Turret welding equipment and welding method

Abstract

The invention discloses turret welding equipment and a welding method, and relates to the technical field of welding, the turret welding equipment comprises a controller, a turret, a swing arm, a plurality of battery carriers arranged around the turret, and an image acquisition device and a laser welding device arranged on the swing arm; the controller is used for controlling the swing arm to swing synchronously with each battery carrier in sequence; the image acquisition device is used for acquiring a welding track offset parameter of a first target battery carrier which swings synchronously with the image acquisition device and is provided with a battery; the controller is further used for storing the welding track deviation parameters and the corresponding carrier identifiers in an associated mode. And the laser welding device is used for acquiring a welding track deviation parameter of a second target battery carrier according to a carrier identifier of the second target battery carrier which swings synchronously with the laser welding device and has a battery, and welding the battery in the second target battery carrier according to the welding track deviation parameter of the second target battery carrier. The technical problem that the battery welding precision is low is solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of welding technology, and in particular to turret welding equipment and welding methods. Background Art

[0002] With the rapid development of turret welding equipment, the demand for miniaturized, lightweight and high-performance lithium batteries is growing. As an important form of lithium battery, cylindrical batteries are widely used in various turret welding equipment due to their compact structure and high energy density. However, due to the small size of the cylindrical battery itself, the contact area of ​​its tabs, collector plates and top covers is correspondingly reduced, and the accuracy of the welding position is extremely high. Slight deviations may lead to loose welding or internal short circuits in the battery, making it easy to produce errors during the welding process. Therefore, there is currently a technical problem of low battery welding accuracy.

[0003] The above contents are only used to assist in understanding the technical solutions of the embodiments of the present application, and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to provide a turret welding device and a welding method, aiming to solve the technical problem of low battery welding accuracy.

[0005] To achieve the above-mentioned purpose, an embodiment of the present application provides a turret welding device, which includes a controller, a turret, a swing arm arranged on the turret, a plurality of battery carriers arranged around the turret, and an image acquisition device and a laser welding device arranged on the swing arm, wherein the controller is connected to the turret, the swing arm, the image acquisition device and the laser welding device;

[0006] The controller is used to control the swing arm to swing synchronously with each battery carrier in sequence;

[0007] The image acquisition device is used to acquire welding trajectory offset parameters of a first target battery carrier which swings synchronously with the image acquisition device and has a battery;

[0008] The controller is also used to associate and store the welding trajectory offset parameters and the carrier identification corresponding to the welding trajectory offset parameters;

[0009] The laser welding device is used to obtain the welding trajectory offset parameters of the second target battery carrier based on the carrier identification of the second target battery carrier that oscillates synchronously with the laser welding device and has batteries, and to weld the batteries in the second target battery carrier based on the welding trajectory offset parameters of the second target battery carrier.

[0010] In one embodiment, the controller includes a PLC control module, an image control module, a welding control module and a galvanometer control module; the PLC control module is connected to the image control module and the galvanometer control module, and the welding control module is connected to the PLC control module and the galvanometer control module; the PLC control module is connected to the turret and the swing arm, the image control module is connected to the image acquisition device, and the galvanometer control module is connected to the laser welding equipment.

[0011] In one embodiment, the swing arm includes multiple branches, namely a first branch, a second branch and a third branch; the image acquisition device is arranged on the first branch, the laser welding device is arranged on the second branch, and the third branch is provided with a counterweight block. The angles between adjacent branches are equal, and the branches move synchronously.

[0012] To achieve the above-mentioned purpose, an embodiment of the present application provides a welding method, which is applied to the turret welding equipment as above, and the method includes: controlling the swing arm to swing synchronously with each battery carrier in turn; when there is a battery in the first target battery carrier that swings synchronously with the image acquisition device of the swing arm, obtaining the welding trajectory offset parameters of the battery in the first target battery carrier through the image acquisition device, and storing the carrier identification of the first target battery carrier in association with the welding trajectory offset parameters; when there is a battery in the second target battery carrier that swings synchronously with the laser welding device of the swing arm, controlling the laser welding device to obtain the welding trajectory offset parameters of the second target battery carrier according to the carrier identification of the second target battery carrier, and welding the battery in the second target battery carrier according to the welding trajectory offset parameters of the second target battery carrier.

[0013] In one embodiment, the battery carrier is provided with corresponding carrier distribution areas on the turret, and the carrier distribution areas include a preset acceleration area, a preset synchronization area and a preset swing-back area in sequence; the step of controlling the swing arm to swing synchronously with each battery carrier in sequence includes: controlling the turret to rotate in a preset direction, and for each battery carrier, when the battery carrier reaches the preset initial position of the swing arm, controlling the swing arm to accelerate the swing in the preset acceleration area of ​​the battery carrier, so that the speed of the swing arm is synchronized with the battery carrier; when the swing arm accelerates to swing from the preset acceleration area to the preset synchronization area, controlling the swing arm to swing synchronously with the battery carrier in the preset synchronization area of ​​the battery carrier; when the swing arm runs from the preset synchronization area to the preset swing-back area, controlling the swing arm to return to the preset initial position, so as to control the swing arm to wait for the next battery carrier to reach the preset initial position.

[0014] In one embodiment, the welding trajectory offset parameters include galvanometer coordinates; the step of obtaining the welding trajectory offset parameters of the battery in the first target battery carrier through the image acquisition device includes: obtaining the carrier image of the first target battery carrier through the image acquisition device, and determining the visual coordinates of each preset calibration point on the first target battery carrier in the visual coordinate system of the image acquisition device from the carrier image; according to the preset coordinate conversion relationship, each visual coordinate is converted into a galvanometer coordinate in the laser galvanometer coordinate system of the laser welding device.

[0015] In one embodiment, the method further includes: performing a stability test, and after the stability test is passed, controlling the laser welding device to perform laser welding on the preset welding blocks in the battery carrier in a preset synchronization area of ​​any battery carrier where the preset welding blocks exist according to a preset grid calibration trajectory, wherein the coordinate direction parameters of the laser galvanometer coordinate system of the laser welding device are calibrated in the preset grid calibration trajectory; controlling the image acquisition device to shoot in the preset synchronization area of ​​the battery carrier where the welded preset welding blocks are located to obtain a welding image; determining the image calibration coordinates of each grid intersection in the visual coordinate system of the image acquisition device from the welding image, and identifying the welding calibration coordinates of each grid intersection in the laser galvanometer coordinate system based on the coordinate data of the laser galvanometer coordinate system in the welding image; determining the coordinate conversion relationship from the visual coordinate system to the laser galvanometer coordinate system based on each image calibration coordinate and the corresponding welding calibration coordinate.

[0016] In one embodiment, preset fixed test blocks are placed on multiple battery carriers respectively, and a displacement sensor is installed in the vertical direction of any battery carrier; the step of performing a stability test includes: controlling the turret to rotate in a preset direction, and detecting the up and down displacement of the preset fixed test blocks on each battery carrier through the displacement sensor; when the difference between the up and down displacement of each battery carrier and the preset displacement is less than a preset displacement deviation threshold, it is determined that the installation stability test has passed; after the installation stability test has passed, a laser welding stability test is performed, and an image stability test is performed to complete the stability test.

[0017] In one embodiment, the steps of performing a laser welding stability test include: controlling the turret to rotate in a preset direction for multiple circles, and controlling the laser welding device to weld the test object in the same battery carrier according to a preset grid welding trajectory when swinging synchronously with the same battery carrier in each circle, and obtaining the laser grid trajectory after multiple welding; calling a preset two-dimensional measuring device to measure the intra-grid spacing of each grid in the laser grid trajectory and the track width of each track in the laser grid trajectory; calculating the difference between each intra-grid spacing and the preset spacing in the preset grid welding trajectory, respectively, to obtain each spacing difference, and calculating the difference between each track width and the preset track width in the preset test track, respectively, to obtain each width difference; if it is determined that each spacing difference and each width difference are less than a preset accuracy threshold, it is determined that the laser welding stability has passed.

[0018] In one embodiment, the steps of performing an image stability test include: controlling the turret to rotate in a preset direction for multiple circles, and controlling the image acquisition device to take a picture of the same battery carrier while swinging synchronously with the same battery carrier in each circle to obtain a vehicle test image; for each vehicle test image, obtaining the calibration test coordinates of a preset calibration point in the battery carrier from the vehicle test image; determining a target calibration test coordinate in any of the calibration test coordinates, and calculating the deviation between the target calibration test coordinate and each of the other calibration test coordinates; if it is determined that each deviation is less than a preset coordinate deviation threshold, then determining that the image stability test has passed.

[0019] In addition, to achieve the above-mentioned purpose, an embodiment of the present application also provides a computer-readable storage medium, on which a program for implementing the welding method is stored. When the program of the welding method is executed by a processor, the steps of the welding method as described above are implemented.

[0020] In addition, to achieve the above-mentioned purpose, an embodiment of the present application also provides a computer program product, including a computer program, which implements the steps of the welding method as described above when the computer program is executed by a processor.

[0021] One or more technical solutions proposed in the embodiments of the present application have at least the following technical effects: the turret welding equipment includes a controller, a turret, a swing arm arranged on the turret, a plurality of battery carriers arranged around the turret, and an image acquisition device and a laser welding device arranged on the swing arm; in the present application, the swing arm is controlled to swing synchronously with each of the battery carriers in sequence, so that each battery carrier can be relatively stationary with the swing arm; and an image acquisition device is arranged on the swing arm, and the image acquisition device can be used to acquire the welding trajectory offset parameters of the first target battery carrier that swings synchronously with the image acquisition device and has a battery, so that when the image acquisition device acquires the welding trajectory offset parameters corresponding to the first target battery carrier, it is also acquired in a state where the image acquisition device and the first target battery carrier are relatively stationary, thereby facilitating accurate identification of the welding trajectory offset parameters of the battery; and the welding trajectory offset parameters and the carrier identification corresponding to the welding trajectory offset parameters can also be associated and stored, so that the welding trajectory offset parameters corresponding to the battery carrier can be directly called in subsequent welding, and the welding trajectory offset parameters are first identified by the image acquisition device, thereby facilitating more accurate identification of the welding position of the battery, so as to improve the accuracy of welding.

