Pole welding method and system

Abstract

The embodiment of the invention provides a pole welding method and system, and the method comprises the steps: responding to the positioning of a battery pack in place, and obtaining the product information of the battery pack and the detection coordinates of a battery cell pole in the battery pack at a welding station based on an information obtaining device; wherein the battery pack comprises a plurality of battery cell poles, and the product information comprises initial coordinates of the plurality of battery cell poles; based on the initial coordinates and the detection coordinates of the plurality of battery cell poles, determining offset results of the plurality of battery cell poles in the battery pack; and in response to the deviation result meeting the deviation condition, the welding robot is controlled to weld the battery cell poles based on the detection coordinates. The battery pack with the deviation result meeting the requirement is welded, it is guaranteed that the position of the weld joint can be accurate, the problem that the battery yield is reduced due to the fact that the deviation of the position of the weld joint is too large is solved, and the safe working condition and reliability of battery production are guaranteed.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of batteries, and involve but are not limited to a method and system for welding pole columns. Background Art

[0002] In the production process of batteries, since the capacity and voltage of a single battery cell are limited, multiple battery cells are often connected in series and parallel for actual use. The existing series and parallel connection methods are to use busbars to connect the pole columns of the positive and negative electrodes of adjacent battery cells in the battery in series or parallel, and then perform welding.

[0003] Since the welding requirements for the pole column and the busbar are relatively high, in the related art, a charge coupled device (CCD) camera is used to determine the true coordinates of the pole column, and the pole column and the busbar are welded according to the true coordinates. However, affected by the imaging quality of the camera, when there are problems such as fouling, missing, or unclear feature points in the image, it will cause deviation in identifying the position of the pole column, resulting in deviation of the weld seam and poor welding quality. Summary of the Invention

[0004] To solve the problems existing in the related art, the embodiments of the present application provide a method and system for welding pole columns. After obtaining the detection coordinates of the battery cell pole columns, the offset between the detection coordinates and the initial coordinates is determined, and the battery pack whose offset result meets the requirements is welded to ensure that the position of the weld seam can be accurate, reduce the problem of reduced battery yield caused by excessive deviation of the weld seam position, and ensure the safe working conditions and reliability of battery production.

[0005] In a first aspect, the present application provides a method for welding pole columns. The method for welding pole columns is applied to a controller of a pole column welding system. The pole column welding system further includes a frame body, an information acquisition device disposed on the frame body, and a welding robot. The method for welding pole columns includes: in response to the battery pack being positioned in place, acquiring product information of the battery pack and detection coordinates of the battery cell pole columns at the welding station based on the information acquisition device; wherein the battery pack includes a plurality of battery cell pole columns, and the product information includes initial coordinates of the plurality of battery cell pole columns; determining an offset result of the plurality of battery cell pole columns in the battery pack based on the initial coordinates and the detection coordinates of the plurality of battery cell pole columns; and in response to the offset result meeting the offset condition, controlling the welding robot to weld the plurality of battery cell pole columns based on the detection coordinates.

[0006] In the above embodiments, after obtaining the detection coordinates of the battery cell pole, the offset between the detection coordinates of the battery cell pole and the initial coordinates can be determined, and the battery pack with the offset result meeting the requirements is welded. In this way, when welding the battery cell pole based on the welding program and detection coordinates called based on the initial coordinates, the position of the weld can be ensured to be accurate, reducing the problem of reduced battery yield caused by excessive deviation of the weld position, and ensuring the safe working condition and reliability of battery production.

[0007] In some embodiments, the information acquisition device at least includes an information collection device, a line scan device, and a contour scan device; the obtaining of the product information of the battery pack and the detection coordinates of the battery cell poles in the welding station based on the information acquisition device includes: controlling the information collection device to read the product identification of the battery pack to obtain the initial coordinates of the plurality of battery cell poles; controlling the line scan device to perform a first scan process on the plurality of battery cell poles of the battery pack to obtain the first position information of each battery cell pole on the first plane in the welding station; controlling the contour scan device to perform a second scan process on the plurality of battery cell poles of the battery pack to obtain the second position information of each battery cell pole in the first direction; wherein the detection coordinates include the first position information and the second position information, and the first direction is perpendicular to the first plane.

[0008] In the above embodiments, in the embodiments of the present application, through devices such as the information collection device, the line scan device, and the contour scanner in the information acquisition device, the position information of each battery cell pole in three directions is accurately determined, reducing the problem of inaccurate detection coordinates caused by image clarity or image loss when determining the detection coordinates of the pole through the image collected by the camera, improving the accuracy of the detection coordinates, and further improving the accuracy of welding and the yield of battery products.

[0009] In some embodiments, the controlling the line scan device to perform a first scan process on the plurality of battery cell poles of the battery pack to obtain the first position information of each battery cell pole on the first plane includes: controlling the line scan device to perform a first scan process on the plurality of battery cell poles of the battery pack to respectively obtain the edge position information of each battery cell pole in the second direction and the third direction; wherein the second direction is the direction of battery cell stacking on the first plane of the battery pack, and the third direction is the direction perpendicular to the second direction on the first plane; based on the edge position information of each battery cell pole in the second direction and the third direction, determining the center point of each battery cell pole and the first detection coordinate of the center point in the second direction and the second detection coordinate in the third direction; and determining the first detection coordinate and the second detection coordinate of each battery cell pole as the first position information.

[0010] In the above embodiments, based on the line scanning device, the positions of the pole columns of each battery cell in the second direction and the third direction of the first plane can be accurately and effectively determined, avoiding the problem that when collecting images through a camera, deviations may occur in identifying the positions of the pole columns due to problems such as fouling, missing, or unclear feature points in the images, improving the accuracy of the detected coordinates and also improving the efficiency of pole column addressing.

[0011] In some embodiments, controlling the profile scanning device to perform a second scanning process on the pole columns of multiple battery cells in the battery pack to obtain the second position information of each battery cell pole column in the first direction includes: controlling the profile scanning device to perform a second scanning process on the pole columns of multiple battery cells in the battery pack to respectively obtain the first point cloud data of the surface of each battery cell pole column in the first direction, where the surface is the surface for welding the battery cell pole column; based on the first point cloud data corresponding to each battery cell pole column, determining the maximum value and the minimum value of the surface of each battery cell pole column in the first direction; and based on the maximum value and the minimum value, obtaining the second position information of each battery cell pole column in the first direction.

[0012] In the above embodiments, the accurate coordinates of the battery cell pole columns in the first direction are determined through a profile scanner, avoiding the problem that the coordinates of the battery cell pole columns in the first direction cannot be determined when addressing through a camera. When judging the offset result of the battery pack by addressing the battery cell pole columns in the first direction, the deviation in the first direction is considered, and the offset result is more accurate, avoiding welding of battery packs that do not meet the requirements in the first direction and improving the yield of the battery.

[0013] In some embodiments, determining the offset result of the pole columns of multiple battery cells in the battery pack based on the initial coordinates and the detected coordinates of the multiple battery cell pole columns includes: determining the first offset result of the multiple battery cell pole columns in the first plane of the welding station based on the initial coordinates and the detected coordinates of the multiple battery cell pole columns; determining the second offset result of each battery cell pole column in the first direction of the welding station, the third offset result of any two adjacent battery cell pole columns in the first direction, and the fourth offset result of any two battery cell pole columns in the first direction based on the detected coordinates of the multiple battery cell pole columns.

[0014] In the above embodiments, the offsets of the battery cell pole columns in the battery pack in multiple dimensions are considered, avoiding welding of battery packs that do not meet the requirements and improving the yield of the battery.

