CTP battery welding track determination method, system and equipment and readable storage medium

Abstract

According to the CTP battery welding track determining method, system and equipment and the readable storage medium, the thickness difference between a pole and a busbar is detected in real time through an ultrasonic thickness gauge, the actual circle center coordinate of the pole is calculated by combining a thickness change point and the theoretical radius of the pole, X-axis and Y-axis offset of a theoretical welding track is corrected, and the welding track is determined. Pole position deviation caused by battery core tolerance accumulation is directly compensated, and it is ensured that a welding point is accurately matched with the actual center of a pole. By eliminating the risk of pseudo soldering or dislocation caused by position deviation of the pole, effective connection between the pole and the busbar is guaranteed, the resistance of a welding interface is reduced, and local heating is reduced, so that the overall electrochemical performance and cycle life of the battery pack are improved; on the basis of feature recognition and coordinate correction of thickness change points, pole position fluctuation in different tolerance ranges can be dynamically adapted, limitation of traditional fixed track welding is avoided, and compatibility of the manufacturing process to individual differences of battery cells is enhanced.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicles, and specifically relates to a method, system, device and readable storage medium for determining the welding trajectory of a CTP battery. Background Art

[0002] In recent years, new energy vehicles have been developing rapidly. As the core component of new energy vehicles, the battery has become the top priority for major vehicle manufacturers to research and develop independently, and new technologies have emerged continuously. At present, the battery is developing towards CTP (Cell to Pack) battery technology. CTP battery is a technology that cancels the module structure and directly integrates the battery cells into the battery pack. Its core lies in streamlining the three-level structure of "battery cell-module-battery pack" of traditional batteries, thereby improving space utilization and energy density.

[0003] In related technologies, due to certain differences in the thickness of battery cells, as the tolerance accumulates, the theoretical welding center point of the pole column will shift. If welding is carried out along the theoretical welding trajectory, it will affect the performance and service life of the entire battery. Summary of the Invention

[0004] The present application provides a method, system, device and readable storage medium for determining the welding trajectory of a CTP battery, which can solve the technical problem that in related technologies, due to certain differences in the thickness of battery cells, as the tolerance accumulates, the theoretical welding center point of the pole column will shift. If welding is carried out along the theoretical welding trajectory, it will affect the performance and service life of the entire battery.

[0005] In a first aspect, an embodiment of the present application provides a method for determining the welding trajectory of a CTP battery, and the method for determining the welding trajectory of a CTP battery includes:

[0006] Use a welding device to perform pre-scanning movement along the theoretical welding trajectory. When reaching the theoretical welding center point of the pole column, drive the welding head to press down, and detect the thickness of the pole column and the bus bar through an ultrasonic thickness gauge built in the welding head;

[0007] If the measured thicknesses of multiple measurement points circumferentially arranged by the ultrasonic thickness gauge are inconsistent, calculate the first measurement point with decreasing thickness and the last measurement point with decreasing thickness in the clockwise direction. Based on these two points and the theoretical radius of the pole column, calculate the actual center plane coordinates of the pole column, and perform X and Y axis corrections on the theoretical welding trajectory of the theoretical welding center point of the pole column.

[0008] In combination with the first aspect, in an implementation manner, it further includes:

[0009] By detecting the contact pressure between the welding head and the bus bar in real time, dynamically adjust the Z-axis pressing position of the welding head until the pressure value falls within a preset range, and perform Z-axis compensation correction on the theoretical welding trajectory of the theoretical welding center point of the pole column based on the measured Z-axis coordinates.

[0010] In combination with the first aspect, in one embodiment, by real-time detecting the contact pressure between the welding head and the bus bar, dynamically adjusting the Z-axis pressing position of the welding head until the pressure value falls within a preset range, and performing Z-axis compensation and correction on the theoretical welding trajectory based on the measured Z-axis coordinates, it includes:

[0011] If the welding head presses the bus bar and the pole column at the theoretical height and the pressure is lower than the preset pressure range, the welding head continues to press down until the pressure reaches within the preset pressure range, and the corresponding Z-axis coordinate value is recorded, and the Z-axis of the theoretical welding trajectory of the theoretical welding center point of the pole column is corrected.