[0022] Furthermore, the laser welding device is used to obtain the welding trajectory offset parameters of the second target battery carrier based on the carrier identification of the second target battery carrier that swings synchronously with the laser welding device and has batteries, and weld the batteries in the second target battery carrier based on the welding trajectory offset parameters of the second target battery carrier, so that when welding is performed, the welding is also performed in a relatively static state, thereby avoiding deviations in position and the like introduced during relative motion, improving the welding accuracy of the battery, and thereby solving the technical problem of low battery welding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the embodiments of the present application, and together with the specification, are used to explain the principles of the embodiments of the present application. In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 This is a schematic diagram of a structural module of an embodiment of a turret welding device of the present application;

[0025] Figure 2 This is a module schematic diagram of a controller in the turret welding equipment of this application;

[0026] Figure 3This is a schematic diagram of a structural module of an example of the turret welding equipment of the present application;

[0027] Figure 4 This is a schematic diagram of the swing arm structure of an embodiment of the turret welding equipment of the present application;

[0028] Figure 5 This is a schematic diagram of a welding method embodiment of the present application;

[0029] Figure 6 It is a simplified schematic diagram of each battery carrier during the rotation of the turret in this application;

[0030] Figure 7 This is a schematic diagram of the swing of the swing arm in the welding method of this application;

[0031] Figure 8 This is a schematic diagram of a flow chart of controlling the swing arms to swing synchronously in sequence in an embodiment of the welding method of the present application;

[0032] Fig. 9 This is a schematic diagram of an example of a welding method in an embodiment of the present application;

[0033] Fig.10 A schematic diagram of a preset grid track in a welding method according to an embodiment of the present application;

[0034] Fig.11 This is a schematic diagram of a displacement sensor detecting up and down displacement in a welding method according to an embodiment of the present application;

[0035] Fig.12 A schematic diagram of a preset grid track in a welding method according to an embodiment of the present application;

[0036] Fig.13 This is a schematic diagram of a top cover groove in an example of a welding method according to an embodiment of the present application.

[0037] Description of Figure Numbers:

[0038] 100, controller; 200, turret; 300, swing arm; 400, multiple battery carriers; 500, image acquisition device; 600, laser welding device; 700, counterweight; 110, PLC control module; 120, image control module; 130, welding control module; 140, galvanometer control module; 111, PLC; 112, turret main drive motor; 113, swing arm follower motor; 51, camera; 52, light source; 61, galvanometer; 62, laser; F1, first branch; F2, second branch; F3, third branch.

[0039] The purpose, features and advantages of the embodiments of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0040] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the embodiments of the present application, and are not used to limit the embodiments of the present application. In order to better understand the technical solutions of the embodiments of the present application, the following will be described in detail in conjunction with the accompanying drawings and specific implementation methods.

[0041] 4680 cylindrical batteries, 21700 cylindrical batteries, 18600 cylindrical batteries, etc. These cylindrical batteries are relatively small, with small contact areas between the pole ears, current collectors and top covers, small laser welding areas, and very high requirements for laser welding position accuracy. In general, the current method of welding cylindrical batteries is also welded on a turret. The battery carrier is arranged around the center of the turret. The battery carrier can be placed in the battery carrier to be welded. The turret will drive the battery carrier to rotate in a cycle. During the rotation process, there will be laser equipment to weld the batteries in the battery carrier, but it was found that the welding accuracy of the batteries in the battery carrier is not high. During the welding process, the trajectory of battery welding has specific shape trajectories such as swing lines, spiral lines, arc lines, and circles. These trajectories are prone to welding errors, and then there is a technical problem of low welding accuracy.

[0042] Therefore, an embodiment of the present application provides a turret welding device, which includes a controller, a turret, a swing arm, a plurality of battery carriers arranged on the turret, and an image acquisition device and a laser welding device arranged on the swing arm. In this embodiment, the swing arm can swing synchronously with each battery carrier, so that the welding trajectory offset parameters of the battery in the battery carrier can be obtained in a relatively static state, and the battery in the battery carrier can be welded in a relatively static state, thereby realizing relatively static welding. Since the image acquisition device and the laser welding device are arranged on the same swing arm, when there is a synchronously swinging battery carrier in the image acquisition device, there is also a corresponding synchronously swinging battery carrier in the laser welding device. Thus, the situation of synchronous photography and welding can also be realized. In this embodiment, the battery is relatively statically photographed and relatively statically laser welded during the rotation of the turret, which improves the welding accuracy, reduces the influence of laser heat, reduces the thermal distortion and thermal deformation of welding, improves the welding accuracy, and enhances the performance stability and safety of the battery.

[0043] Based on this, the embodiment of the present application provides a turret welding device, a controller 100, a turret 200, a swing arm 300 arranged on the turret 200, a plurality of battery carriers 400 arranged around the turret 200, and an image acquisition device 500 and a laser welding device 600 arranged on the swing arm 300, wherein the controller 100 is connected to the turret 200, the swing arm 300, the image acquisition device 500 and the laser welding device 600;

[0044] The controller 100 is used to control the swing arm 300 to swing synchronously with each of the battery carriers in sequence;

[0045] The image acquisition device 500 is used to acquire welding trajectory offset parameters of a first target battery carrier that swings synchronously with the image acquisition device 500 and has a battery;

[0046] The controller 100 is also used to associate and store the welding trajectory offset parameter and the carrier identification corresponding to the welding trajectory offset parameter;

[0047] The laser welding device 600 is used to obtain the welding trajectory offset parameters of the second target battery carrier based on the carrier identification of the second target battery carrier that oscillates synchronously with the laser welding device 600 and has batteries, and to weld the batteries in the second target battery carrier based on the welding trajectory offset parameters of the second target battery carrier.

[0048] It should be noted that the turret welding equipment can be used to weld multiple cylindrical batteries. The turret welding equipment includes a controller 100, a turret 200, a swing arm 300, a plurality of battery carriers 400 arranged on the turret 200, and an image acquisition device 500 and a laser welding device 600 arranged on the swing arm 300. A disc is also provided on the turret 200 of the turret welding equipment, and the disc can be used to carry multiple battery carriers 400 (not shown in the figure), and the battery carriers are distributed around the turret 200. The swing arm 300 is coaxial with the turret 200, and the swing arm 300 is arranged above each battery carrier, and the swing arm 300 is parallel to the disc. The turret 200 can rotate counterclockwise or clockwise, and this embodiment does not specifically limit this. The running direction of the turret 200 remains unchanged during the same operation. The turret welding equipment can be divided into two layers, the lower layer is each battery carrier, and the upper layer is the swing arm 300. The swing arm 300 is provided with an image acquisition device 500 and a laser welding device 600. Both the image acquisition device 500 and the laser welding device 600 can be arranged on the swing arm 300. The image acquisition device 500 is used to acquire images of the battery carrier, and the laser welding device 600 can be used to weld batteries in the battery carrier.

[0049] The image acquisition device 500 may be a CCD (Charge-Coupled Device Camera, Chinese full name Charge-Coupled Device Camera) or the like. The image acquisition device 500 may also include a light source 52 so as to acquire a clearer image of the battery carrier. The specific model of the image acquisition device 500 is not specifically limited in this embodiment. The laser welding device 600 includes a galvanometer and a light emitter of a laser 62. The light emitter is used to emit laser light, and the galvanometer is used to guide the laser light to the position where welding is required. The other parts of the laser 62 except the light emitter may not be arranged on the swing arm 300. The image acquisition device 500 and the laser welding device 600 are arranged on the same swing arm 300. Specifically, the swing arm 300 may include two branches, one branch is provided with the image acquisition device 500, and the other branch is provided with the laser welding device 600. When the swing arm 300 includes two branches, the angle between the two branches is 180 degrees, and the two branches need to be balanced. The weight of the equipment arranged on each branch is consistent, so as to ensure the stability of the turret welding equipment. In the same swing arm 300, there is a preset number of battery carriers between the image acquisition device 500 and the laser welding device 600. The battery carrier under the image acquisition device 500 is different from the battery carrier under the laser welding device 600. The preset number can be determined based on the total number of battery carriers on the turret 200 and the angle between the branches where the image acquisition device 500 and the laser welding device 600 are located. For example, when the total number of battery carriers on the turret 200 is 12 and the angle corresponding to the branch is 180 degrees, the preset number of intervals is 5. The situation where the swing arm 300 and the battery carrier swing synchronously is: the image acquisition device 500 has a corresponding battery carrier that swings synchronously, the laser welding device 600 has a corresponding battery carrier that swings synchronously, and the image acquisition device 500 and the laser welding device 600 have different corresponding battery carriers that swing synchronously.

[0050] Synchronous swinging reflects that the swing arm 300 and the battery carrier can maintain a relatively static state while in motion. The swing arm 300 can swing synchronously with each battery carrier in turn. The first target battery carrier is a battery carrier that has batteries and is synchronized with the image acquisition device 500. The welding trajectory offset parameter is characterized by the position parameter required when the laser welding device 600 welds the battery. The controller 100 can associate and store the welding trajectory offset parameter and the corresponding carrier identifier, and the carrier identifier corresponding to the welding trajectory offset trajectory is: the identifier of the battery carrier corresponding to the welding trajectory offset parameter. Each battery carrier has its own corresponding unique identifier. The second target battery carrier is a battery carrier that has batteries and is synchronized with the laser welding device 600. The laser welding device 600 can perform static welding on the batteries in the second target battery carrier.

[0051] The turret welding equipment includes a controller 100, a turret 200, a swing arm 300 arranged on the turret 200, a plurality of battery carriers 400 arranged around the turret 200, and an image acquisition device 500 and a laser welding device 600 arranged on the swing arm 300; in the present application, the swing arm 300 is controlled to swing synchronously with each of the battery carriers in sequence, so that each battery carrier can be relatively still with the swing arm 300; and the swing arm 300 is provided with an image acquisition device 500, which can be used to acquire a welding image of a first target battery carrier that swings synchronously with the image acquisition device 500 and has a battery The welding trajectory offset parameters are connected, so that when the image acquisition device 500 acquires the welding trajectory offset parameters corresponding to the first target battery carrier, the image acquisition device 500 and the first target battery carrier are relatively stationary, which is convenient for accurately identifying the welding trajectory offset parameters of the battery; and the welding trajectory offset parameters and the carrier identification corresponding to the welding trajectory offset parameters can also be associated and stored, so that the welding trajectory offset parameters corresponding to the battery carrier can be directly called in subsequent welding, and the welding trajectory offset parameters are first identified by the image acquisition device 500, which is convenient for more accurate identification of the welding position of the battery, so as to improve the accuracy of welding.

