A multi-axis linkage laser shell welding equipment for steel shell batteries

Abstract

The invention discloses a multi-axis linkage laser shell cover welding device for a steel shell battery, comprising a machine platform, a gantry bracket and a Y-axis servo drive are arranged on the machine platform, the Y-axis servo drive controls the movement of a base plate, a main rotating axis mechanism, a shell cover displacement servo drive and a positioning clamping mechanism are arranged on the base plate, the shell cover displacement servo drive controls the movement of a mounting plate, a secondary rotating axis mechanism and a shell cover initial positioning mechanism are arranged on the mounting plate, the main rotating axis mechanism and the secondary rotating axis mechanism are arranged correspondingly, the positioning clamping mechanism and the shell cover initial positioning mechanism are arranged correspondingly, the positioning clamping mechanism and the shell cover initial positioning mechanism are respectively controlled to move by a displacement control cylinder, the shell cover initial positioning mechanism is connected to the mounting plate through a slide rail and a slider, and the positioning clamping mechanism is movably connected to the base plate through the slide rail and the slider; the invention is compatible with spot welding and full welding, and adopts side-standing welding to facilitate multi-axis linkage adjustment and compensation of welding positions, thereby improving welding accuracy.

Description

Technical Field

[0001] The invention relates to the technical field of welding of steel shell batteries, and in particular to a multi-axis linkage laser shell cover welding device for steel shell batteries. Background Art

[0002] In recent years, with the rapid development of the lithium battery manufacturing industry, the welding process of steel shell battery shells has become more and more popular. The existing welding equipment for steel shell battery shells generally adopts horizontal welding, and horizontal welding of the shell can generally only achieve single-sided welding. If it is a special-shaped battery shell, flat welding cannot be achieved, and the shell cover is prone to displacement when welding. The displacement of the shell cover will affect the airtightness of the shell cover welding. Summary of the invention

[0003] In order to overcome the shortcomings and deficiencies in the prior art, the object of the present invention is to provide a multi-axis linkage laser shell cover welding device for steel shell batteries.

[0004] The object of the present invention is achieved through the following technical solutions: A multi-axis linkage laser shell cover welding equipment for steel shell batteries, comprising a machine platform, a gantry bracket and a Y-axis servo drive are provided on the machine platform, the Y-axis servo drive controls the movement of a base plate, a main rotating axis mechanism, a shell cover displacement servo drive and a positioning clamping mechanism are provided on the base plate, the shell cover displacement servo drive controls the movement of a mounting plate, a secondary rotating axis mechanism and a shell cover initial positioning mechanism are provided on the mounting plate, the main rotating axis mechanism and the secondary rotating axis mechanism are correspondingly arranged, the positioning clamping mechanism and the shell cover initial positioning mechanism are correspondingly arranged, the positioning clamping mechanism and the shell cover initial positioning mechanism are respectively controlled to move by a displacement control cylinder, the shell cover initial positioning mechanism is connected to the mounting plate through a slide rail and a slider, and the positioning clamping mechanism is movably connected to the base plate through the slide rail and the slider; the Y-axis servo drive comprises a Y-axis servo motor and a Y-axis transmission screw, the Y-axis servo motor is connected to the Y-axis transmission screw through a coupling, and the Y-axis transmission screw is connected to the base plate through a screw nut.

[0005] The gantry bracket is provided with an X-axis servo drive, which controls the movement of a moving plate, and the moving plate is provided with a Z-axis servo drive, which controls the lifting and moving of a lifting plate, and the lifting plate is provided with a 3D scanning module and a laser head module; the X-axis servo drive includes an X-axis servo motor and an X-axis transmission screw, the X-axis servo motor is connected to the X-axis transmission screw through a coupling, and the X-axis transmission screw is connected to the moving plate through a screw nut. The Z-axis servo drive includes a Z-axis servo motor and a Z-axis transmission screw, the Z-axis servo motor is connected to the Z-axis transmission screw through a coupling, and the Z-axis transmission screw is connected to the lifting plate through a screw nut. The laser head module is installed on the Z-axis servo drive and is synchronously controlled with the main rotating axis mechanism to ensure the stability of the focal length during the welding process, so that the position between the laser head and the edge of the shell cover remains consistent; the X-axis servo drive is synchronously controlled with the Z-axis servo drive to make synchronous compensation for the flatness direction of the shell and the shell cover. Through the above means, laser welding of special-shaped battery steel shells can be achieved.