[0012] In combination with the first aspect, in one embodiment, by real-time detecting the contact pressure between the welding head and the bus bar, dynamically adjusting the Z-axis pressing position of the welding head until the pressure value falls within a preset range, and performing Z-axis compensation and correction on the theoretical welding trajectory based on the measured Z-axis coordinates, it includes:

[0013] If the welding head presses the bus bar and the pole column at the theoretical height and the pressure is higher than the preset pressure range, the welding head moves up until the pressure reaches within the preset pressure range, and the corresponding Z-axis coordinate value is recorded, and the Z-axis of the theoretical welding trajectory of the theoretical welding center point of the pole column is corrected.

[0014] In combination with the first aspect, in one embodiment, by real-time detecting the contact pressure between the welding head and the bus bar, dynamically adjusting the Z-axis pressing position of the welding head until the pressure value falls within a preset range, and performing Z-axis compensation and correction on the theoretical welding trajectory based on the measured Z-axis coordinates, it includes:

[0015] If the welding head presses the bus bar and the pole column at the theoretical height and the pressure is within the preset pressure design range, the original Z-axis theoretical welding trajectory of the theoretical welding center point of the pole column is maintained.

[0016] In combination with the first aspect, in one embodiment, it further includes:

[0017] If the measured thicknesses of all measurement points circumferentially arranged by the ultrasonic thickness gauge are the same, the original X- and Y-axis theoretical welding trajectories of the theoretical welding center point of the pole column are maintained.

[0018] In combination with the first aspect, in one embodiment, before using the welding equipment to perform pre-scanning movement along the theoretical welding trajectory, driving the welding head to press down when reaching the theoretical welding center point of the pole column, and detecting the thicknesses of the pole column and the bus bar by the ultrasonic thickness gauge built in the welding head, it further includes:

[0019] Pre-generating the theoretical welding trajectories of all theoretical welding center points of the pole columns according to the theoretical product dimensions.

[0020] In a second aspect, an embodiment of the present application provides a CTP battery welding trajectory determination system, and the CTP battery welding trajectory determination system includes:

[0021] A welding device, which is used to perform preview movement along the theoretical welding trajectory and drive the welding head to press down when reaching the theoretical welding center point of the pole column;

[0022] An ultrasonic thickness gauge, which is built into the welding head and is provided with a plurality of measurement points at intervals in the circumferential direction of the welding head. It is used to collect multi-point thickness data of the contact surface between the pole column and the bus bar in real time after driving the welding head to press down when reaching the theoretical welding center point of the pole column;

[0023] A thickness consistency judgment module, which is used to calculate the first measurement point with decreasing thickness and the last measurement point with decreasing thickness in the clockwise direction if the measured thicknesses of the multiple measurement points arranged circumferentially by the ultrasonic thickness gauge are inconsistent, calculate the actual center plane coordinates of the pole column based on these two points and the theoretical radius of the pole column, and perform X and Y axis corrections on the theoretical welding trajectory of the theoretical welding center point of the pole column.

[0024] In a third aspect, an embodiment of the present application provides a CTP battery welding trajectory determination device, and the CTP battery welding trajectory determination device includes a processor, a memory, and a CTP battery welding trajectory determination program stored on the memory and executable by the processor. When the CTP battery welding trajectory determination program is executed by the processor, the steps of the CTP battery welding trajectory determination method described in some of the above embodiments are implemented.

[0025] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a CTP battery welding trajectory determination program is stored. When the CTP battery welding trajectory determination program is executed by a processor, the steps of the CTP battery welding trajectory determination method described in some of the above embodiments are implemented.

[0026] The beneficial effects brought by the technical solutions provided by the embodiments of the present application include:

[0027] The thickness difference between the terminal post and the bus bar is detected in real time by an ultrasonic thickness gauge. Combining the thickness change point and the theoretical radius of the terminal post, the actual center coordinates of the terminal post are calculated, and the X and Y axis offsets of the theoretical welding trajectory are corrected, directly compensating for the position deviation of the terminal post caused by the cumulative cell tolerance, ensuring that the welding point is accurately matched with the actual center of the terminal post; By eliminating the risk of virtual soldering or misalignment caused by the position offset of the terminal post, the effective connection between the terminal post and the bus bar is guaranteed, the welding interface resistance is reduced, local heating is reduced, thereby improving the overall electrochemical performance and cycle life of the battery pack; Based on the feature recognition and coordinate correction of the thickness change point, it can dynamically adapt to the position fluctuations of the terminal posts within different tolerance ranges, avoid the limitations of traditional fixed trajectory welding, and enhance the compatibility of the manufacturing process with the individual differences of the cells. Description of the Drawings

