Anti-explosion valve welding control method and system for battery combination cover plate

Abstract

The invention discloses an explosion-proof valve welding control method and system for a battery combination cover plate, and relates to the technical field of welding control. The method comprises the steps that a production line welding period is divided into a first overturning node, a second assembling node and a third welding node, programmable gating is introduced for node gating programming, dynamic positioning based on a ternary coordinate system serves as gating association, and a welding controller is determined; a welding controller is arranged in a production line welding system in an embedded mode, mapping connection is established between the welding controller and front-end equipment of a production line, and automatic driving of the production line for welding of the anti-explosion valve is executed; wherein the auxiliary welding limiting assembly is overlapped with the welding region of the anti-explosion valve, and welding control based on the preset welding track is executed. The technical problems of unstable welding quality and low efficiency caused by inaccurate control of the welding process of the explosion-proof valve of the battery combination cover plate in the prior art are solved, and the technical effects of improving the welding quality stability and the production efficiency are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding control, and particularly to an explosion-proof valve welding control method and system for a battery combination cover plate. Background Art

[0002] As a key encapsulation component of the battery, the battery combination cover plate undertakes the important responsibilities of sealing the internal environment of the battery, ensuring the normal operation of the battery, and relieving pressure and preventing explosion in extreme cases. Among them, the explosion-proof valve, as a key safety component in the battery combination cover plate, can quickly relieve pressure in the abnormal state of the battery, prevent the battery shell from bursting, and plays an important role in the overall system safety. At present, in the welding production process of the explosion-proof valve of the battery combination cover plate, there are many drawbacks in the traditional welding control method. On the one hand, the control of the welding process lacks accuracy and flexibility. The production line often relies on fixed welding parameters and modes, and it is difficult to dynamically adjust according to the actual characteristics of battery combination cover plates and explosion-proof valves with different specifications and materials, resulting in uneven welding quality and a high defective rate. On the other hand, the degree of automation of the production line is insufficient, the coordination between the welding link and the front-end equipment of the production line is poor, and there are many manual intervention links in the production process, which not only reduces the production efficiency but also increases the product quality risk caused by human factors. Summary of the Invention

[0003] This application provides an explosion-proof valve welding control method and system for a battery combination cover plate, which solves the technical problems of inaccurate control in the welding process of the explosion-proof valve of the battery combination cover plate in the prior art, resulting in unstable welding quality and low efficiency.

[0004] In the first aspect of this application, an explosion-proof valve welding control method for a battery combination cover plate is provided. The method includes:

[0005] Dividing the production line welding cycle into a first flipping node, a second assembly node, and a third welding node, introducing programmable gating for node gating programming, using dynamic positioning in a ternary coordinate system as the gating association to determine the welding controller; embedding the welding controller in the production line welding system, establishing a mapping connection with the front-end equipment of the production line, and performing automatic production line drive for explosion-proof valve welding; among them, the auxiliary welding limit component overlaps with the welding area of the explosion-proof valve, and welding control based on a preset welding trajectory is performed.

[0006] In the second aspect of this application, an explosion-proof valve welding control system for a battery combination cover plate is provided. The system includes:

[0007] Partitioning Module: The welding cycle of the production line is partitioned into a first flipping node, a second assembly node, and a third welding node. A programmable gating is introduced for node gating programming, and based on the dynamic positioning in the ternary coordinate system as the gating association, a welding controller is determined. Driving Module: The welding controller is embedded and deployed in the production line welding system, establishing a mapping connection with the front-end equipment of the production line to execute the automatic driving of the production line for explosion-proof valve welding. Welding Control Module: Assist the overlap of the welding limit component and the welding area of the explosion-proof valve, and execute welding control based on a preset welding trajectory.

[0008] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0009] The welding cycle of the production line is partitioned into a first flipping node, a second assembly node, and a third welding node. A programmable gating is introduced for node gating programming, and based on the dynamic positioning in the ternary coordinate system as the gating association, a welding controller is determined. The welding controller is embedded and deployed in the production line welding system, establishing a mapping connection with the front-end equipment of the production line to execute the automatic driving of the production line for explosion-proof valve welding. Among them, assist the overlap of the welding limit component and the welding area of the explosion-proof valve, and execute welding control based on a preset welding trajectory. It solves the technical problem in the prior art that the process control of the explosion-proof valve welding of the battery combination cover plate is inaccurate, resulting in unstable welding quality and low efficiency. By partitioning the welding cycle nodes, using programmable gating and ternary coordinate system dynamic positioning to determine the welding controller and embedding and deploying it, the automatic driving of the production line is realized, accurately controlling the overlap of the auxiliary welding limit component and the explosion-proof valve welding area and executing the preset welding trajectory, achieving the technical effect of improving the stability of welding quality and production efficiency. Description of the Drawings