[0006] The main rotating axis mechanism includes a main rotating axis and a main rotating axis servo motor for controlling the rotation of the main rotating axis, the secondary rotating axis mechanism includes a secondary rotating axis, and the corresponding ends of the main rotating axis and the secondary rotating axis are provided with vacuum adsorption plates, the shell cover is first adsorbed and positioned on the vacuum adsorption plate of the secondary rotating axis, and then clamped and positioned by the shell cover initial positioning mechanism, the shell is first adsorbed and positioned on the vacuum adsorption plate of the main rotating axis, and then clamped and positioned by the positioning clamping mechanism, after the shell cover and the shell are positioned, the 3D scanning module performs 3D scanning on the shell cover and the shell respectively, after the shell cover is positioned, the shell cover displacement servo drive controls to move to the position of the shell, and is buckled and fixed with the shell, after the shell cover is buckled on the shell, the shell cover initial positioning mechanism and the positioning clamping mechanism are both reset and moved, the main rotating axis servo motor drives the main rotating axis to rotate while driving the secondary rotating axis to rotate synchronously, the laser head module first spot welds the edge of the shell cover, and then fully welds the edge of the shell cover. When the laser head module is spot-welded, the main rotating shaft servo motor drives the main rotating shaft to rotate at intervals. The main rotating shaft servo motor drives the main rotating shaft to rotate a certain angle (the angle can be 90 degrees, and spot welding is performed every 90 degrees). The laser head module is spot-welded once; when the laser head module is fully welded, the main rotating shaft servo motor drives the main rotating shaft to rotate continuously 360 degrees, and the outer shell is just welded a full circle.

[0007] As an improvement of the multi-axis linkage laser shell cover welding equipment for steel shell batteries of the present invention, vacuum channels are provided in the main rotating shaft and the auxiliary rotating shaft, and a plurality of adsorption holes are provided at intervals on the vacuum adsorption plate, and the adsorption holes are connected to the vacuum channels;

[0008] The main rotating shaft is installed on a main shaft seat through a main shaft sleeve, a vacuum pipe joint is provided on one side of the main shaft seat, through holes are provided on the main shaft sleeve and the main rotating shaft, the vacuum pipe joint is connected with the vacuum channel through the through holes, the main rotating shaft servo motor is installed on a motor seat, and the motor seat and the main shaft seat are both installed on a supporting platform;

[0009] The secondary rotating shaft is installed on a shaft seat through a shaft sleeve, a vacuum pipe joint is provided on one side of the shaft seat, through holes are provided on the shaft sleeve and the secondary rotating shaft, the vacuum pipe joint is connected to the vacuum channel through the through holes, and the other end of the secondary rotating shaft is connected to the second shaft seat through a bearing.

[0010] As an improvement of the multi-axis linkage laser shell cover welding equipment for steel shell batteries of the present invention, the positioning and clamping mechanism and the shell cover initial positioning mechanism both include mounting side plates, and the mounting side plates are each provided with two upper positioning clamps, two lower positioning clamps, two right positioning clamps and one left positioning clamp. The two upper positioning clamps are respectively controlled to move by an upper positioning clamp control cylinder, the two lower positioning clamps are respectively controlled to move by a lower positioning clamp control cylinder, the two right positioning clamps are respectively controlled to move by a right positioning clamp control cylinder, and the left positioning clamp is controlled to move by a left positioning clamp control cylinder.