[0015] In some embodiments, the detection coordinates at least include a first detection coordinate of each battery cell pole in a second direction of a first plane and a second detection coordinate of a third direction of the first plane; the initial coordinates at least include a first initial coordinate of each battery cell pole in the second direction and a second initial coordinate of the third direction; the product information further includes the pole arrangement mode of the battery pack; determining a first offset result of the plurality of battery cell poles in the first plane of the welding station based on the initial coordinates and the detection coordinates of the plurality of battery cell poles includes: fitting at least one first detection line in the second direction and fitting at least one second detection line in the third direction based on the pole arrangement mode, the first detection coordinate, and the second detection coordinate; the number of the first detection lines is the same as the number of the battery cell poles in the third direction, and the number of the second detection lines is the same as the number of the battery cell poles in the second direction; determining at least one first initial line in the second direction and determining at least one second detection line in the third direction based on the pole arrangement mode, the first initial coordinate, and the second initial coordinate; and determining the offset value of the first detection line and the corresponding first initial line in the third direction and the offset value of the second detection line and the corresponding second initial line in the second direction as the first offset result.

[0016] In the above embodiments, the offset of the battery cell poles in the first plane is considered, and whether the battery pack meets the offset condition is judged based on the first offset result, which can avoid the problem that the weld seam offset is too large after welding of the battery pack that does not meet the requirements, and improves the battery yield.

[0017] In some embodiments, the detection coordinates at least include second position information of each battery cell pole in a first direction; the product information further includes a first preset height range of the battery cell poles; determining a second offset result of each battery cell pole in the first direction of the welding station based on the detection coordinates of the plurality of battery cell poles includes: comparing the second position information of each battery cell pole with the first preset height range to obtain the second offset result of each battery cell pole.

[0018] In the above embodiments, it is ensured that the battery cell poles in the battery pack to be welded are within the same height range in the first direction, avoiding the problem that the height difference is too large, resulting in the lower battery cell poles not being welded, and the battery cell poles not being connected to other battery cell poles through the bus bar, and improving the battery yield.

[0019] In some embodiments, the detected coordinates at least include second position information of each cell pole in a first direction; based on the detected coordinates of the plurality of cell poles, determining a third offset result of any two adjacent cell poles in the first direction and a fourth offset result of any two cell poles in the first direction includes: based on the second position information of each cell pole, determining a first height difference between any two adjacent cell poles in the first direction and a second height difference between any two cell poles in the first direction; comparing the first height difference with a first preset difference value to obtain the third offset result; comparing the second height difference with a second preset difference value to obtain the fourth offset result.

[0020] In the above embodiments, by determining the height differences between any two cell poles and between any two adjacent cell poles, it is determined whether the offsets of the plurality of cell poles of the battery pack meet the offset conditions, and the battery packs that meet the offset conditions are welded, improving the yield of the welded battery packs.

[0021] In some embodiments, the pole welding system at least includes a single pressing plate, and one single pressing plate corresponds to at least one cell in the battery pack. The single pressing plate is used to squeeze the bus bar assembly in the first direction so that the bus bar assembly contacts the cell pole; the offset result further includes a fifth offset result of the single pressing plate corresponding to the cell pole; the method further includes: in response to at least one single pressing plate corresponding to the battery pack being squeezed in place, obtaining second point cloud data of the at least one single pressing plate in the first direction based on the information acquisition device; according to the second point cloud data, determining the average height of each single pressing plate in the first direction; comparing the average height with a second preset height range to obtain the fifth offset result.

[0022] In the above embodiments, by comparing the height of the single pressing plate with a preset height, it is determined whether the single pressing plate meets the offset conditions, and the battery packs that meet the offset conditions are welded, improving the yield of the welded battery packs.

[0023] In some embodiments, the controlling the welding robot to weld the plurality of cell poles based on the detected coordinates in response to the offset result meeting the offset conditions includes: in response to the first offset result indicating that the offset values of the first detection line and the second detection line are both less than a preset offset value, the second offset result indicating that the second position information is within a first preset height range, the third offset result indicating that the first height difference is less than a first preset difference value, the fourth offset result indicating that the second height difference is less than a second preset difference value, and the fifth offset result indicating that the average height of the single pressing plate is within a second preset height range, controlling the welding robot to weld the plurality of cell poles based on the detected coordinates.

[0024] In the above embodiments, welding the battery pack that meets the offset condition can ensure the accurate position of the weld seam, reduce the problem of reduced battery yield caused by excessive deviation of the weld seam position, and ensure the safe working conditions and reliability of battery production.

[0025] In a second aspect, an embodiment of the present application provides a pole welding system, which includes: a frame body; an information acquisition device disposed on the frame body for acquiring product information of the battery pack and detection coordinates of the cell poles of the battery pack at the welding station in response to the battery pack being positioned in place; wherein the battery pack includes a plurality of cell poles, and the product information includes initial coordinates of the plurality of cell poles; a welding robot disposed on the frame body for welding the cell poles; and a controller for acquiring the product information and the detection coordinates; determining an offset result of the plurality of cell poles in the battery pack based on the initial coordinates and the detection coordinates of the plurality of cell poles; and controlling the welding robot to weld the plurality of cell poles based on the detection coordinates in response to the offset result meeting the offset condition.

[0026] In the above embodiments, after the controller of the welding system acquires the detection coordinates of the cell poles, it can determine the offset between the detection coordinates and the initial coordinates of the cell poles, and weld the battery pack whose offset result meets the requirements. In this way, when welding the cell poles based on the welding program called based on the initial coordinates and the detection coordinates, the position of the weld seam can be ensured to be accurate, the problem of reduced battery yield caused by excessive deviation of the weld seam position can be reduced, and the safe working conditions and reliability of battery production can be ensured.

[0027] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically illustrates the specific embodiments of the present application. Description of the Drawings

[0028] Figure 1 is an optional process schematic diagram of the pole welding method provided by an embodiment of the present application Figure 1 ;

[0029] Figure 2 is an optional process schematic diagram of the pole welding method provided by an embodiment of the present application Figure 2 ;

[0030] Figure 3 is an optional process schematic diagram of the pole welding method provided by an embodiment of the present application Figure 3 ;

[0031] Figure 4It is a schematic structural diagram of the pole welding system provided by an embodiment of the present application;

[0032] Figure 5 It is a schematic diagram of the anti-fooling logic for the weld position provided by an embodiment of the present application. Specific embodiments

[0033] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0034] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict. Unless otherwise defined, all technical and scientific terms used in the embodiments of the present application have the same meaning as commonly understood by those skilled in the technical field to which the embodiments of the present application belong. The terms used in the embodiments of the present application are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0035] Currently, from the perspective of the development of the market situation, the application of power batteries is becoming more and more extensive. Power batteries are not only used in energy storage power systems such as hydropower, thermal power, wind power, and solar power stations, but also widely used in electric transportation tools such as electric bicycles, electric motorcycles, and electric vehicles, as well as in multiple fields such as military equipment and aerospace. With the continuous expansion of the application fields of power batteries, the market demand is also continuously increasing.

[0036] The applicant has noticed that in the battery manufacturing process, a laser welding process is used to connect the cell pole and the busbar. The process accuracy requirements are relatively high. However, due to factors such as the tooling fixture of the welding equipment, the mechanical position of the galvanometer, the errors existing in the cell grouping during the battery manufacturing process, and the positioning error of the battery at the welding station, the welding accuracy between the pole and the busbar often fails to meet the requirements, resulting in a low yield rate of the welded battery pack and it cannot be used.

