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

Abstract

The application relates to a welding track key point acquisition method, a welding track generation method and a teaching device. The welding track key point acquisition method comprises the following steps: acquiring the coordinates of at least five calculation base points of four sides of a top cover in a coordinate system and the fillet radius of the top cover in the coordinate system; wherein the at least five calculation base points comprise at least two calculation base points of one side and at least one calculation base point of each of the remaining three sides; and the coordinates of the starting points and the ending points of the four fillets 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 fillet radius of the top cover in the coordinate system. The welding track key point acquisition method, the welding track generation method and the teaching device provided by the application can reduce the deviation of the coordinates of the key points and the generated welding track, and reduce the debugging probability.

Description

Technical Field

[0001] This application relates to the field of battery manufacturing technology, specifically to a method for obtaining key points of welding trajectory, a method for generating welding trajectory, and a teaching device. Background Technology

[0002] During battery manufacturing, the top cover and casing of the battery need to be welded to achieve 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, which then performs the welding according to the received trajectory.

[0003] A teaching device typically includes a first moving component, a second moving component, and a welding head. The battery is mounted on the first moving component, and the welding head is mounted on the second moving component. The movement of the first and second moving components allows relative motion between the battery and the welding head, enabling data acquisition and the generation of welding trajectories.

[0004] The top cover of the battery has a rounded rectangle shape. The necessary parameters for determining the welding trajectory are the welding start point, welding end point, key points, and corner radius. Among them, the key points are the start and end points of the four rounded corners (a total of 8) and the corner radius.

[0005] The welding start point, welding end point, and fillet radius can be directly set as parameters; the difficulty lies in determining the coordinates of the key points. In actual production, the main method for determining key points involves setting two calculation base points. The coordinates of the eight key points in the coordinate system are calculated using the coordinates of these two base points in the coordinate system, along with the set length and width of the top cover. However, the coordinates of the key points calculated using this method, and the resulting welding trajectory, are prone to significant deviations, requiring repeated fine-tuning during the actual welding process. Summary of the Invention

[0006] Therefore, it is necessary to provide a method for obtaining key points of welding trajectory, a method for generating welding trajectory, and a teaching device that can reduce the deviation of the coordinates of key points and the generated welding trajectory, thereby reducing the probability of debugging, in order to address the above problems.

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

[0008] Obtain the coordinates of at least five calculation base points on 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 on one side and at least one calculation base point on each of the remaining three sides;

[0009] Based on 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 point and ending point 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 ending point, and the starting point and ending point of the fillet are both the key points.

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

[0011] In some embodiments, the coordinates of the start and end points of the four rounded corners of the top cover in the coordinate system are calculated based on 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, including:

[0012] The deflection angle and width of the top cover in the coordinate system are calculated based on the coordinates of at least two calculation base points on one long side and at least one calculation base point on the other long side in the coordinate system.

[0013] Based on the deflection angle and width of the top cover in the coordinate system, the radius of the rounded corners of the top cover in the coordinate system, and the coordinates of the starting point and ending point of the four rounded corners in the coordinate system according to the coordinates of the calculation base point of each side in the coordinate system, the coordinates of the starting point and ending point of the four rounded corners in the coordinate system are calculated.

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

[0015] In some 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 together;

[0017] Based on the coordinates of the first long side and the first short side in the coordinate system, the deflection angle, radius and width of the top cover in the coordinate system, the coordinates of the starting point and ending point of the first rounded corner and the second rounded corner in the coordinate system are calculated.

[0018] Based on the coordinates of one of the calculation base points of the second long side and one of the calculation base points 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 ending point of the third fillet and the fourth fillet in the coordinate system are calculated.

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

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

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

[0022] The welding trajectory is generated based on the coordinates of the welding start point, the welding end point, the start points and end points of the four rounded corners in the coordinate system, and the radius of the rounded corners of the top cover in the coordinate system.

[0023] A 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.

[0024] The battery to be welded is clamped on the first moving component, and the welding head and the positioning camera are both mounted on the second moving component. The battery to be welded and the welding head move relative to each other 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. The processing unit is used to obtain the coordinates of at least five calculation base points on the four sides of the top cover in the coordinate system and the radius of the rounded corners of the top cover in the coordinate system. Based on the coordinates of the at least five calculation base points in the coordinate system and the radius of the rounded corners of the top cover in the coordinate system, the starting point and ending point of the four rounded corners of the top cover are calculated in the coordinate system. 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. In the extension direction of the welding trajectory, the starting point of the same rounded corner is located upstream of the ending point. The starting point and ending point of the rounded corner are both key points of the welding trajectory.