[0011] As an improvement of the multi-axis linkage laser shell cover welding equipment for steel shell batteries of the present invention, when the vacuum adsorption plate on the main rotating shaft adsorbs and positions the shell, the displacement control cylinder controls the positioning clamping mechanism to move to the position of the vacuum adsorption plate, and two upper positioning clamps, two lower positioning clamps, two right positioning clamps and one left positioning clamp respectively fix and clamp the four sides of the shell;

[0012] When the vacuum adsorption plate on the secondary rotating shaft adsorbs and positions the shell cover, the displacement control cylinder controls the shell cover initial positioning mechanism to move to the position of the vacuum adsorption plate, and the two upper positioning clamps, the two lower positioning clamps, the two right positioning clamps and the one left positioning clamp respectively fix and clamp the four sides of the shell cover.

[0013] As an improvement of the multi-axis linkage laser shell cover welding equipment for steel shell batteries of the present invention, one end of the two upper positioning clamps are respectively connected to the first sliding seat, the first sliding seat is connected to the slide rail through a slider, the slide rail is connected to the mounting side plate, a first connecting seat is provided on one side of the first sliding seat, the piston rod of the upper positioning clamp control cylinder is connected to the first connecting seat, the other end of the first sliding seat is provided with a first spring, the other end of the first spring is inserted into the adjusting screw hole of the first spring seat, an adjusting screw is provided in the adjusting screw hole, and the elastic force of the first spring can be adjusted by rotating the adjusting screw.

[0014] As an improvement of the multi-axis linkage laser shell cover welding equipment for steel shell batteries of the present invention, one end of the two right positioning clamps are respectively connected to the second sliding seat, the second sliding seat is connected to the slide rail through a slider, the slide rail is connected to the mounting side plate, a second connecting seat is provided on one side of the second sliding seat, the piston rod of the right positioning clamp control cylinder is connected to the second connecting seat, the other end of the second sliding seat is provided with a second spring, the other end of the second spring is inserted into the adjusting screw hole of the second spring seat, an adjusting screw is provided in the adjusting screw hole, and the elastic force of the second spring can be adjusted by rotating the adjusting screw.

[0015] As an improvement of the multi-axis linkage laser shell cover welding equipment for steel shell batteries of the present invention, the two lower positioning clamps are respectively connected to the third sliding seat, the third sliding seat is connected to the slide rail through a slider, the slide rail is connected to the mounting side plate, and a third connecting seat is provided on one side of the third sliding seat, and the piston rod of the cylinder controlled by the lower positioning clamp is connected to the third connecting seat.

[0016] As an improvement of the multi-axis linkage laser shell cover welding equipment for steel shell batteries of the present invention, the two upper positioning clamps, the two lower positioning clamps, the two right positioning clamps and the left positioning clamp are all provided with protrusions, and the edges of the vacuum adsorption plates are all provided with positioning grooves, and the protrusions cooperate with the positioning grooves.

[0017] As an improvement of the multi-axis linkage laser shell cover welding equipment for steel shell batteries of the present invention, the 3D scanning module includes a lifting control cylinder, the lifting control cylinder controls the movement of a lifting slide, the lifting slide is provided with a 3D scanner, and the lifting slide is slidably connected to the lifting control cylinder. The laser head module adopts a 3D scanning method before welding, and synchronously positions and compensates the shell and shell cover during the welding process to solve the difference in the outer dimensions of the shell and shell cover; and improve the quality and stability of welding.

[0018] As an improvement of the multi-axis linkage laser shell cover welding equipment for steel shell batteries of the present invention, the laser head module includes a laser head mounting seat, on which a laser head, an exhaust pipe seat and an air blow pipe bracket are provided, an exhaust pipe is installed on the exhaust pipe seat, an air blow pipe is installed on the air blow pipe bracket, the air blow pipe blows a protective agent, and the exhaust pipe extracts the smoke generated during welding.

