Automatic welding method and system for post terminal of battery Pack busbar trial-manufacture

Abstract

The invention provides an automatic pole welding method and system for battery Pack busbar trial-manufacture, and relates to the technical field of batteries. The method comprises the steps that the height of welding equipment is adjusted through a closed-loop verification and dynamic compensation judgment method to dynamically adjust the measured height value; the height error value between the measured height value and the reference height value is smaller than or equal to a set threshold value, and then a welding height value is obtained; and by starting cyclic offset recognition, offset adjustment of a preset distance is conducted on the camera in the transverse direction and the longitudinal direction till the camera successfully recognizes the pole, and welding position information of the current pole is obtained. Through closed-loop verification, dynamic compensation judgment and cyclic offset identification, the problems that addressing is difficult to achieve, the welding process cannot be automated, the welding efficiency is low, the welding quality is difficult to guarantee and the like due to the fact that the Pack tool is poor in precision consistency, the pole height change is large and the pole distance is inconsistent in the trial-manufacturing process are effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of battery technology, and in particular to a method and system for automatically welding poles in trial production of a battery pack busbar. Background Art

[0002] In the era of rapid lithium-ion battery development, technological iteration relies on new product trials to validate innovative concepts and improve battery performance. Furthermore, to meet market competition and meet the needs of diverse sectors, new product trials are often necessary to develop and optimize product performance, ultimately creating low-cost, lightweight, and long-life batteries for various scenarios. Therefore, small-batch trial production of new products is essential for ensuring subsequent battery quality and stable output.

[0003] With the growing demand for new energy vehicles, the production requirements for lithium batteries are becoming increasingly stringent. Improving production capacity and testing efficiency have become top priorities for major manufacturers. Currently, some aspects of the lithium battery trial production process have been automated, such as electrode coating, roller pressing, and slitting, all of which utilize automated equipment to ensure product stability and improve production efficiency. However, during the battery positioning and welding process, for small-batch, multi-type product trials, battery packs face challenges with low tooling precision, large variations in terminal heights between models and within packs, and inconsistent terminal spacing, making automated welding difficult. Currently, the battery pack busbar trial production process is largely manual, with robots individually teaching each of the hundreds of terminals in the pack their height and position, followed by manual welding. This method is not only inefficient and labor-intensive, but also difficult to ensure consistent terminal welding, resulting in poor weld quality and numerous potential battery risks.

[0004] Currently, some methods exist that can obtain the approximate location of the battery cell poles by acquiring product information from the battery pack, then analyze the images with a camera to determine their precise location; or compare the coordinate values ​​fed back by a three-axis servo module to identify the pole positions. However, these methods are primarily suitable for standard sample products with high pack accuracy and good consistency. In actual trial production, pack accuracy and consistency are generally low, the discrepancy between preset and actual product information is large, and the height difference between adjacent poles is large, which affects camera photography accuracy, resulting in poor welding accuracy and quality. Summary of the Invention

[0005] In response to the above-mentioned problems, the present invention provides a method and system for automatic welding of poles in the trial production of battery pack busbars, which is used to solve the problems of difficulty in addressing, inability to automate the welding process, low welding efficiency, and difficulty in ensuring welding quality due to poor consistency in the accuracy of pack tooling, large variations in pole height, and inconsistent pole spacing during the trial production process.

[0006] In a first aspect, the present invention provides a method for automatically welding poles in a trial production of a battery pack busbar, the method comprising: Obtain the pole number and the initial position information of the corresponding pole number; Based on the initial position information of the current pole, the height value between the current pole and the welding equipment is measured in real time; the height of the welding equipment is adjusted through closed-loop verification and dynamic compensation judgment method to dynamically adjust the measured height value so that the height error between the measured height value and the reference height value is less than or equal to a set threshold, thereby obtaining the welding height value and binding it to the corresponding pole number; The camera shooting height is adjusted based on the welding height value to determine whether the camera has successfully identified the pole; if so, the pole position is directly photographed and analyzed to obtain the welding position information of the current pole; otherwise, the cyclic offset recognition is started to adjust the camera offset by a preset distance in the horizontal and vertical directions until the camera successfully identifies the pole, obtain the welding position information of the current pole and bind it to the corresponding pole number; According to the pole numbers, welding height values ​​and welding position information corresponding to all pole numbers are measured to obtain a welding data set, and pole welding is performed according to the welding data set.