[0037] In the related art, a CCD camera is used to take pictures of the battery to be welded, obtain an image containing the pole post, and identify the image to determine the position coordinates of the pole post, so as to complete the positioning of the pole post and perform welding according to the positioning result. However, after the battery cells are grouped to form a battery pack, there are grouping tolerances in the X, Y, and Z directions for the pole posts of the battery cells. The larger the size of the battery product, the greater the tolerance. When the pole posts of the battery cells in the battery pack and the Busbar are welded using laser flight welding and the welding is performed through the called program, due to the tolerance in the position of the pole posts of the battery cells, the position of the weld seam is inaccurate after welding, and the welding result does not meet the requirements.

[0038] In order to make the position of the weld seam during welding accurate and improve the welding quality, the applicant has found through research that after determining the true coordinates of the pole posts of the battery cells in the battery pack, the offset of the pole posts of the battery cells can be determined based on the true coordinates and the standard coordinates of the pole posts of the battery cells in the battery pack, and welding can be performed after the offset meets the requirements.

[0039] To solve the problems existing in the related art, the embodiment of the present application provides a method for welding pole posts. After obtaining the detection coordinates of the pole posts of the battery cells, the offset between the detection coordinates and the initial coordinates of the pole posts of the battery cells can be determined, and the battery pack with the offset result meeting the requirements is welded. In this way, when welding the pole posts of the battery cells based on the welding program called based on the initial coordinates and the detection coordinates, the position of the weld seam can be ensured to be accurate, reducing the problem of reduced battery yield caused by excessive deviation of the weld seam position, and ensuring the safe working conditions and reliability of battery production.

[0040] The battery pack disclosed in the embodiment of the present application can be but is not limited to being used in power-consuming devices such as vehicles, ships, or aircraft. A power supply system of the power-consuming device can be composed of the battery pack, battery, etc. disclosed in the present application. In this way, it is beneficial to relieve and automatically adjust the deterioration of the expansion force of the battery cells, supplement the consumption of the electrolyte, and improve the stability of the battery performance and the battery life.

[0041] The battery pack after welding in the embodiment of the present application can be used as a power-consuming device of a power supply. The power-consuming device can be but is not limited to mobile phones, tablets, laptop computers, electric toys, electric tools, battery cars, electric vehicles, ships, spacecraft, etc. Among them, the electric toy can include fixed or mobile electric toys, such as game consoles, electric vehicle toys, electric ship toys, and electric aircraft toys, etc. The spacecraft can include airplanes, rockets, space shuttles, and spaceships, etc.

[0042] In the embodiments of the present application, a battery pack can be formed by connecting multiple batteries in series or parallel, where the battery can be a battery cell. A battery cell refers to a basic unit that can realize the mutual conversion between chemical energy and electrical energy, and can be used to manufacture a battery module or a battery pack, so as to supply power to an electrical device. The battery cell can be a secondary battery, which refers to a battery cell that can be activated by charging after discharging to continue to be used. The battery cell can be a lithium-ion battery, a sodium-ion battery, a sodium-lithium-ion battery, a lithium-metal battery, a sodium-metal battery, a lithium-sulfur battery, a magnesium-ion battery, a nickel-metal hydride battery, a nickel-cadmium battery, a lead-acid battery, etc., and the embodiments of the present application do not limit this.

[0043] The execution subject of the pole welding method provided by the embodiments of the present application is the controller of the pole welding system. The pole welding system further includes a frame body, an information acquisition device disposed on the frame body, and a welding robot. Here, the controller can refer to any one of a programmable logic controller (PLC), a single-chip microcomputer, a middle computer, and a host computer; the controller can include a processor and a memory storing instructions executable by the processor. When the instructions are executed by the processor, the pole welding method provided by the embodiments of the present application is implemented. The information acquisition device is used to acquire information of the battery pack, and the welding robot welds the cell poles and the bus bar based on the information of the battery pack.

[0044] In some embodiments, the battery pack includes multiple battery cells, and the multiple battery cells can be connected in series, parallel, or in a hybrid connection. A hybrid connection means that there are both series and parallel connections among the multiple battery cells. The series, parallel, or hybrid connection among the multiple battery cells is realized by welding the cell poles of the battery cells to the bus bar assembly. Among them, each battery cell can be a secondary battery or a primary battery; it can also be a lithium-sulfur battery, a sodium-ion battery, or a magnesium-ion battery, but is not limited thereto. The battery cell can be in a cylindrical shape, a flat shape, a cuboid shape, or other shapes, etc.

[0045] Figure 1 is an optional process schematic of the pole welding method provided by the embodiments of the present application Figure 1 , such as Figure 1 shown, the pole welding method provided by the embodiments of the present application can be realized through steps S101 to S103:

[0046] Step S101, in response to the battery pack being positioned in place, acquire the product information of the battery pack and the detection coordinates of the cell poles in the welding station based on the information acquisition device; wherein, the battery pack includes multiple cell poles, and the product information includes the initial coordinates of the multiple cell poles.

[0047] In the embodiment of the present application, the battery pack being positioned in place means that the battery pack to be welded is transported to the welding station by an Automated Guided Vehicle (AGV). The welding station includes a three-axis mechanism, and the battery pack is fixed to the welding station through the three-axis mechanism of the pole welding system. The controller obtains the product information of the battery pack and the detection coordinates of the cell poles in the battery pack at the welding station through an information acquisition device.

[0048] Among them, obtaining the product information of the battery pack can be achieved by scanning the QR code or barcode on the battery pack through the information acquisition device to obtain the product information. Here, each battery pack has a corresponding fixed number, which is used to represent the type and product information of the battery. The product information can refer to the blue print data and production formula of the battery pack.

[0049] When the battery pack is designed, the position of each cell pole on the battery pack is set. However, in the actual production process, due to manufacturing errors in each production link, there is an offset between the actual position of the cell pole and the preset position. Therefore, before pole welding, it is necessary to determine the offset value based on the initial coordinates and the detection coordinates.

[0050] In some embodiments, the blue print data can refer to the position information of the Mark points and the cell poles of the battery pack, that is, when the battery pack is in a fixed position on the welding station, the initial coordinates of the Mark points and the cell poles. The initial coordinates are the coordinates when the cell poles of the battery pack are all in the preset standard positions.

[0051] The production formula can refer to the welding program corresponding to the battery pack when the battery pack is welded through the pole welding system. The welding program is associated with the blue print data of the battery pack. Since the cell arrangements in different battery packs are different and the positions of the cell poles are different, different welding programs are required to weld the battery packs.

[0052] In some embodiments, the detection coordinates refer to the actual coordinates of the battery pack when it is in a fixed position on the welding station obtained through the information acquisition device. Here, the information acquisition device can be a scanner, and the detection coordinates of the cell poles at the welding station are determined based on the scanner.

[0053] Here, the initial coordinates and the detection coordinates refer to the coordinates of the battery pack on the welding station corresponding to the pole welding system, that is, the coordinates with the welding station as the reference coordinate system.

[0054] Step S102: Based on the initial coordinates and the detection coordinates of the multiple cell poles, determine the offset results of the multiple cell poles in the battery pack.

[0055] In some embodiments, the initial coordinates and the detected coordinates may refer to the coordinates in three directions (X, Y, Z). After determining the initial coordinates and the detected coordinates of each cell pole, the offset values of the initial coordinates and the detected coordinates in the three directions can be determined respectively to obtain the offset result of the cell pole.