[0019] The beneficial effects of the present invention are: the present invention is compatible with spot welding and full welding, the rotation of the shell is realized by the rotating shaft, the rotating shaft can be vacuumed, so that the vacuum adsorption plate can vacuum adsorb the shell and the shell cover, the secondary rotating shaft can be moved to the shell position for buckling, after buckling, the two sets of clamping and positioning mechanisms are returned to their original positions, the shell and the shell cover are supported and positioned by the main rotating shaft and the secondary rotating shaft, when the main rotating shaft drives the secondary rotating shaft to rotate synchronously, the shell and the shell cover rotate synchronously, when the laser head module is spot welded, the main rotating shaft servo motor drives the main rotating shaft to rotate at intervals, and the main rotating shaft servo motor drives the main rotating shaft to rotate a certain angle every time the laser head module is spot welded once; when the laser head module is fully welded, the main rotating shaft servo motor drives the main rotating shaft to rotate continuously 360 degrees, and the shell is just welded a full circle. The present invention adopts side-standing welding to facilitate the multi-axis linkage adjustment and compensation of welding positions and improve welding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a stereogram of the present invention;

[0021] Figure 2 It is a front view of the present invention;

[0022] Figure 3 is a three-dimensional diagram of the positioning and clamping mechanism of the present invention;

[0023] Figure 4 is a front view of the positioning and clamping mechanism of the present invention;

[0024] Figure 5 is a side view of the positioning and clamping mechanism of the present invention;

[0025] Figure 6 It is a structural schematic diagram of the Z-axis servo drive part of the present invention;

[0026] Figure 7 It is a structural schematic diagram of the main rotating shaft mechanism of the present invention; DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0029] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0030] like Figure 1-Figure 7 As shown, a multi-axis linkage laser shell cover welding equipment for steel shell batteries includes a machine table 1, on which a gantry bracket 2 and a Y-axis servo drive 3 are provided, the Y-axis servo drive 3 controls the movement of a base plate 4, the base plate 4 is provided with a main rotating axis mechanism 5, a shell cover displacement servo drive 6 and a positioning clamping mechanism 7, the shell cover displacement servo drive 6 controls the movement of a mounting plate 8, the mounting plate 8 is provided with a secondary rotating axis mechanism 9 and a shell cover initial positioning mechanism 10, the main rotating axis mechanism 5 is corresponding to the secondary rotating axis mechanism 9, the positioning clamping mechanism 7 is corresponding to the shell cover initial positioning mechanism 10, the positioning clamping mechanism 7 and the shell cover initial positioning mechanism 10 are respectively controlled to move by a displacement control cylinder 11, the shell cover initial positioning mechanism 10 is connected to the mounting plate 8 through a slide rail and a slider, and the positioning clamping mechanism 7 is movably connected to the base plate 4 through the slide rail and the slider; the Y-axis servo drive 3 includes a Y-axis servo motor and a Y-axis transmission screw, the Y-axis servo motor is connected to the Y-axis transmission screw through a coupling, and the Y-axis transmission screw is connected to the base plate through a screw nut.

[0031] The gantry bracket 2 is provided with an X-axis servo drive 21, which controls the movement of a moving plate 22. The moving plate 22 is provided with a Z-axis servo drive 23, which controls the lifting and lowering movement of a lifting plate 24. The lifting plate 24 is provided with a 3D scanning module 25 and a laser head module 26; the X-axis servo drive 21 includes an X-axis servo motor and an X-axis transmission screw, the X-axis servo motor is connected to the X-axis transmission screw through a coupling, and the X-axis transmission screw is connected to the moving plate through a screw nut. The Z-axis servo drive 23 includes a Z-axis servo motor and a Z-axis transmission screw, the Z-axis servo motor is connected to the Z-axis transmission screw through a coupling, and the Z-axis transmission screw is connected to the lifting plate through a screw nut. The laser head module 26 is installed on the Z-axis servo drive and is synchronously controlled with the main rotating axis mechanism to ensure the stability of the focal length during the welding process, so that the position between the laser head and the edge of the shell cover remains consistent; the X-axis servo drive 21 is synchronously controlled with the Z-axis servo drive 23 to make synchronous compensation for the flatness direction of the shell and the shell cover. Through the above means, laser welding of special-shaped battery steel shells can be achieved.