[0028] Figure 1 It is a schematic diagram of the connection structure between the bus bar and the terminal post of the CTP battery;

[0029] Figure 2 It is a schematic diagram of the theoretical trajectory of the bus bar welding of the CTP battery;

[0030] Figure 3 It is a schematic diagram of the structure for correcting the welding trajectory of the CTP battery;

[0031] Figure 4 It is a schematic flow diagram of an embodiment of the method for determining the welding trajectory of the CTP battery in this application;

[0032] Figure 5 It is a schematic diagram of the hardware structure of the device for determining the welding trajectory of the CTP battery involved in the solution of the embodiment of this application.

[0033] In the figure: 1. Bus bar; 2. Box body; 3. Terminal post; 4. Actual center of the terminal post; 5. The first measurement point where the thickness decreases in the clockwise direction; 6. Welding head; 7. The last measurement point where the thickness decreases in the clockwise direction; 8. Measurement point; 9. Center point of the welding head. Detailed Embodiments

[0034] In order to enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0035] First of all, it needs to be understood that in recent years, new energy vehicles have been developing rapidly. As the core component of new energy vehicles, the battery has become the top priority for major vehicle manufacturers to develop independently, and new technologies have emerged continuously. At present, the battery is developing towards CTP (Cell to Pack) battery technology. CTP battery is a technology that integrates the battery cells directly into the battery pack by eliminating the module structure. Its core lies in streamlining the three-level structure of "cell-module-battery pack" of traditional batteries, thereby improving the space utilization rate and energy density.

[0036] Among them, due to certain differences in the thickness of the battery cells, as the tolerance accumulates, the theoretical welding center point of the pole column will shift. If welding is carried out along the theoretical welding trajectory, it will affect the performance and service life of the entire battery.

[0037] As Figure 1 shown, the CTP battery includes a bus bar 1, a box body 2 and a pole column 3. Battery cells are installed in the box body 2, and the bus bar 1 is arranged on the pole column 3 of the battery cells. Subsequently, bus bar welding is carried out. Based on the theoretical center coordinates of the pole column 3, the theoretical welding trajectory of the bus bar is determined. The theoretical welding trajectory of the bus bar is as Figure 2 shown.

[0038] To make the purpose, technical solution and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0039] In the first aspect, as Figure 4 shown, the embodiment of the present application provides a method for determining the welding trajectory of a CTP battery. The method for determining the welding trajectory of a CTP battery includes:

[0040] S100: Use the welding equipment to perform pre-scanning movement along the theoretical welding trajectory. When reaching the theoretical welding center point of the pole column, drive the welding head to press down, and detect the thickness of the pole column and the bus bar through the ultrasonic thickness gauge built in the welding head.

[0041] S200: If the measured thicknesses of multiple measurement points circumferentially arranged by the ultrasonic thickness gauge are inconsistent, calculate the first measurement point with decreasing thickness and the last measurement point with decreasing thickness in the clockwise direction. Based on these two points and the theoretical radius of the pole column, calculate the actual center plane coordinates of the pole column, and perform X and Y axis corrections on the theoretical welding trajectory of the theoretical welding center point of the pole column.

[0042] In this embodiment, S100 uses a welding device (usually installed on a robot or a gantry four-axis to complete corresponding actions) to perform preview movement along the theoretical welding trajectory. When reaching the theoretical welding center point of the terminal post, the welding head is driven to press down. While the welding head is pressing down, the built-in ultrasonic thickness gauge is started to detect the thicknesses of the terminal post and the busbar. The key to this step is to ensure real-time and accurate measurement of the thicknesses of the terminal post and the busbar before welding; S200 the ultrasonic thickness gauge sets multiple measurement points in the circumferential direction to detect the thicknesses of the terminal post and the busbar. If the measured thicknesses at multiple measurement points are inconsistent, it indicates that there is partial overlap between the welding head and the terminal post. At this time, it is necessary to calculate the first measurement point with decreasing thickness and the last measurement point with decreasing thickness in the clockwise direction. Based on these two key points and the theoretical radius of the terminal post, the actual center plane coordinates of the terminal post are calculated using a geometric algorithm. The key to this step is to determine the actual position of the center of the terminal post through multi-point measurement data. According to the calculated actual center plane coordinates, the theoretical welding trajectory of the theoretical welding center point of the terminal post is corrected in the X and Y axial directions. The corrected welding trajectory will more accurately reflect the actual position of the terminal post, thus ensuring the accuracy and stability of the welding process.