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0011] Figure 1 It is a schematic flowchart of a method for controlling the welding of the explosion-proof valve of a battery combination cover plate provided in an embodiment of this application;

[0012] Figure 2 It is a schematic structural diagram of a control system for the welding of the explosion-proof valve of a battery combination cover plate provided in an embodiment of this application.

[0013] Description of the reference numerals: Partitioning Module 11, Driving Module 12, Welding Control Module 13. Detailed Embodiments

[0014] The present application provides a method and system for controlling the welding of explosion-proof valves of a battery combination cover plate, which solves the technical problems in the prior art that the control of the explosion-proof valve welding process of the battery combination cover plate is inaccurate, resulting in unstable welding quality and low efficiency.

[0015] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0016] It should be noted that the terms "including" and "having" are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or are inherent to these processes, methods, products or devices.

[0017] Embodiment 1, as Figure 1 shown, the present application provides a method for controlling the welding of explosion-proof valves of a battery combination cover plate, wherein the method includes:

[0018] Dividing the production line welding cycle into a first flipping node, a second assembly node and a third welding node, and introducing a programmable gate control for node gate control programming to determine a welding controller based on the dynamic positioning in a three-dimensional coordinate system as the gate control association.

[0019] In the embodiment of the present application, according to the explosion-proof valve welding process of the battery combination cover plate, the production line welding cycle is divided to obtain a first flipping node, a second assembly node and a third welding node. Among them, each node represents a different stage in the welding process, and the functions and tasks of each node are independent and have a certain order.

[0020] By introducing programmable gate control technology for node gate control programming, it is ensured that each node can be accurately controlled and managed according to requirements. Specifically, the dynamic positioning technology based on a three-dimensional coordinate system is used to establish the association between nodes; the three-dimensional coordinate system includes: a first coordinate system with the conveyor belt as the main body, a second coordinate system with the explosion-proof valve as the main body, and a third coordinate system with the robotic arm as the main body. Through dynamic positioning, it can be ensured that when different nodes perform tasks, all devices and robotic arms can be accurately positioned and coordinated.

[0021] After completing the node gating programming, determine the welding controller according to the obtained gating association. The role of the welding controller is to adjust and control the operation of each node according to the preset control rules and in combination with the real-time production status, ensuring the smooth progress of the entire welding process and avoiding any accidental errors or deviations.

[0022] Furthermore, the first flipping node drives a section of the conveyor belt based on a first constant speed and executes the control of the first placing robotic arm and the flipping component; the second assembly node drives a second section of the conveyor belt based on second stepping parameters and executes the control of the second placing robotic arm; the third welding node drives a third section of the conveyor belt based on the second stepping parameters and executes the control of the third welding robotic arm and the welding limit component; wherein, the second stepping parameters include a stepping distance and a stepping interval time, and the conveyor belts of the second assembly node and the third welding node are equipped with explosion-proof valve limit components.

[0023] The task of the first flipping node is to drive the conveyor belt to move based on a first constant speed and execute the coordinated control of the first placing robotic arm and the flipping component. Among them, the flipping component is used to flip the explosion-proof valve and accurately place it at the next workstation to ensure the accurate position and correct orientation of the explosion-proof valve.

[0024] At the second assembly node, the control system uses the second stepping parameters to drive the second section of the conveyor belt. The second stepping parameters include a stepping distance and a stepping interval time, precisely controlling the movement of the conveyor belt to achieve the precise placement of the explosion-proof valve assembly. The second placing robotic arm then completes the assembly work of the explosion-proof valve assembly according to the positioning of the conveyor belt.

[0025] At the third welding node, the control system continues to drive the third section of the conveyor belt based on the second stepping parameters and executes the control of the third welding robotic arm and the welding limit component. Among them, the welding robotic arm performs the welding operation on the explosion-proof valve according to the precise control signal; the welding limit component ensures the stability of the explosion-proof valve during the welding process and prevents the position from shifting. In addition, the conveyor belt between the second assembly node and the third welding node is also equipped with an explosion-proof valve limit component to ensure that the explosion-proof valve does not misalign or shift during the whole process.