[0032] The main rotating shaft mechanism 5 includes a main rotating shaft 51 and a main rotating shaft servo motor 52 for controlling the rotation of the main rotating shaft 51, and the secondary rotating shaft mechanism 9 includes a secondary rotating shaft 91. The corresponding ends of the main rotating shaft 51 and the secondary rotating shaft 91 are both provided with vacuum adsorption plates 12. The shell cover is first adsorbed and positioned on the vacuum adsorption plate 12 of the secondary rotating shaft 91, and then clamped and positioned by the shell cover initial positioning mechanism 10. The shell is first adsorbed and positioned on the vacuum adsorption plate 12 of the main rotating shaft 51, and then clamped and positioned by the positioning clamping mechanism 7. After the shell cover and the shell are positioned, the 3D scanning module 25 performs 3D scanning on the shell cover and the shell respectively. After the shell cover is positioned, the shell cover displacement servo drive 6 controls the movement to the position of the shell and is fastened and fixed with the shell. After the shell cover is fastened on the shell, the shell cover initial positioning mechanism 10 and the positioning clamping mechanism 7 are both reset and moved. The main rotating shaft servo motor 52 drives the main rotating shaft 51 to rotate while driving the secondary rotating shaft 91 to rotate synchronously. The laser head module 26 first spot welds the edge of the shell cover, and then fully welds the edge of the shell cover. When the laser head module 26 is spot-welded, the main rotating shaft servo motor 52 drives the main rotating shaft 51 to rotate at intervals. The main rotating shaft servo motor 52 drives the main rotating shaft 51 to rotate a certain angle (the angle can be 90 degrees, and spot welding is performed every 90 degrees of rotation), and the laser head module 26 is spot-welded once; when the laser head module 26 is fully welded, the main rotating shaft servo motor 52 drives the main rotating shaft 51 to rotate continuously by 360 degrees, and the outer shell is just welded a full circle.

[0033] Preferably, vacuum channels are provided in the main rotating shaft 51 and the auxiliary rotating shaft 92, and a plurality of adsorption holes are provided at intervals on the vacuum adsorption plate 12, and the adsorption holes are connected to the vacuum channels;

[0034] The main rotating shaft 51 is installed on a main shaft seat 54 through a main shaft sleeve 53. A vacuum pipe joint 55 is provided on one side of the main shaft seat 54. Through holes are provided on the main shaft sleeve 53 and the main rotating shaft 51. The vacuum pipe joint 55 is connected to the vacuum channel through the through holes. The main rotating shaft servo motor 52 is installed on a motor seat 56. The motor seat 56 and the main shaft seat 54 are both installed on a supporting platform 13.

[0035] The secondary rotating shaft 91 is installed on a shaft seat 92 through a shaft sleeve. A vacuum pipe joint is provided on one side of the shaft seat 92. Through holes are provided on the shaft sleeve and the secondary rotating shaft 91. The vacuum pipe joint is connected to the vacuum channel through the through holes. The other end of the secondary rotating shaft 91 is connected to the second shaft seat 93 through a bearing.

[0036] Preferably, the positioning clamping mechanism 7 and the shell cover initial positioning mechanism 10 both include a mounting side plate 71, on which two upper positioning clamps 72, two lower positioning clamps 73, two right positioning clamps 74 and a left positioning clamp 75 are provided, the two upper positioning clamps 72 are respectively controlled to move by an upper positioning clamp control cylinder 76, the two lower positioning clamps 73 are respectively controlled to move by a lower positioning clamp control cylinder 77, the two right positioning clamps 74 are respectively controlled to move by a right positioning clamp control cylinder 78, and the left positioning clamp 75 is controlled to move by a left positioning clamp control cylinder 79. A notch 701 is provided in the middle of the upper end of the mounting side plate 71.