[0056] In some embodiments, the offset result of the cell pole may refer to the offset values of the initial coordinates and the detected coordinates of each cell pole in the three directions respectively, or may refer to the offset value in the Z direction between any two poles among multiple cell poles, the offset value in the Z direction between adjacent cell poles, etc.

[0057] Step S103, in response to the offset result satisfying the offset condition, control the welding robot to weld the multiple cell poles based on the detected coordinates.

[0058] In some embodiments, different offset results correspond to different offset conditions. For example, when comparing the values of the initial coordinates and the detected coordinates in the three directions respectively to obtain the offset values of the initial coordinates and the detected coordinates in the three directions respectively, the offset result satisfying the offset condition may be that the offset values of the initial coordinates and the detected coordinates in the three directions are all less than a preset offset value; when comparing the heights of adjacent cell poles in the Z direction, the offset result may be that the height difference is less than a preset height difference.

[0059] In the embodiments of the present application, only when the offset result of the cell pole satisfies the offset condition, the welding robot is controlled to weld the cell pole, so as to avoid the problem that the position of the weld seam is inaccurate after welding due to excessive offset of the cell pole, resulting in poor contact between the cell pole and the bus bar and low yield of the battery pack.

[0060] After obtaining the detected coordinates of the cell pole in the embodiments of the present application, the offset between the detected coordinates and the initial coordinates of the cell pole can be determined, and the battery pack whose offset result meets the requirements is welded. In this way, when welding the cell pole based on the welding program called by the initial coordinates and the detected coordinates, the position of the weld seam can be ensured to be accurate, the problem of reduced battery yield caused by excessive deviation of the weld seam position can be reduced, and the safe working condition and reliability of battery production can be ensured.

[0061] In some embodiments, the information acquisition device at least includes an information collection device, a line scan device, and a contour scan device. Among them, the information collection device may be a barcode scanner, the line scan device may be a two-dimensional (2D) line scan device, and the contour scan device may be a 3D profiler. The product information of the battery pack can be obtained through the information collection device, and the actual coordinates of the cell poles in the battery pack at the welding station can be obtained through the line scan device and the contour scan device. Figure 2It is an optional process schematic of the pole welding method provided by the embodiments of the present application Figure 2 , as Figure 2 shown, step S101 can be implemented through steps S201 to S203:

[0062] Step S201, control the information acquisition device to read the product identification of the battery pack, and obtain the initial coordinates of the plurality of cell poles.

[0063] In some embodiments, the information acquisition device may include an information acquisition device, which may be a device such as a barcode scanner. The product identification of the battery pack may be a two-dimensional code, a barcode, or a specific pattern identification on the surface of the battery pack. After scanning the product identification of the battery pack with the barcode scanner, the blueprints data of the battery pack, that is, the initial coordinates of the plurality of cell poles in the battery pack, is obtained.

[0064] Step S202, control the line scan device to perform a first scan process on the plurality of cell poles of the battery pack, and obtain the first position information of each cell pole on the first plane of the welding station.

[0065] In some embodiments, the line scan device may refer to a two-dimensional line scan device, which is used to determine the X and Y coordinates of the cell poles. The first scan process may refer to scanning the positions of the plurality of cell poles of the battery pack on the first plane through the line scan device, and obtaining the first position information of each cell pole, that is, the X and Y coordinate information.

[0066] In the embodiments of the present application, the first plane may refer to a plane parallel to the ground.

[0067] In some embodiments, step S202 can be implemented through steps S2021 to S2023:

[0068] Step S2021, control the line scan device to perform a first scan process on the plurality of cell poles of the battery pack, and respectively obtain the edge position information of each cell pole in the second direction and the third direction; wherein, the second direction is the direction in which the cells are stacked in the battery pack on the first plane, and the third direction is the direction perpendicular to the second direction on the first plane.

[0069] In some embodiments, in order to meet different product requirements, battery manufacturers usually need to manufacture battery products of various specifications. Therefore, there are various battery grouping forms. For example, there are forms in which the cells are stacked in a single row in one direction, or two or more cells are bonded and then stacked in the bonded form. The direction of cell stacking refers to the direction in which the plurality of cells in the battery pack are arranged.

[0070] In the embodiments of the present application, the cell terminal is not a point on the first plane, but a closed shape. For example, the cell terminal is circular on the first plane. Therefore, the first position information of the cell terminal can refer to the center point of the circular cell terminal. So when performing the first scanning process, the coordinates of the edge of the cell terminal can be determined first based on the line scanning device, and then the position information of each cell terminal in the second direction and the third direction on the first plane can be determined based on the shape of the electrode terminal.

[0071] In some embodiments, the edge position information can refer to the coordinates of the edge of the cell terminal in the second direction and the third direction respectively, which can be the coordinates of each edge point or the coordinates of some edge points. For example, the coordinates of ten points evenly distributed on the edge of the cell terminal.

[0072] Step S2022: Determine the center point of each cell terminal, the first detection coordinate of the center point in the second direction, and the second detection coordinate of the center point in the third direction based on the edge position information of each cell terminal in the second direction and the third direction.

[0073] In some embodiments, after determining multiple coordinates of the edge positions of each cell terminal in the second direction and the third direction, the first detection coordinate of the center point of the cell terminal in the second direction and the second detection coordinate of the center point in the third direction can be calculated. For example, if the cell terminal is a circular cell terminal, the coordinates of the center point are calculated based on multiple coordinates of the edge. For example, based on multiple coordinates of the edge, the maximum coordinate and the minimum coordinate of the cell terminal in the second direction and the third direction are determined, and the coordinates of the center point are determined based on the maximum coordinate and the minimum coordinate.

[0074] Step S2023: Determine the first detection coordinate and the second detection coordinate of each cell terminal as the first position information.

[0075] Based on the first detection coordinate of each cell terminal in the second direction and the second detection coordinate of the center point in the third direction, the first position information of each cell terminal on the first plane is obtained.

[0076] The embodiments of the present application can accurately and effectively determine the positions of each cell terminal in the second direction and the third direction on the first plane based on the line scanning device, avoiding the problem that when collecting images through a camera, deviations may occur in identifying the position of the terminal due to problems such as dirt, missing, or unclear feature points in the image, improving the accuracy of the detection coordinates and also improving the efficiency of terminal addressing.

[0077] Step S203: Control the profile scanning device to perform a second scanning process on multiple cell poles of the battery pack, and obtain second position information of each cell pole in the first direction; wherein, the detection coordinates include the first position information and the second position information, and the first direction is perpendicular to the first plane.

[0078] In the embodiments of the present application, the profile scanning device may refer to a three-dimensional profile scanner, which is used to scan the surface profile of the cell pole to determine the coordinates of each cell pole on the Z-axis. The first direction is the Z direction.

[0079] In some embodiments, step S203 may be implemented through steps S2031 to S2033:

[0080] Step S2031: Control the profile scanning device to perform a second scanning process on multiple cell poles of the battery pack, and respectively obtain first point cloud data of the surface of each cell pole in the first direction, where the surface is the surface for welding the cell pole.

[0081] Here, point cloud data refers to the set of scanning data of the surface of the cell pole in a three-dimensional coordinate system. The scanning data is recorded in the form of points, and each point contains at least the three-dimensional coordinates of the point.

[0082] In some embodiments, due to the limitations of the cell manufacturing process, the surface of the cell pole is not a flat surface. Therefore, it is necessary to determine the position of the surface for welding the cell pole in the first direction according to the profile of the surface of the cell pole. The second scanning process refers to scanning the profile of the surface for welding the cell pole to obtain the first point cloud data of the surface. Here, the first point cloud data may only be the coordinate values in the first direction.

