Welding track key point calculation method, welding track generation method and teaching device

Abstract

The invention relates to a welding track key point calculation method, a welding track generation method and a teaching device. The welding track key point calculation method comprises the steps that coordinates of at least five calculation base points on the four sides of a top cover in a coordinate system and the fillet radius of the top cover in the coordinate system are obtained; wherein the at least five calculation base points comprise at least two calculation base points on one side and at least one calculation base point on each of the remaining three sides; according to the coordinates of the at least five calculation base points in the coordinate system and the fillet radius of the top cover in the coordinate system, coordinates of starting points and ending points of four fillets of the top cover in the coordinate system are calculated; according to the welding track key point calculation method, the welding track generation method and the teaching device, the coordinates of the key points and the deviation of the generated welding track can be reduced, and the debugging probability is reduced.

Description

Technical Field

[0001] The present application relates to the field of battery manufacturing technology, and in particular to a welding trajectory key point calculation method, a welding trajectory generation method and a teaching device. Background Art

[0002] In the process of battery manufacturing, the top cover and shell of the battery need to be welded to achieve the effect of connection and sealing. The welding process uses a teaching device to collect data and generate a welding trajectory. The teaching device teaches the welding trajectory to the welding device, and the welding device performs welding according to the received welding trajectory.

[0003] The teaching device generally includes a first moving component, a second moving component and a welding head, etc. The battery is installed on the first moving component, and the welding head is installed on the second moving component. Through the movement of the first moving component and the second moving component, the battery and the welding head can move relative to each other to realize data collection and generate welding tracks.

[0004] The top cover of the battery has a rounded rectangular outline. The necessary parameters for determining the welding trajectory are the welding start point, welding end point, key point and fillet radius. Among them, the key point is the start and end point of the four fillets (a total of 8) and the fillet radius.

[0005] Among them, the parameters of the welding start point, welding end point and fillet radius can be set directly, and the difficulty lies in determining the coordinates of the key points. The method for determining the key points used in the actual production process is mainly to set two calculation base points, and calculate the coordinates of the eight key points in the coordinate system through the coordinates of the two calculation base points in the coordinate system and the length and width set by the top cover. The coordinates of the key points calculated by the above calculation method and the generated welding trajectory are prone to large deviations, resulting in repeated fine-tuning in the actual welding process. Summary of the invention

[0006] Based on this, it is necessary to provide a welding trajectory key point calculation method, welding trajectory generation method and teaching device that can reduce the coordinates of key points and the deviation of the generated welding trajectory, and reduce the debugging probability to address the above problems.

[0007] A method for calculating key points of a welding trajectory, the method comprising:

[0008] Obtaining the coordinates of at least five calculation base points of the four sides of the top cover in the coordinate system and the fillet radius of the top cover in the coordinate system; wherein the at least five calculation base points include at least two calculation base points of one side and at least one calculation base point of each of the remaining three sides;

[0009] According to the coordinates of the at least five calculation base points in the coordinate system and the fillet radius of the top cover in the coordinate system, the coordinates of the starting points and end points of the four fillets of the top cover in the coordinate system are calculated; wherein, in the extension direction of the welding trajectory, the starting point of the same fillet is located upstream of the end point, and the starting point and end point of the fillet are both the key points.

[0010] In some of the embodiments, the coordinate system is a motor coordinate system.

[0011] In some embodiments, the coordinates of the starting point and the end point of the four rounded corners of the top cover in the coordinate system are calculated according to the coordinates of the at least five calculation base points in the coordinate system and the rounded corner radius of the top cover in the coordinate system, including:

[0012] Calculate the deflection angle and width of the top cover in the coordinate system according to the coordinates of at least two calculation base points of one long side and at least one calculation base point of another long side in the coordinate system;

[0013] According to the deflection angle and width of the top cover in the coordinate system, the fillet radius of the top cover in the coordinate system, and according to the coordinates of a calculation base point of each side in the coordinate system, the coordinates of the starting point and end point of the four fillets in the coordinate system are calculated.

[0014] In some of the embodiments, the deflection angle of the top cover in the coordinate system is calculated based on the coordinates of any two calculation base points of one of the long sides or one of the short sides in the coordinate system.

[0015] In some of the embodiments, the width of the top cover in the coordinate system is calculated based on the deflection angle of the top cover in the coordinate system, the coordinates of any two calculation base points of one of the long sides in the coordinate system, and the coordinates of any calculation base point of the other long side in the coordinate system.

[0016] In some embodiments, the top cover includes a first long side, a first rounded corner, a first short side, a second rounded corner, a second long side, a third rounded corner, a second short side, and a fourth rounded corner connected to each other;

[0017] Calculate the coordinates of the starting point and the end point of the first rounded corner and the second rounded corner in the coordinate system according to the coordinates of a calculation base point of the first long side and a calculation base point of the first short side in the coordinate system, the deflection angle, the rounded corner radius and the width of the top cover in the coordinate system;

[0018] According to the coordinates of a calculation base point of the second long side and a calculation base point of the second short side in the coordinate system, the deflection angle, fillet radius and width of the top cover in the coordinate system, the coordinates of the starting point and the end point of the third fillet and the fourth fillet in the coordinate system are calculated.

[0019] In some embodiments, one of the long sides has two of the calculation base points, and the other long side and the two short sides each have one of the calculation base points; or, one of the short sides has two of the calculation base points, and the other short side and the two long sides each have one of the calculation base points.

[0020] A welding trajectory generation method, comprising the welding trajectory key point calculation method as described in any one of the above embodiments;

[0021] Obtaining the coordinates of the welding start point and the welding end point of the top cover in the coordinate system;

[0022] The welding trajectory is generated according to the coordinates of the welding starting point, the welding end point, the starting point and the end point of the fillet in the coordinate system, and according to the fillet radius of the top cover in the coordinate system.