[0052] Furthermore, the laser welding device 600 is used to obtain the welding trajectory offset parameters of the second target battery carrier based on the carrier identification of the second target battery carrier that swings synchronously with the laser welding device 600 and has batteries, and weld the batteries in the second target battery carrier based on the welding trajectory offset parameters of the second target battery carrier, so that when welding is performed, the welding is also performed in a relatively static state, thereby avoiding deviations in position and the like introduced during relative movement, improving the welding accuracy of the battery, and thereby solving the technical problem of low battery welding accuracy.

[0053] In a possible embodiment, referring to Figure 2 The controller 100 includes a PLC (Programmable Logic Controller) control module 11, an image control module 120, a welding control module 130 and a galvanometer control module 140;

[0054] The PLC control module 110 is connected to the image control module 120 and the galvanometer control module 140, and the welding control module 130 is connected to the PLC control module 110 and the galvanometer control module 140;

[0055] The PLC control module 110 is connected to the turret 200 and the swing arm 300 , the image control module 120 is connected to the image acquisition device 500 , and the galvanometer control module 140 is connected to the laser welding equipment.

[0056] It should be noted that the PLC control module 110 is used to generate an image acquisition signal when it is detected that the image acquisition device 500 is swinging synchronously with the first target battery carrier having a battery, and send the image acquisition signal to the image control module 120, and is also used to generate a welding signal when it is detected that the laser welding device 600 is swinging synchronously with the second target battery carrier having a battery, and send the welding signal to the galvanometer control module 140;

[0057] Among them, the PLC control module 110 also includes PLC111, a turret main drive motor 112 and a swing arm motor 113. The image acquisition signal can be an IO signal generated by the PLC, and the welding signal can also be an IO signal generated by the PLC. The PLC is connected to the turret main drive motor 112 and the swing arm motor 113. The turret main drive motor 112 can be connected to the turret 200 to drive the turret 200 to rotate, and the swing arm motor 113 can be connected to the swing arm 300 to drive the swing arm turret 200 to rotate.

[0058] The image control module 120 is used to drive the image acquisition device 500 to acquire the welding trajectory offset parameter of the first target battery carrier when receiving the image acquisition signal, and is also used to send the welding trajectory offset parameter and the carrier identification corresponding to the welding trajectory offset parameter to the welding control module 130; the welding control module 130 is used to associate and store the welding trajectory offset parameter and the carrier identification corresponding to the welding trajectory offset parameter in a preset trajectory buffer area;

[0059] The galvanometer control module 140 is used to drive the laser welding device 600 to weld the battery in the second target battery carrier according to the welding trajectory offset parameters of the second target battery carrier stored in the preset trajectory buffer area when receiving the welding signal. The galvanometer control module 140 can be connected to the galvanometer and the light emitter, and the galvanometer in the laser welding device 600 can face the battery carrier, so that when it swings synchronously with the battery carrier, it can perform static welding when facing the battery carrier and relatively still, thereby facilitating improving welding accuracy.

[0060] The turret welding device may also include an encoder, which outputs a pulse signal according to the rotation angle of the turret welding device. The PLC may receive the pulse signal, and the PLC may determine the rotation angle of the turret 200 according to the number of pulses, and then determine the battery carrier under the image acquisition device 500 and the battery carrier under the laser welding device 600 according to the rotation angle of the turret 200. Each battery carrier has its own corresponding carrier identification, and each battery carrier is fixedly distributed in a corresponding angle area, and then the PLC can determine the carrier identification of the battery carrier currently swinging synchronously with the image acquisition device 500, and determine the carrier identification of the battery carrier currently swinging synchronously with the laser welding device 600.

[0061] For example, see Figure 3 , Figure 3 A brief structural diagram of the turret welding equipment is shown in Figure 3 The encoder is not shown in the figure. The image control module 120 can be a CCD industrial computer and a corresponding software control program. The image control module 120 is connected to the camera and the light source 52 in the image acquisition device 500, and can control the camera and the light source 52 in the image acquisition device 500. The welding control module 130 can be a laser industrial computer and a corresponding software control program. The welding control module 130 can control the galvanometer control module 140. The galvanometer control module 140 can control the galvanometer in the laser welding device 600 and can also control the laser 62. The PLC control module 110 includes a PLC, a turret main drive motor 112 and a swing arm motor 113. The PLC can control the turret main drive motor 112 and the swing arm motor 113, and can also send IO (Input / Output Signal) signals to the image control module 120, and can also send IO signals to the galvanometer control module 140, wherein the turret main drive motor 112 is used to drive the turret 200 to rotate, and the swing arm motor 113 is used to drive the swing arm battery carrier to swing synchronously.

[0062] The PLC can also be used to detect whether there is a battery in the battery carrier that is synchronously swung by the image acquisition device 500. When there is a battery in the battery carrier that is synchronously swung by the image acquisition device 500, the PLC can generate an IO signal and send the IO signal to the image control module 120, so that the image control module 120 can drive the image acquisition module to take pictures and determine the welding trajectory offset parameters based on the photographed images. The PLC can also be used to detect whether there is a battery in the battery carrier that is synchronously swung by the laser welding device 600. When there is a battery in the battery carrier that is synchronously swung by the laser welding device 600, the PLC can generate an IO signal and can also send the generated IO signal to the galvanometer control module 140, so that the galvanometer control module 140 can drive the laser welding device 600 to weld the corresponding battery according to the welding trajectory offset parameters stored in the welding control module 130. After the image acquisition device 500 acquires the welding trajectory offset parameters, the battery carrier identification and the welding trajectory offset parameters can be associated and sent to the welding control module 130. The welding control module 130 can store the battery carrier identification and the welding trajectory offset parameters in a preset trajectory cache area, so that in subsequent welding, the corresponding battery carrier welding trajectory offset parameters can be obtained from the trajectory cache area and welding can be performed according to the welding trajectory offset parameters.

[0063] In one embodiment, referring to Figure 4 , the swing arm 300 includes a plurality of branches, namely a first branch, a second branch and a third branch;

[0064] The image acquisition device 500 is arranged on the first branch, the laser welding device 600 is arranged on the second branch, the third branch is provided with a counterweight block 700, the angles between adjacent branches are equal, and the branches move synchronously.

[0065] It should be noted that the swing arm 300 may include a plurality of branches, and the number of branches may be 2 or 3. When the number of branches is 2, the angle between the branch where the image acquisition device 500 is located and the branch where the laser welding device 600 is located is 180°. When the number of branches of the swing arm 300 is 3, the angles between two adjacent branches are equal, both are 120°, that is, the angle between the first branch and the second branch, the angle between the second branch and the third branch, and the angle between the third branch and the first branch are all 120°; each branch of the swing arm 300 moves synchronously. The counterweight block 700 can be used to ensure the balance and stability of the swing arm 300. The position and weight of the counterweight block 700 set on the third branch can be based on the weight and position of the image acquisition device 500 of the first branch, and the weight and position of the laser welding device 600 of the second branch. The weight of the equipment on each branch of the swing arm 300 is preferably equal, so as to ensure the stability of the turret welding equipment. In this embodiment, the swing arm 300 is provided with three branches, which helps to reduce the overall volume of the turret welding equipment.

[0066] For example, see Figure 4 , Figure 4 A schematic diagram of the swing arm 300 including three branches is given in FIG. Figure 4 a in FIG. 1 refers to a top view of the swing arm 300 and the disc where the battery carrier is located. F1 is the first branch, F2 is the second branch, and F3 is the third branch. The CCD in b can be used to refer to the image acquisition device 500. Figure 4 The light source 52 in the image acquisition device 500 is not shown in FIG. The galvanometer in b can be used to refer to the laser welding device 600. Figure 4 The light emitter in the laser welding device 600 is not shown. Figure 4 The b in the figure refers to the brief side view of the turret welding equipment. Figure 4 The side view shown includes the swing arm 300 layer and the battery carrier layer. The battery carrier layer represents the layer where the battery carrier is located. The swing arm 300 layer shows the configuration block, CCD and galvanometer. The light source 52 and the light emitter are not shown in the swing arm 300 layer. The swing arm 300 layer represents the layer where the swing arm 300 is located.

[0067] Further, based on the above embodiment of the present application, in another embodiment of the present application, the same or similar content as the above embodiment can refer to the above introduction, and will not be repeated later. On this basis, this embodiment also provides a welding method, which is applied to the turret welding equipment, referring to Figure 5 , Figure 5 This is a schematic flow chart of an embodiment of a welding method according to an embodiment of the present application. The welding method includes steps S10 to S30:

[0068] Step S10, controlling the swing arm to swing synchronously with each battery carrier in sequence;

[0069] It should be noted that the swing arm may include two branches, one branch is provided with an image acquisition device, and the other branch is provided with a laser welding device. When the swing arm includes two branches, the angle between the two branches is 180 degrees, and the two branches need to be balanced. The weight of the equipment respectively provided on each branch is consistent, so as to ensure the stability of the turret welding equipment. In the same swing arm, there will be a preset number of battery carriers between the image acquisition device and the laser welding device. The battery carrier under the image acquisition device is different from the battery carrier under the laser welding device. The preset number can be determined based on the total number of battery carriers on the turret and the angle between the branches where the image acquisition device and the laser welding device are respectively located. The situation where the swing arm and the battery carrier swing synchronously is: the image acquisition device has a corresponding battery carrier that swings synchronously, and the laser welding device has a corresponding battery carrier that swings synchronously, and the battery carriers corresponding to the image acquisition device and the laser welding device are different.

[0070] Synchronous swinging reflects that the swing arm and the battery carrier can maintain a relatively static state while in motion. The swing arm can swing synchronously with each battery carrier in turn. For example, the turret is controlled to rotate in a preset direction. When the turret rotates, each battery carrier will also rotate with the turret. At this time, the swing arm is controlled to swing synchronously with each battery carrier in turn. Within one rotation of the turret, the swing arm can swing synchronously with each battery carrier once.