[0007] Furthermore, the closed-loop verification and dynamic compensation determination method includes: determining whether a height error value between the measured height value and the reference height value is less than or equal to a set threshold; If so, the measured height value is used as the welding height value and the welding height value is saved; otherwise, the height of the welding equipment is continuously adjusted up and down until the height error value is less than or equal to the set threshold value and the welding height value is saved.

[0008] Furthermore, the cyclic shift identification includes: The camera is offset by a preset distance in the horizontal and vertical directions, and the camera takes a picture for recognition; if the recognition is successful, the welding position information of the current pole is saved; if the recognition fails, the offset setting distance is continued to be accumulated in the horizontal and vertical directions until the recognition is successful.

[0009] Furthermore, the method further comprises: The welding height values ​​corresponding to all the poles are measured in sequence according to the pole numbers, and a height data set with one-to-one correspondence between the pole numbers and the welding height values ​​is obtained; According to the welding height value corresponding to each pole number in the height data set, the welding position information corresponding to all pole numbers is obtained by shooting and analyzing them one by one, and then bound with the corresponding pole number in the height data set to obtain a welding data set in which the pole number, welding height value, and welding position information correspond to each other.

[0010] Furthermore, the method for determining whether the welding height values ​​corresponding to all poles have been measured includes: If the pole number equals the total number of poles, it means that the welding height measurement of all poles is completed and the measurement of welding position information begins; Otherwise, the pole number is increased by 1 to obtain the initial position information of the next pole number, and the measurement of the welding height value of the next pole is repeated until the welding height value measurement of all poles is completed, and then the measurement of welding position information is started.

[0011] Furthermore, the method for determining whether the welding position information corresponding to all poles has been measured includes: If the pole number equals the total number of poles, it means that the welding position information of all poles has been measured and the welding data set is obtained; Otherwise, the pole number is increased by 1 to obtain the initial position information of the next pole number, and the measurement of the welding position information of the next pole is repeated until the welding position information of all poles is measured to obtain the welding data set.

[0012] Furthermore, adjusting the camera photographing height based on the welding height value includes: The photographing height is adjusted according to the fixed deviation between the welding height value and the reference photographing height value to ensure that the actual photographing height value of the camera each time is equal to the reference photographing height value.

[0013] Furthermore, the welding equipment includes a rangefinder, a galvanometer and a camera; the welding height value is the actual height difference between the adjusted pole and the galvanometer.

[0014] Further, The reference height value is: a preset reference distance meter height value between the pole and the distance meter and / or a preset reference galvanometer height value between the pole and the galvanometer; The measured height value is: a first height value between the current pole and the rangefinder and / or a second height value between the current pole and the galvanometer; The height deviation value is: the difference between the preset reference rangefinder height value and the first height value; or the difference between the preset reference galvanometer height value and the second height value.

[0015] In a second aspect, the present invention provides an automatic pole welding system for trial production of a battery pack busbar, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the above methods.

[0016] In general, the present invention provides a method and system for automatically welding poles for trial production of battery pack busbars. The technical solution conceived by the present invention can achieve the following beneficial effects compared with the existing technology: (1) The present invention solves the problem of inconsistent height dimensions of different Pack models through closed-loop verification and dynamic compensation judgment, so that the welding height value and camera shooting height of each pole can be accurately calculated during the trial production process; the welding height value is continuously calibrated through the reference height value and the height deviation value, so that the welding height value always changes with the change of the pole height during the trial production process, thereby ensuring that the height difference between the pole and the welding equipment is always the reference height value during the trial production process, which not only reduces the possibility of welding leaks and cold welding caused by the large height difference between the poles; but also ensures that the camera focal length is always fixed during the trial production process, without repeated focusing, making the shooting results more accurate and obtaining more accurate welding position information, thereby solving the problem of difficulty in addressing and inability to automate the welding process due to poor consistency of Pack tooling accuracy and large changes in pole height during the trial production process, thereby improving welding efficiency and welding quality.