[0026] Furthermore, the ternary coordinate system includes a first coordinate system with the conveyor belt as the main body, a second coordinate system with the explosion-proof valve as the main body, and a third coordinate system with the robotic arm as the main body.

[0027] The first coordinate system takes the conveyor belt as the main body and is responsible for defining the position and movement state of the conveyor belt during the welding process. The first coordinate system sets the position parameters of the conveyor belt based on the running trajectory of the conveyor belt and coordinates with other coordinate systems to ensure the precise positioning of the explosion-proof valve.

[0028] The second coordinate system takes the explosion-proof valve as the main body and is responsible for tracking the position and movement of the explosion-proof valve itself. By defining the precise position of the explosion-proof valve in the entire production process, the second coordinate system ensures that the explosion-proof valve can be accurately docked with other components during the operation of each working node. Especially during the flipping and assembly processes, the explosion-proof valve must maintain the correct orientation and position to facilitate the subsequent welding operation.

[0029] The third coordinate system takes the robotic arm as the main body and defines the operation range and posture of the robotic arm when performing welding tasks. Through the control of the position and angle of the robotic arm, the third coordinate system realizes the precise welding of the explosion-proof valve. Under the third coordinate system, the robotic arm can accurately locate according to the specific position of the explosion-proof valve and perform the welding operation. At the same time, the operation of the robotic arm is coordinated with the positioning of the first and second coordinate systems to ensure the stability and welding quality of the explosion-proof valve during the welding process.

[0030] Furthermore, a welding controller is determined, including:

[0031] For the first flipping node, the second assembly node, and the third welding node, gating programming is written to determine the welding gating array; for the time dimension, a first gating association rule is introduced, and for the space dimension, a second gating association rule is introduced, where the time dimension includes between nodes and within nodes, and the second gating association rule is a positioning rule based on the ternary coordinate system; according to the first gating association rule and the second gating association rule, the welding gating array is cascaded to form the welding controller.

[0032] In the embodiment of the present application, for the first flipping node, the second assembly node, and the third welding node in the production line welding system, gating programming is performed, that is, an appropriate control program is configured for each node to ensure that the nodes execute tasks in sequence under specific conditions. Through precise programming, the operation tasks of each node are associated with their required execution time and conditions to ensure the smooth progress of the entire welding process.

[0033] According to the time dimension, a first gating association rule is introduced to control the time relationship between each node. The first gating association rule takes into account the time interval between nodes and the execution time within each node. For example, after the first flipping node performs the flipping operation, the assembly operation of the second assembly node can be started. By introducing the first gating association rule, the system can accurately control the start and stop time of each node to ensure the accurate timing of the entire welding process.

[0034] The spatial dimension involves the relative positions of nodes in space and the positioning requirements of the equipment. A second gating association rule is introduced according to the spatial dimension, and the second gating association rule controls the spatial position of the equipment based on a three-dimensional coordinate system. For example, the robotic arm of the second assembly node must accurately place the explosion-proof valve in a predetermined position to ensure the accuracy of the welding process. By introducing the gating association rule for the spatial dimension, the system can achieve precise control of the equipment in space and avoid welding failures caused by position errors.

[0035] The system cascades the gating association rules for the time dimension and the spatial dimension to form a complete welding gating array. Through the cascaded rules, the welding controller can coordinate the operations of each node in the production line to ensure that each node performs tasks at the correct time and spatial position.

[0036] Furthermore, establish a front-end mapping connection between the gating in the welding controller and the first flipping node, the second assembly node, and the third welding node; according to the first gating in the welding controller, control the first placement robotic arm to transfer the explosion-proof valve to a section of the conveyor belt, and according to the card slot of the flipping component, clamp and flip the explosion-proof valve for placement; according to the first transfer robotic arm, perform the transfer of the explosion-proof valve from the first section of the conveyor belt to the second section of the conveyor belt.