[0037] Preferably, when the vacuum adsorption plate 12 on the main rotating shaft 51 adsorbs and positions the housing, the displacement control cylinder 11 controls the positioning clamping mechanism 7 to move to the position of the vacuum adsorption plate 12, and two upper positioning clamps 72, two lower positioning clamps 73, two right positioning clamps 74 and one left positioning clamp 75 respectively fix and clamp the four sides of the housing;

[0038] When the vacuum adsorption plate 12 on the secondary rotating shaft 91 adsorbs and positions the shell cover, the displacement control cylinder 11 controls the shell cover initial positioning mechanism 10 to move to the position of the vacuum adsorption plate 12, and two upper positioning clamps 72, two lower positioning clamps 73, two right positioning clamps 74 and one left positioning clamp 75 respectively fix and clamp the four sides of the shell cover.

[0039] Preferably, one end of the two upper positioning clamps 72 are respectively connected to the first sliding seat 721, the first sliding seat 721 is connected to the slide rail through a slider, the slide rail is connected to the mounting side plate 71, a first connecting seat is provided on one side of the first sliding seat 721, the piston rod of the upper positioning clamp control cylinder 76 is connected to the first connecting seat, the other end of the first sliding seat 721 is provided with a first spring 722, the other end of the first spring 722 is inserted into the adjusting screw hole of the first spring seat 723, the adjusting screw hole is provided with an adjusting screw, and the elastic force of the first spring can be adjusted by turning the adjusting screw.

[0040] Preferably, one end of the two right positioning clamps 74 are respectively connected to the second sliding seat 741, the second sliding seat 741 is connected to the slide rail through a slider, the slide rail is connected to the mounting side plate 71, a second connecting seat is provided on one side of the second sliding seat 741, the piston rod of the right positioning clamp control cylinder 78 is connected to the second connecting seat, the other end of the second sliding seat 741 is provided with a second spring 742, the other end of the second spring 742 is inserted into the adjusting screw hole of the second spring seat 743, the adjusting screw hole is provided with an adjusting screw, and the elastic force of the second spring can be adjusted by turning the adjusting screw.

[0041] Preferably, the two lower positioning clamps 73 are respectively connected to the third sliding seat 731, the third sliding seat 731 is connected to the slide rail through a slider, the slide rail is connected to the mounting side plate 71, and a third connecting seat is provided on one side of the third sliding seat 731. The piston rod of the lower positioning clamp control cylinder 77 is connected to the third connecting seat.

[0042] The left positioning clamp 75 is connected to the fourth sliding seat 751, a fourth connecting seat is provided on one side of the fourth sliding seat 751, and the piston rod end of the left positioning clamp control cylinder 79 is connected to the fourth connecting seat. The fourth sliding seat 751 is connected to the mounting side plate through a slide rail and a slider.

[0043] Preferably, the two upper positioning blocks 72 , the two lower positioning blocks 73 , the two right positioning blocks 74 and the left positioning block 75 are all provided with protrusions 70 , and the edges of the vacuum adsorption plate 12 are all provided with positioning grooves 121 , and the protrusions 70 cooperate with the positioning grooves 121 .

[0044] Preferably, the 3D scanning module 25 includes a lifting control cylinder 251, which controls the movement of a lifting slide 252, on which a 3D scanner 253 is provided, and the lifting slide 252 is slidably connected to the lifting control cylinder 251. The laser head module 26 adopts a 3D scanning method before welding, and synchronously positions and compensates the shell and the shell cover during the welding process to solve the difference in the outer dimensions of the shell and the shell cover; and improves the quality and stability of welding.