[0083] Step S2032: Based on the first point cloud data corresponding to each cell pole, determine the maximum value and the minimum value of the surface of each cell pole in the first direction.

[0084] In the embodiments of the present application, the median value of the surface of each cell pole in the first direction may be determined as the second position information of each cell pole in the first direction. At this time, the maximum value and the minimum value of the surface of each cell pole in the first direction can be determined, and the average of the maximum value and the minimum value is calculated to obtain the median value of the surface of each cell pole, so as to obtain the second position information of the surface of each cell pole in the first direction.

[0085] Step S2033: Based on the maximum value and the minimum value, obtain the second position information of each cell pole in the first direction.

[0086] In the embodiments of the present application, after determining the maximum and minimum values of the surfaces of the cell poles in the first direction, the average value can be calculated to obtain the second position information of the surfaces of the cell poles in the first direction.

[0087] In some embodiments, the second position information of each cell pole in the first direction can also be calculated according to the distribution of the first point cloud data corresponding to the surface of each cell pole. For example, 80% of the points in the first point cloud data have a coordinate value of 52 in the first direction, 15% of the points have a coordinate value of 51 in the first direction, and 5% of the points have a coordinate value of 53 in the first direction. At this time, based on the distribution rule, the second position information of the cell pole in the first direction can be determined to be 52.

[0088] In the embodiments of the present application, the accurate coordinates of the cell poles in the first direction are determined by a contour scanner, avoiding the problem that the coordinates of the cell poles in the first direction cannot be determined when addressing by a camera. When addressing the cell poles in the first direction and judging the offset result of the battery pack, the deviation in the first direction is considered, and the offset result is more accurate, avoiding welding of battery packs that do not meet the requirements in the first direction, and improving the yield of the battery.

[0089] In the embodiments of the present application, through devices such as the information acquisition device, the line scan device, and the contour scanner in the information acquisition device, the position information of each cell pole in the three directions is accurately determined, reducing the problem that the detected coordinates are inaccurate due to image clarity or image loss when determining the detection coordinates of the poles through the images collected by the camera, improving the accuracy of the detection coordinates, and further improving the accuracy of welding and the yield of the battery products.

[0090] In some embodiments, Figure 3 is an optional process schematic of the pole welding method provided by the embodiments of the present application Figure 3 as Figure 3 shown, step S102 can be implemented through step S301 and step S302.

[0091] Step S301: Based on the initial coordinates and the detected coordinates of the multiple cell poles, determine the first offset result of the multiple cell poles in the first plane of the welding station.

[0092] In the embodiments of the present application, the cell poles can be determined whether they meet the offset conditions based on multiple dimensions.

[0093] In some embodiments, the detected coordinates at least include a first detected coordinate of each cell pole in a second direction of a first plane and a second detected coordinate of a third direction of the first plane; the initial coordinates at least include a first initial coordinate of each cell pole in the second direction and a second initial coordinate of the third direction; the product information further includes the pole arrangement mode of the battery pack.

[0094] In some embodiments, step S301 can be implemented by step S3011 and step S3013:

[0095] Step S3011: Based on the pole arrangement mode, the first detected coordinate, and the second detected coordinate, at least one first detection line is fitted in the second direction, and at least one second detection line is fitted in the third direction; the number of the first detection lines is the same as the number of cell poles in the third direction, and the number of the second detection lines is the same as the number of cell poles in the second direction.

[0096] In some embodiments, in battery packs of different specifications, the arrangement modes of multiple cells are different, but in the second direction and the third direction of the first plane, multiple cell poles form a straight line. Therefore, when determining whether the cell poles are offset in the second direction and the third direction, the offset value between the straight lines formed by the cell poles in the second direction and the third direction respectively and the straight lines formed by the initial coordinates can be determined based on the detected coordinates.

[0097] In some embodiments, based on the first detected coordinates of each cell pole in the second direction, multiple second detection lines are fitted in the third direction, and the number of the second detection lines is the same as the number of cell poles in the second direction; based on the second detected coordinates of each cell pole in the third direction, multiple first detection lines are fitted in the second direction, and the number of the first detection lines is the same as the number of cell poles in the third direction.

[0098] Step S3012: Based on the pole arrangement mode, the first initial coordinate, and the second initial coordinate, at least one first initial line is determined in the second direction, and at least one second detection line is determined in the third direction.

[0099] In some embodiments, based on the first initial coordinates of each cell pole in the second direction, multiple second initial lines are fitted in the third direction, and the number of the second initial lines is the same as the number of cell poles in the second direction; based on the second initial coordinates of each cell pole in the third direction, multiple first initial lines are fitted in the second direction, and the number of the first initial lines is the same as the number of cell poles in the third direction.

[0100] Step S3013: Determine the offset value of the first detection line and the corresponding first initial line in the third direction and the offset value of the second detection line and the corresponding second initial line in the second direction as the first offset result.

[0101] Here, the offset value refers to the maximum offset value between two lines, that is, the maximum offset value of the first detection line and the corresponding first initial line of the first detection line in the third direction, and the maximum offset value of the second detection line and the corresponding second initial line of the second detection line in the second direction, which is the first offset result of the battery cell pole.

[0102] In some embodiments, the offset condition corresponding to the first offset result may refer to that the offset value of the first detection line and the corresponding first initial line in the third direction and the offset value of the second detection line and the corresponding second initial line in the second direction are both less than a preset offset value, and the preset offset value may be 5 millimeters (mm).

[0103] The embodiment of the present application considers the offset of the battery cell poles on the first plane, and judges whether the battery pack meets the offset condition based on the first offset result, which can avoid the problem of large offset of the weld after welding of non-compliant battery packs and improve the battery yield.

[0104] Step S302: Based on the detection coordinates of the multiple battery cell poles, determine the second offset result of each battery cell pole in the first direction at the welding station, the third offset result of any two adjacent battery cell poles in the first direction, and the fourth offset result of any two battery cell poles in the first direction.

[0105] In some embodiments, the detection coordinates at least include the second position information of each battery cell pole in the first direction; the product information further includes the first preset height range of the battery cell poles, and the first preset height range means that the height of the battery cell poles of the battery pack in the first direction should be within the first preset height range, and being higher or lower than the first preset height range will result in welding failure.

[0106] In the embodiment of the present application, that the offset result meets the offset condition may also mean that the heights of the battery cell poles of the battery pack in the first direction are within a preset range, avoiding the problem that the height difference is too large, resulting in the lower battery cell poles not being welded, so that the battery cell poles are not connected to other battery cell poles through the bus bar and a qualified battery product cannot be formed. Therefore, it is necessary to compare the heights of the battery cell poles in the battery pack with the preset initial heights.

[0107] Here, the second offset result can be obtained by comparing the second position information of each battery cell pole with the first preset height range. If the second offset result indicates that the second position information of each battery cell pole is within the first preset height range, at this time, the heights of each battery cell pole in the first direction meet the offset condition.

[0108] The embodiments of the present application ensure that the cell poles in the battery pack to be welded are within the same height range in the first direction, avoiding too much height difference, resulting in the failure to weld the lower cell poles, and causing the problem that the cell poles are not connected to other cell poles through the bus bar, thereby improving the battery yield.

[0109] In some embodiments, the detection coordinates at least include the second position information of each cell pole in the first direction. The third offset result and the fourth offset result obtained based on the second position information can be realized through steps S3021 to S3023:

[0110] Step S3021: Based on the second position information of each cell pole, determine the first height difference between any two adjacent cell poles in the first direction and the second height difference between any two cell poles in the first direction.