[0071] Step S20, when there is a battery in the first target battery carrier that swings synchronously with the image acquisition device of the swing arm, the welding trajectory offset parameter of the battery in the first target battery carrier is acquired by the image acquisition device, and the carrier identification of the first target battery carrier is associated with the welding trajectory offset parameter and stored;

[0072] It should be noted that batteries that need to be welded can be placed in the battery carrier, and when the batteries in the battery carrier are welded, the welded batteries in the battery carrier can be removed from the battery carrier in time. Each battery carrier has its own corresponding carrier identification, which can be a code, etc., and this embodiment does not specifically limit this. The identification of the battery carrier is associated with the welding trajectory offset parameter and stored, so that the welding trajectory offset parameters of the battery that needs to be welded can be obtained through the identification of the battery carrier during subsequent welding, thereby improving the welding accuracy. Since the battery carrier that is synchronously swung by the image acquisition device is different from the battery carrier that is synchronously swung corresponding to the laser welding device, when the image acquisition device obtains the welding trajectory offset parameters of any battery carrier, it is necessary to store the identification of the battery carrier in association with the welding trajectory offset parameters, so as to facilitate subsequent welding.

[0073] During the actual operation of the turret welding equipment, if there is a synchronously swinging battery carrier in the image acquisition device, but there is no battery in the synchronously swinging battery carrier, the image acquisition device will not identify the welding trajectory offset parameters of the battery in the battery carrier, thereby reducing unnecessary energy consumption and improving efficiency.

[0074] Exemplarily, when there is a battery in the first target battery carrier that is synchronously swung by the image acquisition device of the swing arm, the first target battery carrier is photographed relatively statically by the image acquisition device to obtain a carrier image, and the welding trajectory offset parameters are identified based on the carrier image, and the carrier identification and welding trajectory offset parameters of the first target battery carrier are associated and sent to the welding control module of the laser welding device, and the battery carrier identification and welding trajectory offset parameters are associated and stored in a preset trajectory buffer area through the welding control module. The preset trajectory buffer area is used to store the welding trajectory offset parameters of the battery carrier. When the image acquisition device is shooting, the image acquisition device and the battery carrier are in a relatively static state. The carrier image contains image data of the surface of the first target battery carrier and the surface of the battery in the first target battery carrier.

[0075] In addition, in this embodiment, the preset trajectory buffer area can cache one or more welding trajectory offset parameters. When the preset trajectory buffer area caches a preset number of welding trajectory offset parameters, the welding trajectory offset parameters are obtained by the image acquisition device, and the battery is welded by the laser welding device simultaneously. The preset cache number can be determined based on the preset number of intervals between the image acquisition device and the laser welding device, and can also be set based on actual conditions. This embodiment does not make specific restrictions. When the preset trajectory buffer area caches multiple welding trajectory offset parameters, the efficiency of battery welding can be improved.

[0076] For example, the preset cache number can be equal to the preset number + 1. For example, when the preset number is 5, the preset cache number can be 6. When the number of caches in the preset trajectory cache area is greater than or equal to the preset cache number, the laser welding device can be controlled to weld the battery.

[0077] Step S30, when there is a battery in the second target battery carrier that swings synchronously with the laser welding device of the swing arm, control the laser welding device to obtain the welding trajectory offset parameters of the second target battery carrier according to the carrier identification of the second target battery carrier, and weld the battery in the second target battery carrier according to the welding trajectory offset parameters of the second target battery carrier.

[0078] It should be noted that when the laser welding device is welding, the laser welding device and the second target battery carrier are in a relatively static state. And the laser welding device swings synchronously with the battery carrier at the center of the second target battery carrier, so that the laser welding device can be aligned with the second target battery carrier, so as to facilitate more accurate welding of the battery in the second target battery carrier.

[0079] Exemplarily, when there is a battery in the second target battery carrier that is synchronously swung by the laser welding device, the welding trajectory offset parameters corresponding to the carrier identification of the second target battery carrier that is synchronously swung by the laser welding device can be obtained from the preset trajectory buffer area, and the battery in the battery carrier can be welded based on the welding trajectory offset parameters.

[0080] In the embodiment of the present application, the swing arm is controlled to swing synchronously with each of the battery carriers in turn, so that each battery carrier can be relatively stationary with respect to the swing arm; and an image acquisition device is provided on the swing arm, and the image acquisition device can be used to acquire the welding trajectory offset parameters of the first target battery carrier that swings synchronously with the image acquisition device and has a battery, so that when the image acquisition device acquires the welding trajectory offset parameters corresponding to the first target battery carrier, the image acquisition device also acquires the parameters when the image acquisition device and the first target battery carrier are relatively stationary, thereby facilitating accurate identification of the welding trajectory offset parameters of the battery; and the welding trajectory offset parameters and the carrier identification corresponding to the welding trajectory offset parameters can also be associated and stored, so that the welding trajectory offset parameters corresponding to the battery carrier can be directly called during subsequent welding, and the welding trajectory offset parameters are first identified by the image acquisition device, thereby facilitating more accurate identification of the welding position of the battery, so as to improve the accuracy of welding.

[0081] Furthermore, the laser welding device is used to obtain the welding trajectory offset parameters of the second target battery carrier based on the carrier identification of the second target battery carrier that swings synchronously with the laser welding device and has batteries, and weld the batteries in the second target battery carrier based on the welding trajectory offset parameters of the second target battery carrier, so that when welding is performed, the welding is also performed in a relatively static state, thereby avoiding deviations in position and the like introduced during relative motion, improving the welding accuracy of the battery, and thereby solving the technical problem of low battery welding accuracy.

[0082] In a feasible embodiment, the battery carrier is provided with a corresponding carrier distribution area on the turret, and the carrier distribution area includes a preset acceleration area, a preset synchronization area and a preset swing back area in sequence; step S10 also includes steps S11 to S13:

[0083] Step S11, controlling the turret to rotate in a preset direction, and for each battery carrier, when the battery carrier reaches a preset initial position of the swing arm, controlling the swing arm to swing faster within a preset acceleration area of ​​the battery carrier, so that the speed of the swing arm is synchronized with that of the battery carrier;

[0084] It should be noted that the vehicle distribution area is the area where the battery carrier is located. Each battery carrier has its own corresponding vehicle distribution area. Each vehicle distribution area has a corresponding preset acceleration area, preset synchronization area and preset swing back area. The size of the vehicle distribution area of ​​each battery carrier is the same. The vehicle distribution area can be determined based on the distribution angle corresponding to the battery carrier on the disc. Each battery carrier has its own corresponding distribution angle. The size of the distribution angle of each battery carrier is the same, but the position of the distribution angle is different. The size of the distribution angle can be determined based on the number of battery carriers. For example, when there are 18 battery carriers, the disc can be divided into 18 equal parts, each area is a vehicle distribution area, each area has its own corresponding battery carrier, and the size of the distribution angle of each area is 20°. The preset acceleration area is the area where the swing arm needs to accelerate the movement, the preset synchronization area is the area where the swing arm needs to swing synchronously with the battery carrier, and the preset swing back area is the area where the swing arm needs to return to the preset initial position of the swing arm. The angle occupied by the preset synchronization area is greater than the angle occupied by the preset swing area, and the angle occupied by the preset swing area is greater than the angle occupied by the preset acceleration area. For example, when there are 18 battery carriers and the distribution angle corresponding to the battery carrier is 20°, the angle occupied by the preset acceleration area can be 2°, the angle occupied by the preset synchronization area can be 10°, and the angle occupied by the preset swing area can be 8°. The angle occupied by each area can also be set based on actual conditions. This embodiment does not make specific limitations on this, but the angle occupied by the preset synchronization area must at least account for half of the distribution angle, so that the swing arm and the battery carrier can maintain a relatively static state for a longer period of time.

[0085] In addition, to facilitate understanding of the distribution angles corresponding to each battery carrier, the following explanation is made: When the turret welding equipment is initialized, it is necessary to determine a starting battery carrier position, and set the angle of the starting position of the starting battery carrier as a reference angle (usually set to 0°). The starting position can be determined manually or with the help of a sensor. For example, when the turret is in a certain initial position, the battery carrier located below the image acquisition device of the swing arm is marked as the starting battery carrier, and the starting angle of the starting battery carrier is recorded as 0°. Then, the starting angle and the ending angle corresponding to each of the remaining battery carriers can be determined in turn. The size of the distribution angle corresponding to each battery carrier is consistent. For example, when the size of the distribution angle is 20°, the starting angle can be 0°, the ending angle can be 19°, the starting angle of the next battery carrier can be 20°, and the ending angle can be 40°, etc. This embodiment does not specifically limit this. The encoder can be installed on the turret, and will output corresponding pulse signals according to the rotation angle of the turret. The PLC control module receives these pulse signals and can convert the number of pulses into the actual rotation angle of the turret, so that the battery carrier under the swing arm can be determined based on the actual rotation angle.

[0086] The preset direction can be clockwise or counterclockwise. This embodiment does not make specific restrictions on this. The preset initial position is the preset initial position of the swing arm, which can be set based on actual conditions, and this embodiment does not make specific restrictions on this. The preset rotation speed is the rotation speed of the battery carrier. Since an encoder is installed on the turret, the PLC control module can determine the actual rotation angle of the turret based on the number of pulse signals output by the encoder, so that the turret welding equipment can know whether a new battery carrier has entered under the swing arm, and can also know that the swing arm is currently in the sub-area corresponding to the battery carrier, because the sub-area corresponding to the battery carrier is also determined based on the angle. The sub-areas corresponding to the battery carrier are the preset acceleration area, the preset synchronization area, and the preset swing back area. In this embodiment, the preset acceleration area is the sub-area in the battery carrier that first contacts the preset initial position of the swing arm, and the preset swing back area is the sub-area in the battery carrier that last reaches the swing arm.