[0025] In some embodiments, the processing unit is used to obtain the coordinates of the welding start point and welding end point of the top cover in the coordinate system, and generate the welding trajectory based on the coordinates of the welding start point, the welding end point, the start point and end point of the four rounded corners in the coordinate system, and based on the rounded corner radius of the top cover in the coordinate system.

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

[0027] The aforementioned method for obtaining key points of the welding trajectory, the method for generating the welding trajectory, and the teaching device all utilize calculation base points located on the long and short sides, and all calculation base points are on straight lines. This makes the calculation base points easy to calibrate and accurate, resulting in precise positioning with minimal deviation. Furthermore, 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 radius of the rounded corners of the top cover in that coordinate system, the coordinates of the starting and ending points of the four rounded corners of the top cover in that coordinate system are calculated. This method eliminates the need for length and width settings, reducing the drawbacks caused by manufacturing errors in length and width. The coordinates of the key points calculated by this method and the resulting welding trajectory exhibit minimal deviation, reducing the probability of repeated fine-tuning in actual welding processes. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating a method for obtaining key points of a welding trajectory in one embodiment of this application;

[0029] Figure 2 This is a flowchart illustrating a method for obtaining key points of a welding trajectory in another embodiment of this application;

[0030] Figure 3 This is a flowchart illustrating the method for obtaining key points of the welding trajectory in another embodiment of this application;

[0031] Figure 4 This is a geometric schematic diagram illustrating the calculation of the deflection angle of the top cover in the motor coordinate system according to one embodiment of this application;

[0032] Figure 5 This is a geometric schematic diagram of the top cover in the motor coordinate system for calculating a and b in one embodiment of this application;

[0033] Figure 6 This is a geometric schematic diagram illustrating the calculation of the width of the top cover in the motor coordinate system according to one embodiment of this application;

[0034] Figure 7 This is a flowchart illustrating the method for obtaining key points of the welding trajectory in another embodiment of this application;

[0035] Figure 8 This is a geometrical schematic diagram showing the starting point for calculating the first fillet of the top cover in the motor coordinate system according to one embodiment of this application;

[0036] Figure 9 for Figure 8 A geometrically enlarged schematic diagram showing the starting point of the first fillet of the top cover in the motor coordinate system;

[0037] Figure 10 This is a geometrical schematic diagram showing the endpoint of the first fillet of the top cover in the motor coordinate system in one embodiment of this application;

[0038] Figure 11 This is a geometrical schematic diagram showing the starting point for calculating the second fillet in the motor coordinate system of the top cover in one embodiment of this application;

[0039] Figure 12 This is a geometrical schematic diagram showing the endpoint of the second fillet of the top cover in the motor coordinate system in one embodiment of this application.

[0040] Icon labels:

[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 Implementation

[0042] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0043] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the part or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0045] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0046] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0047] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0048] During battery manufacturing, the top cover and casing of the battery need to be welded to achieve 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, which then performs the welding according to the received trajectory.

[0049] The necessary parameters for determining the welding trajectory include the welding start point, welding end point, key points (i.e., the start and end points of the four rounded corners of the top cover, a total of 8), and the rounded corner radius.

[0050] The welding start point, welding end point, and fillet radius can be directly set as parameters; the difficulty lies in determining the coordinates of the key points. In actual production, the method used to determine the coordinates of the key points is to set two calculation base points on one long side or one short side of the top cover. The coordinates of the eight key points in the coordinate system are calculated using the coordinates of the two calculation base points in the coordinate system and the set length and width of the top cover.

[0051] The specific process for calculating the eight key points is as follows: The control unit controls the first and second moving components to move the battery relative to the welding head until the welding head aligns with the calculation base point. The positioning camera displays the welding head's field of view on the screen. The control unit then continues to control the movement of the welding head and / or the battery, aligning the center point of the crosshair in the field of view with the calculation base point. The control unit then obtains the coordinates of the calculation base point in the coordinate system and feeds them back to the processing unit. Repeating this process, the processing unit eventually obtains the coordinates of two calculation base points in the coordinate system. Then, based on the obtained coordinates of the two calculation base points and the set length and width of the top cover, the processing unit calculates the coordinates of the eight key points in the coordinate system.