[0043] Specifically, as Figure 3 shown, the welding head center point 9 of the welding head 6 now comes to the theoretical welding center point of the terminal post, and measures through 8 - 12 measurement points 8 distributed annularly with the center position of the welding head 6 as the center by the ultrasonic thickness gauge inside the welding head 6 (the specific number of measurement points 8 is not limited). Identify the first measurement point 5 with decreasing thickness in the clockwise direction and the last measurement point 7 with decreasing thickness in the clockwise direction (as Figure 3 shown, there are still four measurement points with decreasing thickness between the first measurement point 5 with decreasing thickness in the clockwise direction and the last measurement point 7 with decreasing thickness in the clockwise direction). Connect the two to form a line segment. This line segment is the chord of the terminal post 3. Make a perpendicular line based on the midpoint of the chord, and based on the theoretical radius of the terminal post 3, the plane coordinates of the actual center 4 of the terminal post can be determined. Based on the plane coordinates of the actual center 4 of the terminal post, the theoretical welding trajectory of the theoretical welding center point of this terminal post is corrected in the X and Y axial directions.

[0044] Among them, the circular area of the welding head 6 of the welding equipment is equal to the circular area of the pole 3. Multiple measurement points 8 of the ultrasonic thickness gauge are evenly distributed circumferentially along the welding head 6 to form an annular detection array, covering the crimping area of the busbar 1 and the pole 3. Each measurement point 8 collects the thickness data of the corresponding position in real time to form a continuous circumferential thickness distribution curve. When there is an offset between the actual center and the theoretical center position of the pole 3, there will be a locally insufficiently crimped area on the contact surface between the busbar 1 and the pole 3, resulting in the thickness value of the corresponding measurement point being lower than the theoretical value. By comparing the thickness data of each measurement point with the preset threshold, an abnormal reduction interval is identified. Taking a fixed starting point (such as the 12 o'clock direction) as a reference, all measurement points are traversed in the clockwise direction, and the starting position of the first measurement point where the thickness continuously decreases is recorded (such as Figure 3 the first measurement point 5 where the thickness decreases in the clockwise direction as shown). Continuous monitoring is carried out until the thickness returns to the normal range, and the termination position of the last abnormal point is recorded (such as Figure 3 the last measurement point 7 where the thickness decreases in the clockwise direction as shown).

[0045] Further, in one embodiment, after S200, the following steps are further included:

[0046] S300: By detecting the contact pressure between the welding head and the busbar in real time, the Z-axis pressing position of the welding head is dynamically adjusted until the pressure value falls within the preset range, and the theoretical welding trajectory of the theoretical welding center point of the pole is corrected by Z-axis compensation based on the measured Z-axis coordinates.

[0047] In this embodiment, a pressure feedback compensation stage is set before the welding execution stage. The contact pressure between the welding head and the busbar is monitored in real time through a force sensor, and a closed-loop control logic of the pressure threshold and the Z-axis displacement is established. When the detected pressure deviates from the preset range, the Z-axis servo mechanism of the robot or the gantry four-axis is automatically triggered for dynamic position compensation, and the compensated actual coordinate value is written into the welding trajectory database to realize the online adaptive correction of the theoretical trajectory.

[0048] In one embodiment, S300 and S200 have no sequential relationship.

[0049] Further, in one embodiment, in S300, the following steps are included:

[0050] S300-1: If the welding head presses the busbar and the pole at the theoretical height and its pressure is lower than the preset pressure range, the welding head continues to press down until the pressure reaches the preset pressure range, and the corresponding Z-axis coordinate value is recorded, and the theoretical welding trajectory of the theoretical welding center point of the pole is corrected in the Z-axis direction.

[0051] In this embodiment, when the welding head presses down at the theoretical height, if the detected pressure is insufficient (such as due to the thickness tolerance of the bus bar or the height deviation of the pole column), the system automatically presses down to the preset pressure range and records the actual Z-axis coordinate value. This mechanism ensures that multiple pole columns can obtain a consistent pressing force, avoiding false soldering. The Z-axis coordinate correction value and the X and Y-axis center offset corrections of S200 form a three-dimensional space compensation, enabling the welding trajectory to adapt to the plane position deviation of the pole column and the assembly tolerance in the height direction simultaneously.