[0023] A teaching device, comprising a first moving component, a second moving component, a welding head, a positioning camera, a control unit and a processing unit, wherein the first moving component, the second moving component, the welding head and the positioning camera are all electrically connected to the control unit, and the control unit is electrically connected to the processing unit;

[0024] The battery to be welded is clamped on the first movable component, the welding head and the positioning camera are both installed on the second movable component, the battery to be welded and the welding head are respectively moved relative to each other by the first movable component and the second movable component so that the welding head can be aligned with the battery to be welded, and the processing unit is used to obtain the coordinates of at least five calculation base points of the four sides of the top cover in the coordinate system and the fillet radius of the top cover in the coordinate system, and calculate the coordinates of the starting point and the end point of the four fillets of the top cover in the coordinate system according to the coordinates of the at least five calculation base points in the coordinate system and the fillet radius of the top cover in the coordinate system; wherein the at least five calculation base points include at least two calculation base points on one side and at least one calculation base point on each of the remaining three sides, and in the extension direction of the welding trajectory, the starting point of the same fillet is located upstream of the end point, and the starting point and the end point of the fillet are both key points of the welding trajectory.

[0025] In some of the embodiments, the processing unit is used to obtain the coordinates of the welding starting point and the welding end point of the top cover in the coordinate system, generate the welding trajectory according to the coordinates of the welding starting point, the welding end point, the starting point and the end point of the four fillets in the coordinate system, and according to the fillet radius of the top cover in the coordinate system.

[0026] Compared with the prior art, this application has the following beneficial effects:

[0027] The above-mentioned welding trajectory key point calculation method, welding trajectory generation method and teaching device, since all the calculation base points are located on the long side and the short side, the calculation base points are all on a straight line, the calculation base points are easy to calibrate and the calibration is accurate, the positioning is precise and the deviation is small. Moreover, based on the coordinates of at least five calculation base points on the four sides of the top cover in the same coordinate system, and the fillet radius of the top cover in the coordinate system, the coordinates of the starting point and the end point of the four fillets of the top cover in the coordinate system are calculated. This method cancels the setting of the length and width, and reduces the disadvantages caused by the manufacturing errors of the length and width. The coordinates of the key points calculated by the above calculation method and the generated welding trajectory have small deviations, and the probability of repeated fine-tuning in the actual welding process is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of a flow chart of a method for calculating key points of a welding trajectory in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of a flow chart of a method for calculating key points of a welding trajectory in another embodiment of the present application;

[0030] Figure 3 A schematic diagram of a flow chart of a method for calculating key points of a welding trajectory in another embodiment of the present application;

[0031] Figure 4 A geometric diagram of calculating the deflection angle of the top cover in the motor coordinate system in one embodiment of the present application;

[0032] Figure 5 A geometric diagram of calculating a and b of the top cover in the motor coordinate system in one embodiment of the present application;

[0033] Figure 6 A geometric diagram of calculating the width of the top cover in the motor coordinate system in one embodiment of the present application;

[0034] Figure 7 A schematic diagram of a flow chart of a method for calculating key points of a welding trajectory in yet another embodiment of the present application;

[0035] Figure 8 A geometric diagram of calculating the starting point of the first fillet of the top cover in the motor coordinate system in one embodiment of the present application;

[0036] Fig. 9 for Figure 8 A geometric enlarged schematic diagram of the calculation of the starting point of the first fillet of the middle top cover in the motor coordinate system;

[0037] Fig.10 A geometric diagram of calculating the end point of the first fillet of the top cover in the motor coordinate system in one embodiment of the present application;

[0038] Fig.11 A geometric diagram of calculating the starting point of the second fillet of the top cover in the motor coordinate system in one embodiment of the present application;

[0039] Fig.12 It is a geometric diagram of calculating the end point of the second fillet of the top cover in the motor coordinate system in one embodiment of the present application.

[0040] Figure Number:

[0041] 10. Top cover; 11. First long side; 12. First short side; 13. Second long side; 14. Second short side; R1. First rounded corner; R2. Second rounded corner; R3. Third rounded corner; R4. Fourth rounded corner. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0043] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred parts or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limitations on the present application.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying 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 the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0045] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0047] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0048] In the process of battery manufacturing, the top cover and shell of the battery need to be welded to achieve the effect of connection and sealing. The welding process uses a teaching device to collect data and generate a welding trajectory. The teaching device teaches the welding trajectory to the welding device, and the welding device performs welding according to the received welding trajectory.

[0049] The parameters necessary to determine the welding trajectory are the welding start point, welding end point, key points (i.e. the start and end points of the four fillets of the top cover, a total of 8) and fillet radius.

[0050] Among them, the parameters of welding starting point, welding end point and fillet radius can be directly set, and the difficulty lies in determining the coordinates of key points. The method for determining the coordinates of key points used in the actual production process is mainly to set two calculation base points on a long side or a short side of the top cover, and calculate the coordinates of the eight key points in the coordinate system through the coordinates of the two calculation base points in the coordinate system and the length and width set for the top cover.

[0051] The specific process of calculating the eight key points in this way is as follows: the control unit controls the operation of the first moving component and the second moving component so that the battery and the welding head move relative to each other until the welding head is aligned with the calculation base point. The field of view of the welding head is displayed on the display screen by positioning the camera, and then the control unit continues to control the movement of the welding head and / or the battery, and makes the center point of the cross cursor in the center of the field of view coincide with the calculation base point. The control unit can obtain the coordinates of the calculation base point in the coordinate system and feed it back to the processing unit. Repeating the above operations, the processing unit can eventually obtain the coordinates of the two calculation base points in the coordinate system. Then, the processing unit calculates the coordinates of the eight key points in the coordinate system based on the coordinates of the two calculation base points in the coordinate system, as well as the length and width set by the top cover.

