Flight welding height compensation method and welding equipment

Abstract

The invention relates to a flight welding height compensation method and welding equipment. The flight welding height compensation method comprises the following steps: presetting a welding height range which can be accepted by a welded product in a welding process and can ensure that the welded product meets a product quality standard after being welded; calculating the height difference between adjacent welding units in the welding product; when all the height differences are within the welding height range, a height compensation value is calculated according to the height of each welding unit; height adjustment based on the height compensation value is conducted on the welded product, flight welding is controlled to be executed after height adjustment, the welding height range is ingeniously utilized, height compensation is conducted on the welded product in advance, and the welding quality is guaranteed while efficient flight welding is achieved.

Description

Technical Field

[0001] The invention relates to a flying welding height compensation method and welding equipment, belonging to the flying welding field. Background Art

[0002] Traditional laser welding uses a robot to drive the galvanometer for welding. During each welding, the robot remains stationary and the galvanometer starts welding. After the galvanometer completes welding, the robot drives the galvanometer to weld at the next position. During the process of the robot driving the galvanometer to move to the next position, the galvanometer cannot perform welding operations. Frequent position changes cause serious losses in the efficiency of laser welding. For this reason, laser flying welding can drive the galvanometer to move while the galvanometer emits light to perform welding operations. This significantly improves the efficiency and quality of welding. At the same time, flying welding is widely used in the fields of automobile manufacturing, new energy power battery welding, etc.

[0003] In the current on-the-fly welding technology, 3D galvanometers are often used for welding operations, and the height of the welded workpiece can be compensated by adjusting the Z-axis direction inside the 3D galvanometer. However, the 3D galvanometer is expensive and is rarely used in the industry. In the field of new energy power batteries, on-the-fly welding technology still generally uses 2D galvanometers for welding, but the movement of the 2D galvanometer in the Z-axis direction can only be driven by the robot or the lifting mechanism at the bottom of the workpiece, and the robot is required to maintain a uniform speed and cannot move up and down, which seriously affects the quality and efficiency of on-the-fly welding. In addition, when welding new energy power batteries, since there are multiple cells in each module and there are height differences between the cells, the 2D galvanometer will also consider the horizontality of the lifting mechanism, the height difference between different welding trays, and the height difference at different positions of the same welding tray. Other factors that affect the welding height increase the difficulty of welding and extend the time to complete welding. Summary of the invention

[0004] The purpose of the present invention is to provide a flying welding height compensation method and welding equipment to solve the problem of increased welding difficulty and reduced efficiency caused by various height parameters during flying welding.

[0005] To achieve the above objectives, on the one hand, the present invention proposes a flying welding height compensation method, comprising: Preset the welding height range that is acceptable to the welding product during the welding process and can ensure that the welding product meets the product quality standards after welding; Calculate the height difference between adjacent welding units in the welded product; When all height differences are within the welding height range, a height compensation value is calculated according to the height of each welding unit; the height of the welding product is adjusted based on the height compensation value, and the flying welding is controlled after the height adjustment.

[0006] Further, it includes: determining the selection of welding equipment for performing on-the-fly welding, and the product quality standards of the welded products; Based on the product quality standards and the welding equipment selection, the welding product is verified to obtain the welding height range that is acceptable to the welding product during welding and to ensure that the welding product meets the product quality standards after welding.

[0007] Further, it includes: calculating the height compensation value according to the following method: Obtain welding reference values ​​of welding equipment; The height compensation value is an average value of the height difference between the height of each welding unit and the welding reference value.

[0008] Furthermore, it includes: when there is a height difference among all the height differences that exceeds the welding height range, the welding equipment performs a welding operation at the welding position of the current welding unit, then moves to the welding position of the next welding unit and then performs a welding operation on the next welding unit.

[0009] Furthermore, it includes: performing on-the-fly welding on the welding product by means of welding equipment provided with a 2D galvanometer.

[0010] On the other hand, the present invention also provides a welding device, including a processor, the processor being used to perform the following steps: presetting a welding height range that is acceptable to the welding product during the welding process and can ensure that the welding product meets the product quality standard after welding; Calculate the height difference between adjacent welding units in the welded product; When all height differences are within the welding height range, a height compensation value is calculated according to the height of each welding unit; the height of the welding product is adjusted based on the height compensation value, and the flying welding is controlled after the height adjustment.