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

[0053] To alleviate the above problems, this application designs a method for obtaining key points of the welding trajectory, which is applied to the welding of the top cover 10 of a square battery to the casing. The outline shape of the top cover 10 of the square battery is a rounded rectangle, which is a rectangle with rounded corners at all four corners. In the top cover 10, the rounded corners are 1 / 4 circles, and both the long and short sides connected to the rounded corners are tangent to the rounded corners. The point of tangency is the key point, which is also the start or end point of the rounded corner.

[0054] Methods for obtaining key points of welding trajectory include:

[0055] Please see Figure 1 and Figure 4 Step S100: Obtain the coordinates of at least five calculation base points on 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 on one side and at least one calculation base point on each of the remaining three sides.

[0056] Step S200: Based on 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, calculate the coordinates of the starting point and ending point of the four fillets 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 ending point, and the starting point and ending point of the fillet are both the key points.

[0057] In this design, a calculation base point is set for each long side and each short side. For example, one long side has two calculation base points, and the other long side and both short sides each have one calculation base point; or, one short side has two calculation base points, and the other short side and both long sides each have one calculation base point. This design, while still meeting the teaching requirements, reduces the number of calculation base points, thus reducing the number of times the coordinates of these base points are collected and acquired, thereby improving work efficiency.

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

[0059] As an example, the welding head, camera, and display screen are all electrically connected to the control unit, which in turn is electrically connected to the processing unit. By utilizing the welding head, camera, display screen, and control unit in conjunction, 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 coordinate system to the processing unit, enabling the processing unit to obtain the coordinates of at least five calculation base points on 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 on the four sides of the top cover 10 in the coordinate system using the welding head, camera, display screen, and control unit has already been explained above and 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 or buttons, to set the radius of the rounded corners of the top cover 10 in the coordinate system, so that the processing unit can obtain the radius of the rounded corners of the top cover 10 in the coordinate system.

[0061] In this application, since all calculation base points are located on the long and short sides and are all on straight lines, the calculation base points are easy to calibrate and accurate, resulting in precise positioning with minimal deviation. Furthermore, based on 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 that coordinate system, the coordinates of the starting and ending points of the four fillets of the top cover 10 in that coordinate system are calculated. This method eliminates the need for length and width settings, reducing the drawbacks caused by manufacturing errors in length and width. The coordinates of the key points calculated by the above method and the generated welding trajectory have minimal deviations, reducing the probability of repeated fine-tuning in the actual welding process.

[0062] Furthermore, in some embodiments, the coordinate system is a motor coordinate system. Further research revealed a difference between the actual movement distance of the motor-driven component and the theoretical distance (the distance given by the command). For example, with a theoretical distance of 100mm, the actual measured movement distance of the component is 99mm, meaning the actual movement distance of the motor-driven component is 99 / 100 of the theoretical distance. From this distance, it can be seen that the motor coordinate system is a scaled version of the actual coordinate system; the specific scaling ratio can be determined based on the actual motor used. To eliminate this error, a motor coordinate system is established, with a unit length that is 99 / 100 of the actual unit length value. The key point coordinates are calculated using the aforementioned key point acquisition method within the motor coordinate system, and the welding trajectory is generated. This significantly improves the accuracy of key point calculation and welding trajectory generation.

[0063] For ease of explanation, the following embodiments will all use the motor coordinate system as an example. Please refer to... Figure 2 and Figure 4 In some embodiments, step S200: calculating the coordinates of the start and end points of the four rounded corners of the top cover 10 in the coordinate system based on the coordinates of the at least five calculation base points in the coordinate system and the rounded corner radii of the top cover 10 in the coordinate system, includes:

[0064] Step S210: Calculate the deflection angle and width of the top cover 10 in the coordinate system based on the coordinates of at least two calculation base points of one long side and at least one calculation base point of the other long side in the coordinate system.

[0065] Step S220: Based on the deflection angle and width of the top cover 10 in the coordinate system, the radius of the rounded corners of the top cover 10 in the coordinate system, and the coordinates of the starting and ending points of the four rounded corners in the coordinate system, the coordinates of the starting and ending points of the four rounded corners in the coordinate system are calculated. 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 its extension intersects 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 its extension intersects the X-axis.