[0052] The above calculation method has few calculation base points, and the calculated key point coordinates and the generated welding trajectory are prone to large deviations, resulting in the need for repeated fine-tuning in the actual welding process.

[0053] In order to alleviate the above problems, the present application designs a method for calculating the key points of the welding trajectory, which is applied to the welding of the top cover 10 and the shell of the square battery. The outline shape of the top cover 10 of the square battery is a rounded rectangle, which refers to a rectangle with rounded corners. In the top cover 10, the fillet is a 1 / 4 circle, and the long side and short side connected to the fillet are tangent to the fillet. The tangent point is the key point, which is also the starting point or end point of the fillet.

[0054] The calculation method of key points of welding trajectory includes:

[0055] See also Figure 1 and Figure 4 Step S100: Obtain the coordinates of at least five calculation base points of the four sides of the top cover 10 in the coordinate system and the fillet radius of the top cover 10 in the coordinate system; wherein the at least five calculation base points include at least two calculation base points of one side and at least one calculation base point of each of the remaining three sides;

[0056] Step S200: Calculate the coordinates of the starting points and end points of the four rounded corners of the top cover 10 in the coordinate system according to the coordinates of the at least five calculation base points in the coordinate system and the fillet radius of the top cover 10 in the coordinate system; wherein, in the extension direction of the welding trajectory, the starting point of the same fillet is located upstream of the end point, and the starting point and end point of the fillet are both the key points.

[0057] Wherein, each long side and each short side is provided with a calculation base point. As an example, one of the long sides has two calculation base points, and the other long side and the two short sides each have one calculation base point; or, one of the short sides has two calculation base points, and the other short side and the two long sides each have one calculation base point. This design can reduce the number of calculation base points while meeting the teaching requirement, so the number of times the coordinates of the calculation base points are collected and obtained is also reduced, thereby improving work efficiency.

[0058] Of course, the number of calculation base points on the two long sides and the two short sides may not be limited to the above embodiment. In other embodiments, two calculation base points may be set on each of the two long sides, one calculation base point may be set on each of the two short sides, and so on.

[0059] As an example, the welding head, the camera and the display screen are all electrically connected to the control unit, and the control unit is electrically connected to the processing unit. By using the welding head, the camera, the display screen and the control unit in cooperation, the control unit can feed back the coordinates of at least five calculation base points of the four sides of the top cover 10 in the coordinate system to the processing unit, so that the processing unit can obtain the coordinates of at least five calculation base points of the four sides of the top cover 10 in the coordinate system. The process of obtaining the coordinates of at least five calculation base points of the four sides of the top cover 10 in the coordinate system by using the welding head, the camera, the display screen and the control unit has been described above, so it will not be repeated here.

[0060] As an example, the user can use an interactive device connected to the processing unit, such as a keyboard, buttons, etc., to set the fillet radius of the top cover 10 in the coordinate system, so that the processing unit can obtain the fillet radius of the top cover 10 in the coordinate system.

[0061] In the present application, since all the calculation base points are located on the long side and the short side, the calculation base points are all on a straight line, the calculation base points are easy to calibrate and the calibration is accurate, the positioning is precise and the deviation is small. Moreover, according to the coordinates of at least five calculation base points on the four sides of the top cover 10 in the same coordinate system, and the fillet radius of the top cover 10 in the coordinate system, the coordinates of the starting point and the end point of the four fillets of the top cover 10 in the coordinate system are calculated. This method cancels the setting of the length and width, and reduces the disadvantages caused by the manufacturing errors of the length and width. The coordinates of the key points calculated by the above calculation method and the generated welding trajectory have small deviations, and the probability of repeated fine-tuning in the actual welding process is reduced.

[0062] Further, in some embodiments, the coordinate system is a motor coordinate system. Through further research, it is found that the actual moving distance of the motor drive component is different from the theoretical distance (the distance given by the command). For example, the theoretical distance is 100mm, and the actual distance moved by the measuring component is 99mm, that is, the actual distance moved by the motor drive component is 99 / 100 of the theoretical distance. It can be seen from the above distance that the motor coordinate system is scaled by the actual coordinate system, and the specific scaling ratio can be measured according to the actual motor used. In order to eliminate this error, a motor coordinate system is established, and the unit length of the motor coordinate system is 99 / 100 of the actual unit length value. The above-mentioned key point calculation method is used in the motor coordinate system to calculate the coordinates of the key points and generate the welding trajectory, which can greatly improve the calculation accuracy of the key points and the generation accuracy of the welding trajectory.

[0063] For the convenience of explanation, the following embodiments are described by taking the motor coordinate system as an example. Figure 2 and Figure 4 In some embodiments, step S200: calculating the coordinates of the starting point and the end point of the four rounded corners of the top cover 10 in the coordinate system according to the coordinates of the at least five calculation base points in the coordinate system and the rounded corner radius of the top cover 10 in the coordinate system, comprises:

[0064] Step S210: calculating the deflection angle and width of the top cover 10 in the coordinate system according to the coordinates of at least two calculation base points of one long side and at least one calculation base point of another long side in the coordinate system;

[0065] Step S220: Calculate the coordinates of the starting point and end point of the four rounded corners in the coordinate system according to the deflection angle and width of the top cover 10 in the coordinate system, the fillet radius of the top cover 10 in the coordinate system, and the coordinates of a calculation base point of each side in the coordinate system.