[0017] (2) The present invention solves the problem of difficulty in addressing and inability to automate the welding process during the trial production process due to poor consistency in the accuracy of the Pack tooling and inconsistent pole spacing through cyclic offset recognition. This allows the position of each pole to be accurately located and identified during the trial production process, thereby ensuring the addressing accuracy of automatic addressing and the welding quality of the welding process during the trial production process, and enhancing the system's compatibility with changes in Pack size and position during the trial production process.

[0018] (3) The present invention combines closed-loop verification with dynamic compensation judgment and cyclic offset identification, which is conducive to further improving the degree of automation of the busbar trial production process, improving production efficiency during the trial production process, and at the same time improving and ensuring welding accuracy and welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a schematic diagram of the method and steps of the automatic welding method and system for the trial production of a battery pack busbar provided by the present invention; Figure 2 This is a schematic diagram of the welding height value measurement principle of a battery pack busbar automatic welding method and system provided by the present invention; Figure 3 This is a compensation determination diagram of a battery pack busbar trial-produced automatic pole welding method and system provided by the present invention; Figure 4 This is a schematic diagram of a welding height value measurement process of a battery pack busbar trial-produced automatic welding method and system provided by the present invention; Figure 5 This is a schematic diagram of a trial-produced automatic pole welding method and system for battery pack busbars provided by the present invention; Figure 6 The present invention provides a method and system for measuring the welding position information of a battery pack busbar automatic welding pole trial. DETAILED DESCRIPTION

[0021] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0022] It should be noted that, in the description of the embodiments of the present invention, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a method, step, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such method, step, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the method, step, or apparatus comprising the element.

[0023] The trial production process is completely different from the pilot production process. Generally speaking, trial production is part of the engineering development phase and begins during this phase. It refers to trial manufacturing or production before large-scale production. It can result in poor consistency in the precision of the packing tooling, large variations in pole height, and inconsistent pole spacing. Pilot production, on the other hand, occurs in small batches after the design is finalized but before production is finalized. It refers to mass production after the production (process) is finalized. It can achieve consistent precision in the packing tooling, with consistent pole height and pole spacing.

[0024] Therefore, the present application is applied to the trial production process, mainly to solve the problems of difficulty in addressing, inability to automate the welding process, low welding efficiency, and difficulty in ensuring welding quality due to poor consistency of the accuracy of the Pack tooling, large variations in the pole height, and inconsistent pole spacing during the trial production process, thereby improving the production efficiency of the battery pack bus trial production. The present invention provides a method and system for automatic pole welding of the battery pack bus trial production, such as Figure 1 As shown, the method specifically includes: Step 101: Obtain the pole number and the initial position information corresponding to the pole number.

[0025] It should be noted that this step primarily involves coarsely locating the poles, determining their number, and marking them. The initial position information includes the pole's horizontal and vertical coordinates. For example, an area array camera can be used to capture multiple mark points on the pack, establish a coordinate system on the pack, and use the mark point array to determine the approximate horizontal and vertical coordinates of each pole in the pack. The poles are then numbered, and the pole number and approximate position corresponding to each pole number can be obtained.

[0026] Step 102: Based on the initial position information of the current pole, the measured height value between the current pole and the welding equipment is measured in real time; the height of the welding equipment is adjusted through closed-loop verification and dynamic compensation judgment method to dynamically adjust the measured height value, so that the height error between the measured height value and the reference height value is less than or equal to the set threshold, and then the welding height value is obtained and bound to the corresponding pole number.