[0087] Exemplarily, the turret is controlled to rotate in a preset direction. For each battery carrier, when the battery carrier reaches the preset initial position of the swing arm, the swing arm is controlled to swing faster in the preset acceleration area of ​​the battery carrier so that the speed of the swing arm can reach the preset rotation speed of the battery carrier. Specifically, each branch on the swing arm can swing faster in the preset acceleration area of ​​the corresponding battery carrier to reach the preset rotation speed. This makes it easier to prepare the swing arm for synchronous swinging in the preset acceleration area so that the swing arm can swing synchronously with the battery carrier later.

[0088] Step S12, when the swing arm accelerates and swings from the preset acceleration area to the preset synchronization area, the swing arm is controlled to swing synchronously with the battery carrier in the preset synchronization area of ​​the battery carrier;

[0089] It should be noted that within the preset synchronization area, the speeds of the swing arm and the battery carrier are the same, so that the swing arm and the battery carrier can be in a relatively static state, which facilitates the image acquisition device to perform relatively static photography and also facilitates the laser welding device to perform relatively static welding.

[0090] Step S13, when the swing arm moves from the preset synchronization area to the preset return swing area, the swing arm is controlled to return to the preset initial position, so as to control the swing arm to wait for the next battery carrier to arrive at the preset initial position.

[0091] It should be noted that within the preset swing back area, the swing arm is controlled to swing back to the preset initial position so as to control the swing arm to wait for the next battery carrier to reach the preset initial position, thereby allowing the swing arm to continue to swing synchronously with the next battery carrier.

[0092] In this embodiment, regardless of whether there is a battery in the battery carrier, the turret welding equipment will perform the process from step S11 to step S13 during operation. That is, the swing arm will repeatedly perform the process of swing arm preparation synchronization (control the swing arm to accelerate in a preset acceleration area), swing arm synchronization with the battery swing arm (control the swing arm to swing synchronously in a preset synchronization area), and swing arm swing back (control the swing arm to swing back in a preset swing back area).

[0093] Exemplarily, the swing arm is controlled to run in accordance with the rotation speed of the battery carrier in the preset synchronization area of ​​the battery carrier, so that the swing arm swings synchronously with the battery carrier in the preset synchronization area; when the swing arm is synchronized in the preset synchronization area, the swing arm is controlled to return to the preset initial position in the preset swing back area, so that the swing arm waits for the next battery carrier to reach the preset initial position. In this way, the swing arm can swing synchronously with each battery carrier in turn, thereby facilitating the relatively static photography and relatively static welding of the batteries in each battery carrier, thereby improving the accuracy of welding, and since the present embodiment is welding on the turret, the welding efficiency can be improved, and therefore, the present embodiment can take into account both high precision and high efficiency of battery welding. And since the PLC control module can directly receive the number of pulses output by the encoder, and can identify the angle of rotation of the turret based on the number of pulses, it is convenient for the turret welding equipment to more accurately and quickly identify the battery carrier, and the corresponding sub-areas of the battery carrier.

[0094] For a better understanding of this embodiment, the following description is given: Figure 6 , Figure 6The figure shows a simplified schematic diagram of each battery carrier during the turret rotation process. There are 18 battery carriers on the turret, so the swing arm has a 20-degree rotation range during each turret carrier welding process. Within the 20-degree rotation range of the turret, the swing arm must accelerate the preparation of the battery carrier synchronization, swing synchronously with the battery carrier, complete the operation of taking pictures or welding during the synchronous swing, and quickly swing back to the preset initial position after the synchronous swing area with the battery carrier ends, waiting for the next carrier to come over. Figure 6 50 may refer to an image acquisition device, 60 may refer to a laser welding device, and Figure 6 The battery carrier corresponding to the synchronous swing with the image acquisition device is 8, and the battery carrier corresponding to the synchronous swing with the laser welding device is 14. A counterweight block can also be arranged on the swing arm to keep the swing arm balanced.

[0095] In addition, refer to Figure 7 , Figure 7 is a schematic diagram of the swing of the swing arm. Figure 7 This is a schematic diagram of the carrier distribution area of ​​any battery carrier when the turret rotates counterclockwise. Figure 7 In the preset acceleration area, the preset synchronization area is 2°, the preset swing back area is 10°, and the preset swing back area is 8°. Within the 20-degree rotation range, the first 2 degrees are the preset acceleration area where the swing arm accelerates and prepares to enter the preset synchronization area, the middle 10 degrees are the preset synchronization area where the swing arm and the battery carrier are synchronized, and the last 8 degrees are the preset swing back area where the swing arm swings back to the preset initial position at high speed. Figure 7 In the figure, B can be a laser welding device or an image acquisition device, and D is a battery carrier. Since the image acquisition device and the laser welding device are installed at different positions of the swing arm, in the speed synchronization area of ​​the swing arm and the battery carrier, the image acquisition device and the battery carrier are in a synchronous relative static state, and the laser welding device and the battery carrier are also in a synchronous relative static state. In the synchronization area of ​​the swing arm and the battery carrier, the PLC control module provides IO signals to trigger CCD static photography and laser static welding.

[0096] For further information, please refer to Figure 8 , Figure 8 A flow chart for controlling the swing arm to swing synchronously in sequence: Step Z1: Control the swing arm to swing faster in the preset acceleration area of ​​the battery carrier; so as to facilitate synchronization between the swing arm and the battery carrier; Step Z2: Control the swing arm to swing synchronously with the battery carrier in the preset synchronization area of ​​the battery carrier; Step Z3: Control the swing arm to swing back quickly in the preset swing back area of ​​the battery carrier. After Step Z3 is executed, it returns to Step Z1.

[0097] In a feasible embodiment, the welding trajectory offset parameter includes the galvanometer coordinates; step S20 also includes steps S21 to S22:

[0098] Step S21, acquiring a carrier image of the first target battery carrier through the image acquisition device, and determining the visual coordinates of each preset calibration point on the first target battery carrier in the visual coordinate system of the image acquisition device from the carrier image;

[0099] Step S22, according to a preset coordinate conversion relationship, each visual coordinate is converted into a galvanometer coordinate in a laser galvanometer coordinate system of the laser welding device.

[0100] It should be noted that the carrier image is an image of the first target battery carrier that can be captured by the image acquisition device. A plurality of preset calibration points are pre-set in the first target battery carrier for laser positioning, so as to facilitate laser welding. The position of the preset calibration points in the battery carrier can be set based on the actual situation. This embodiment does not make specific restrictions on this. In other embodiments, preset calibration points can also be set on the battery. When the battery also has preset calibration points, the carrier image can display the preset calibration points corresponding to the first target battery carrier and the battery in the first target battery carrier. The preset calibration points may not be set on the battery. The specific location can be determined based on the actual situation. This embodiment does not make specific restrictions on this. The visual coordinate system is a spatial reference system used by the image acquisition device to describe the position in the image. The origin of the visual coordinate system can be the center of the image. The laser galvanometer coordinate system is a coordinate reference system used in the laser welding device to control the precise deflection of the laser beam. The origin of the laser galvanometer coordinate system can be the center of the galvanometer in the laser welding device. For example, the preset calibration point is the Marker hole on the battery carrier.

[0101] The galvanometer coordinates are the coordinates after the visual coordinates are converted. The galvanometer coordinates can be considered as the coordinates of the preset calibration point in the laser galvanometer coordinate system. The coordinate conversion relationship can be predetermined. Each preset calibration point has its own corresponding visual coordinates and galvanometer coordinates, and the welding trajectory offset parameters can be composed of each galvanometer coordinate.

[0102] Exemplarily, a first target battery carrier is photographed by an image acquisition device, wherein the image acquisition device photographs the first target battery carrier in a preset synchronization area of ​​the first target battery carrier, so that the carrier image is acquired when the first target battery carrier and the image acquisition device are relatively stationary; from the carrier image, the visual coordinates of each preset calibration point on the first target battery carrier and / or the battery of the first target battery carrier in the visual coordinate system of the image acquisition device are acquired, and according to a preset coordinate conversion relationship, each visual coordinate is respectively converted into a galvanometer coordinate in the laser galvanometer coordinate system of the laser welding device.

[0103] In this embodiment, in order to improve the accuracy of battery welding, the visual coordinates of each preset calibration point in the visual coordinate system are accurately identified through the image acquisition device. Since the welding is performed by a laser welding device, the coordinate system referenced by the laser welding device is different from the coordinate system referenced by the image acquisition device. Therefore, in order to avoid welding errors, the visual coordinates need to be converted into galvanometer coordinates in the laser galvanometer coordinate system, thereby improving the welding accuracy.

[0104] In addition, for a better understanding of this embodiment, please refer to Fig. 9 , the laser welding process in this embodiment is briefly described: Fig. 9 includes steps Y10 to Y100, Fig. 9 E1 refers to the image acquisition device and the image control module, that is, Y30 to Y50 are performed by the image acquisition device and the image control module, E2 refers to the PLC control module, Y10~Y20 and Y80~Y90 are executed by the PLC control module in the controller of the turret welding equipment, and E3 refers to the laser welding device, the welding control module and the galvanometer control module, that is, Y60~Y70 and Y100 are performed by the laser welding device, the welding control module and the galvanometer control module. Step Y10: Waiting for a battery carrier that swings synchronously with the image acquisition device and has a battery; if it is determined that the image acquisition device swings synchronously with the battery carrier and there is a battery in the battery carrier, executing step Y20: outputting an IO signal to trigger the image acquisition device to take a photo, and the IO signal can be output to the image control module; step Y30: waiting for the IO signal for taking a photo; when the image control module receives the IO signal, the offset trajectory can be identified through the image acquisition device: for example, step Y40: identifying the offset trajectory; step Y50: sending the offset trajectory; the cached offset trajectory can be received through the welding control module, for example, step Y60: receiving the offset trajectory; step Y70: caching the offset trajectory; step Y80: waiting for a battery carrier that swings synchronously with the laser welding device and has a battery; when the laser welding device swings synchronously with the battery carrier and there is a battery in the battery carrier, step Y90: outputting an IO signal to trigger laser welding, and at this time the IO signal is output to the galvanometer control module, thereby facilitating laser welding through the galvanometer control module, for example, step Y100: laser welding; laser welding can be performed using the cached offset trajectory.