[0037] In the embodiment of the present application, the welding controller is mapped to each welding node (including the first flipping node, the second assembly node, and the third welding node) through precise gating control to ensure that each node performs operations in accordance with the predetermined sequence and requirements. Specifically, the first flipping node controls the action of the first placement robotic arm through the first gating signal in the welding controller to transfer the explosion-proof valve from the starting position to a section of the conveyor belt. At this time, the first placement robotic arm operates according to the card slot of the flipping component, accurately clamps and flips the explosion-proof valve for placement to ensure that the explosion-proof valve is in the correct placement position for subsequent welding operations. Then, the system transfers the explosion-proof valve from the first section of the conveyor belt to the second section of the conveyor belt through the first transfer robotic arm. At this time, the coordinated cooperation of the conveyor belt and the robotic arm ensures that the explosion-proof valve can accurately reach the next working node, preparing for subsequent assembly and welding.

[0038] In addition, throughout the process, the welding controller dynamically schedules each node according to the first gating association rule for the time dimension and the second gating association rule for the spatial dimension. Through the positioning rule based on the three-dimensional coordinate system, it is ensured that the operation of each node is accurate and error-free, meeting the strict requirements of the welding process.

[0039] Furthermore, according to the second gating in the welding controller, control the second placement robotic arm to perform the positioning and placement of the component to be welded inside the explosion-proof valve, where the positioning is constrained by a three-dimensional coordinate system; according to the second transfer robotic arm, perform the transfer of the explosion-proof valve from the second section of the conveyor belt to the third section of the conveyor belt.

[0040] The second gating signal in the welding controller is used to precisely control the movement of the second placement robotic arm, ensuring the positioning and placement of the component to be welded within the explosion-proof valve. Specifically, the second placement robotic arm precisely controls the position of the component to be welded within the explosion-proof valve according to the positioning rules of the three-dimensional coordinate system, ensuring that the welding area is aligned and avoiding welding quality problems caused by positioning errors. At the same time, the second transfer robotic arm is responsible for transferring the explosion-proof valve from the second conveyor belt to the third conveyor belt; the second transfer robotic arm operates according to the instructions of the welding controller to ensure the smooth transfer of the explosion-proof valve between the conveyor belts.

[0041] Furthermore, according to the third gating in the welding controller, dual-stage positioning is performed to control the third welding robotic arm to execute the welding control of the explosion-proof valve; wherein, the dual-stage positioning includes the overlapping positioning of the welding areas of the explosion-proof valve and the welding limit component, and the welding positioning of the welding area and the third welding robotic arm. The welding limit component is a fixed component, and positioning constraints are carried out in the three-dimensional coordinate system.

[0042] The third gating signal in the welding controller is used to perform dual-stage positioning, thereby precisely controlling the welding operation of the third welding robotic arm on the explosion-proof valve.

[0043] The dual-stage positioning includes the overlapping positioning of the welding areas of the explosion-proof valve and the welding limit component, and the welding positioning of the welding area and the third welding robotic arm. Specifically, the overlapping positioning of the welding areas of the explosion-proof valve and the welding limit component is carried out; the welding limit component, as a fixed component, is used to limit the position of the explosion-proof valve during the welding process to ensure that the explosion-proof valve always maintains precise positioning within the welding area. Through the positioning constraints based on the three-dimensional coordinate system, the welding areas of the explosion-proof valve and the welding limit component are precisely aligned to ensure the overlap of the welding areas, thereby avoiding misalignment or position deviation that may occur during the welding process. Secondly, the welding positioning of the welding area and the third welding robotic arm is carried out. According to the previous positioning results, based on the overlapping positioning of the welding areas of the welding limit component and the explosion-proof valve, the third welding robotic arm controls the welding robotic arm to position the welding tool at the correct welding point through precise calculations in the three-dimensional coordinate system.

[0044] During this dual-stage positioning process, the first step ensures the accurate alignment of the explosion-proof valve and the welding limit component in space, and the second step ensures that the third welding robotic arm can precisely complete the welding operation.

[0045] The welding controller is embedded and deployed in the production line welding system, establishing a mapping connection with the front-end equipment of the production line to execute the automated drive of the production line for welding the explosion-proof valve.

[0046] In the embodiments of the present application, the welding controller is connected to each device on the production line both in terms of hardware and software to ensure smooth data transfer and sharing. By establishing a mapping connection, the welding controller works precisely in coordination with front-end devices such as conveyor belts, robotic arms, welding tools, and limit components. The welding controller is responsible for adjusting and optimizing the welding process based on real-time sensor data and preset control algorithms, thereby ensuring the stability and accuracy of the welding operation.