[0027] After obtaining the pole number and approximate position through coarse positioning, the robot drives the welding equipment to the corresponding position of the pole number and starts the pole height measurement step.

[0028] It should be noted that welding equipment can include a rangefinder, a galvanometer, and a camera; the welding height value is the actual height difference between the adjusted pole and the galvanometer. The rangefinder measurement method is as follows: After the robot drives the welding equipment above the current pole, it collects multiple sets of measured height values ​​between the current pole and the welding equipment. These measured height values ​​are then deeply processed using sliding smoothing filtering technology to accurately extract the effective height value. After processing, the measured height value of the current pole is obtained.

[0029] As an example, Figure 2 As shown, the reference height value is the preset reference distance meter height value between the pole and the distance meter and / or a preset reference galvanometer height value between the pole and the galvanometer Since the positions of the rangefinder, galvanometer and camera are relatively fixed, the fixed height difference between the rangefinder and the galvanometer is h ,but ; So get the preset reference rangefinder height value And the preset reference galvanometer height value Any height value in can get another height value.

[0030] Preferably, the preset reference rangefinder height value is obtained by moving the rangefinder to above the first pole, using the rangefinder to measure the height between the first pole and the rangefinder, and using the height as the preset reference rangefinder height value.

[0031] The default reference galvanometer height value is obtained as follows: If the rangefinder and galvanometer are at the same height, that is, the fixed height difference , then the preset reference galvanometer height value is equal to the preset reference rangefinder height value; that is: If the rangefinder and the galvanometer have a fixed height difference , that is, a fixed height difference , then the preset reference galvanometer height value is equal to the sum / difference of the preset reference rangefinder height value and the fixed height difference; that is: when the rangefinder is lower than the galvanometer hour, ; When the rangefinder is higher than the galvanometer hour, .

[0032] The measured height value is the first height value between the current pole and the distance meter And / or the second height value between the current pole and the galvanometer .

[0033] As an example, the height deviation value The preset reference rangefinder height value With the first height value or, preset reference galvanometer height value With the second height value The difference. That is: In other words, the base height value is compared with the processed measured height value to calculate the height deviation value. ,according to Adjust the overall height of the welding equipment up and down so that the measured height value is as equal to the reference height value as possible, that is, the height error value between the measured height value and the reference height value is less than or equal to the set threshold.

[0034] In order to solve the problem of battery pole height misalignment caused by the different box heights of different types of packs, it is necessary to accurately locate the height of each pole; by adjusting the welding equipment, the measured height value is made as equal to the reference height value as possible; however, after the welding equipment reaches the reference welding height, the actual measured height value may deviate from the reference height value. Therefore, the present invention provides a closed-loop verification and dynamic compensation function.

[0035] As an example, Figure 3 As shown, open the closed-loop verification and dynamic compensation function, compare the real-time measured height value with the reference height value and adjust the height. After the robot reaches the reference height value, multiple sampling calculations are performed to obtain the actual measured height value. If the actual measured height value is With the base height value The height error between the two is less than or equal to the set threshold , then the actual measured height value As the welding height value and store it; otherwise, continue to adjust the height.

[0036] Among them, the measured height value With the base height value The difference is the height error value, that is: .generally, Can be set to 0.1mm, The smaller it is, the higher the welding accuracy is.

[0037] More specifically, the height of the welding equipment after adjustment is measured. ; Reference height value It can be the height value of the first pole or a manually set height value. The closed-loop verification and dynamic compensation judgment method includes: judging whether the height error between the measured height value and the reference height value is less than or equal to the set threshold; if so, the measured height value is As the welding height value, save the welding height value; otherwise, continue to adjust the height of the welding equipment up and down until the height error value is less than or equal to the set threshold, save the welding height value; and compare the welding height value with the pole number Bind, recorded as .