[0105] This embodiment can reduce the problems of thermal distortion and thermal deformation of welding and meet the needs of miniaturization and lightweight of future lithium batteries, and can also ensure that the laser welding accuracy is within 0.05mm.

[0106] Furthermore, in another feasible embodiment, the method further includes steps A10 to A40:

[0107] Step A10, performing a stability test, and after the stability test passes, controlling the laser welding device to laser weld the preset welding blocks in the battery carrier in a preset synchronization area of ​​any battery carrier where the preset welding blocks exist, according to a preset grid calibration trajectory, wherein the coordinate direction parameters of the laser galvanometer coordinate system of the laser welding device are calibrated in the preset grid calibration trajectory;

[0108] It should be noted that the turret welding equipment can autonomously perform a stability test before actual operation. For example, step A10 can be performed before step S10. Performing a stability test can be used to detect whether the turret welding equipment is stable, and thus to detect whether the turret welding equipment is sufficiently accurate. The preset grid calibration trajectory is a preset welding trajectory, for example, Fig.10 , Fig.10 is a schematic diagram of a preset grid calibration trajectory. This embodiment does not impose specific restrictions on the preset grid calibration trajectory, which can be determined based on actual conditions. In the preset grid calibration trajectory, there is a protruding extension trajectory, which is the X-axis of the laser galvanometer coordinate system. Fig.10 , Fig.10 The red line segment in the middle is the protruding extension track. In order to facilitate the understanding of the X-axis in the preset grid calibration track, the protruding extension track is marked in red. In actual application, there is no need to distinguish the X-axis by color, and the colors of each track in the preset grid calibration track can be consistent. The center of the preset grid calibration track is the origin of the laser galvanometer coordinate system, and the coordinate direction parameters of the laser galvanometer coordinate system calibrated in the preset grid calibration track are the protruding extension track. The coordinate direction parameters can also include the center coordinate origin of the preset grid calibration track.

[0109] The laser welding device can perform laser welding on the preset welding block in the battery carrier in the preset synchronization area of ​​the battery carrier. After laser welding, the laser welding trajectory offset parameter can be obtained on the battery, and the laser welding trajectory offset parameter is consistent with the preset grid calibration trajectory. The grid intersection is the intersection of the grid in the laser welding trajectory offset parameter. For example, there will be mutually perpendicular laser trajectories and mutually parallel laser trajectories in the laser welding trajectory offset parameter. The grid intersection can be the point where two laser trajectories intersect. The preset welding block can be any object that can be used for welding and can be loaded into the battery carrier. This embodiment does not make specific restrictions on this. The preset welding block can also be a battery. When the laser welding device is controlled to connect the battery in the battery carrier according to the preset grid calibration trajectory, the laser welding device and the battery carrier can be welded in a relatively static state or in an absolutely static state. This embodiment does not make specific restrictions on this. The step of performing the stability test can include performing an installation stability test, and after the installation stability test passes, performing a laser welding stability test and performing an image stability test.

[0110] Step A20, controlling the image acquisition device to take pictures in a preset synchronization area of ​​the battery carrier where the preset welded welding block is located, to obtain a welding image;

[0111] Step A30, determining the image calibration coordinates of each grid intersection in the visual coordinate system of the image acquisition device from the welding image, and identifying the welding calibration coordinates of each grid intersection in the laser galvanometer coordinate system according to the coordinate data of the laser galvanometer coordinate system in the welding image;

[0112] It should be noted that when the image acquisition device is controlled to acquire the welding image, the image acquisition device is also acquired when it is in the preset synchronization area of ​​the battery carrier. The image acquisition device and the battery carrier where the preset welding block is located can be relatively stationary or absolutely stationary. This embodiment does not specifically limit this. The image calibration coordinates are the coordinates of the grid intersections identified from the welding image in the visual coordinate system. The image calibration coordinates can be the pixel coordinates of the grid intersections in the welding image, etc. Since the welding is performed according to the preset grid calibration trajectory, there is a longer protruding extension line in the preset grid calibration trajectory. The protruding extension line is the X-axis in the laser galvanometer coordinate system. The center point in the preset grid calibration trajectory can be used as the origin in the laser galvanometer coordinate system. Therefore, the image control module of the image acquisition device can identify the welding calibration coordinates of each grid intersection in the welding image in the laser galvanometer coordinate system. The image control module of the image acquisition device can also identify the image calibration coordinates of each grid intersection in the visual coordinate system.

[0113] Step A40, determining the coordinate transformation relationship from the visual coordinate system to the laser galvanometer coordinate system according to each image calibration coordinate and the corresponding welding calibration coordinate.

[0114] It should be noted that the coordinate conversion relationship reflects the conversion relationship from the image calibration coordinates to the welding calibration coordinates. The coordinate conversion relationship can convert the coordinates in the visual coordinate system into the coordinates in the laser galvanometer coordinate system, thereby facilitating the conversion of the coordinates of the preset calibration points in the carrier image in the visual coordinate system into the galvanometer coordinates in the laser galvanometer coordinate system, thereby facilitating more accurate welding of the batteries in the battery carrier. The welding image is an image that can be captured by the image acquisition device, and the welding image shows the trajectory of the laser welding device welding the preset welding block according to the preset grid calibration trajectory.

[0115] Exemplarily, the image acquisition device is controlled to shoot in the preset synchronization area of ​​the battery carrier where the preset welded welding block is located to obtain a welding image, identify the longest straight line from the welding image, determine the straight line as the X-axis in the laser galvanometer coordinate system, and determine the center grid point in the welding image as the origin, and determine the welding calibration coordinates of each grid intersection in the laser galvanometer coordinate system from the welding image based on the identified X-axis and origin, and determine the image calibration coordinates of each grid intersection in the visual coordinate system from the welding image. Based on the image calibration coordinates and the corresponding welding calibration coordinates, determine the coordinate conversion relationship from the visual coordinate system to the laser galvanometer coordinate system.

[0116] In this embodiment, the laser welding device is first controlled to weld the preset welding blocks on the battery carrier according to the preset network trajectory, and then the welding image is obtained by photographing the image acquisition device, so that the image acquisition device can determine the image calibration coordinates in the visual coordinate system from the welding image, and because the welding trajectory in the welding image is based on the preset grid calibration trajectory, the welding calibration coordinates can also be determined from the laser galvanometer coordinate system, so as to facilitate the determination of the coordinate conversion relationship from the visual coordinate system to the laser galvanometer coordinate system, and then the coordinates in the carrier image are subsequently converted. And when performing laser welding and taking pictures, they are also carried out in the preset synchronization area of ​​the battery carrier, so the accuracy of welding and the accuracy of taking pictures can also be guaranteed. The reason why coordinate conversion is required in this embodiment is that the turret rotates in a circle, so it needs to be calibrated with a preset grid calibration trajectory, so that the image acquisition device can identify the direction of the laser galvanometer coordinate system after taking pictures after rotation.

[0117] In a feasible embodiment, a preset fixed test block is placed on each of the plurality of battery carriers, and a displacement sensor is installed in a vertical direction of any battery carrier; step A10 further includes steps A11 to A13:

[0118] Step A11, controlling the turret to rotate in a preset direction, and using the displacement sensor to respectively detect the up and down displacement of a preset fixed test block on each of the battery carriers;

[0119] Step A12, when the difference between the upper and lower displacements of each of the battery carriers and the preset displacement is less than a preset displacement deviation threshold, determining that the installation stability test has passed;

[0120] Step A13, after the installation stability test is passed, performing a laser welding stability test and an image stability test to complete the stability test.

[0121] It should be noted that the swing arm may include multiple branches. When the number of branches of the swing arm is 3, the angles between two adjacent branches are equal, all 120°, that is, the angles between the first branch and the second branch, the angles between the second branch and the third branch, and the angles between the third branch and the first branch are all 120°; the branches of the swing arm move synchronously. The counterweight block can be used to ensure the balance and stability of the swing arm. The position and weight of the counterweight block set on the third branch can be based on the weight and position of the image acquisition device of the first branch, and the weight and position of the laser welding device of the second branch. The weight of the equipment on each branch of the swing arm is preferably equal to ensure the stability of the turret welding equipment.

[0122] The installation position and weight of the counterweight block are related to the jitter of the swing arm when it rotates with the turret, avoiding abnormal height jitter, affecting the defocus deviation of laser welding, and causing unstable laser welding power, so an installation stability test is required. The installation stability test is used to test the stability of the swing arm. The laser welding stability test is used to test the accuracy of the laser welding device, and the image stability test is used to test the stability of the image acquisition device. For example, the turret welding equipment can perform an installation stability test, a laser welding stability test, and an image stability test before determining the coordinate transformation relationship. This embodiment can ensure the stability and accuracy of the turret welding equipment welding battery.

[0123] It should also be noted that the preset fixed test block is set above the battery carrier. Each battery carrier in the turret welding equipment needs to be provided with a preset fixed test block so as to be used to test the stability of the battery carrier when the battery is loaded. The preset fixed test block can be selected based on the actual situation, and this embodiment does not specifically limit this. The displacement sensor is installed in the vertical direction of the battery carrier. In the turret welding equipment, there is also a fixed plate above the battery carrier. The displacement sensor can be set under the plate, so that the displacement sensor can detect the displacement of the battery carrier below. If the swing arm has too high a jitter, the preset fixed test block on the battery carrier will also be unstable, and the preset fixed test block may jump up and down, and then the distance detected by the displacement sensor will also change. When the turret rotates, the displacement sensor can detect the distance relative to the battery carrier in turn. When the turret is stable, the displacement sensor detects that the corresponding up and down displacements of each battery carrier are almost the same, and the corresponding up and down displacements of each battery carrier may be the same. When the turret is unstable, the displacement sensor detects that the corresponding up and down displacements of each battery carrier may have a large error.

[0124] The preset displacement can be determined based on actual conditions. For example, the preset displacement can be the up and down displacement detected by the displacement sensor when the turret is stationary, or the up and down displacement corresponding to any battery carrier when the turret is moving. This embodiment does not specifically limit this. Fig.11 , Fig.11 A schematic diagram of the displacement sensor detecting up and down displacement is given in FIG. Fig.11 The battery carrier is shown in FIG. 1 , and placed on the battery carrier is a preset fixed test block. Fig.11 The W in the figure refers to the displacement sensor, which detects the distance between the displacement sensor and a preset fixed test block.