[0111] In the embodiments of the present application, the welding robot includes a laser galvanometer. In order to improve the welding efficiency, the laser galvanometer can weld multiple cell poles each time it moves. In order to ensure the welding quality, the height difference between adjacent cell poles needs to meet the requirements. Therefore, it is necessary to control the height of adjacent cell poles, and the battery packs with too large height differences between adjacent cell poles are not welded to avoid obtaining unqualified battery products. Here, through the second position information of each cell pole, the first height difference between any two adjacent cell poles in the first direction can be obtained.

[0112] In some embodiments, when the welding robot welds the cell poles and the bus bar, the welding station will squeeze the bus bar through a single pressing plate to ensure the contact between the bus bar and the cell poles. Therefore, in order to ensure the effectiveness of the squeezing of the single pressing plate, the height difference between any two cell poles needs to meet the requirements, avoiding the single pressing plate being unable to effectively squeeze the bus bar due to too large a height difference between the cell poles. Here, through the second position information of each cell pole, the second height difference between any two cell poles in the first direction can be obtained.

[0113] Step S3022: Compare the first height difference with a first preset difference to obtain the third offset result.

[0114] Step S3023: Compare the second height difference with a second preset difference to obtain the fourth offset result.

[0115] In some embodiments, the first preset difference is less than the second preset difference. For example, the first preset difference can be 2 mm, and the second preset difference can be 5 mm.

[0116] In the embodiments of the present application, the height differences between any two cell poles and between adjacent two cell poles are used to determine whether the offsets of multiple cell poles of the battery pack meet the offset conditions, and the battery packs that meet the offset conditions are welded, improving the yield of the welded battery packs.

[0117] In some embodiments, the pole welding system at least includes a single pressing plate. One single pressing plate corresponds to at least one cell in the battery pack. The single pressing plate is used to squeeze the busbar assembly in a first direction so that the busbar assembly contacts the cell pole. The offset result further includes a fifth offset result of the single pressing plate corresponding to the cell pole. The fifth offset result can be determined through steps S1 to S3:

[0118] Step S1: In response to at least one single pressing plate corresponding to the battery pack being squeezed in place, based on the information acquisition device, obtain the second point cloud data of the at least one single pressing plate in the first direction.

[0119] In some embodiments, when the single pressing plate squeezes the busbar to be in place, the average height of the single pressing plate in the first direction should also be within a preset range to ensure effective contact between each cell pole and the busbar. Therefore, it is also necessary to determine whether the position of the single pressing plate in the first direction meets the offset conditions.

[0120] Here, the second point cloud data of each single pressing plate in the first direction can be determined by a contour scanning device.

[0121] Step S2: According to the second point cloud data, determine the average height of each single pressing plate in the first direction.

[0122] In some embodiments, after obtaining all the point cloud data of the single pressing plate, the coordinates in the first direction in the second point cloud data can be averaged to obtain the average height of each single pressing plate in the first direction.

[0123] Step S3: Compare the average height with a second preset height range to obtain the fifth offset result.

[0124] In some embodiments, the average height of each single pressing plate in the first direction can be determined as the position information of each single pressing plate in the first direction, and based on the comparison between the position information and the second preset height range of the single pressing plate, the fifth offset result corresponding to each single pressing plate is obtained.

[0125] In the embodiments of the present application, by comparing the height of the single pressing plate with the preset height, it is determined whether the single pressing plate meets the offset conditions, and the battery packs that meet the offset conditions are welded, improving the yield of the welded battery packs.

[0126] Based on the foregoing embodiments, step S103 can be implemented through step S1031:

[0127] Step S1031: In response to that the first offset result indicates that the offset values of both the first detection line and the second detection line are less than the preset offset value, the second offset result indicates that the second position information is within the first preset height range, the third offset result indicates that the first height difference is less than the first preset difference, the fourth offset result indicates that the second height difference is less than the second preset difference, and the fifth offset result indicates that the average height of the single pressing plate is within the second preset height range, control the welding robot to weld the plurality of battery cell poles based on the detected coordinates.

[0128] In the embodiment of the present application, only when the first offset result, the second offset result, the third offset result, the fourth offset result, and the fifth offset result all meet the corresponding offset conditions, control the welding robot to weld the plurality of battery cell poles based on the detected coordinates.

[0129] The embodiment of the present application welds the battery pack that meets the offset conditions, which can ensure the accurate position of the weld seam, reduce the problem of reduced battery yield caused by excessive deviation of the weld seam position, and ensure the safe working condition and reliability of battery production.

[0130] The embodiment of the present application provides a pole welding system. Figure 4 It is a schematic structural diagram of the pole welding system provided by the embodiment of the present application. As Figure 4 shown, the pole welding system at least includes a controller (not shown in the figure), a frame body 401, an information acquisition device arranged on the frame body, and a welding robot 402. The information acquisition device is arranged on the frame body 401 and is used to acquire the product information of the battery pack and the detected coordinates of the battery cell poles in the welding station in response to the battery pack being positioned in place; wherein, the battery pack includes a plurality of battery cell poles, and the product information includes the initial coordinates of the plurality of battery cell poles.

[0131] The welding robot 402 is arranged on the frame body 401 and is used to weld the battery cell poles.

[0132] The controller is used to acquire the product information and the detected coordinates; based on the initial coordinates of the plurality of battery cell poles and the detected coordinates, determine the offset results of the plurality of battery cell poles in the battery pack; and in response to the offset results meeting the offset conditions, control the welding robot 402 to weld the plurality of battery cell poles based on the detected coordinates.

[0133] In the embodiments of the present application, in order to facilitate the transportation and support of the battery pack, a lifting mechanism can be provided in the pole welding system. When the transport trolley transports the battery pack to a position corresponding to the pole welding system, the battery pack can be lifted to a certain height through the lifting mechanism so that the transport trolley and the battery pack are separated, facilitating the transport trolley to perform other tasks. To facilitate the setting and installation of the lifting mechanism, the pole welding system can be provided with a lifting bracket, and the lifting bracket is fixedly connected to the frame body 401. A lifting beam can be provided in the lifting mechanism. The lifting beam can be set as a strip-shaped columnar structure, and the columnar lifting beam can be connected to the lifting bracket in a sliding connection manner. For example, a sliding connection guide rail and a slider can be adopted. The guide rail is fixed on the lifting bracket, and the lifting beam is fixedly connected to the slider to slidably connect the lifting beam to the lifting bracket. Two parallel lifting beams can be provided on the lifting bracket to support the battery pack from both sides of the battery pack.

[0134] In some embodiments, the information acquisition device at least includes an information collection device 403, a line scanning device 404, and a contour scanning device 405. The information collection device 403 can be provided on the frame body 401 and is used to read the product identification of the battery pack to obtain the initial coordinates of multiple cell poles; the line scanning device 404 can be provided on the welding robot 402 and is used to perform a first scanning process on multiple cell poles of the battery pack to obtain the first position information of each cell pole on the first plane of the welding station; the contour scanning device 405 can be provided on the welding robot 402 and is used to perform a second scanning process on multiple cell poles of the battery pack to obtain the second position information of each cell pole in the first direction, and the first direction is perpendicular to the first plane.

[0135] In some embodiments, the information collection device 403 can also be provided on the welding robot 402 and is used to, after the battery pack arrives, in response to the instruction of the controller, read the product identification of the battery pack to obtain the initial coordinates of multiple cell poles.