[0045] Preferably, the laser head module 26 includes a laser head mounting seat 261, on which a laser head 262, an exhaust pipe seat 263 and an air blowing pipe bracket 264 are provided, an exhaust pipe 265 is installed on the exhaust pipe seat 263, and an air blowing pipe 266 is installed on the air blowing pipe bracket 264. The air blowing pipe 266 blows a protective agent and can blow a protective gas while welding during the laser head welding process, and the exhaust pipe 265 extracts the smoke generated during welding.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and structure of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-axis linkage laser shell cover welding device for steel shell batteries, comprising a machine platform, characterized in that: A gantry bracket and a Y-axis servo drive are provided on the machine platform, and the Y-axis servo drive controls the movement of a base plate. A main rotating axis mechanism, a shell cover displacement servo drive and a positioning clamping mechanism are provided on the base plate. The shell cover displacement servo drive controls the movement of a mounting plate. A secondary rotating axis mechanism and a shell cover initial positioning mechanism are provided on the mounting plate. The main rotating axis mechanism and the secondary rotating axis mechanism are correspondingly arranged, and the positioning clamping mechanism and the shell cover initial positioning mechanism are correspondingly arranged. The positioning clamping mechanism and the shell cover initial positioning mechanism are respectively controlled to move by a displacement control cylinder, and the shell cover initial positioning mechanism is connected to the mounting plate through a slide rail and a slider, and the positioning clamping mechanism is movably connected to the base plate through a slide rail and a slider; The gantry bracket is provided with an X-axis servo drive, the X-axis servo drive controls the movement of a moving plate, the moving plate is provided with a Z-axis servo drive, the Z-axis servo drive controls the lifting and movement of a lifting plate, and the lifting plate is provided with a 3D scanning module and a laser head module; The main rotating shaft mechanism includes a main rotating shaft and a main rotating shaft servo motor for controlling the rotation of the main rotating shaft, the secondary rotating shaft mechanism includes a secondary rotating shaft, and the corresponding ends of the main rotating shaft and the secondary rotating shaft are provided with vacuum adsorption plates, the shell cover is first adsorbed and positioned on the vacuum adsorption plate of the secondary rotating shaft, and then clamped and positioned by the shell cover initial positioning mechanism, the shell body is first adsorbed and positioned on the vacuum adsorption plate of the main rotating shaft, and then clamped and positioned by the positioning clamping mechanism, after the shell cover and the shell body are positioned, the 3D scanning module performs 3D scanning on the shell cover and the shell body respectively, after the shell cover is positioned, the shell cover displacement servo drive controls the shell cover to move to the position of the shell body, and is buckled and fixed with the shell body, after the shell cover is buckled on the shell body, the shell cover initial positioning mechanism and the positioning clamping mechanism are both reset and moved, the main rotating shaft servo motor drives the main rotating shaft to rotate and drives the secondary rotating shaft to rotate synchronously, the laser head module first spot welds the edge of the shell cover, and then fully welds the edge of the shell cover; The main rotating shaft and the auxiliary rotating shaft are both provided with vacuum channels, and the vacuum adsorption plate is provided with a plurality of adsorption holes at intervals, and the adsorption holes are connected to the vacuum channels; The main rotating shaft is installed on a main shaft seat through a main shaft sleeve, a vacuum pipe joint is provided on one side of the main shaft seat, through holes are provided on the main shaft sleeve and the main rotating shaft, the vacuum pipe joint is connected with the vacuum channel through the through holes, the main rotating shaft servo motor is installed on a motor seat, and the motor seat and the main shaft seat are both installed on a supporting platform; The secondary rotating shaft is installed on a shaft seat through a shaft sleeve, a vacuum pipe joint is provided on one side of the shaft seat, through holes are provided on the shaft sleeve and the secondary rotating shaft, the vacuum pipe joint is connected to the vacuum channel through the through holes, and the other end of the secondary rotating shaft is connected to the second shaft seat through a bearing.

2. The multi-axis linkage laser shell cover welding equipment for steel shell batteries according to claim 1 is characterized in that: The positioning clamping mechanism and the shell cover initial positioning mechanism both include mounting side plates, and the mounting side plates are each provided with two upper positioning clamps, two lower positioning clamps, two right positioning clamps and one left positioning clamp. The two upper positioning clamps are respectively controlled to move by an upper positioning clamp control cylinder, the two lower positioning clamps are respectively controlled to move by a lower positioning clamp control cylinder, the two right positioning clamps are respectively controlled to move by a right positioning clamp control cylinder, and the left positioning clamp is controlled to move by a left positioning clamp control cylinder.