[0052] Further, in one embodiment, in S300, the following steps are included:

[0053] S300-2: If the welding head presses the bus bar and the pole column at the theoretical height and the pressure is higher than the preset pressure range, the welding head moves up until the pressure reaches the preset pressure range, and the corresponding Z-axis coordinate value is recorded, and the theoretical welding trajectory of the theoretical welding center point of this pole column is corrected in the Z-axis direction.

[0054] In this embodiment, when the welding head presses down at the theoretical height, if the detected pressure exceeds the preset range (the system immediately triggers the Z-axis servo motor to retreat until the pressure drops to the standard range, and the real-time Z-axis coordinate value is recorded. The recorded Z-axis coordinate value is fused with the X and Y-axis correction data of S200 to form a three-dimensional space compensation, avoiding the deformation of the bus bar or the damage of the pole column caused by overpressure, and reducing the welding defect rate.

[0055] Further, in one embodiment, in S300, the following steps are included:

[0056] S300-3: If the welding head presses the bus bar and the pole column at the theoretical height and the pressure is within the preset pressure design range, the original Z-axis theoretical welding trajectory of the theoretical welding center point of this pole column is maintained.

[0057] In this embodiment, when the welding head presses down at the theoretical height, if the detected pressure is within the preset range, the system directly uses the theoretical Z-axis coordinate value without triggering a compensation action. While maintaining the theoretical Z-axis trajectory, the X and Y-axis center offset corrections of S300 are still executed to form a complete three-dimensional space welding path.

[0058] Further, in one embodiment, after S100, the following steps are included:

[0059] S400: If the measured thicknesses of all measurement points set circumferentially by the ultrasonic thickness gauge are the same, the original X and Y-axis theoretical welding trajectories of the theoretical welding center point of this pole column are maintained;

[0060] In this embodiment, when the thicknesses measured at all the measurement points arranged circumferentially by the ultrasonic thickness gauge are within the preset allowable error range, it indicates that the thickness distribution of the current pole to be welded is uniform and meets the process requirements, and there is no need to adjust the welding trajectory. At this time, the X and Y axial theoretical trajectories of the original theoretical welding center point of the pole can be directly maintained.

[0061] In one embodiment, S200 and S400 have no sequential relationship.

[0062] Further, in one embodiment, after S200, the following steps are further included:

[0063] S500: Repeatedly use the welding equipment to perform pre-scanning movement and thickness detection along the theoretical welding trajectory. If the measured thicknesses of multiple measurement points arranged circumferentially by the ultrasonic thickness gauge are inconsistent, perform X and Y axial correction steps on the theoretical welding trajectory of the theoretical welding center point of this pole, and perform X and Y axial correction on the theoretical welding trajectory of the theoretical welding center point of the next pole until the welding of all points to be welded is completed.

[0064] In this embodiment, repeat the above steps of S100 and S200 until the thickness detection and trajectory correction of all poles to be welded are completed, forming a closed-loop control.

[0065] Further, in one embodiment, before S100, the following steps are further included:

[0066] S000: Pre-generate the theoretical welding trajectories of all the theoretical welding center points of the poles according to the theoretical dimensions of the product.

[0067] In this embodiment, based on the pole distribution parameters (such as spacing, arrangement mode) and theoretical dimensions (diameter, height) in the product design drawing, the three-dimensional coordinates of the center points of each pole are automatically calculated through the CAD / CAM (Computer-Aided Design / Computer-Aided Manufacturing) system to form an initial theoretical welding trajectory.

[0068] In a second aspect, an embodiment of the present application further provides a CTP battery welding trajectory determination system. The CTP battery welding trajectory determination system includes: a welding device, which is used to perform preview movement along the theoretical welding trajectory and drive the welding head to press down when reaching the theoretical welding center point of the pole column; an ultrasonic thickness gauge, which is built into the welding head and is provided with a plurality of measurement points at intervals in the circumferential direction of the welding head, and is used to collect multi-point thickness data of the contact surface between the pole column and the bus bar in real time after driving the welding head to press down when reaching the theoretical welding center point of the pole column; a thickness consistency judgment module, which is used to calculate the first measurement point with decreasing thickness and the last measurement point with decreasing thickness in the clockwise direction if the measured thicknesses of the multiple measurement points arranged circumferentially by the ultrasonic thickness gauge are inconsistent, calculate the actual center plane coordinates of the pole column based on these two points and the theoretical radius of the pole column, and perform X and Y axis corrections on the theoretical welding trajectory of the theoretical welding center point of the pole column.