[0038] For example, there are 4 poles in the pack, which are numbered 1, 2, 3, and 4 respectively. The welding equipment includes a rangefinder, a galvanometer, and a camera that are fixed to each other.

[0039] If the measured height value of the first pole is used as the reference height value When measuring pole 1, the first height value is , the second height value is .

[0040] If the set reference height value is the height between the pole and the distance meter, the first height value is the reference height value, then the reference height value ; The first height value measured With the base height value The difference between them is the height deviation value, the height deviation value of pole 1 , .

[0041] If the set reference height value is the height between the pole and the galvanometer, the second height value is the reference height value, then the reference height value ; The second height value measured With the base height value The difference is the height deviation value, the height deviation value of pole 1 , The welding height value of pole 1 is the actual height difference between the pole and the galvanometer, which is also the second height value. , and the pole number Bind, recorded as .

[0042] If a manually set height value is used as the reference height value When measuring pole 1, the first height value is , the second height value is , .

[0043] If the reference height value is set as the height between the pole and the distance meter, the first height value of pole 1 is calculated based on the measured first height value. With the base height value The difference between them is the height deviation value. If the height deviation value of pole 1 is , , then it is recorded as ; If the height deviation of pole 1 , , then continue to adjust the welding equipment until the height deviation value , then save the welding height value and record it as .

[0044] If the set reference height value is the height between the pole and the galvanometer, the second height value of pole 1 is calculated based on the measured second height value. With the base height value The difference between them is the height deviation value. If the height deviation value of pole 1 is , , then it is recorded as ; If the height deviation of pole 1 , , then continue to adjust the welding equipment until the height deviation value , then save the welding height value and record it as .

[0045] When measuring pole 2, the first height value is , the second height value is ; If the reference height value is set to the height between the pole and the distance meter, the first height value of pole 2 is calculated. With the base height value The difference between them is the height deviation value. If the height deviation value of pole 2 is , , then it is recorded as ; If the height deviation of pole 2 , , then continue to adjust the welding equipment until the height deviation value , then save the welding height value and record it as .

[0046] If the reference height value is set to the height between the pole and the galvanometer, the second height value of pole 2 is calculated. With the base height value The difference between them is the height deviation value. If the height deviation value of pole 2 is , , then it is recorded as ; If the height deviation of pole 2 , , then continue to adjust the welding equipment until the height deviation value , then save the welding height value and record it as .

[0047] At this time, the target height value of the rangefinder of the welding equipment after adjustment , that is, after adjustment Theoretically, it should be equal to . Adjusted galvanometer height of welding equipment , that is, after adjustment Theoretically, it should be equal to .

[0048] The same process is repeated until all the poles' welding heights are measured. The welding height is constantly calibrated using the reference height and height deviation values, ensuring that the welding height changes with the pole height during the trial production process. This ensures that the height difference between the pole and the welding equipment is as close to the reference height as possible during the trial production process, reducing the possibility of weld leaks and cold welds caused by large height differences between poles.

[0049] In addition, the method further includes: measuring the welding height values ​​corresponding to all poles in sequence according to the pole numbers, and obtaining a height data set in which the pole numbers and the welding height values ​​correspond one to one.

[0050] As an embodiment of the present invention, the preliminary position information of the pole is obtained according to the pole number, the welding height value is obtained in real time and the height is adjusted, the closed-loop verification and dynamic compensation functions are turned on, and the welding height value of the pole is saved; Figure 4 As shown, the method for determining whether the welding height values ​​corresponding to all poles have been measured includes: If the pole number = the total number of poles, it means that the welding height value measurement of all poles is completed, and the measurement of welding position information is started; otherwise, the pole number is increased by 1 to obtain the initial position information of the next pole number, and the measurement of welding height value of the next pole is repeated until the welding height value measurement of all poles is completed, and the measurement of welding position information is started.

[0051] After completing the measurement of the welding height value, the robot drives the camera to move to the initial position information above the pole, starting the next pole addressing step.