[0066] 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 and the generated welding trajectory calculated using this method are accurate, requiring no repeated testing and fine-tuning, and have high precision.

[0067] Please see Figure 3 and Figure 4In some embodiments, the method further includes step S211: calculating the deflection angle of the top cover 10 in the coordinate system based on the coordinates of any two calculation base points of one of the long side or one of the short side in the coordinate system.

[0068] Taking the calculation of the deflection angle of the top cover 10 in the motor coordinate system based on the coordinates of any two calculation base points on 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 calculation base points on the first long side 11 are arranged sequentially along the positive direction of the X-axis. Figure 4 For example, the first long side 11 has two calculation base points, namely the first calculation base point and the second calculation base point. The first calculation base point is point A, whose coordinates in the motor coordinate system are (X1, Y1), and the second calculation base point is point B, whose coordinates in the motor coordinate system are (X2, Y2). A line parallel to the Y-axis is drawn through point A, and a line parallel to the X-axis is drawn through point B. The two parallel lines intersect at point F. The angle between the line parallel to the X-axis passing through point B and the first long side 11 is α, which 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, α=arctan(Y1-Y2 / X2-X1) can be calculated. This method can accurately and simply calculate the deflection angle of the top cover 10 in the motor coordinate system.

[0069] The method for calculating the deflection angle of the top cover 10 in the motor coordinate system based on the coordinates of any two calculation base points on one short side in the motor coordinate system is the same as the above calculation method, so it will not be repeated here.

[0070] Please see Figures 3 to 6 In some embodiments, the method further includes step S212: calculating the width of the top cover 10 in the coordinate system based on 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.

[0071] like Figure 4 For example, let's define another long side that is set opposite to the first long side 11 as the second long side 13, and let the second long side 13 have a calculation base point that is the fourth calculation base point. The fourth calculation base point is point D, and its coordinates in the motor coordinate system are (X4, Y4).

[0072] like Figure 5As shown, define the distance between points A and B on the first long side 11 as AB. Connect points B and D, and connect points D and A. Draw a line parallel to the Y-axis through point D. This line intersects the first long side 11 at point G, and also intersects a line passing through point B and parallel to the X-axis at point W. The distance between points B and W is BW, the distance between points B and D is BD, and the distance between points D and W is DW.

[0073] Define BD = a, AB = b, BW = X² - ​​X⁴, DW = Y⁴ - Y², according to the formula BD 2 =BW 2 +DW 2 It can be deduced that 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 .

[0074] by Figure 5 and Figure 6 For example, draw a line through point A parallel to the X-axis. The intersection point of this line and a line through point D 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, and 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 line perpendicular to the first longer side 11 through point D. This line intersects the first longer side 11 at point Z. Define DZ = d. According to the Pythagorean theorem, we have the formula BD. 2 =BZ 2 +DZ 2 DA 2 =ZA 2 +DZ 2 BZ + ZA = BA, where BD is a, BA is b, and DA is c, thus we can obtain BZ. 2 +d 2 =a 2 and (b-BZ) 2 +d 2 =c 2 Then, BZ = (a 2 +b 2 -c 2Let ∠DBZ be β. According to the formula cosβ=BZ / a, we can calculate β=(a / 2b). 2 +b 2 -c 2 ) / 2ab. Then, according to the formula d=asinβ, d can be calculated, and thus 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.

[0075] Please see Figure 4 In some embodiments, the top cover 10 further includes a first short side 12, a second short side 14, a first rounded corner R1, a second rounded corner R2, a third rounded corner R3, and a fourth rounded corner R4, with the first long side 11, the first rounded corner R1, the first short side 12, the second rounded corner R2, the second long side 13, the third rounded corner R3, the second short side 14, and the fourth rounded corner R4 connected sequentially. In the direction of the welding trajectory, the starting point of the same rounded corner is upstream of its ending point; that is, when welding along the welding trajectory, the starting point of the rounded corner is passed first, followed by its ending point.