[0047] Furthermore, the production line automation drive for performing explosion-proof valve welding includes:

[0048] Obtain the explosion-proof valve specification variables, where the explosion-proof valve specification variables are determined based on the change of production batches; for the explosion-proof valve specification variables, determine the control variables; according to the control variables, update the welding controller.

[0049] Preferably, based on the different characteristics of each production batch, extract the specification variables of the explosion-proof valve, such as features like the size, material type, shape, weight, etc. of the explosion-proof valve; according to the obtained explosion-proof valve specification variables, the welding control system needs to calculate the corresponding control variables based on these variables, including welding current, welding temperature, welding speed, welding time, positioning accuracy of the robotic arm, etc. Among them, the determination of the control variables is based on the specific specification requirements of the explosion-proof valve. For example, explosion-proof valves of different sizes and materials may require different welding parameters to ensure welding quality. The control variables calculated through this will be used as inputs to update the working parameters of the welding controller. The welding controller adjusts each device on the production line according to these updated control variables, including conveyor belt speed, actions of the robotic arm, parameters of the welding equipment, etc., to ensure precise execution of the welding process and meet the production requirements of the explosion-proof valve.

[0050] Furthermore, after the production line automation drive for performing explosion-proof valve welding, it includes:

[0051] Obtain the welding quality inspection data, and dig out the common welding defects, where the common welding defects meet the preset frequency; during the production line welding cycle, trace the source of the common welding defects to determine the defect source; according to the defect source, perform welding feedback regulation.

[0052] After the production line automation drive for explosion-proof valve welding is executed, the system will automatically obtain welding quality inspection data and collect quality inspection information after each welding operation, such as key indicators like welding strength, joint appearance, heat affected zone, and welding defects, to comprehensively understand the welding effect. Then, the system analyzes these welding quality inspection data, discovers common welding defects that frequently occur, and identifies potential problems based on the occurrence frequency of the defects, such as improper operation, equipment problems, or material problems. Next, a root cause analysis is carried out on these common welding defects to determine the root cause of the defects; by integrating information such as the operating status of the welding equipment, workpiece material, and operator records, the specific link where the defect occurs is traced. Finally, based on the tracing results, welding feedback regulation is carried out. By adjusting welding parameters (such as welding current, speed, time, etc.), or repairing and calibrating the welding equipment, the welding process is optimized to avoid the recurrence of defects.

[0053] Among them, the overlap of the auxiliary welding limit component and the welding area of the explosion-proof valve performs welding control based on a preset welding trajectory.

[0054] Through the docking of the auxiliary welding limit component and the welding area of the explosion-proof valve, it is ensured that the explosion-proof valve maintains a stable position during welding, avoiding the deviation of the welding position or the displacement of the explosion-proof valve. When the system performs welding, it will perform automated welding operations according to the preset welding trajectory. The welding trajectory is precisely planned according to the design requirements to ensure that each welding path meets the process standards.

[0055] In summary, the embodiments of the present application have at least the following technical effects:

[0056] The production line welding cycle is divided into a first flipping node, a second assembly node, and a third welding node. Programmable gating is introduced for node gating programming, and the welding controller is determined based on the dynamic positioning under the ternary coordinate system as the gating association. The welding controller is embedded and deployed in the production line welding system, establishing a mapping connection with the front-end equipment of the production line to execute the production line automation drive for explosion-proof valve welding. Among them, the overlap of the auxiliary welding limit component and the welding area of the explosion-proof valve performs welding control based on a preset welding trajectory. It solves the technical problem in the prior art that the welding process control of the explosion-proof valve of the battery combination cover plate is inaccurate, resulting in unstable welding quality and low efficiency. By dividing the welding cycle nodes, using programmable gating and ternary coordinate system dynamic positioning to determine the welding controller and embedding and deploying it, the production line automation drive is realized, accurately controlling the overlap of the auxiliary welding limit component and the welding area of the explosion-proof valve and executing the preset welding trajectory, achieving the technical effect of improving the stability of welding quality and production efficiency.

[0057] Embodiment 2 is based on the same inventive concept as the explosion-proof valve welding control method for a battery combination cover plate in the foregoing embodiment, as Figure 2As shown in the figure, the present application provides an explosion-proof valve welding control system for a battery combination cover plate, wherein the system includes:

[0058] Partition module 11: Divide the production line welding cycle into a first flipping node, a second assembly node, and a third welding node, introduce programmable gating for node gating programming, and determine the welding controller based on the dynamic positioning under the ternary coordinate system as the gating association; Driving module 12: Embeddedly deploy the welding controller in the production line welding system, establish a mapping connection with the front-end equipment of the production line, and execute the production line automation drive for explosion-proof valve welding; Welding control module 13: Assist the overlap of the welding limit component and the welding area of the explosion-proof valve, and execute welding control based on the preset welding trajectory.