[0125] Exemplarily, the turret is controlled to rotate in a preset direction, and the up and down displacements of preset fixed test blocks on each battery carrier are detected by displacement sensors. When the differences between each up and down displacement and the preset displacement are less than a preset displacement deviation threshold, it is determined that the installation stability test has passed. The preset displacement deviation threshold can also be determined based on actual conditions, and the preset displacement deviation threshold can be 0.1 mm. When the difference between the up and down displacement and the preset displacement is greater than or equal to the preset displacement deviation threshold, the position or weight of the counterweight of the swing arm can be adjusted to perform the installation stability test again to improve the stability of the swing arm. This embodiment places a preset fixed test block on the battery carrier, thereby facilitating the testing of the stability of the swing arm, and further facilitating subsequent welding while ensuring the stability of the swing arm, thereby ensuring the accuracy of welding.

[0126] In a feasible embodiment, step A13 further includes steps A131 to A134:

[0127] Step A131, controlling the turret to rotate in a preset direction for multiple circles, and controlling the laser welding device to weld the test object in the same battery carrier according to a preset grid welding trajectory when swinging synchronously with the same battery carrier in each circle, and obtaining the laser grid trajectory after multiple welding;

[0128] It should be noted that after the installation stability test, the laser welding stability test and the image stability test can be performed. There is no fixed order for the laser welding stability test and the image stability test, and the order can be determined based on the actual situation. This embodiment does not make any specific restrictions on this. When performing the laser welding stability test, the turret also needs to continue to rotate in a preset direction for multiple circles, and in each circle the laser welding device will perform a weld according to the preset grid welding trajectory, and the test object in the same battery carrier will be welded, and it will only be welded when it swings synchronously with the battery carrier. The test object is placed in the battery carrier, and the test object can be set based on the actual situation. This embodiment does not make any specific restrictions on this. The preset grid welding trajectory includes multiple grids. For example, you can refer to Fig.12 , Fig.12 The preset grid welding trajectory is shown, and the laser grid trajectory is the trajectory obtained after multiple welding of the test object.

[0129] Step A132, calling a preset two-dimensional measuring device to measure the inter-grid spacing of each grid in the laser grid track and the track width of each track in the laser grid track;

[0130] Step A133, calculating the difference between the spacing in each grid and the preset spacing in the preset grid welding track, to obtain each spacing difference, and calculating the difference between the width of each track and the preset track width in the preset test track, to obtain each width difference;

[0131] Step A134: If it is determined that each spacing difference and each width difference is less than a preset accuracy threshold, it is determined that the laser welding stability has passed.

[0132] It should be noted that the laser grid track includes multiple grids, and a preset two-dimensional measuring device can be called to detect the grid spacing of each grid, and the grid spacing is the distance between two parallel sides in the grid. Each grid in the laser grid track is also obtained by the vertical intersection of each track, and the preset two-dimensional measuring device can be called to measure the track width of each track, so as to facilitate the subsequent evaluation of the welding accuracy of the laser welding device. The preset two-dimensional measuring device is a two-dimensional image measuring device or a two-dimensional image measuring device. The preset two-dimensional measuring device can be used to measure the grid spacing of each grid in the laser grid track, and the track width of each track in the laser grid track. The preset spacing is the spacing of the grids in the preset grid welding track, and the spacing of each grid in the preset grid welding track is the same. The preset track width is also the track width in the preset grid welding track, and the width of each track in the preset grid welding track is the same. The preset spacing and preset track width of the preset grid welding track can be set based on actual conditions, and this embodiment does not make specific restrictions on this.

[0133] The preset accuracy threshold can also be set based on the actual situation. If a higher welding accuracy is expected, the preset accuracy threshold can be set as small as possible. If the welding accuracy requirement is not so high, the preset accuracy threshold can be set slightly larger. This embodiment does not specifically limit this. When each spacing difference and each width difference are less than the preset accuracy threshold, it means that the laser welding device repeatedly welds the test object multiple times, and the obtained laser grid trajectory basically coincides with the preset grid welding trajectory, which means that the accuracy of the laser welding device is very high. When there is a spacing difference and / or a width difference greater than or equal to the preset accuracy threshold, it means that the welding accuracy of the laser welding device may not meet the user's requirements. It can be considered that the welding laser stability test has failed, and the laser welding device can continue to be debugged, or the turret welding equipment can be debugged as a whole.

[0134] Exemplarily, the turret is controlled to rotate multiple times in a preset direction, and the number of times the turret rotates can be set based on actual conditions, which is not specifically limited in this embodiment. When the laser welding equipment is controlled to swing synchronously with the same battery carrier in each circle, the test object in the same battery carrier is welded according to the preset grid welding trajectory, and the laser grid trajectory after multiple welding is obtained, and the preset two-dimensional measuring device is called to measure the grid spacing of each grid in the laser grid trajectory and the track width of each track, and the grid spacing is calculated. The difference between the preset spacing in the preset grid welding trajectory is calculated to obtain each spacing difference, and the difference between the preset track width in the preset test track is calculated to obtain each width difference. If it is determined that each spacing difference and each width difference are less than the preset accuracy threshold, it is determined that the laser welding stability has passed. When there is a spacing difference and / or a width difference greater than or equal to the preset accuracy threshold, it is considered that the welding laser stability test has not passed, and then the laser welding device can continue to be debugged, or the turret welding equipment as a whole can be debugged.

[0135] In other embodiments, when the average value of each spacing difference and the average value of each width difference are both less than the preset accuracy threshold, it is determined that the laser welding stability test has passed, and when the average value of each spacing difference and / or the average value of each width difference is greater than or equal to the preset accuracy threshold, it means that the laser welding stability test has not passed, and the turret welding equipment can continue to be debugged, which is not specifically limited in this embodiment. This embodiment facilitates ensuring the stability of laser welding by performing a laser welding stability test, and when performing a laser welding stability test, the laser welding device also welds the test object on the same battery carrier, and multiple weldings are performed under multiple synchronous swings, thereby facilitating ensuring the reliability of the laser welding test.

[0136] In a feasible embodiment, step A13 further includes steps B10 to B40:

[0137] Step B10, controlling the turret to circulate for multiple circles in a preset direction, and controlling the image acquisition device to take a picture of the same battery carrier when swinging synchronously with the same battery carrier in each circle, so as to obtain a carrier test image;

[0138] Step B20, for each vehicle test image, obtaining calibration test coordinates of preset calibration points in the battery vehicle from the vehicle test image;

[0139] Step B30, determining a target calibration test coordinate among the calibration test coordinates, and calculating the deviations between the target calibration test coordinate and the other calibration test coordinates;

[0140] Step B40: If it is determined that each deviation is smaller than the preset coordinate deviation threshold, it is determined that the image stability test has passed.

[0141] It should be noted that the turret can be controlled to rotate multiple times in a preset direction, and the number of circles can be set based on actual conditions, which is not specifically limited in this embodiment. Every time the turret rotates one circle, the image acquisition device will take a picture of the same battery carrier, and the shooting is also performed while the battery carrier is swinging synchronously, that is, it is all relatively static shooting. The vehicle test image is captured by the image acquisition device.

[0142] Since the preset calibration points are marked on the battery carrier, the image acquisition device will include the preset calibration points of the battery carrier in the vehicle test image obtained by taking pictures each time. The calibration test coordinates are the coordinates of the preset calibration points in the vehicle test image in the visual coordinate system. There are corresponding preset calibration points in each vehicle test image. The number of preset calibration points in the battery carrier can be multiple, and this embodiment does not impose specific restrictions on this. It is possible to compare whether the calibration test coordinates of the same preset calibration point in different vehicle test images are overlapped or the difference is small, so as to determine whether the image stability test has passed. For example, if the calibration test coordinates of the same preset calibration point in different vehicle test images overlap, it can be determined that the image stability test has passed. For each preset calibration point, the target calibration test coordinate can be determined from any of the multiple calibration test coordinates corresponding to the preset calibration point, and the other calibration test coordinates are the calibration test coordinates other than the target calibration test coordinates in the calibration test coordinates corresponding to the same preset calibration point. The preset coordinate deviation threshold can be set based on actual conditions, and this embodiment does not impose specific restrictions on this.

[0143] Exemplarily, the turret is controlled to rotate in a preset direction for multiple circles, and the image acquisition device is controlled to take a picture of the same battery carrier when swinging synchronously with the same battery carrier in each circle to obtain a carrier test image; for each carrier test image, the calibration test coordinates corresponding to each preset calibration point in the battery carrier are obtained from the carrier test image; for each preset calibration point, any target calibration test coordinate is determined in the calibration test coordinates corresponding to the preset calibration point, and the deviation between the target calibration test coordinate and the other calibration test coordinates of the calibration point is calculated; if it is determined that each deviation is less than the preset coordinate deviation threshold, it is determined that the image stability test has passed; if it is determined that there is a deviation greater than or equal to the preset coordinate deviation threshold, it is determined that the image stability test has failed, and the image acquisition device and / or the turret welding equipment can be debugged. In other embodiments, it can also be determined that the image stability test has passed when the average value of each deviation is less than the preset coordinate deviation threshold, and the image stability test has failed when the average value of each deviation is greater than or equal to the preset coordinate deviation threshold. This embodiment does not make specific limitations on this.

[0144] This embodiment performs an image stability test, so as to ensure the stability of the image acquisition device. And by controlling the turret to rotate multiple times in a cycle, and the image acquisition device takes pictures of the same battery carrier, it is convenient to ensure the reliability of the image stability test. Furthermore, after the present embodiment performs the above-mentioned stability test, the overall accuracy of the turret welding equipment will be verified by repeatedly loading batteries on different battery carriers, taking images of the carrier batteries in the preset synchronization area corresponding to the battery carrier, identifying the trajectory offset data, and then sending the trajectory offset data to the welding control module. When the battery is rotated to the synchronization area corresponding to the galvanometer in the laser welding device, welding is performed. The welding accuracy of the whole machine is verified according to the complete action process of the whole machine. For example, the top cover penetration welding can be used for verification, referring to the circular groove of the top cover penetration welding and the trajectory diagram of the two-dimensional measurement. This type of battery has a specific welding trajectory offset parameter groove. During the rotation of the turret, a large number of battery weldings are used to verify whether the welding trajectory offset parameters are all within the top cover groove, and the roundness accuracy of the circular trajectory is measured by a preset two-dimensional measuring device. For example, referring to Fig.13 , Fig.13 A schematic diagram of the top cover groove of one type of battery.