[0066] Among them, the motor coordinate system has an X-axis and a Y-axis. When the long side of the top cover 10 is parallel to the X-axis, the top cover 10 does not deflect in the motor coordinate system. When the long side of the top cover 10 or the extension of the long side intersects with the X-axis, the top cover 10 deflects in the motor coordinate system, and the deflection angle is the angle at which the long side of the top cover 10 or the extension of the long side intersects with the X-axis.

[0067] The calculated deflection angle and width of the top cover 10 in the motor coordinate system can be directly used to calculate the coordinates of the four fillets in the motor coordinate system. The coordinates of the key points calculated in this way and the generated welding trajectory are accurate, without the need for repeated testing and fine-tuning, and have high accuracy.

[0068] See also Figure 3 and Figure 4 In some embodiments, step S211 is further included: calculating the deflection angle of the top cover 10 in the coordinate system according to the coordinates of any two calculation base points of one of the long sides or one of the short sides in the coordinate system.

[0069] Taking the calculation of the deflection angle of the top cover 10 in the motor coordinate system according to the coordinates of any two calculation base points of a long side in the motor coordinate system as an example, a long side with at least two calculation base points is defined as the first long side 11, and all the calculation base points on the first long side 11 are arranged in sequence along the positive direction of the X-axis. Figure 4 For example, there are two calculation base points on the first long side 11, which are the first calculation base point and the second calculation base point. The first calculation base point is point A, and its coordinates in the motor coordinate system are (X1, Y1). The second calculation base point is point B, and its coordinates in the motor coordinate system are (X2, Y2). A parallel line parallel to the Y axis is drawn through point A, and a parallel line parallel to the X axis is drawn through point B. The two parallel lines intersect at point F. The angle between the parallel line passing through point B and parallel to the X axis and the first long side 11 is α, and α is the deflection angle of the top cover 10 in the motor coordinate system. According to the formula tanα=AF / BF, AF=Y1-Y2, BF=X2-X1, it can be calculated that α=arctan(Y1-Y2 / X2-X1). This method can accurately and simply calculate the deflection angle of the top cover 10 in the motor coordinate system.

[0070] The method of calculating the deflection angle of the top cover 10 in the motor coordinate system according to the coordinates of any two calculation base points of a short side in the motor coordinate system is the same as the above calculation method, so it will not be repeated here.

[0071] See also Figures 3 to 6 In some embodiments, step S212 is also included: calculating the width of the top cover 10 in the coordinate system according to the deflection angle of the top cover 10 in the coordinate system, the coordinates of any two calculation base points of one of the long sides in the coordinate system, and the coordinates of any calculation base point of the other long side in the coordinate system.

[0072] like Figure 4 Taking the example, define the other long side opposite to the first long side 11 as the second long side 13, and the second long side 13 has a calculation base point as the fourth calculation base point. The fourth calculation base point is point D, and its coordinates in the motor coordinate system are (X4, Y4).

[0073] like Figure 5As shown, the distance between point A and point B on the first long side 11 is defined as AB, point B and point D are connected, point D and point A are connected, and a parallel line parallel to the Y axis is drawn through point D, the intersection of the parallel line and the first long side 11 is point G, and the parallel line passing through point B and parallel to the X axis intersects at point W. The distance between point B and point W is BW, the distance between point B and point D is BD, and the distance between point D and point W is DW.

[0074] Define BD=a,AB=b,BW=X2-X4,DW=Y4-Y2,According to the formula BD 2 =BW 2 +DW 2 , we can deduce a 2 =(X2-X4) 2 +(Y4-Y2) 2 . BF=X2-X1,AF=Y1-Y2,According to the formula AB 2 =BF 2 +AF 2 , it can be deduced that: b 2 =(X2-X1) 2 +(Y1-Y2) 2 .

[0075] by Figure 5 and Figure 6 For example, draw a parallel line through point A parallel to the X axis, the intersection of this parallel line and the parallel line through point D and parallel to the Y axis is H, the length between point D and point H is DH, the distance between point D and point A is DA, the length between point H and point A is HA, DH = Y4-Y1, HA = X4-X1, DA 2 =HA 2 +DH 2 =(X4-X1) 2 +(Y4-Y1) 2 Draw a straight line perpendicular to the first long side 11 through point D, and the straight line intersects the first long side 11 at point Z. Define DZ = d. According to the Pythagorean theorem, we have the formula BD 2 =BZ 2 +DZ 2 , D.A. 2 =ZA 2 +DZ 2 , BZ+ZA=BA, where BD is a, BA is b, and DA is c, we can get BZ 2 +d 2 =a 2 and (b-BZ) 2 +d 2 =c 2 , and then calculate BZ=(a 2 +b 2 -c 2) / 2b. Assuming ∠DBZ is β, according to the formula cosβ=BZ / a, we can calculate β=(a 2 +b 2 -c 2 ) / 2ab. Then, according to the formula d=asinβ, d is calculated, and the width of the top cover 10 in the motor coordinate system can be obtained. This method can accurately and simply calculate the width of the top cover 10 in the motor coordinate system.

[0076] See also Figure 4 In some embodiments, the top cover 10 further includes a first short side 12, a second short side 14, a first fillet R1, a second fillet R2, a third fillet R3 and a fourth fillet R4, and the first long side 11, the first fillet R1, the first short side 12, the second fillet R2, the second long side 13, the third fillet R3, the second short side 14 and the fourth fillet R4 are sequentially connected. In the extension direction of the welding track, the starting point of the same fillet is located upstream of the end point, that is, when welding along the welding track, the starting point of the fillet is passed first, and then the end point of the fillet is passed.

