , controlling the first moving mechanism to move along the welding trajectory corresponding to the straight edge portion 223 .

[0135] Based on the starting position coordinate information and the end position coordinate information of the welding head, the first moving mechanism is controlled to drive the welding head to move along the y-axis to complete the welding of the straight edge portion 223 .

[0136] For detailed welding diagram, see Figure 5e .

[0137] Step S411 , obtaining welding trajectory information corresponding to the arc portion 213 .

[0138] The welding track information corresponding to the arc portion 213 is determined according to the starting position coordinate information of the welding head, the size information of the straight edge portion and the rotation angle information of the battery to be welded.

[0139] Based on formulas (6a) and (6b), the position coordinate information of a specific welding moment when the welding head welds the arc portion 213 is calculated.

[0140]

[0141]

[0142]

[0143] Among them, (Y act , Z act ) is the position coordinate information of the welding head at a certain welding moment when welding the arc portion 213, (Y6, Z6) is the starting position coordinate information of the welding head welding the arc portion 213, L1 and L2 are the length values ​​of the straight edge portion 221 and the straight edge portion 222 respectively, and A2 is the rotation angle of the battery to be welded.

[0144] It should be noted that (Y6, Z6) is the starting position coordinate information of the welding head welding the arc portion 213, and is also the end position coordinate information of the welding head welding the straight edge portion 223, and is not pre-stored coordinate information.

[0145] Step S412, control the rotating mechanism that clamps the battery to be welded to rotate around the rotating axis perpendicular to the cover plate of the battery to be welded, and control the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory according to the welding trajectory information corresponding to the arc portion 213.

[0146] Based on the position coordinate information at multiple welding moments when the welding head welds the arc portion 213 , the first moving mechanism and the second moving mechanism are controlled to drive the welding head to move, so as to complete the welding of the arc portion 213 .

[0147] See also Figure 5f , the battery to be welded is Figure 5e Position shown, rotate 270° counterclockwise to Figure 5f During the process of being in the position shown, the welding head welds the arc portion 213 .

[0148] Step S413 , obtaining welding trajectory information corresponding to the straight edge portion 224 .

[0149] The welding trajectory information corresponding to the straight edge portion 224 may be determined according to the starting position coordinate information of the welding head and the size information of the straight edge portion 224 .

[0150] Based on formulas (7a) and (7b), the coordinate information of the end point position of the welding head welding the straight edge portion 224 is calculated,

[0151] Y8=Y7+L2—Formula (7a),

[0152] Z8=Z7-formula (7b),

[0153] Among them, (Y7, Z7) is the starting position coordinate information of the welding head welding the straight edge portion 224, L2 is the length value of the straight edge portion 222, and (Y8, Z8) is the end position coordinate information of the welding head welding the straight edge portion 224.

[0154] It should be noted that (Y7, Z7) is the starting position coordinate information of the welding head welding the straight edge portion 224, and is also the end position coordinate information of the welding head welding the arc portion 213, and is not pre-stored coordinate information.

[0155] Step S414 , according to the welding trajectory information corresponding to the straight edge portion 224 , the first moving mechanism is controlled to move along the welding trajectory corresponding to the straight edge portion 224 .

[0156] Based on the starting position coordinate information and the end position coordinate information of the welding head, the first moving mechanism is controlled to drive the welding head to move along the y-axis to complete the welding of the straight edge portion 224 .

[0157] For detailed welding diagram, see Figure 5g .

[0158] Step S415 , obtaining welding trajectory information corresponding to the arc portion 214 .

[0159] The welding track information corresponding to the arc portion 214 is determined according to the starting position coordinate information of the welding head, the size information of the straight edge portion and the rotation angle information of the battery to be welded.

[0160] Based on formulas (8a) and (8b), the position coordinate information of a specific welding moment when the welding head welds the arc portion 214 is calculated.

[0161]

[0162]

[0163]

[0164] Among them, (Y act , Z act ) is the position coordinate information of a specific welding moment when the welding head welds the arc portion 214, (Y8, Z8) is the starting position coordinate information of the welding head welding the arc portion 214, L1 and L2 are the length values ​​of the straight edge portion 221 and the straight edge portion 222 respectively, and A2 is the rotation angle of the battery to be welded.

[0165] It should be noted that (Y8, Z8) is the starting position coordinate information of the welding head welding arc portion 214, and is also the end position coordinate information of the welding head welding straight edge portion 224, and is not pre-stored coordinate information.

[0166] Step S416, control the rotating mechanism holding the battery to be welded to rotate around the rotating axis perpendicular to the cover plate of the battery to be welded, and control the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory according to the welding trajectory information corresponding to the arc portion 214.

[0167] Based on the position coordinate information at multiple welding moments when the welding head welds the arc portion 214 , the first moving mechanism and the second moving mechanism are controlled to drive the welding head to move, so as to complete the welding of the arc portion 214 .

[0168] See also Figure 5h , the battery to be welded is Figure 5g Position shown, rotate 360° counterclockwise to Figure 5h During the process of welding the arc portion 214 in the position shown, the welding head welds the arc portion 214.