[0059] Further, the partition module 11 is used to execute the following method:

[0060] The first flipping node drives a conveyor belt at a constant speed for a period of time to control the first placing robotic arm and the flipping component; the second assembly node drives two conveyor belts based on the second stepping parameters to control the second placing robotic arm; the third welding node drives three conveyor belts based on the second stepping parameters to control the third welding robotic arm and the welding limit component; wherein, the second stepping parameters include the stepping distance and the stepping interval time, and the conveyor belts of the second assembly node and the third welding node are equipped with explosion-proof valve limit components.

[0061] Further, the partition module 11 is used to execute the following method:

[0062] The ternary coordinate system includes a first coordinate system with the conveyor belt as the main body, a second coordinate system with the explosion-proof valve as the main body, and a third coordinate system with the robotic arm as the main body.

[0063] Further, the partition module 11 is used to execute the following method:

[0064] For the first flipping node, the second assembly node, and the third welding node, perform gating programming writing to determine the welding gating array; for the time dimension, introduce the first gating association rule, and for the space dimension, introduce the second gating association rule, wherein the time dimension includes between nodes and within nodes, and the second gating association rule is the positioning rule based on the ternary coordinate system; according to the first gating association rule and the second gating association rule, cascade the welding gating array to form the welding controller.

[0065] Further, the partition module 11 is used to execute the following method:

[0066] Establish a front-end mapping connection between the gate in the welding controller and the first flip node, the second assembly node, and the third welding node; according to the first gate in the welding controller, control the first placement robot arm to transfer the explosion-proof valve to a section of the transmission belt, and according to the loading slot of the flip component, load the explosion-proof valve and flip and place it; according to the first transfer robot arm, execute the transfer of the explosion-proof valve from one section of the conveyor belt to the second section of the transmission belt.

[0067] Furthermore, the division module 11 is used to perform the following method:

[0068] According to the second gate in the welding controller, the second placement robot arm is controlled to perform positioning and placement of the component to be welded in the explosion-proof valve, wherein the positioning constraint is performed using a ternary coordinate system; according to the second transfer robot arm, the explosion-proof valve is transferred from the second-stage conveyor belt to the third-stage conveyor belt.

[0069] Furthermore, the division module 11 is used to perform the following method:

[0070] According to the third gate in the welding controller, two-stage positioning is performed to control the third welding robot arm to perform welding control of the explosion-proof valve; wherein, the two-stage positioning includes overlapping positioning of the welding domain of the explosion-proof valve and the welding limit assembly, and welding positioning of the welding domain and the third welding robot arm, and the welding limit assembly is a fixed assembly, and positioning constraints are performed using a ternary coordinate system.

[0071] Furthermore, the driving module 12 is used to execute the following method:

[0072] Acquire welding quality inspection data and mine common welding defects, wherein the common welding defects meet a preset frequency; trace the common welding defects to determine the defect source during the welding cycle of the production line; and perform welding feedback control based on the defect source.

[0073] Furthermore, the driving module 12 is used to execute the following method:

[0074] Acquire explosion-proof valve specification variables, wherein the explosion-proof valve specification variables are determined based on the change of production batches; determine control variables for the explosion-proof valve specification variables; and update the welding controller according to the control variables.

[0075] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0076] The foregoing are only the preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

[0077] This specification and the drawings are merely illustrative of the present application and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalent technologies, the present application is intended to include these changes and modifications therein.

Claims

1. A method for controlling the welding of an explosion-proof valve of a battery combination cover plate, characterized in that The method comprises: The production line welding cycle is divided into the first flip node, the second assembly node and the third welding node. Programmable gating is introduced to perform node gating programming, and the welding controller is determined based on the dynamic positioning in the ternary coordinate system as the gating association; The welding controller is embedded and deployed in the production line welding system, and a mapping connection is established with the front-end equipment of the production line to execute the production line automation drive of the explosion-proof valve welding; Among them, the auxiliary welding limit assembly overlaps with the welding domain of the explosion-proof valve to perform welding control based on a preset welding trajectory.