[0077] The starting point of the first rounded corner R1 is the first starting point, which is specifically point R11 in the motor coordinate system; the end point of the first rounded corner R1 is the first end point, which is specifically point R12 in the motor coordinate system; the starting point of the second rounded corner R2 is the second starting point, which is specifically point R21 in the motor coordinate system; the end point of the second rounded corner R2 is the second end point, which is specifically point R22 in the motor coordinate system; the starting point of the third rounded corner R3 is the third starting point, which is specifically point R31 in the motor coordinate system; the end point of the third rounded corner R3 is the third end point, which is specifically point R32 in the motor coordinate system; the starting point of the fourth rounded corner R4 is the fourth starting point, which is specifically point R41 in the motor coordinate system; the end point of the fourth rounded corner R4 is the fourth end point, which is specifically point R42 in the motor coordinate system. The first starting point is located on the first long side 11 , the first end point and the second starting point are located on the first short side 12 , the second end point and the third starting point are located on the second long side 13 , the third end point and the fourth starting point are located on the second short side 14 , and the fourth end point is located on the first long side 11 .

[0078] The generated welding trajectory follows the contour of the top cover 10 and passes through the first long side 11, the starting point of the first rounded corner R1, the end point of the first rounded corner R1, the first short side 12, the starting point of the second rounded corner R2, the end point of the second rounded corner R2, the second long side 13, the starting point of the third rounded corner R3, the end point of the third rounded corner R3, the second short side 14, the starting point of the fourth rounded corner R4 and the end point of the fourth rounded corner R4.

[0079] See also Figure 4 and Figure 7 , the calculation method of key points of welding trajectory also includes:

[0080] Step S221: Calculate the coordinates of the start point and the end point of the first rounded corner R1 and the second rounded corner R2 in the coordinate system according to the coordinates of the calculation base point of the first long side 11 and the calculation base point of the first short side 12 in the coordinate system, the deflection angle, the rounded corner radius and the width of the top cover 10 in the coordinate system;

[0081] Step S222: Calculate the coordinates of the starting point and end point of the third rounded corner R3 and the fourth rounded corner R4 in the coordinate system based on the coordinates of a calculation base point of the second long side 13 and a calculation base point of the second short side 14 in the coordinate system, the deflection angle, fillet radius and width of the top cover 10 in the coordinate system.

[0082] This calculation method can accurately and simply calculate the coordinates of the starting point and end point of each fillet in the motor coordinate system.

[0083] by Figure 4 Taking as an example, the first short side 12 and the second short side 14 each have a calculation base point, and the calculation base point on the first short side 12 is the third calculation base point, and the calculation base point on the second short side 14 is the fifth calculation base point. The coordinates of the starting point and the end point of the first fillet R1 and the second fillet R2 in the motor coordinate system can be calculated by the coordinates of the first calculation base point of the first long side 11 and the third calculation base point of the first short side 12 in the motor coordinate system, and the coordinates of the starting point and the end point of the third fillet R3 and the fourth fillet R4 in the motor coordinate system can be calculated by the coordinates of the fourth calculation base point of the second long side 13 and the fifth calculation base point of the second short side 14 in the motor coordinate system.

[0084] Among them, the calculation order of the coordinates of the starting point and the end point of the fillet in the motor coordinate system is not limited. For example, the coordinates of the starting point of the fillet in the motor coordinate system can be calculated first, and then the coordinates of the end point of the fillet in the motor coordinate system can be calculated. In addition, the coordinates of the starting point and the end point of the fillet in the motor coordinate system can be calculated independently, or the coordinates of one of the starting point and the end point of the fillet in the motor coordinate system can be calculated based on the coordinates of the other of the starting point and the end point of the fillet in the motor coordinate system. The specific setting can be based on the needs.

[0085] Next, the coordinate calculation process of the starting point and the end point of the first fillet R1 and the second fillet R2 in the motor coordinate system is described in detail.

[0086] The specific calculation process of the starting point and end point of the first fillet R1 in the motor coordinate system is as follows:

[0087] See also Figure 4 , Figure 8 and Fig. 9, define the coordinates of the third calculation base point in the motor coordinate system as (X3, Y3), the fillet radius of the top cover 10 in the motor coordinate system is r, the starting point of the first fillet R1 is the first starting point, specifically point R11 in the motor coordinate system, and the coordinates in the motor coordinate system are (X6, Y6), the end point of the first fillet R1 is the first end point, specifically point R12 in the motor coordinate system, and the coordinates in the motor coordinate system are (X7, Y7). Draw a parallel line parallel to the Y axis through C, draw a parallel line parallel to the X axis through point A (the first calculation base point), and the two parallel lines intersect at point M, and the intersection point of the parallel line through point A (the first calculation base point) and parallel to the X axis and the second short side 14 is N.

[0088] Define the distance between point C (the third calculation base point) and point M as CM, the distance between point M and point N as MN, ∠MCN as α, CM=Y3-Y1, according to the formula tanα=MN / CM, calculate MN=(Y3-Y1).tanα. The distance between point M and point A is MA, MA=X3-X1, the distance between point N and point A is NA, MA-MN=NA, define NA=g, then g=X3-X1-(Y3-Y1)tanα.

[0089] The extension line of the first long side 11 and the extension line of the first short side 12 intersect at point L, and the distance between point L and point A (the first calculation base point) is defined as LA, and ∠NAL is α. According to the formula cosα=LA / NA, it can be calculated that LA=NAcosα=gcosα.