[0169] <Device Example>

[0170] One embodiment of the present invention provides a battery case cover welding control device, such as Figure 6 shown.

[0171] The welding control device 600 of the battery case cover includes a first control module 610 and a second control module 620 .

[0172] The first control module 610 is used to control the rotating mechanism that clamps the battery to be welded to rotate around a rotating axis perpendicular to the cover plate of the battery to be welded; wherein the joint between the edge of the cover plate and the shell of the battery to be welded includes an arc portion.

[0173] The second control module 620 is used to control the welding head to move along a welding trajectory corresponding to the rotation trajectory of the arc portion during rotation, so as to weld the cover plate and the shell together at the arc portion during the rotation of the battery to be welded.

[0174] In one embodiment of the present invention, the second control module 620 is also used to: control the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory; wherein the first moving mechanism is a moving mechanism that drives the welding head to move in a first direction perpendicular to the rotation axis, and the second moving mechanism is a moving mechanism that drives the welding head to move in a second direction perpendicular to the rotation axis, and the first direction is perpendicular to the second direction.

[0175] In one embodiment of the present invention, the second control module 620 is further used to control the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory according to the welding trajectory information corresponding to the arc portion.

[0176] The welding trajectory information corresponding to the arc portion includes the position coordinates of the welding head at the welding time in the first welding period, and the first welding period corresponds to the time period when the rotating mechanism drives the battery to be welded to rotate.

[0177] The welding trajectory information corresponding to the arc portion is determined based on the starting position coordinate information of the welding head, the size information of the straight edge portion and the rotation angle information of the battery to be welded, wherein the straight edge portion is the straight edge portion of the seam between the cover plate and the shell of the battery to be welded.

[0178] In one embodiment of the present invention, the second control module 620 is also used to control the welding head to move along a welding trajectory corresponding to the straight edge portion so as to weld the cover plate and the shell together at the straight edge portion, wherein the straight edge portion is the straight edge portion of the seam between the cover plate and the shell of the battery to be welded.

[0179] In one embodiment of the present invention, the second control module 620 is also used to control the first moving mechanism or the second moving mechanism to drive the welding head to move along the welding trajectory corresponding to the straight edge portion; wherein the first moving mechanism is a moving mechanism that drives the welding head to move in a first direction perpendicular to the rotation axis, and the second moving mechanism is a moving mechanism that drives the welding head to move in a second direction perpendicular to the rotation axis, and the first direction is perpendicular to the second direction.

[0180] In one embodiment of the present invention, the second control module 620 is further used to control the first moving mechanism or the second moving mechanism to move along the welding trajectory corresponding to the straight edge portion according to the welding trajectory information corresponding to the straight edge portion.

[0181] The welding trajectory information corresponding to the straight edge portion includes the position coordinates of the welding head at the welding time in the second welding period, and the welding trajectory information is determined according to the starting position coordinate information of the welding head and the size information of the straight edge portion.

[0182] One embodiment of the present invention provides a battery case cover welding control device, such as Figure 7The battery shell cover welding control device 700 includes a memory 710 and a processor 720. The memory 710 stores a computer program, and the computer program is used to control the processor 720 to operate to execute the battery shell cover welding control method in any of the above embodiments.

[0183] <Welding Equipment Example>

[0184] One embodiment of the present invention provides a welding device, including the welding control device, rotating mechanism and welding head of the battery shell cover provided in any of the above embodiments.

[0185] The welding control device of the battery shell cover is used to control the rotating mechanism clamping the battery to be welded to rotate around the rotating axis perpendicular to the cover plate of the battery to be welded, wherein the seam between the edge of the cover plate and the shell of the battery to be welded includes an arc portion.

[0186] The welding control device of the battery shell cover is used to control the welding head to move along the welding trajectory corresponding to the rotation trajectory of the arc portion during rotation, so as to weld the cover plate and the shell together at the arc portion during the rotation of the battery to be welded.

[0187] In one embodiment of the present invention, the welding device further includes a first moving mechanism and a second moving mechanism.

[0188] The welding control device of the battery shell cover is used to control the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory; wherein the first moving mechanism is a moving mechanism that drives the welding head to move in a first direction perpendicular to the rotation axis, and the second moving mechanism is a moving mechanism that drives the welding head to move in a second direction perpendicular to the rotation axis, and the first direction is perpendicular to the second direction.

[0189] The specific structural diagram of the welding equipment can be found in Figure 3 . Figure 3 The battery to be welded, the welding head, the rotating mechanism, the first moving mechanism and the second moving mechanism are shown. The welding control device of the battery shell cover is not shown. Figure 3 Shown in.

[0190] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the electric vehicle embodiment, its related parts can be referred to the partial description of the method embodiment.

[0191] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0192] The embodiments of the present specification may be systems, methods and / or computer program products. The computer program product may include a computer-readable storage medium carrying computer instructions for causing a processor to implement various aspects of the embodiments of the present specification.

[0193] A computer-readable storage medium may be a tangible device that can hold and store computer instructions used by a computer instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which computer instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0194] The computer instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer instructions from the network and forwards the computer instructions for storage in the computer-readable storage medium in each computing / processing device.