[0076] Taking the starting point of the first fillet R1 as the first starting point, specifically point R11 in the motor coordinate system, and the ending point of the first fillet R1 as the first ending point, specifically point R12 in the motor coordinate system, taking the starting point of the second fillet R2 as the second starting point, specifically point R21 in the motor coordinate system, and the ending point of the second fillet R2 as the second ending point, specifically point R22 in the motor coordinate system, taking the starting point of the third fillet R3 as the third starting point, specifically point R31 in the motor coordinate system, and the ending point of the third fillet R3 as the third ending point, specifically point R32 in the motor coordinate system, taking the starting point of the fourth fillet R4 as the fourth starting point, specifically point R41 in the motor coordinate system, and the ending point of the fourth fillet R4 as the fourth ending point, specifically point R42 in the motor coordinate system. The first starting point is located on the first long side 11, the first ending point and the second starting point are located on the first short side 12, the second ending point and the third starting point are located on the second long side 13, the third ending point and the fourth starting point are located on the second short side 14, and the fourth ending point is located on the first long side 11.

[0077] The generated welding trajectory passes sequentially along the outline of the top cover 10, passing through the first long side 11, the starting point of the first rounded corner R1, the ending point of the first rounded corner R1, the first short side 12, the starting point of the second rounded corner R2, the ending point of the second rounded corner R2, the second long side 13, the starting point of the third rounded corner R3, the ending point of the third rounded corner R3, the second short side 14, the starting point of the fourth rounded corner R4, and the ending point of the fourth rounded corner R4.

[0078] Please see Figure 4 and Figure 7 Methods for obtaining key points of welding trajectory also include:

[0079] Step S221: Based on 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, radius and width of the top cover 10 in the coordinate system, calculate the coordinates of the starting point and ending point of the first rounded corner R1 and the second rounded corner R2 in the coordinate system.

[0080] Step S222: Based on the coordinates of one of the calculation base points of the second long side 13 and the second short side 14 in the coordinate system, the deflection angle, radius and width of the top cover 10 in the coordinate system, calculate the coordinates of the starting point and ending point of the third rounded corner R3 and the fourth rounded corner R4 in the coordinate system.

[0081] This calculation method can accurately and easily calculate the coordinates of the start and end points of each fillet in the motor coordinate system.

[0082] by Figure 4 For 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. For example, the coordinates of the starting point and ending 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. The coordinates of the starting point and ending 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.

[0083] The order in which the coordinates of the start and end points of the fillet in the motor coordinate system are calculated is not limited. For example, the coordinates of the start 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 later. Furthermore, the coordinates of the start and end points of the fillet in the motor coordinate system can be calculated independently, or the coordinates of one of the start and end points of the fillet in the motor coordinate system can be calculated based on the coordinates of the other of the start and end points of the fillet in the motor coordinate system. The specific calculation can be set according to requirements.

[0084] The following is a detailed explanation of the calculation process of the coordinates of the starting point and ending point of the first fillet R1 and the second fillet R2 in the motor coordinate system.

[0085] The specific calculation process for the starting and ending points of the first fillet R1 in the motor coordinate system is as follows:

[0086] Please see Figure 4 , Figure 8 and Figure 9Define the coordinates of the third calculation base point in the motor coordinate system as (X3, Y3), the radius of the fillet of the top cover 10 in the motor coordinate system as r, the starting point of the first fillet R1 as the first starting point, specifically point R11 in the motor coordinate system, and its coordinates in the motor coordinate system as (X6, Y6), and the ending point of the first fillet R1 as the first ending point, specifically point R12 in the motor coordinate system, and its coordinates in the motor coordinate system as (X7, Y7). Draw a line parallel to the Y-axis through point C, and a line parallel to the X-axis through point A (the first calculation base point), with the two parallel lines intersecting at point M. The intersection point of the line parallel to the X-axis through point A (the first calculation base point) and the second short side 14 is N.

[0087] Let CM be the distance between point C (the third calculation base point) and point M, and MN be the distance between point M and point N. Let ∠MCN be α, and CM = Y3 - Y1. Using the formula tanα = MN / CM, we can calculate MN = (Y3 - Y1)tanα. Let MA be the distance between point M and point A, and MA = X3 - X1. Let NA be the distance between point N and point A, and MA - MN = NA. Define NA = g, then g = X3 - X1 - (Y3 - Y1)tanα.

[0088] The extension of the first long side 11 intersects the extension of the first short side 12 at point L. 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, we can calculate LA=NAcosα=gcosα.