[0145] The turret welding equipment provided in this application adopts the welding method in the above embodiment to solve the technical problem of low battery welding precision. Compared with the prior art, the beneficial effects of the turret welding equipment provided in this application are the same as the beneficial effects of the welding method provided in the above embodiment, and the other technical features in the turret welding equipment are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here. It should be understood that the various parts disclosed in this application can be implemented with hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples. The above is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the scope of protection of the claims.

[0146] The present embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon, and the computer-readable program instructions are used to execute the welding method in the above-mentioned embodiment one. The computer-readable storage medium provided in the embodiment of the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor devices, equipment or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable EPROM (Electrical Programmable Read Only Memory, read-only memory) or flash memory, an optical fiber, a portable compact disk CD-ROM (compact disc read-only memory, read-only memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution device, device or device. The program code contained in the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency, radio frequency), etc., or any suitable combination of the above. The computer-readable storage medium may be included in the turret welding device; or it may exist independently without being assembled into the turret welding device. The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the turret welding device, the turret welding device: controls the swing arm to swing synchronously with each battery carrier in sequence; when there is a battery in the first target battery carrier that swings synchronously with the image acquisition device of the swing arm, the welding trajectory offset parameters of the batteries in the first target battery carrier are obtained through the image acquisition device, and the carrier identification of the first target battery carrier is associated with the welding trajectory offset parameters and stored; when there is a battery in the second target battery carrier that swings synchronously with the laser welding device of the swing arm, the laser welding device is controlled to obtain the welding trajectory offset parameters of the second target battery carrier according to the carrier identification of the second target battery carrier, and the batteries in the second target battery carrier are welded according to the welding trajectory offset parameters of the second target battery carrier. Computer program code for performing operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages.The program code may execute entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a LAN (local area network) or WAN (Wide Area Network), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0147] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the devices, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. The modules described in the embodiments of the present disclosure may be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation on the unit itself under certain circumstances.

[0148] The computer-readable storage medium provided in the embodiment of the present application stores computer-readable program instructions for executing the above-mentioned welding method, which is intended to solve the technical problem of low battery welding precision. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the embodiment of the present application are the same as the beneficial effects of the welding method provided in the above-mentioned embodiment, which will not be described in detail here. The embodiment of the present application also provides a computer program product, including a computer program, which implements the steps of the welding method as described above when the computer program is executed by the processor. The computer program product provided in the embodiment of the present application is intended to solve the technical problem of low battery welding precision. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiment of the present application are the same as the beneficial effects of the welding method provided in the above-mentioned embodiment, which will not be described in detail here. The above is only a preferred embodiment of the embodiment of the present application, and does not limit the patent scope of the embodiment of the present application. Any equivalent structure or equivalent process transformation made by using the description and drawings of the embodiment of the present application, or directly or indirectly applied in other related technical fields, is similarly included in the patent processing scope of the embodiment of the present application.

Claims

1. A turret welding equipment, characterized in that: The turret welding equipment comprises a controller, a turret, a swing arm arranged on the turret, a plurality of battery carriers arranged around the turret, and an image acquisition device and a laser welding device arranged on the swing arm, wherein the controller is connected to the turret, the swing arm, the image acquisition device and the laser welding device; The controller is used to control the swing arm to swing synchronously with each of the battery carriers in sequence; The image acquisition device is used to acquire welding trajectory deviation parameters of a first target battery carrier that swings synchronously with the image acquisition device and has a battery; The controller is also used to associate and store the welding trajectory offset parameter and the carrier identification corresponding to the welding trajectory offset parameter; The laser welding device is used to obtain the welding trajectory offset parameters of the second target battery carrier based on the carrier identification of the second target battery carrier that oscillates synchronously with the laser welding device and has batteries, and to weld the batteries in the second target battery carrier based on the welding trajectory offset parameters of the second target battery carrier.

2. The turret welding equipment according to claim 1, characterized in that: The controller includes a PLC control module, an image control module, a welding control module and a galvanometer control module; The PLC control module is connected to the image control module and the galvanometer control module, and the welding control module is connected to the PLC control module and the galvanometer control module; The PLC control module is connected to the turret and the swing arm, the image control module is connected to the image acquisition device, and the galvanometer control module is connected to the laser welding equipment.

3. The turret welding equipment according to claim 1, characterized in that: The swing arm includes a plurality of branches, namely a first branch, a second branch and a third branch; The image acquisition device is arranged on the first branch, the laser welding device is arranged on the second branch, the third branch is provided with a counterweight, the angles between adjacent branches are equal, and the branches move synchronously.

4. A welding method, characterized in that: Applied to the turret welding equipment according to any one of claims 1 to 3, the method comprising: The control swing arm swings synchronously with each battery carrier in turn; When there is a battery in the first target battery carrier that swings synchronously with the image acquisition device of the swing arm, the welding trajectory offset parameter of the battery in the first target battery carrier is acquired by the image acquisition device, and the carrier identification of the first target battery carrier is associated with the welding trajectory offset parameter and stored; When there is a battery in the second target battery carrier that swings synchronously with the laser welding device of the swing arm, the laser welding device is controlled to obtain the welding trajectory offset parameters of the second target battery carrier according to the carrier identification of the second target battery carrier, and weld the battery in the second target battery carrier according to the welding trajectory offset parameters of the second target battery carrier.

5. The welding method according to claim 4, characterized in that: The battery carrier is provided with a corresponding carrier distribution area on the turret, and the carrier distribution area includes a preset acceleration area, a preset synchronization area and a preset swing back area in sequence; The step of controlling the swing arm to swing synchronously with each of the battery carriers in sequence comprises: Controlling the turret to rotate in a preset direction, and for each battery carrier, when the battery carrier reaches a preset initial position of the swing arm, controlling the swing arm to swing faster within a preset acceleration area of ​​the battery carrier, so that the speed of the swing arm is synchronized with that of the battery carrier; When the swing arm swings from the preset acceleration area to the preset synchronization area at an accelerated speed, the swing arm is controlled to swing synchronously with the battery carrier in the preset synchronization area of ​​the battery carrier; When the swing arm moves from the preset synchronization area to the preset swing-back area, the swing arm is controlled to return to the preset initial position, so as to control the swing arm to wait for the next battery carrier to arrive at the preset initial position.

6. The welding method according to claim 4, characterized in that: The welding trajectory offset parameters include galvanometer coordinates; The step of acquiring the welding trajectory offset parameter of the battery in the first target battery carrier by the image acquisition device comprises: Acquire a carrier image of the first target battery carrier through the image acquisition device, and determine the visual coordinates of each preset calibration point on the first target battery carrier in the visual coordinate system of the image acquisition device from the carrier image; According to a preset coordinate conversion relationship, each of the visual coordinates is converted into a galvanometer coordinate in a laser galvanometer coordinate system of the laser welding device.

7. The welding method according to claim 4, characterized in that: The method further comprises: Perform a stability test, and after the stability test passes, control the laser welding device to perform laser welding on a preset welding block in the battery carrier in a preset synchronization area of ​​any battery carrier where the preset welding block exists, according to a preset grid calibration trajectory, wherein the coordinate direction parameters of the laser galvanometer coordinate system of the laser welding device are calibrated in the preset grid calibration trajectory; Controlling the image acquisition device to take pictures in a preset synchronization area of ​​the battery carrier where the preset welded welding block is located to obtain a welding image; Determine the image calibration coordinates of each grid intersection in the visual coordinate system of the image acquisition device from the welding image, and identify the welding calibration coordinates of each grid intersection in the laser galvanometer coordinate system based on the coordinate data of the laser galvanometer coordinate system in the welding image; The coordinate transformation relationship from the visual coordinate system to the laser galvanometer coordinate system is determined according to each of the image calibration coordinates and the corresponding welding calibration coordinates.

8. The welding method according to claim 7, characterized in that: Placing preset fixed test blocks on the plurality of battery carriers respectively, and installing a displacement sensor in the vertical direction of any of the battery carriers; The steps of performing the stability test include: Controlling the turret to rotate in a preset direction, and detecting the up and down displacements of the preset fixed test blocks on each of the battery carriers respectively through the displacement sensors; When the difference between the upper and lower displacements of each of the battery carriers and the preset displacements is less than a preset displacement deviation threshold, it is determined that the installation stability test has passed; After the installation stability test is passed, a laser welding stability test is performed, and an image stability test is performed to complete the stability test.

9. The welding method according to claim 8, characterized in that: The steps of performing the laser welding stability test include: Control the turret to rotate multiple times in a preset direction, and control the laser welding device to weld the test object in the same battery carrier according to a preset grid welding trajectory when it swings synchronously with the same battery carrier in each circle, and obtain the laser grid trajectory after multiple weldings; Calling a preset two-dimensional measuring device to measure the inter-grid spacing of each grid in the laser grid track and the track width of each track in the laser grid track; Calculating the difference between each of the grid spacings and the preset spacing in the preset grid welding track to obtain each spacing difference, and calculating the difference between each track width and the preset track width in the preset test track to obtain each width difference; If it is determined that each of the spacing differences and each of the width differences are smaller than a preset accuracy threshold, it is determined that the laser welding stability has passed.

10. The welding method according to claim 8, characterized in that: The step of performing the image stability test comprises: Control the turret to rotate multiple times in a preset direction, and control the image acquisition device to take a picture of the same battery carrier when it swings synchronously with the same battery carrier each time to obtain a carrier test image; For each vehicle test image, obtaining calibration test coordinates of preset calibration points in the battery vehicle from the vehicle test image; Determine any target calibration test coordinate among the calibration test coordinates, and calculate the deviation between the target calibration test coordinate and each of the other calibration test coordinates; If it is determined that each of the deviations is smaller than the preset coordinate deviation threshold, it is determined that the image stability test has passed.

Images