[0011] Further, it includes: determining the selection of welding equipment for performing on-the-fly welding, and the product quality standards of the welded products; Based on the product quality standards and the welding equipment selection, the welding product is verified to obtain the welding height range that is acceptable to the welding product during welding and to ensure that the welding product meets the product quality standards after welding.

[0012] Further, it includes: calculating the height compensation value according to the following method: Obtain welding reference values ​​of welding equipment; The height compensation value is an average value of the height difference between the height of each welding unit and the welding reference value.

[0013] Furthermore, it includes: when there is a height difference among all the height differences that exceeds the welding height range, the welding equipment performs a welding operation at the welding position of the current welding unit, then moves to the welding position of the next welding unit and then performs a welding operation on the next welding unit.

[0014] Furthermore, it includes: performing on-the-fly welding on the welding product by means of welding equipment provided with a 2D galvanometer.

[0015] The beneficial effects of the present invention are as follows: by presetting a welding height range that is acceptable to the welding product during the welding process and can ensure that the welding product meets the product quality standards after welding; calculating the height difference between adjacent welding units in the welding product; when all height differences are within the welding height range, calculating the height compensation value according to the height of each welding unit; adjusting the height of the welding product based on the height compensation value, and controlling the execution of flying welding after the height adjustment, cleverly utilizing the welding height range, performing height compensation on the welding product in advance, achieving efficient flying welding while ensuring welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a flowchart of a method for height compensation of flying welding according to one aspect of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0018] The inventive concept of the present invention is to set corresponding welding height ranges for different welding products, so as to perform height compensation for the welding products based on the welding height range, in response to all height differences falling within the welding height range, to perform height compensation for the welding products, thereby realizing height compensation in the Z-axis direction of flying welding, accelerating the welding efficiency of flying welding, making flying welding no longer limited by 3D galvanometers, thereby reducing the welding cost of flying welding and expanding applicability.

[0019] Method Example 1: like Figure 1 FIG. 1 is a flow chart of a method for height compensation of flying welding according to one aspect of the present invention, wherein the method comprises step S11, step S12 and step S13, specifically: Step S11, presetting a welding height range that is acceptable to the welding product during the welding process and can ensure that the welding product meets the product quality standards after welding; it should be noted that the selection of welding equipment for performing flying welding and the product quality standards of the welding product are determined; based on the product quality standards and the welding equipment selection, the welding product is verified to have an acceptable height variation range for the welding product during the welding process and to ensure that the welding product meets the product quality standards after welding, and the welding height range is obtained; here, in the present invention, a 2D galvanometer is selected as the welding equipment selection, so as to perform flying welding on the welding product through the welding equipment equipped with a 2D galvanometer, so as to realize welding height compensation based on the 2D galvanometer.

[0020] Step S12, calculating the height difference between adjacent welding units in the welding product.

[0021] Step S13, when all height differences are within the welding height range, calculate the height compensation value according to the height of each welding unit; adjust the height of the welding product based on the height compensation value, and control the flying welding after the height adjustment; it should be noted that the height compensation value is calculated according to the following method: obtain the welding reference value of the welding equipment; here, the welding reference value is the set value of the height of the initial welding operation during the welding process.

[0022] The height compensation value is the average value of the height difference between the height of each welding unit and the welding reference value, that is, the height difference between the height of each welding unit and the welding reference value is calculated respectively, and then the height difference corresponding to each welding unit is averaged.

[0023] At the same time, corresponding to step S13, when there is a height difference among all height differences that exceeds the welding height range, the welding equipment performs the welding operation at the welding position of the current welding unit, then transfers to the welding position of the next welding unit and then performs the welding operation on the next welding unit, that is, when there is a height difference among all height differences that exceeds the welding height range, welding is performed using the traditional static welding method.

[0024] In addition, during the on-the-fly welding process, considering that the height difference of each module of the welding product after stacking is generally relatively small, the energy of the welding laser is set within a certain focal depth range to ensure the welding quality.

[0025] Through steps S11 to S13, height compensation can be performed in advance according to different products and different welding equipment selections, thereby improving the practicability of welding, achieving height compensation in the Z-axis direction during the flying welding process of the 2D galvanometer, and breaking through the flying welding bottleneck under the 2D galvanometer.