[0089] Define the distance between point L and point R11 as LR11, and the distance between point R11 and point A as R11A. LA = LR11 + R11A, LR11 = r, and LA = gcosα. Therefore, R11A = LA - LR11 = gcosα - r. Draw a line parallel to the Y-axis through point A, and a line parallel to the X-axis through point R11. Comparing these two parallel lines to point T, cosα = R11T / R11A, R11A = gcosα - r, and R11T = R11Acosα = (gcosα - r)cosα. X6=X1+R11T=X1+(gcosα-r)cosα;Y6=Y1-AT=Y1-[gcosα-r]sinα;In summary, in the starting coordinates (X6, Y6) of the first fillet R1, X6=X1+(gcosα-r)cosα,Y6=Y1-[gcosα-r]sinα。

[0090] Please see Figure 10 Draw a line parallel to the X-axis through point R11. This line intersects the extension of the second short side 14 at point P. Draw a line parallel to the Y-axis through point R12. This line intersects the line parallel to the X-axis through point R11 at point Q.

[0091] The distance between point L and point R11 is LR11, the distance between point P and point R11 is PR11, and ∠PR11L is α. Based on the formulas cosα=LR11 / PR11 and LR11=r, we can derive 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.

[0092] X7=X6+QR11=X6+QP+PR11=X1+(gcosα-r)cosα+(r-rtanα)sinα+r / cosα;

[0093] Y7=Y6+R12Q=Y1-[gcosα-r]sinα+(r-rsinα)cosα;

[0094] In summary, at the endpoint 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.

[0095] Please see Figure 4 and Figure 11 The specific calculation process for the starting point of the second fillet R2 in the motor coordinate system is as follows:

[0096] The starting point of the second fillet R2 is the second starting point, specifically point R21 in the motor coordinate system, with coordinates (X8, Y8). Draw a line parallel to the X-axis through R11; this line intersects the extension of the first short side 12 at point P. Draw a line parallel to the Y-axis through point R21; this line intersects the line parallel to the X-axis through R11 at point S. The extension of the first long side 11 intersects the extension of the first short side 12 at point L.

[0097] The distance between point R21 and point P is R21P, R21P = dr - PL. It has been proven 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, and the distance between point S and point P is SP. R21S = R21Pcosα = (dr - rtanα)cosα, SP = R21Psinα = (dr - rtanα)sinα.

[0098] X8 = X6 + SP + PR11, where X6 = X1 + (gcosα - r)cosα, PR11 = r / cosα, therefore:

[0099] Therefore;

[0100] X8=X1+(gcosα-r)cosα+(dr-rtanα)sinα+r / cosα.

[0101] Y8=Y6+R21S, Y6 has already been calculated above, Y6=Y1-(gcosα-r)sinα, therefore:

[0102] Y8=Y1-(gcosα-r)sinα+(dr-rtanα)cosα.

[0103] In summary, in the starting 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.

[0104] Please see Figure 4 and Figure 12 The endpoint of the second fillet R2 is the second endpoint, specifically point R22 in the motor coordinate system, with coordinates (X9, Y9). The extensions of the first short side 12 and the second long side 13 intersect at point U. Draw a line parallel to the X-axis through R21 and another line parallel to the X-axis through R22. Draw a straight line parallel to the Y-axis passing through point U. This straight line intersects the two parallel lines mentioned above at points V and W, respectively.

[0105] 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.

[0106] ∠WR22U=∠VUR21=α,UR21=UR22=r,cosα=WR22 / UR22,sinα=VR21 / UR21,From this, we can deduce 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).

[0107] cosα=UV / UR21, sinα=WU / UR22, from the above formulas we can derive UV=rcosα.

[0108] WU = rsinα. Y9 = Y8 + (WU + UV) = Y8 + r(cosα + sinα), specifically:

[0109] Y9=Y1-(gcosα-r)sinα+(dr-rtanα)cosα+r(cosα+sinα).

[0110] In summary, the endpoint coordinates (X9, Y9) of the second fillet R2 are:

[0111] X9=X1+(gcosα-r)cosα+(dr-rtan)sinα+r / cosα-r(cosα-sinα);

[0112] Y9=Y1-(gcosα-r)sinα+(dr-rtanα)cosα+r(cosα+sinα).