[0090] Define the distance between point L and point R11 as LR11, the distance between point R11 and point A as R11A, LA = LR11 + R11A, LR11 = r, and LA = gcosα, so R11A = LA-LR11 = gcosα-r. Draw a parallel line through point A parallel to the Y axis, and draw a parallel line through point R11 parallel to the X axis. Compared with point T, cosα = R11T / R11A, R11A = gcosα-r, R11T = R11Acosα = (gcosα-r)cosα. X6=X1+R11T=X1+(gcosα-r)cosα;Y6=Y1-AT=Y1-[gcosα-r]sinα;In summary, in the starting point coordinates (X6, Y6) of the first fillet R1, X6=X1+(gcosα-r)cosα, Y6=Y1-[gcosα-r]sinα.

[0091] See also Fig.10 , draw a parallel line parallel to the X-axis through point R11, and the parallel line and the extension line of the second short side 14 are compared to point P. Draw a parallel line to the Y-axis through point R12, and the parallel line and the parallel line through point R11 and parallel to the X-axis intersect at point Q.

[0092] The distance between point L and point R11 is LR11, the distance between point P and point R11 is PR11, ∠PR11L is α, according to the formula cosα=LR11 / PR11 and LR11=r, it can be deduced that PR11=r / cosα. PL=rtanα, R12P=R12L-PL=r-rtanα, ∠QR12P is α, R12P=r-rtanα, R12Q=R12Pcosα=(r-rtanα)cosα, QP=R12Psinα=(r-rtanα)sinα.

[0093] X7=X6+QR11=X6+QP+PR11=X1+(gcosα-r)cosα+(r-rtanα)sinα+r / cosα;

[0094] Y7=Y6+R12Q=Y1-[gcosα-r]sinα+(r-rsinα)cosα;

[0095] In summary, in the end point coordinates (X7, Y7) of the first fillet R1, X7=X1+(gcosα-r)cosα+(r-rsinα)sinα+rcosα, Y7=Y1-[gcosα-r]sinα+(r-rtanα)cosα.

[0096] See also Figure 4 and Fig.11 The specific calculation process of the starting point of the second fillet R2 in the motor coordinate system is as follows:

[0097] The starting point of the second fillet R2 is the second starting point, which is specifically point R21 in the motor coordinate system, and the coordinates in the motor coordinate system are (X8, Y8). A parallel line parallel to the X axis is drawn through R11, and the intersection point of the parallel line and the extension line of the first short side 12 is P. A parallel line parallel to the Y axis is drawn through point R21, and the parallel line and the parallel line through R11 and parallel to the X axis intersect at point S. The extension line of the first long side 11 intersects the extension line of the first short side 12 at point L.

[0098] The distance between point R21 and point P is R21P, R21P = dr-PL, it has been proved above that d is the width of the top cover 10 in the motor coordinate system, and PL = rtanα, then R21P = dr-rtanα. ∠SR21P is α, the distance between point R21 and point S is R21S, the distance between point S and point P is SP, R21S = R21Pcosα = (dr-rtanα)cosα, SP = R21Psinα = (dr-rtanα)sinα.

[0099] X8=X6+SP+PR11, where X6=X1+(gcosα-r)cosα, PR11=r / cosα, so:

[0100] Therefore;

[0101] X8=X1+(gcosα-r)cosα+(dr-rtanα)sinα+r / cosα.

[0102] Y8=Y6+R21S, Y6 has been calculated above, Y6=Y1-(gcosα-r)sinα, so:

[0103] Y8=Y1-(gcosα-r)sinα+(dr-rtanα)cosα.

[0104] In summary, in the starting point coordinates (X8, Y8) of the second fillet R2, X8=X1+(gcosα-r)cosα+(dr-rtanα)sinα+rcos, Y8=Y1-(gcosα-r)sinα+(dr-rtanα)cosα.

[0105] See also Figure 4 and Fig.12 The end point of the second fillet R2 is the second end point, which is specifically point R22 in the motor coordinate system, and the coordinates in the motor coordinate system are (X9, Y9). The extension line of the first short side 12 and the extension line of the second long side 13 intersect at point U. A line parallel to the X axis is drawn through R21, a line parallel to the X axis is drawn through R22, and a straight line parallel to the Y axis and passing through point U is drawn. The straight line intersects with the above two parallel lines at points V and W respectively.

[0106] Define the distance between point W and point R22 as WR22, the distance between point W and point U as point WU, the distance between point U and point V as UV, the distance between point V and point R21 as VR21, the distance between point U and point R21 as UR21, and the distance between point U and point R22 as UR22.

[0107] ∠WR22U=∠VUR21=α,UR21=UR22=r,cosα=WR22 / UR22,sinα=VR21 / UR21,it can be deduced that WR22=rcosα,VR21=rsinα。X9=X8-(WR22-VR21)=X8-r(cosα-sinα)=X1+(gcosα-r)cosα+(dr-rtanα)sinα+r / cosα-r(cosα-sinα).

[0108] cosα=UV / UR21,sinα=WU / UR22,through the above formula, we can deduce UV=rcosα,

[0109] WU=rsinα. Y9=Y8+(WU+UV)=Y8+r(cosα+sinα), specifically:

[0110] Y9=Y1-(gcosα-r)sinα+(dr-rtanα)cosα+r(cosα+sinα).

[0111] In summary, the end point coordinates (X9, Y9) of the second fillet R2 are:

[0112] X9=X1+(gcosα-r)cosα+(dr-rtan)sinα+r / cosα-r(cosα-sinα);

[0113] Y9=Y1-(gcosα-r)sinα+(dr-rtanα)cosα+r(cosα+sinα).