[0052] Step 103: Adjust the camera shooting height based on the welding height value to determine whether the camera successfully recognizes the pole; if so, directly shoot and analyze the pole position to obtain the welding position information of the current pole; otherwise, start cyclic offset recognition and adjust the camera offset by preset distances in the horizontal and vertical directions until the camera successfully recognizes the pole, obtain the welding position information of the current pole and bind it with the corresponding pole number.

[0053] As an embodiment, adjusting the camera shooting height based on the welding height value includes: adjusting the shooting height according to the fixed deviation between the welding height value and the reference shooting height value, ensuring that the actual shooting height value of the camera is equal to the reference shooting height value each time; ensuring that the camera focal length is always kept at a fixed value during the trial production process, without the need for repeated focusing, making the shooting results more accurate, and obtaining more accurate welding position information, thereby ensuring the stability and accuracy of visual positioning.

[0054] Preferably, before the automatic addressing process is carried out, the camera can be calibrated at the reference shooting height to achieve the transformation of the image coordinate system to the robot coordinate system, and then the horizontal and vertical coordinates of the pole can be directly output. .

[0055] For example, you can use a rangefinder to record the welding height value during calibration and set the welding height as the reference shooting height value. The reference shooting height value is the height value between the camera and the pole. When the camera is adjusted to the reference shooting height value, it starts shooting and analyzing, and calculates the current pole height in the robot coordinate system. Coordinate value, recorded as , and Bind to pole number , and then get .

[0056] Since the pole spacing in the pack during the trial production process is not uniform, if the standard equal-spacing position is used to take pictures, the pole features may be missing or the recognition may fail. Therefore, this application introduces a cyclic offset mechanism to accurately identify the pole features.

[0057] As an embodiment, cyclic offset recognition includes: adjusting the camera's offset by a preset distance in the horizontal and vertical directions, and taking a picture with the camera for recognition; if the recognition is successful, saving the welding position information of the current pole; if the recognition fails, continuing to accumulate the offset setting distance in the horizontal and vertical directions until the recognition is successful. The set distance can be ±5mm, ±2mm, ±1mm, etc. Cyclic offset recognition makes it possible to accurately locate and identify the position of each pole during the trial production process, thereby ensuring the addressing accuracy of automatic addressing during the trial production process and the welding quality of the welding process, and enhancing the system's compatibility with changes in Pack size and position during the trial production process.

[0058] For example, Figure 5 As shown, after the camera is adjusted to the corresponding photographing height, the cyclic offset recognition is started, and the robot drives the camera to offset +5mm in the x direction. The camera takes a photo for recognition and sends a recognition status signal to judge the camera recognition status. If the recognition is successful, the welding position information of the pole is saved. If the recognition fails, the robot continues to drive the camera to offset -10mm in the x direction. The camera takes a photo for recognition and sends a recognition status signal to judge the camera recognition status. If the recognition is successful, the welding position information of the pole is saved. If the recognition fails, the robot continues to drive the camera to offset +5mm in the y direction. The camera takes a photo for recognition and sends a recognition status signal to judge the camera recognition status. If the recognition is successful, the welding position information of the pole is saved. If the recognition fails, the robot continues to drive the camera to offset -10mm in the y direction. The camera takes a photo for recognition and sends a recognition status signal to judge the camera recognition status. If the recognition is successful, the welding position information of the pole is saved. If the recognition fails, the robot continues to drive the camera to offset -10mm in the y direction. The camera takes a photo for recognition and sends a recognition status signal to judge the camera recognition status. If the recognition is successful, the welding position information of the pole is saved. If the recognition fails, the robot continuously increases the offset until the recognition is successful.

[0059] In addition, the method also includes: according to the welding height value corresponding to each pole number in the height data set, shooting and analyzing one by one to obtain the welding position information corresponding to all pole numbers, and binding them with the corresponding pole numbers in the height data set to obtain a welding data set in which the pole numbers, welding height values, and welding position information correspond to each other.