[0195] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of this specification. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a computer instruction, and a part of a module, a program segment or a computer instruction contains one or more executable computer instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0196] The embodiments of the present specification have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A welding control method for a battery shell cover, characterized in that: The method comprises: Controlling the rotating mechanism for clamping the battery to be welded to rotate around a rotating axis perpendicular to the cover plate of the battery to be welded; wherein the joint between the edge of the cover plate and the shell of the battery to be welded includes an arc portion; The welding head is controlled to move along a welding trajectory corresponding to the rotation trajectory of the circular arc portion during rotation, so that the cover plate and the shell are welded together at the circular arc portion during the rotation of the battery to be welded.

2. The method according to claim 1, characterized in that: The controlling the welding head to move along a welding trajectory corresponding to the rotation trajectory of the circular arc portion during rotation comprises: Control the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory; wherein the first moving mechanism is a moving mechanism that drives the welding head to move in a first direction perpendicular to the rotation axis, and the second moving mechanism is a moving mechanism that drives the welding head to move in a second direction perpendicular to the rotation axis, and the first direction is perpendicular to the second direction.

3. The method according to claim 2, characterized in that The controlling the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding track includes: According to the welding trajectory information corresponding to the arc portion, controlling the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory; The welding trajectory information corresponding to the arc portion includes the position coordinates of the welding head at the welding time in the first welding period, and the first welding period corresponds to the time period when the rotating mechanism drives the battery to be welded to rotate. The welding trajectory information corresponding to the arc portion is determined based on the starting position coordinate information of the welding head, the size information of the straight edge portion and the rotation angle information of the battery to be welded, wherein the straight edge portion is the straight edge portion of the seam between the cover plate and the shell of the battery to be welded.

4. The method according to claim 1, characterized in that: The method further comprises: The welding head is controlled to move along a welding track corresponding to the straight edge portion to weld the cover plate and the shell together at the straight edge portion, wherein the straight edge portion is a straight edge portion of a seam between the cover plate and the shell of the battery to be welded.

5. The method according to claim 4, characterized in that The step of controlling the welding head to move along a welding track corresponding to the straight edge portion so as to weld the cover plate and the shell together at the straight edge portion comprises: Control the first moving mechanism or the second moving mechanism to drive the welding head to move along the welding trajectory corresponding to the straight edge portion; wherein the first moving mechanism is a moving mechanism that drives the welding head to move in a first direction perpendicular to the rotation axis, and the second moving mechanism is a moving mechanism that drives the welding head to move in a second direction perpendicular to the rotation axis, and the first direction is perpendicular to the second direction.

6. The method according to claim 5, characterized in that The controlling the first moving mechanism or the second moving mechanism to drive the welding head to move along the welding track corresponding to the straight edge portion includes: According to the welding trajectory information corresponding to the straight edge portion, controlling the first moving mechanism or the second moving mechanism to move along the welding trajectory corresponding to the straight edge portion; The welding trajectory information corresponding to the straight edge portion includes the position coordinates of the welding head at the welding time in the second welding period, and the welding trajectory information is determined according to the starting position coordinate information of the welding head and the size information of the straight edge portion.

7. A welding control device for a battery case cover, characterized in that: The device comprises: A first control module, used to control the rotating mechanism for clamping the battery to be welded to rotate around a rotating axis perpendicular to the cover plate of the battery to be welded; wherein the joint between the edge of the cover plate and the shell of the battery to be welded includes an arc portion; The second control module is used to control the welding head to move along a welding trajectory corresponding to the rotation trajectory of the circular arc portion during rotation, so as to weld the cover plate and the shell together at the circular arc portion during the rotation of the battery to be welded.

8. A welding control device for a battery case cover, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program, and the computer program is used to control the processor to operate so as to execute the welding control method of the battery case cover according to any one of claims 1 to 6.

9. A welding device, characterized in that: A welding control device, a rotating mechanism and a welding head for a battery shell cover as claimed in claim 7 or 8, wherein: The battery shell cover welding control device is used to control the rotating mechanism holding the battery to be welded to rotate around a rotating axis perpendicular to the cover plate of the battery to be welded, wherein the seam between the edge of the cover plate and the shell of the battery to be welded includes an arc portion, The welding control device of the battery shell cover is used to control the welding head to move along a welding trajectory corresponding to the rotation trajectory of the arc portion during rotation, so as to weld the cover plate and the shell together at the arc portion during the rotation of the battery to be welded.

10. The welding device according to claim 9, characterized in that The welding device further comprises a first moving mechanism and a second moving mechanism, wherein: The welding control device of the battery shell cover is also used to control the first moving mechanism and the second moving mechanism to drive the welding head to move along the welding trajectory; wherein the first moving mechanism is a moving mechanism that drives the welding head to move in a first direction perpendicular to the rotation axis, and the second moving mechanism is a moving mechanism that drives the welding head to move in a second direction perpendicular to the rotation axis, and the first direction is perpendicular to the second direction.

Images