[0113] The calculation method for the coordinates of the starting point of the third fillet R3 in the motor coordinate system is the same as the calculation method for the coordinates of the starting point of the first fillet R1 in the motor coordinate system; the calculation method for the coordinates of the ending point of the third fillet R3 in the motor coordinate system is the same as the calculation method for the coordinates of the ending point of the first fillet R1 in the motor coordinate system; the calculation method for the coordinates of the starting point of the fourth fillet R4 in the motor coordinate system is the same as the calculation method for the coordinates of the starting point of the second fillet R2 in the motor coordinate system; the calculation method for the coordinates of the ending point of the fourth fillet R4 in the motor coordinate system is the same as the calculation method for the coordinates of the ending point of the second fillet R2 in the motor coordinate system, so it will not be repeated here.

[0114] This application also provides a method for generating welding trajectories, which includes:

[0115] The method for obtaining key points of welding trajectory as described in any of the above embodiments;

[0116] Obtain the coordinates of the welding start point and welding end point of the top cover 10 in the coordinate system;

[0117] The welding trajectory is generated based on the coordinates of the welding start point, the welding end point, the start point and the end point of the four rounded corners in the coordinate system, and based on the rounded corner radius of the top cover 10 in the coordinate system.

[0118] Taking the motor coordinate system as an example, the processing unit obtains the radius of the fillet of the top cover 10 in the motor coordinate system, the coordinates of the welding start point and welding end point of the top cover 10 in the motor coordinate system, and the method of generating the welding trajectory based on the coordinates of the welding start point, welding end point, the start point and end point of the four fillets in the motor coordinate system, and the radius of the fillet of the top cover 10 in the motor coordinate system. These are all conventional designs in the field, so they will not be described in detail here.

[0119] The welding trajectory generation method in this application has the effects of any of the above embodiments, so it will not be described again here.

[0120] This application also provides a teaching device in which the welding trajectory key point acquisition method and welding trajectory generation method described in any of the above embodiments are applied.

[0121] 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, and the welding head and the positioning camera are both mounted on the second moving component. The battery to be welded and the welding head move relative to each other 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. The processing unit is used to obtain the coordinates of at least five calculation base points on 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. Based on 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, the starting point and ending point of the four fillets of the top cover 10 are calculated in the coordinate system. 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. In the extension direction of the welding trajectory, the starting point of the same fillet is located upstream of the ending point, and the starting point and ending point of the fillet are both key points of the welding trajectory.

[0122] Specifically, both the first and second moving components have motors. The battery to be welded moves under the action of the motor of the first moving component, while the welding head and the positioning camera move under the action of the motor of the second moving component.

[0123] In this design, a calculation base point is set for each long side and each short side. For example, one long side has two calculation base points, and the other long side and both short sides each have one calculation base point; or, one short side has two calculation base points, and the other short side and both long sides each have one calculation base point. This design, while still meeting the teaching requirements, reduces the number of calculation base points, thus reducing the number of times the coordinates of these base points are collected and acquired, thereby improving work efficiency.

[0124] Of course, the number of calculation base points for the two long sides and the two short sides is not limited to the above embodiment. In other embodiments, two calculation base points can be set for each of the two long sides, and one calculation base point can be set for each of the two short sides, etc.

[0125] As an example, the teaching device also includes a display screen, which is electrically connected to the control unit. The control unit is electrically connected to the processing unit. By utilizing the welding head, positioning camera, display screen, and control unit in conjunction, 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, enabling the processing unit to 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, positioning camera, display screen, and control unit has been described above and will not be repeated here.

[0126] As an example, the user can use an interactive device connected to the processing unit, such as a keyboard or buttons, to specify 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 this application, since all calculation base points are located on the long and short sides and are all on straight lines, the calculation base points are easy to calibrate and accurate, resulting in precise positioning with small deviations. Moreover, based on 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 that coordinate system, the coordinates of the start and end points of the four fillets of the top cover 10 in that coordinate system are calculated. This method eliminates the need for length and width settings, reducing the drawbacks caused by manufacturing errors in length and width. The deviations in the coordinates of the key points calculated by the above calculation method and the generated welding trajectory are small, reducing the probability of repeated fine-tuning in the actual welding process. In some embodiments, the processing unit is used to obtain the coordinates of the welding start point and welding end point of the top cover 10 in the coordinate system, and generate a welding trajectory based on the coordinates of the welding start point, welding end point, the start point and end point of the four rounded corners in the coordinate system, and based on the rounded corner radius of the top cover 10 in the coordinate system.