[0136] It should be noted that the description of the system in the embodiments of the present application is similar to the description of the above method embodiments and has similar beneficial effects as the method embodiments, so it will not be elaborated here. For the technical details not disclosed in the embodiments of this system, please refer to the description of the method embodiments of the present application for understanding.

[0137] Next, an exemplary application of the embodiments of the present application in an actual application scenario will be described.

[0138] When a battery module or battery pack is welded to a busbar using laser flying welding, there are grouping tolerances in the X, Y, and Z directions for the cell terminals after the cells in the battery pack are grouped. The larger the size of the battery product, the greater the tolerance, resulting in uncertainty about whether the actual welding seam position is correct during cell terminal welding, whether the welding degree meets the requirements, and whether the called welding program is correct.

[0139] To ensure the accuracy of the welding seam position in the welding of the battery pack to the busbar, avoid battery product defects caused by excessive deviation between the welding seam position and the preset position, and ensure the safe operation and reliability of battery production, the embodiments of this application provide an anti-fooling logic for the welding seam position of the terminal electrical connection laser flying weld, as Figure 5 shown. Figure 5 FIG. is a schematic diagram of the anti-fooling logic for the welding seam position provided by the embodiments of this application. The anti-fooling logic can be implemented by steps S501 to S510:

[0140] In the embodiments of this application, the anti-fooling logic for the welding seam position is implemented based on the terminal welding system at the welding station. The terminal welding system at least includes a barcode scanner (i.e., information acquisition device), a 2D line scan (i.e., line scan device), and a 3D profiler (i.e., profile scanning device).

[0141] Step S501, the transport vehicle flows into the station and is lifted up.

[0142] In the embodiments of this application, an AGV (i.e., transport vehicle) carries a battery box into a designated position at the welding station. The welding station can have a lifting mechanism. The welding station can lift the battery pack to a certain height through the lifting mechanism to separate the transport trolley from the battery pack and place the battery pack at a fixed position at the welding station to achieve the positioning of the battery pack in place.

[0143] Step S502, identify the transport vehicle number and bind the battery pack information.

[0144] After the battery pack is positioned in place, the barcode scanner scans the identification of the battery pack to obtain the battery pack information. The battery pack information at least includes the initial coordinates and blueprint when the cell terminals in the battery pack are at the fixed position at the welding station. The blueprint at least includes the arrangement of multiple cell terminals in the battery pack.

[0145] Step S503, perform blueprint determination based on the battery pack information.

[0146] In the embodiments of this application, blueprint determination means determining whether the current welding station can execute the welding program for the battery pack based on the battery information of the battery pack. If the current welding station can weld the battery pack, step S504 is executed. If the current welding station cannot weld the battery pack, the lifting mechanism takes the battery pack away from the welding station and ends the welding process for the current battery pack.

[0147] Step S504: Determine the welding procedure of the battery pack based on the corresponding blueprint of the battery pack.

[0148] In some embodiments, different battery packs have different blueprints, and the cell poles will have different arrangements, corresponding to different welding procedures. For example, Figure 5 as shown, blueprint 1 corresponds to procedure 01, blueprint 2 corresponds to procedure 02, blueprint 3 corresponds to procedure 03, and blueprint 4 corresponds to procedure 04. According to the blueprint information of the battery pack obtained by the barcode scanner, the welding procedure corresponding to the battery pack can be determined.

[0149] The solution provided by the embodiments of the present application is applicable to multiple battery packs. Different battery packs with different blueprints correspond to different welding procedures, which can realize the welding of different battery products and improve the compatibility of the pole welding system.

[0150] Step S505: Perform addressing of the cell poles.

[0151] In the embodiments of the present application, the 2D line scan and the 3D profiler can be integrated on the same three axes of the frame body of the welding station or integrated on the welding robot. The specific actual coordinates (i.e., detection coordinates) of the cell poles in the battery pack at the welding station are determined through the 2D line scan and the 3D profiler. Here, the 2D line scan can determine the coordinates of each cell pole on the first plane, that is, the X and Y coordinates, and the 3D profiler can determine the coordinates of each cell pole in the first direction, that is, the Z coordinate.

[0152] Step S506: Fit the center of the cell poles on the first plane based on the addressed coordinates.

[0153] In some embodiments, the cell poles are circular, and the center coordinates of each cell pole can be fitted on the first plane according to the data obtained by the 2D line scan.

[0154] Step S507: Determine the median point of the cell poles in the first direction based on the addressed coordinates.

[0155] In some embodiments, the surface of the cell poles in the first direction is not completely a plane. Therefore, it is necessary to determine the coordinates of each cell pole in the first direction according to the contour of the surface of the cell poles scanned by the 3D profiler in the first direction. For example, in the embodiments of the present application, the median of each contour in the first direction can be determined as the coordinates of each cell pole in the first direction, that is, according to the scanned contour imaging, the median of the pole surface is taken as the Z-axis coordinate value.

[0156] Step S508: Determine whether the cell poles meet the offset condition on the first plane.

[0157] In the embodiment of the present application, after addressing is completed, the initial coordinates are compared with the detected coordinates after addressing to determine the offsets in the X and Y directions between the initial coordinates and the detected coordinates of each cell pole. If the offset is greater than a preset threshold, it indicates that the offset is unqualified, and the battery pack flows out without welding; if the offset is less than the preset threshold, it indicates that the offset is qualified, and the linear offset of the cell pole is determined, that is, based on the initial coordinates and the detected coordinates of the centers of each cell pole, a linear fit is performed in the stacking direction, and straight lines are respectively fitted in the X and Y directions. It is judged whether the offset between the straight line fitted by the initial coordinates and the detected coordinates meets the offset condition. If it does not meet, it indicates that the offset of the cell pole is large, and the battery pack flows out without welding; if the offset condition is met, it indicates that the offsets of the X and Y coordinates of the cell pole from the initial coordinates meet the requirements. Then, it is judged whether the offset requirement of the cell pole in the Z direction is met. When all are met, the battery pack and the bus bar are welded.

[0158] Step S509: Determine whether the offset condition of the cell pole in the first direction is met.

[0159] In the embodiment of the present application, after addressing is completed and the coordinates of each cell pole in the Z direction are determined, the Z-axis heights of each cell pole are respectively compared to see if they are within a preset height range, whether the height of the single pressing plate for pressing the bus bar is within a preset height interval, whether the height difference between two adjacent cell poles is less than a first difference value, and whether the height difference between any two poles is less than a second difference value. Only when all these four conditions are met, the cell poles are welded; if any one of these four conditions does not meet, it indicates that the offset of the cell pole in the Z direction is large, and the battery pack flows out without welding.

[0160] Step S510: Perform welding based on the addressed coordinates.

[0161] In the embodiment of the present application, when each cell pole meets the offset requirements in the X, Y, and Z directions, the detected coordinates after addressing in the battery pack are sent to the Manufacturing Execution System (MES), and welding is performed through the detected coordinates after addressing.

[0162] The anti-fooling logic for the weld position provided in the embodiment of the present application is applicable to various battery packs. Different battery packs with different blueprints correspond to different welding procedures, enabling the welding of different battery products, improving the compatibility of the pole welding system; and ensuring that the position of the weld during the welding of the battery pack bus bar can be accurate, avoiding defects caused by excessive weld position deviation, and ensuring the safe operation and reliability of battery production.

[0163] As described above, the above are only embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and scope of the present application are all included within the protection scope of the present application.