[0069] In this embodiment, the thickness difference between the pole column and the bus bar is detected in real time by the ultrasonic thickness gauge, and the actual center coordinates of the pole column are calculated by combining the thickness change points and the theoretical radius of the pole column, and the X and Y axis offsets of the theoretical welding trajectory are corrected, directly compensating for the pole column position deviation caused by the cumulative cell tolerance, ensuring that the welding point is accurately matched with the actual center of the pole column; by eliminating the risk of virtual soldering or misalignment caused by the pole column position offset, ensuring the effective connection between the pole column and the bus bar, reducing the welding interface resistance, reducing local heating, thereby improving the overall electrochemical performance and cycle life of the battery pack; based on the feature recognition and coordinate correction of the thickness change points, it can dynamically adapt to the pole column position fluctuations in different tolerance ranges, avoid the limitations of traditional fixed trajectory welding, and enhance the compatibility of the manufacturing process with the individual differences of the cells.

[0070] In a third aspect, an embodiment of the present application provides a CTP battery welding trajectory determination device. The CTP battery welding trajectory determination device can be a device with data processing functions such as a personal computer (PC), a laptop computer, a server, etc.

[0071] Referring to Figure 5 , Figure 5 is a schematic hardware structure diagram of the CTP battery welding trajectory determination device involved in the solution of the embodiment of the present application. In the embodiment of the present application, the CTP battery welding trajectory determination device may include a processor, a memory, a communication interface, and a communication bus.

[0072] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0073] The communication interface includes interfaces such as input / output (I / O) interfaces, physical interfaces, and logical interfaces for implementing the interconnection of components inside the CTP battery welding trajectory determination device, as well as interfaces for implementing the interconnection between the CTP battery welding trajectory determination device and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0074] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0075] The processor can be a general-purpose processor, and the general-purpose processor can call the CTP battery welding trajectory determination program stored in the memory and execute the CTP battery welding trajectory determination method provided in the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the CTP battery welding trajectory determination program is called can refer to the various embodiments of the CTP battery welding trajectory determination method of the present application, which will not be elaborated here.

[0076] Those skilled in the art can understand that Figure 5 the hardware structure shown in

[0077] does not constitute a limitation to the present application, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0078] The readable storage medium of the present application stores a CTP battery welding trajectory determination program, and when the CTP battery welding trajectory determination program is executed by a processor, the steps of the CTP battery welding trajectory determination method as described above are implemented.

[0079] Among them, the method implemented when the CTP battery welding trajectory determination program is executed can refer to the various embodiments of the CTP battery welding trajectory determination method of the present application, which will not be elaborated here.

[0080] It should be noted that the serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0081] The terms "including" and "having" and any variations thereof in the description of the specification, claims and drawings of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. The descriptions of terms such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are different types.

[0082] In the description of the embodiments of the present application, "exemplary", "for example" or "for instance" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "for example" or "for instance" is intended to present relevant concepts in a specific manner.

[0083] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0084] In some processes described in the embodiments of the present application, there are a plurality of operations or steps that appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in order or in parallel, and these operations or steps may be combined.

[0085] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes several instructions for causing a terminal device to execute the methods described in various embodiments of the present application.

[0086] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A method for determining the welding trajectory of a CTP battery, characterized in that The method for determining the welding trajectory of the CTP battery includes: Using the welding equipment to perform preview movement along the theoretical welding trajectory. When reaching the theoretical welding center point of the pole column, drive the welding head to press down, and detect the thickness of the pole column and the busbar through the ultrasonic thickness gauge built in the welding head. If the measured thicknesses of multiple measurement points arranged circumferentially by the ultrasonic thickness gauge are inconsistent, calculate the first measurement point with decreasing thickness and the last measurement point with decreasing thickness in the clockwise direction. Based on these two points and the theoretical radius of the pole column, calculate the actual center plane coordinates of the pole column, and perform X and Y axis corrections on the theoretical welding trajectory of the theoretical welding center point of the pole column.