[0114] The coordinates of the starting point of the third fillet R3 in the motor coordinate system are calculated in the same direction as the coordinates of the starting point of the first fillet R1 in the motor coordinate system; the coordinates of the end point of the third fillet R3 in the motor coordinate system are calculated in the same direction as the coordinates of the end point of the first fillet R1 in the motor coordinate system; the coordinates of the starting point of the fourth fillet R4 in the motor coordinate system are calculated in the same direction as the coordinates of the starting point of the second fillet R2 in the motor coordinate system; the coordinates of the end point of the fourth fillet R4 in the motor coordinate system are calculated in the same direction as the coordinates of the end point of the second fillet R2 in the motor coordinate system, so they will not be repeated here.

[0115] The present application also provides a welding trajectory generation method, which comprises:

[0116] A method for calculating key points of a welding trajectory as described in any one of the above embodiments;

[0117] Obtaining the coordinates of the welding start point and the welding end point of the top cover 10 in the coordinate system;

[0118] The welding trajectory is generated according to the coordinates of the welding start point, the welding end point, the start point and the end point of the fillet in the coordinate system, and according to the fillet radius of the top cover 10 in the coordinate system.

[0119] Taking the motor coordinate system as an example, the processing unit obtains the fillet radius of the top cover 10 in the motor coordinate system, the coordinates of the welding starting point and the welding end point of the top cover 10 in the motor coordinate system, and the coordinates of the welding starting point, the welding end point, the starting point and the end point of the four fillets in the motor coordinate system, and the method of generating a welding trajectory according to the fillet radius of the top cover 10 in the motor coordinate system are all conventional designs in the field, so they will not be repeated here.

[0120] The welding trajectory generation method in the present application has the effects brought by any of the above-mentioned embodiments, so it will not be repeated here.

[0121] The present application also provides a teaching device, and the welding trajectory key point calculation method and welding trajectory generation method described in any one of the above embodiments are applied to the teaching device.

[0122] The teaching device includes a first moving component, a second moving component, a welding head, a positioning camera, a control unit and a processing unit. The first moving component, the second moving component, the welding head and the positioning camera are all electrically connected to the control unit, and the control unit is electrically connected to the processing unit. The battery to be welded is clamped on the first moving component, the welding head and the positioning camera are both installed on the second moving component, the battery to be welded and the welding head are relatively moved under the drive of the first moving component and the second moving component respectively so that the welding head can be aligned with the battery to be welded, and the processing unit is used to obtain the coordinates of at least five calculation base points of the four sides of the top cover 10 in the coordinate system and the fillet radius of the top cover 10 in the coordinate system, and calculate the coordinates of the starting point and the end point of the four fillets of the top cover 10 in the coordinate system according to the coordinates of the at least five calculation base points in the coordinate system and the fillet radius of the top cover 10 in the coordinate system; wherein, the at least five calculation base points include at least two calculation base points of one side and at least one calculation base point of each of the remaining three sides, in the extension direction of the welding track, the starting point of the same fillet is located upstream of the end point, and the starting point and the end point of the fillet are both key points of the welding track.

[0123] Specifically, the first moving component and the second moving component both have motors, the battery to be welded moves under the action of the motor of the first moving component, and the welding head and the positioning camera both move under the action of the motor of the second moving component.

[0124] Wherein, each long side and each short side is provided with a calculation base point. As an example, one of the long sides has two calculation base points, and the other long side and the two short sides each have one calculation base point; or, one of the short sides has two calculation base points, and the other short side and the two long sides each have one calculation base point. This design can reduce the number of calculation base points while meeting the teaching requirement, so the number of times the coordinates of the calculation base points are collected and obtained is also reduced, thereby improving work efficiency.

[0125] Of course, the number of calculation base points on the two long sides and the two short sides may not be limited to the above embodiment. In other embodiments, two calculation base points may be set on each of the two long sides, one calculation base point may be set on each of the two short sides, and so on.

[0126] As an example, the teaching device also includes a display screen, the display screen is electrically connected to the control unit, the control unit is electrically connected to the processing unit, and the welding head, the positioning camera, the display screen and the control unit cooperate so that the control unit can feed back the coordinates of at least five calculation base points on the four sides of the top cover 10 in the motor coordinate system to the processing unit, so that the processing unit can obtain the coordinates of at least five calculation base points on the four sides of the top cover 10 in the motor coordinate system. The process of obtaining the coordinates of at least five calculation base points on the four sides of the top cover 10 in the motor coordinate system using the welding head, the positioning camera, the display screen and the control unit has been described above, so it will not be repeated here.

[0127] As an example, the user can use an interactive device interactively connected to the processing unit, such as a keyboard, a button, etc., to set the fillet radius of the top cover 10 in the motor coordinate system, so that the processing unit can obtain the fillet radius of the top cover 10 in the motor coordinate system. In the present application, since all the calculation base points are located on the long side and the short side, the calculation base points are all on a straight line, the calculation base points are easy to calibrate and calibrate accurately, and the positioning is accurate and the deviation is small. Moreover, according to the coordinates of at least five calculation base points on the four sides of the top cover 10 obtained in the same coordinate system, and the fillet radius of the top cover 10 in the coordinate system, the coordinates of the starting point and the end point of the four fillets of the top cover 10 in the coordinate system are calculated. This method cancels the setting of the length and width, reduces the disadvantages caused by the manufacturing errors of the length and width, and the coordinates of the key points calculated by the above calculation method and the generated welding trajectory have small deviations, and the probability of repeated fine-tuning in the actual welding process is reduced. In some embodiments, the processing unit is used to obtain the coordinates of the welding starting point and the welding end point of the top cover 10 in the coordinate system, and generate a welding trajectory according to the coordinates of the welding starting point, the welding end point, the starting point and the end point of the four rounded corners in the coordinate system, and according to the rounded corner radius of the top cover 10 in the coordinate system.