Claims

1. A pole welding method, characterized in that, The method for welding the terminal post is applied to a controller of a terminal post welding system, and the terminal post welding system further includes a frame body, an information acquisition device disposed on the frame body, and a welding robot; the method for welding the terminal post includes: In response to the battery pack being positioned in place, obtaining the product information of the battery pack and the detection coordinates of the cell terminal posts in the welding station based on the information acquisition device; wherein, the battery pack includes a plurality of cell terminal posts, and the product information includes the initial coordinates of the plurality of cell terminal posts. Determining the offset results of the plurality of cell terminal posts in the battery pack based on the initial coordinates and the detection coordinates of the plurality of cell terminal posts. In response to the offset results meeting the offset conditions, controlling the welding robot to weld the plurality of cell terminal posts based on the detection coordinates.

2. The pole welding method according to claim 1, characterized in that, The information acquisition device at least includes an information collection device, a line scan device, and a contour scan device. The obtaining the product information of the battery pack and the detection coordinates of the cell terminal posts in the welding station based on the information acquisition device includes: Controlling the information collection device to read the product identification of the battery pack to obtain the initial coordinates of the plurality of cell terminal posts. Controlling the line scan device to perform a first scan process on the plurality of cell terminal posts of the battery pack to obtain the first position information of each cell terminal post on the first plane in the welding station. Controlling the contour scan device to perform a second scan process on the plurality of cell terminal posts of the battery pack to obtain the second position information of each cell terminal post in the first direction; wherein, the detection coordinates include the first position information and the second position information, and the first direction is perpendicular to the first plane.

3. The pole welding method according to claim 2, characterized in that, The controlling the line scan device to perform a first scan process on the plurality of cell terminal posts of the battery pack to obtain the first position information of each cell terminal post on the first plane includes: Controlling the line scan device to perform a first scan process on the plurality of cell terminal posts of the battery pack to respectively obtain the edge position information of each cell terminal post in the second direction and the third direction; wherein, the second direction is the direction in which the cells are stacked on the first plane of the battery pack, and the third direction is the direction perpendicular to the second direction on the first plane. Based on the edge position information of each cell terminal post in the second direction and the third direction, determining the center point of each cell terminal post and the first detection coordinate of the center point in the second direction and the second detection coordinate in the third direction. Determining the first detection coordinate and the second detection coordinate of each cell terminal post as the first position information.

4. The pole welding method according to claim 2, characterized in that, The controlling the contour scan device to perform a second scan process on the plurality of cell terminal posts of the battery pack to obtain the second position information of each cell terminal post in the first direction includes: Controlling the contour scan device to perform a second scan process on the plurality of cell terminal posts of the battery pack to respectively obtain the first point cloud data of the surface of each cell terminal post in the first direction, and the surface is the surface where the cell terminal post is welded. Based on the first point cloud data corresponding to each cell terminal post, determining the maximum value and the minimum value of the surface of each cell terminal post in the first direction. Based on the maximum value and the minimum value, obtain the second position information of each cell terminal in the first direction.

5. The pole welding method according to any one of claims 1 to 4, characterized in that, Based on the initial coordinates and the detected coordinates of the multiple cell terminals, determine the offset results of the multiple cell terminals in the battery pack, including: Based on the initial coordinates and the detected coordinates of the multiple cell terminals, determine the first offset result of the multiple cell terminals in the first plane of the welding station; Based on the detected coordinates of the multiple cell terminals, determine the second offset result of each cell terminal in the first direction of the welding station, the third offset result of any two adjacent cell terminals in the first direction, and the fourth offset result of any two cell terminals in the first direction.

6. The pole welding method according to claim 5, characterized in that The detected coordinates at least include the first detected coordinate of each cell terminal in the second direction of the first plane and the second detected coordinate of the third direction of the first plane; the initial coordinates at least include the first initial coordinate of each cell terminal in the second direction and the second initial coordinate of the third direction; the product information further includes the pole arrangement mode of the battery pack; The step of determining the first offset result of the multiple cell terminals in the first plane of the welding station based on the initial coordinates and the detected coordinates of the multiple cell terminals includes: Based on the pole arrangement mode, the first detected coordinate, and the second detected coordinate, fit at least one first detection line in the second direction and at least one second detection line in the third direction; the number of the first detection lines is the same as the number of cell terminals in the third direction, and the number of the second detection lines is the same as the number of cell terminals in the second direction; Based on the pole arrangement mode, the first initial coordinate, and the second initial coordinate, determine at least one first initial line in the second direction and at least one second detection line in the third direction; Determine the offset value of the first detection line and the corresponding first initial line in the third direction and the offset value of the second detection line and the corresponding second initial line in the second direction as the first offset result.

7. The pole welding method according to claim 5, characterized in that, The detected coordinates at least include the second position information of each cell terminal in the first direction; the product information further includes the first preset height range of the cell terminals; Based on the detected coordinates of the multiple cell terminals, determine the second offset result of each cell terminal in the first direction of the welding station, including: Compare the second position information of each cell terminal with the first preset height range to obtain the second offset result of each cell terminal.

8. The pole welding method according to claim 5, characterized in that, The detected coordinates at least include the second position information of each cell terminal in the first direction; Based on the detected coordinates of the multiple cell terminals, determine the third offset result of any two adjacent cell terminals in the first direction and the fourth offset result of any two cell terminals in the first direction, including: Based on the second position information of each cell terminal, determine the first height difference between any two adjacent cell terminals in the first direction and the second height difference between any two cell terminals in the first direction. Compare the first height difference with a first preset difference value to obtain the third offset result; Compare the second height difference with a second preset difference value to obtain the fourth offset result.

9. The pole welding method according to any one of claims 6 to 8, characterized in that, The pole welding system at least includes a single pressing plate. One single pressing plate corresponds to at least one battery cell in the battery pack. The single pressing plate is used to press the busbar assembly in a first direction so that the busbar assembly contacts the battery cell pole; the offset result further includes a fifth offset result of the single pressing plate corresponding to the battery cell pole; The method further includes: In response to at least one single pressing plate corresponding to the battery pack being pressed in place, obtain second point cloud data of the at least one single pressing plate in the first direction based on the information acquisition device; Determine the average height of each single pressing plate in the first direction according to the second point cloud data; Compare the average height with a second preset height range to obtain the fifth offset result.

10. The pole welding method according to claim 9, characterized in that, The step of, in response to the offset result satisfying the offset condition, controlling the welding robot to weld the plurality of battery cell poles based on the detection coordinates includes: In response to the first offset result indicating that the offset values of the first detection line and the second detection line are both less than a preset offset value, the second offset result indicating that the second position information is within a first preset height range, the third offset result indicating that the first height difference is less than a first preset difference value, the fourth offset result indicating that the second height difference is less than a second preset difference value, and the fifth offset result indicating that the average height of the single pressing plate is within a second preset height range, controlling the welding robot to weld the plurality of battery cell poles based on the detection coordinates.

11. A terminal welding system, characterized in that, The pole welding system includes: A frame body; An information acquisition device, disposed on the frame body, for obtaining product information of the battery pack and detection coordinates of battery cell poles in the welding station in response to the battery pack being positioned in place; wherein, the battery pack includes a plurality of battery cell poles, and the product information includes initial coordinates of the plurality of battery cell poles; A welding robot, disposed on the frame body, for welding the battery cell poles; A controller, for obtaining the product information and the detection coordinates; determining an offset result of a plurality of battery cell poles in the battery pack based on the initial coordinates and the detection coordinates of the plurality of battery cell poles; and in response to the offset result satisfying the offset condition, controlling the welding robot to weld the plurality of battery cell poles based on the detection coordinates.

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