[0127] Taking the motor coordinate system as an example, the processing unit obtains the radius of the fillet of the top cover 10 in the motor coordinate system, the coordinates of the welding start point and welding end point of the top cover 10 in the motor coordinate system, and the method of generating the welding trajectory based on the coordinates of the welding start point, welding end point, the start point and end point of the four fillets in the motor coordinate system, and the radius of the fillet of the top cover 10 in the motor coordinate system. These are all conventional designs in the field, so they will not be described in detail here.

[0128] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0129] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for obtaining key points of a welding trajectory, characterized in that, The method for obtaining key points of the welding trajectory includes: Obtain the coordinates of at least five calculation base points on the four sides of the top cover in a 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 long side and at least one calculation base point on each of the remaining three sides; The deflection angle and width of the top cover in the coordinate system are calculated based on the coordinates of the at least five calculation base points in the coordinate system. Based on the deflection angle and width of the top cover in the coordinate system, the radius of the rounded corners of the top cover in the coordinate system, and the coordinates of the starting point and ending point of the four rounded corners in the coordinate system according to the coordinates of the calculation base point of each side in the coordinate system, the coordinates of the starting point and ending point of the four rounded corners in the coordinate system are calculated. In the direction of extension of the welding trajectory, the starting point of the same fillet is located upstream of the ending point, and both the starting point and the ending point of the fillet are the key points.

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

3. The method for obtaining key points of welding trajectory according to claim 1, characterized in that, The deflection angle of the top cover in the coordinate system is calculated based on the coordinates of any two of the calculation base points of one of the long sides or one of the short sides in the coordinate system.

4. The method for obtaining key points of welding trajectory according to claim 1, 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.

5. The method for obtaining key points of welding trajectory according to claim 1, 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 connected together; Based on the coordinates of the first long side and the first short side in the coordinate system, the deflection angle, radius and width of the top cover in the coordinate system, the coordinates of the starting point and ending point of the first rounded corner and the second rounded corner in the coordinate system are calculated. Based on the coordinates of one of the calculation base points of the second long side and one of the calculation base points 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 ending point of the third fillet and the fourth fillet in the coordinate system are calculated.

6. The method for obtaining key points of welding trajectory according to any one of claims 1 to 5, characterized in that, One of the longer sides has two of the aforementioned calculation base points, and the other longer side and both shorter sides each have one of the aforementioned calculation base points.

7. A welding trajectory generation method, comprising the welding trajectory key point acquisition method as described in any one of claims 1 to 6 above; Obtain the coordinates of the welding start point and welding end point of the top cover in the coordinate system; The welding trajectory is generated based on the coordinates of the welding start point, the welding end point, the start points and end points of the four rounded corners in the coordinate system, and based on the rounded corner radius of the top cover in the coordinate system.

8. 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. 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, and the welding head and the positioning camera are both mounted on the second moving component. The battery to be welded and the welding head move relative to each other 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. The processing unit is used to obtain the coordinates of at least five calculation base points on the four sides of the top cover in the coordinate system and the radius of the rounded corners of the top cover in the coordinate system. Based on the coordinates of the at least five calculation base points in the coordinate system, the deflection angle and width of the top cover in the coordinate system are calculated. Based on the deflection angle and width of the top cover in the coordinate system, the radius of the rounded corners of the top cover in the coordinate system, and the coordinates of the starting point and ending point of the four rounded corners in the coordinate system are calculated. The at least five calculation base points include at least two calculation base points on one long side and at least one calculation base point on each of the remaining three sides. In the extension direction of the welding trajectory, the starting point of the same rounded corner is located upstream of the ending point. The starting point and ending point of the rounded corner are both key points of the welding trajectory.

9. The teaching device according to claim 8, characterized in that, The processing unit is used to obtain the coordinates of the welding start point and welding end point of the top cover in the coordinate system, and generate the welding trajectory based on the coordinates of the welding start point, the welding end point, the start point and end point of the four rounded corners in the coordinate system, and based on the rounded corner radius of the top cover in the coordinate system.

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