3. The steel shell battery multi-axis linkage laser shell cover welding equipment according to claim 2 is characterized in that: When the vacuum adsorption plate on the main rotating shaft adsorbs and positions the shell, the displacement control cylinder controls the positioning clamping mechanism to move to the position of the vacuum adsorption plate, and two upper positioning clamps, two lower positioning clamps, two right positioning clamps and one left positioning clamp respectively fix and clamp the four sides of the shell; When the vacuum adsorption plate on the secondary rotating shaft adsorbs and positions the shell cover, the displacement control cylinder controls the shell cover initial positioning mechanism to move to the position of the vacuum adsorption plate, and the two upper positioning clamps, the two lower positioning clamps, the two right positioning clamps and the one left positioning clamp respectively fix and clamp the four sides of the shell cover.

4. The multi-axis linkage laser shell cover welding equipment for steel shell batteries according to claim 2 is characterized in that: One end of the two upper positioning clamps is respectively connected to the first sliding seat, the first sliding seat is connected to the slide rail through a slider, the slide rail is connected to the mounting side plate, a first connecting seat is provided on one side of the first sliding seat, the piston rod of the upper positioning clamp control cylinder is connected to the first connecting seat, the other end of the first sliding seat is provided with a first spring, the other end of the first spring is inserted into the adjusting screw hole of the first spring seat, an adjusting screw is provided in the adjusting screw hole, and the elastic force of the first spring can be adjusted by turning the adjusting screw.

5. The multi-axis linkage laser shell cover welding equipment for steel shell batteries according to claim 2 is characterized in that: One end of the two right positioning clamps are respectively connected to the second sliding seat, the second sliding seat is connected to the slide rail through a slider, the slide rail is connected to the mounting side plate, a second connecting seat is provided on one side of the second sliding seat, the piston rod of the right positioning clamp control cylinder is connected to the second connecting seat, the other end of the second sliding seat is provided with a second spring, the other end of the second spring is inserted into the adjusting screw hole of the second spring seat, an adjusting screw is provided in the adjusting screw hole, and the elastic force of the second spring can be adjusted by turning the adjusting screw.

6. The multi-axis linkage laser shell cover welding equipment for steel shell batteries according to claim 2 is characterized in that: The two lower positioning clamps are respectively connected to the third sliding seat, the third sliding seat is connected to the slide rail through a slider, the slide rail is connected to the mounting side plate, a third connecting seat is provided on one side of the third sliding seat, and the piston rod of the cylinder controlled by the lower positioning clamp is connected to the third connecting seat.

7. The multi-axis linkage laser shell cover welding equipment for steel shell batteries according to claim 2 is characterized in that: The two upper positioning clamps, the two lower positioning clamps, the two right positioning clamps and the left positioning clamp are all provided with protrusions, and the edges of the vacuum adsorption plates are all provided with positioning grooves, and the protrusions cooperate with the positioning grooves.

8. The steel shell battery multi-axis linkage laser shell cover welding equipment according to claim 1 is characterized in that: The 3D scanning module includes a lifting control cylinder, which controls the movement of a lifting slide. The lifting slide is provided with a 3D scanner, and the lifting slide is slidably connected to the lifting control cylinder.

9. The steel shell battery multi-axis linkage laser shell cover welding equipment according to claim 1, characterized in that: The laser head module comprises a laser head mounting seat, on which a laser head, an exhaust pipe seat and an air blowing pipe bracket are arranged, an exhaust pipe is mounted on the exhaust pipe seat, an air blowing pipe is mounted on the air blowing pipe bracket, the air blowing pipe blows protective agent, and the exhaust pipe extracts smoke generated during welding.

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