[0128] Taking the motor coordinate system as an example, the processing unit obtains the fillet radius of the top cover 10 in the motor coordinate system, the coordinates of the welding starting point and the welding end point of the top cover 10 in the motor coordinate system, and the coordinates of the welding starting point, the welding end point, the starting point and the end point of the four fillets in the motor coordinate system, and the method of generating a welding trajectory according to the fillet radius of the top cover 10 in the motor coordinate system are all conventional designs in the field, so they will not be repeated here.

[0129] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A method for calculating key points of a welding trajectory, characterized in that: The welding trajectory key point calculation method comprises: Obtaining the coordinates of at least five calculation base points of the four sides of the top cover in the coordinate system and the fillet radius of the top cover in the coordinate system; wherein the at least five calculation base points include at least two calculation base points of one side and at least one calculation base point of each of the remaining three sides; According to the coordinates of the at least five calculation base points in the coordinate system and the fillet radius of the top cover in the coordinate system, the coordinates of the starting points and end points of the four fillets of the top cover in the coordinate system are calculated; wherein, in the extension direction of the welding trajectory, the starting point of the same fillet is located upstream of the end point, and the starting point and end point of the fillet are both the key points.

2. The method for calculating key points of welding trajectory according to claim 1, characterized in that: The coordinate system is the motor coordinate system.

3. The method for calculating key points of welding trajectory according to claim 1, characterized in that: Calculating the coordinates of the starting point and the end point of the four rounded corners of the top cover in the coordinate system according to the coordinates of the at least five calculation base points in the coordinate system and the rounded corner radius of the top cover in the coordinate system includes: Calculate the deflection angle and width of the top cover in the coordinate system according to the coordinates of at least two calculation base points of one long side and at least one calculation base point of another long side in the coordinate system; According to the deflection angle and width of the top cover in the coordinate system, the fillet radius of the top cover in the coordinate system, and according to the coordinates of a calculation base point of each side in the coordinate system, the coordinates of the starting point and end point of the four fillets in the coordinate system are calculated.

4. The method for calculating key points of welding trajectory according to claim 3, characterized in that: The deflection angle of the top cover in the coordinate system is calculated based on the coordinates of any two calculation base points of one of the long sides or one of the short sides in the coordinate system.

5. The method for calculating key points of welding trajectory according to claim 3, characterized in that: The width of the top cover in the coordinate system is calculated based on the deflection angle of the top cover in the coordinate system, the coordinates of any two calculation base points of one of the long sides in the coordinate system, and the coordinates of any calculation base point of the other long side in the coordinate system.

6. The method for calculating key points of welding trajectory according to claim 3, characterized in that: The top cover includes a first long side, a first rounded corner, a first short side, a second rounded corner, a second long side, a third rounded corner, a second short side and a fourth rounded corner that are connected; Calculate the coordinates of the starting point and the end point of the first rounded corner and the second rounded corner in the coordinate system according to the coordinates of a calculation base point of the first long side and a calculation base point of the first short side in the coordinate system, the deflection angle, the rounded corner radius and the width of the top cover in the coordinate system; According to the coordinates of a calculation base point of the second long side and a calculation base point of the second short side in the coordinate system, the deflection angle, fillet radius and width of the top cover in the coordinate system, the coordinates of the starting point and the end point of the third fillet and the fourth fillet in the coordinate system are calculated.

7. The method for calculating key points of a welding trajectory according to any one of claims 1 to 6, characterized in that: One of the long sides has two of the calculation base points, and the other long side and the two short sides each have one of the calculation base points; or one of the short sides has two of the calculation base points, and the other short side and the two long sides each have one of the calculation base points.

8. A welding trajectory generation method, comprising the welding trajectory key point calculation method as described in any one of the embodiments of claims 1 to 7 above; Obtaining the coordinates of the welding start point and the welding end point of the top cover in the coordinate system; The welding trajectory is generated according to the coordinates of the welding starting point, the welding end point, the starting point and the end point of the fillet in the coordinate system, and according to the fillet radius of the top cover in the coordinate system.

9. A teaching device, characterized in that: The teaching device includes a first moving component, a second moving component, a welding head, a positioning camera, a control unit and a processing unit, wherein the first moving component, the second moving component, the welding head and the positioning camera are all electrically connected to the control unit, and the control unit is electrically connected to the processing unit; The battery to be welded is clamped on the first movable component, the welding head and the positioning camera are both installed on the second movable component, the battery to be welded and the welding head are respectively moved relative to each other by the first movable component and the second movable component so that the welding head can be aligned with the battery to be welded, and the processing unit is used to obtain the coordinates of at least five calculation base points of the four sides of the top cover in the coordinate system and the fillet radius of the top cover in the coordinate system, and calculate the coordinates of the starting point and the end point of the four fillets of the top cover in the coordinate system according to the coordinates of the at least five calculation base points in the coordinate system and the fillet radius of the top cover in the coordinate system; wherein the at least five calculation base points include at least two calculation base points on one side and at least one calculation base point on each of the remaining three sides, and in the extension direction of the welding trajectory, the starting point of the same fillet is located upstream of the end point, and the starting point and the end point of the fillet are both key points of the welding trajectory.

10. The teaching device according to claim 9, characterized in that: The processing unit is used to obtain the coordinates of the welding start point and the welding end point of the top cover in the coordinate system, and generate the welding trajectory according to the coordinates of the welding start point, the welding end point, the start point and the end point of the four fillets in the coordinate system, and according to the fillet radius of the top cover in the coordinate system.

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