[0026] Method Example 2: In a preferred embodiment of the invention, the preferred welding product is a battery pack. In the actual application scenario of the invention, first, when debugging the flight welding equipment, ensure that the flight welding trajectory is parallel to the jacking platform. According to the equipment selection of the flight welding and the quality standard of the battery pack, verify the battery pack to confirm the maximum height change range that the battery pack can accept during the welding process under the premise of ensuring the welding quality, and set it as the welding height range of the flight welding equipment. Before flight welding, measure the height of each battery cell, and after measuring the height, calculate the height difference between all adjacent battery cells; if there is a height difference that exceeds the welding height range among all height differences, use the traditional static welding method, that is, perform height compensation and welding on the battery cells one by one, specifically: after completing the welding of the previous battery cell, transfer to the position after the height compensation of the next battery cell, and then weld; if all height differences are within the welding height range, use flight welding to compensate the height of the entire module of the battery pack in advance in the Z direction, and the compensation value is the average value of each data after deducting the robot welding reference value from the distance measurement result of each battery cell pole (that is, the battery cell height).

[0027] Device Example: The present invention also provides a welding device, including a processor; the processor is used to execute the steps of the flying welding height compensation method of the present invention. The introduction of the above method has been clearly described in the embodiment and will not be repeated here.

[0028] In summary, the laser energy is set within a certain focal depth range, and the welding height range is verified and calculated in advance to complete the Z-direction compensation of the welding robot before flight welding. This solves the welding quality problem caused by the inability of the 2D galvanometer to move in the Z direction during flight welding. The safety threshold setting and advance height compensation of the robot effectively ensure the quality of 2D galvanometer laser welding.

Claims

1. A flying welding height compensation method, characterized in that: include: Preset the welding height range that is acceptable to the welding product during the welding process and can ensure that the welding product meets the product quality standards after welding; Calculate the height difference between adjacent welding units in the welded product; When all height differences are within the welding height range, a height compensation value is calculated according to the height of each welding unit; the height of the welding product is adjusted based on the height compensation value, and the flying welding is controlled after the height adjustment.

2. The flying welding height compensation method according to claim 1, characterized in that: include: Determine the selection of welding equipment for performing on-the-fly welding, as well as the product quality standards of the welded products; Based on the product quality standards and the welding equipment selection, the welding product is verified to obtain the welding height range that is acceptable to the welding product during welding and to ensure that the welding product meets the product quality standards after welding.

3. The flying welding height compensation method according to claim 1, characterized in that: include: Calculate the height compensation value according to the following method: Obtain welding reference values ​​of welding equipment; The height compensation value is an average value of the height difference between the height of each welding unit and the welding reference value.

4. The flying welding height compensation method according to claim 1, characterized in that: include: When there is a height difference among all the height differences that exceeds the welding height range, the welding equipment performs the welding operation at the welding position of the current welding unit, then moves to the welding position of the next welding unit and then performs the welding operation on the next welding unit.

5. The flying welding height compensation method according to any one of claims 1 to 3, characterized in that: include: The welding products are welded on the fly by welding equipment equipped with 2D galvanometer.

6. A welding device comprising a processor, characterized in that: The processor is used to perform the following steps: presetting a welding height range that is acceptable to the welding product during the welding process and can ensure that the welding product meets the product quality standard after welding; Calculate the height difference between adjacent welding units in the welded product; When all height differences are within the welding height range, a height compensation value is calculated according to the height of each welding unit; the height of the welding product is adjusted based on the height compensation value, and the flying welding is controlled after the height adjustment.

7. The welding device according to claim 6, characterized in that include: Determine the selection of welding equipment for performing on-the-fly welding, as well as the product quality standards of the welded products; Based on the product quality standards and the welding equipment selection, the welding product is verified to obtain the welding height range that is acceptable to the welding product during welding and to ensure that the welding product meets the product quality standards after welding.

8. The welding device according to claim 6, characterized in that Including: Calculating the height compensation value according to the following method: Obtain welding reference values ​​of welding equipment; The height compensation value is an average value of the height difference between the height of each welding unit and the welding reference value.

9. The welding device according to claim 6, characterized in that include: When there is a height difference among all the height differences that exceeds the welding height range, the welding equipment performs the welding operation at the welding position of the current welding unit, then moves to the welding position of the next welding unit and then performs the welding operation on the next welding unit.

10. The welding device according to any one of claims 6 to 8, characterized in that: include: The welding products are welded on the fly by welding equipment equipped with 2D galvanometer.

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