[0060] For example, Figure 6 As shown, the pole welding height value and initial pole position information are obtained based on the pole number. The camera starts taking pictures, identifies the welding position information corresponding to the pole number, and saves the welding position information of the current pole until all poles are measured. The method for determining whether the welding position information corresponding to all poles has been measured includes: if the pole number equals the total number of poles, the welding position information of all poles has been measured, and a welding data set has been obtained; otherwise, the pole number is increased by 1 to obtain the initial position information of the next pole number. The welding position information measurement of the next pole is repeated until the welding position information of all poles is measured, and a welding data set has been obtained.

[0061] Step 104: measuring the welding height values ​​and welding position information corresponding to all pole numbers according to the pole numbers to obtain a welding data set, and performing pole welding according to the welding data set.

[0062] After completing the measurement of the welding height value and welding position information of the battery pole, the welding data set is obtained, Busbar is installed, and the welding process is entered. The welding height value and welding position information of each pole are requested in turn, that is, The robot drives the welding equipment to the designated position in sequence for light welding until all busbars are welded. Busbars are multi-layer composite structure connecting bars that enable electrical connection between battery cells and voltage and temperature sampling. They are available in copper, aluminum, and copper-aluminum composite materials.

[0063] In a second aspect, the present invention also provides an automatic pole welding system for trial production of a battery pack busbar, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the above methods.

[0064] Specifically, the system includes a height measurement module, an addressing module and a welding module which are connected in sequence.

[0065] Height measurement module, used to obtain initial position information, automatically measure, calculate and store the welding height value of the pole; An addressing module is used to receive the welding height value, automatically measure, calculate and store the welding position information of the pole; The welding module is used to receive welding height value and welding position information and perform automatic welding.

[0066] The system first uses the height measurement module to automatically measure and locate the height of each pole. It then uses the addressing module to take photos and identify them at a specified height, achieving automatic and precise positioning of each pole. Finally, the welding module automatically welds each pole. This system can achieve high-quality and efficient welding even when battery pack dimensions are unstable, fixed fixtures are unavailable, or fixture accuracy is low (e.g., ±10mm).

[0067] In summary, the present invention is conducive to further improving the degree of automation of the busbar trial production process by combining closed-loop verification with dynamic compensation judgment and cyclic offset identification. It solves the problems of difficulty in addressing, inability to automate the welding process, low welding efficiency, and difficulty in ensuring welding quality due to poor consistency of Pack tooling accuracy, large variations in pole height, and inconsistent pole spacing during the trial production process. It improves the production efficiency during the trial production process while ensuring welding accuracy and quality.

[0068] It should be noted that for the aforementioned embodiments, for simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0069] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0070] In the several embodiments provided in this application, it should be understood that the disclosed methods or systems can be implemented in other ways. For example, the embodiments described above are merely illustrative, and the division of the units described is merely a logical functional division. In actual implementation, other division methods may be used, such as combining or integrating multiple units or components into another system, or ignoring or not implementing certain features.

[0071] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0072] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0073] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. This computer software product is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of this application.

[0074] Those skilled in the art will appreciate that all or part of the various circuits in the above embodiments may be implemented by instructing related hardware through a program. The program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0075] The above is only an exemplary embodiment of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure herein, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art that are not recorded in the present disclosure. The description and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

[0076] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A battery pack busbar trial production pole automatic welding method, characterized in that: The method comprises: Obtain the pole number and the initial position information of the corresponding pole number; Based on the initial position information of the current pole, the height value between the current pole and the welding equipment is measured in real time; the height of the welding equipment is adjusted through closed-loop verification and dynamic compensation judgment method to dynamically adjust the measured height value so that the height error between the measured height value and the reference height value is less than or equal to a set threshold, thereby obtaining the welding height value and binding it to the corresponding pole number; The camera shooting height is adjusted based on the welding height value to determine whether the camera has successfully identified the pole; if so, the pole position is directly photographed and analyzed to obtain the welding position information of the current pole; otherwise, the cyclic offset recognition is started to adjust the camera offset by a preset distance in the horizontal and vertical directions until the camera successfully identifies the pole, obtain the welding position information of the current pole and bind it to the corresponding pole number; According to the pole numbers, welding height values ​​and welding position information corresponding to all pole numbers are measured to obtain a welding data set, and pole welding is performed according to the welding data set.