2. The explosion-proof valve welding control method for a battery combination cover plate according to claim 1, characterized in that, The first flipping node drives a section of the conveyor belt based on the first uniform speed to control the first placement robot arm and the flipping assembly; the second assembly node drives two sections of the conveyor belt based on the second step parameter to control the second placement robot arm; the third welding node drives three sections of the conveyor belt based on the second step parameter to control the third welding robot arm and the welding limit assembly; The second stepping parameter includes a stepping distance and a stepping interval time, and the conveyor belts of the second assembly node and the third welding node are equipped with explosion-proof valve limit components.

3. The explosion-proof valve welding control method for a battery combination cover plate according to claim 2, characterized in that, The ternary coordinate system includes a first coordinate system with the conveyor belt as the main body, a second coordinate system with the explosion-proof valve as the main body, and a third coordinate system with the robotic arm as the main body.

4. The explosion-proof valve welding control method for a battery combination cover plate according to claim 3, characterized in that, The determining of the welding controller comprises: Perform gate programming and writing on the first flip node, the second assembly node and the third welding node to determine the welding gate array; For the time dimension, a first gating association rule is introduced, and for the space dimension, a second gating association rule is introduced, wherein the time dimension includes between nodes and within nodes, and the second gating association rule is a positioning rule based on a ternary coordinate system; The welding gating array is cascaded according to the first gating association rule and the second gating association rule to form the welding controller.

5. The explosion-proof valve welding control method for a battery combination cover plate according to claim 2, characterized in that, Establishing a front-end mapping connection between the gate control in the welding controller and the first flip node, the second assembly node, and the third welding node; According to the first gate control in the welding controller, the first placement robot arm is controlled to transfer the explosion-proof valve to a section of the transmission belt, and the explosion-proof valve is clamped and flipped and placed according to the clamping slot of the flip assembly; According to the first transfer robot arm, the explosion-proof valve transfer from one section of the conveyor belt to the second section of the conveyor belt is performed.

6. The explosion-proof valve welding control method for a battery combination cover plate according to claim 5, characterized in that, According to the second gate in the welding controller, the second placement robot arm is controlled to perform positioning and placement of the assembly to be welded in the explosion-proof valve, wherein the positioning constraint is performed by a ternary coordinate system; According to the second transfer robot arm, the explosion-proof valve transfer from the two-stage conveyor belt to the three-stage conveyor belt is performed.

7. The explosion-proof valve welding control method of a battery combination cover plate according to claim 6, characterized in that, According to the third gate control in the welding controller, double-stage positioning is performed to control the third welding robot arm to perform welding control of the explosion-proof valve; Among them, the two-stage positioning includes the overlapping positioning of the welding domain of the explosion-proof valve and the welding limit assembly, and the welding positioning of the welding domain and the third welding robot arm. The welding limit assembly is a fixed assembly, and the positioning constraint is performed in a ternary coordinate system.

8. The explosion-proof valve welding control method for a battery combination cover plate according to claim 1, characterized in that, After the production line automation drive of explosion-proof valve welding is executed, it includes: Acquire welding quality inspection data and mine common welding defects, wherein the common welding defects meet a preset frequency; During the welding cycle of the production line, trace the common welding defects to determine the defect source; Execute welding feedback control according to the defect source.

9. The explosion-proof valve welding control method of a battery combination cover plate according to claim 1, characterized in that, Execute the automatic drive of the production line for explosion-proof valve welding, including: Obtain the explosion-proof valve specification variable, where the explosion-proof valve specification variable is determined based on the change of production batches; Determine the control variable for the explosion-proof valve specification variable; Update the welding controller according to the control variable.

10. An explosion-proof valve welding control system for a battery combination cover plate, characterized in that, A system for implementing the explosion-proof valve welding control method according to any one of claims 1-9, the system includes: Partition module: Partition the production line welding cycle into a first flipping node, a second assembly node and a third welding node, introduce programmable gating for node gating programming, and determine the welding controller based on the dynamic positioning under the ternary coordinate system as the gating association; Drive module: Embeddedly deploy the welding controller in the production line welding system, establish a mapping connection with the front-end equipment of the production line, and execute the automatic drive of the production line for explosion-proof valve welding; Welding control module: Assist the overlap of the welding limit component and the welding area of the explosion-proof valve, and execute welding control based on a preset welding track.

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