2. The CTP battery welding trajectory determination method according to claim 1, characterized in that, It also includes: By detecting the contact pressure between the welding head and the busbar in real time, dynamically adjust the Z-axis pressing position of the welding head until the pressure value falls within the preset range, and perform Z-axis compensation correction on the theoretical welding trajectory of the theoretical welding center point of the pole column based on the measured Z-axis coordinates.

3. The method for determining the welding trajectory of the CTP battery according to claim 2, wherein The process of detecting the contact pressure between the welding head and the busbar in real time, dynamically adjusting the Z-axis pressing position of the welding head until the pressure value falls within the preset range, and performing Z-axis compensation correction on the theoretical welding trajectory based on the measured Z-axis coordinates includes: If the welding head presses the busbar and the pole column at the theoretical height and the pressure is lower than the preset pressure range, the welding head continues to press down until the pressure reaches within the preset pressure range, and record the corresponding Z-axis coordinate value, and perform Z-axis correction on the theoretical welding trajectory of the theoretical welding center point of the pole column.

4. The method for determining the welding trajectory of the CTP battery according to claim 2, wherein The process of detecting the contact pressure between the welding head and the busbar in real time, dynamically adjusting the Z-axis pressing position of the welding head until the pressure value falls within the preset range, and performing Z-axis compensation correction on the theoretical welding trajectory based on the measured Z-axis coordinates includes: If the welding head presses the busbar and the pole column at the theoretical height and the pressure is higher than the preset pressure range, the welding head moves up until the pressure reaches within the preset pressure range, and record the corresponding Z-axis coordinate value, and perform Z-axis correction on the theoretical welding trajectory of the theoretical welding center point of the pole column.

5. The method for determining the welding trajectory of the CTP battery according to claim 2, wherein The process of detecting the contact pressure between the welding head and the busbar in real time, dynamically adjusting the Z-axis pressing position of the welding head until the pressure value falls within the preset range, and performing Z-axis compensation correction on the theoretical welding trajectory based on the measured Z-axis coordinates includes: If the welding head presses the busbar and the pole column at the theoretical height and the pressure is within the preset pressure design range, maintain the original Z-axis theoretical welding trajectory of the theoretical welding center point of the pole column.

6. The method for determining the welding track of a CTP battery according to claim 1, wherein It also includes: If the measured thicknesses of all measurement points arranged circumferentially by the ultrasonic thickness gauge are consistent, maintain the original X and Y axis theoretical welding trajectories of the theoretical welding center point of the pole column.

7. The method for determining the welding trajectory of the CTP battery according to claim 1, wherein Before pre-scanning and moving along the theoretical welding trajectory using a welding device, driving the welding head to press down when reaching the theoretical welding center point of the terminal post, and detecting the thicknesses of the terminal post and the busbar through the ultrasonic thickness gauge built in the welding head, the following steps are further included: Pre-generate the theoretical welding trajectories of all the theoretical welding center points of the terminal posts according to the theoretical dimensions of the product.

8. A CTP battery welding trajectory determination system, characterized in that, The CTP battery welding trajectory determination system includes: A welding device, which is used for pre-scanning and moving along the theoretical welding trajectory, and driving the welding head to press down when reaching the theoretical welding center point of the terminal post; An ultrasonic thickness gauge, which is built in the welding head and has a plurality of measurement points arranged at intervals in the circumferential direction of the welding head. It is used for collecting multi-point thickness data of the contact surface between the terminal post and the busbar in real time after driving the welding head to press down when reaching the theoretical welding center point of the terminal post; A thickness consistency judgment module, which is used for calculating the first measurement point with decreasing thickness and the last measurement point with decreasing thickness in the clockwise direction if the measured thicknesses of the multiple measurement points arranged circumferentially by the ultrasonic thickness gauge are inconsistent, calculating the actual center plane coordinates of the terminal post based on these two points and the theoretical radius of the terminal post, and correcting the theoretical welding trajectory of the theoretical welding center point of the terminal post in the X and Y axial directions.

9. A CTP battery welding trajectory determination device, characterized in that The CTP battery welding trajectory determination device includes a processor, a memory, and a CTP battery welding trajectory determination program stored on the memory and executable by the processor. When the CTP battery welding trajectory determination program is executed by the processor, the steps of the CTP battery welding trajectory determination method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that, A CTP battery welding trajectory determination program is stored on the computer-readable storage medium. When the CTP battery welding trajectory determination program is executed by the processor, the steps of the CTP battery welding trajectory determination method according to any one of claims 1 to 7 are implemented.

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