2. The method for automatically welding the poles of a battery pack busbar according to claim 1, characterized in that: The closed-loop verification and dynamic compensation determination method comprises: determining whether a height error value between the measured height value and the reference height value is less than or equal to a set threshold; If so, the measured height value is used as the welding height value and the welding height value is saved; otherwise, the height of the welding equipment is continuously adjusted up and down until the height error value is less than or equal to the set threshold value and the welding height value is saved.

3. The automatic welding method for poles of a battery pack busbar trial production according to claim 1, characterized in that: The cycle shift identification includes: The camera is offset by a preset distance in the horizontal and vertical directions, and the camera takes a picture for recognition; if the recognition is successful, the welding position information of the current pole is saved; if the recognition fails, the offset setting distance is continued to be accumulated in the horizontal and vertical directions until the recognition is successful.

4. The method for automatically welding the poles of a battery pack busbar according to claim 1, characterized in that: The method further comprises: The welding height values ​​corresponding to all the poles are measured in sequence according to the pole numbers, and a height data set with one-to-one correspondence between the pole numbers and the welding height values ​​is obtained; According to the welding height value corresponding to each pole number in the height data set, the welding position information corresponding to all pole numbers is obtained by shooting and analyzing them one by one, and then bound with the corresponding pole number in the height data set to obtain a welding data set in which the pole number, welding height value, and welding position information correspond to each other.

5. The method for automatically welding the poles of a battery pack busbar in a trial production according to claim 3, characterized in that: Methods for determining whether the welding height values ​​corresponding to all poles have been measured include: If the pole number equals the total number of poles, it means that the welding height measurement of all poles is completed and the measurement of welding position information begins; Otherwise, the pole number is increased by 1 to obtain the initial position information of the next pole number, and the measurement of the welding height value of the next pole is repeated until the welding height value measurement of all poles is completed, and then the measurement of welding position information is started.

6. The method for automatically welding the poles of a battery pack busbar in a trial production according to claim 3, characterized in that: Methods for determining whether the welding position information corresponding to all poles has been measured include: If the pole number equals the total number of poles, it means that the welding position information of all poles has been measured and the welding data set is obtained; Otherwise, the pole number is increased by 1 to obtain the initial position information of the next pole number, and the measurement of the welding position information of the next pole is repeated until the welding position information of all poles is measured to obtain the welding data set.

7. The method for automatically welding poles in a trial production of a battery pack busbar according to claim 1, characterized in that: Adjusting the camera photographing height based on the welding height value includes: The photographing height is adjusted according to the fixed deviation between the welding height value and the reference photographing height value to ensure that the actual photographing height value of the camera each time is equal to the reference photographing height value.

8. The method for automatically welding poles in a trial production of a battery pack busbar according to claim 1, characterized in that: The welding equipment includes a rangefinder, a galvanometer and a camera; the welding height value is the actual height difference between the adjusted pole and the galvanometer.

9. The method for automatically welding poles in a trial production of a battery pack busbar according to claim 8, characterized in that: The reference height value is: a preset reference distance meter height value between the pole and the distance meter and / or a preset reference galvanometer height value between the pole and the galvanometer; The measured height value is: a first height value between the current pole and the rangefinder and / or a second height value between the current pole and the galvanometer; The height deviation value is: the difference between the preset reference rangefinder height value and the first height value; or the difference between the preset reference galvanometer height value and the second height value.

10. An automatic pole welding system for trial production of a battery pack busbar, comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 9.

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