A battery pack busbar trial production pole automatic welding method and system

Abstract

The application provides a battery Pack busbar trial production pole automatic welding method and system, and relates to the technical field of batteries. The method comprises the following steps: adjusting the height of the welding equipment by a closed-loop verification and dynamic compensation determination method to dynamically adjust the measured height value, so that the height error value between the measured height value and the reference height value is less than or equal to a set threshold value, and then obtaining a welding height value; by opening a loop offset identification, the camera is respectively adjusted by a preset distance in the horizontal and vertical directions until the camera successfully identifies the pole, and the welding position information of the current pole is obtained. Through the closed-loop verification, dynamic compensation determination and loop offset identification, the application effectively solves the problems in the trial production process, such as difficulty in addressing, inability to automate the welding process, low welding efficiency and difficulty in guaranteeing the welding quality caused by poor consistency of Pack tooling precision, large pole height variation and inconsistent pole spacing.

Description

Technical Field

[0001] This invention relates to the field of battery technology, and in particular to an automatic welding method and system for prototyping battery pack busbars. Background Technology

[0002] In the era of rapid development of lithium batteries, technological iteration requires the use of new product trials to verify innovative ideas and improve battery performance. Simultaneously, to cope with market competition and meet the needs of different fields, it is generally necessary to develop and optimize products through new product trials, thereby creating low-cost, lightweight, and long-life batteries for various scenarios. Therefore, small-batch new product trials are fundamental to ensuring subsequent battery quality and stable production.

[0003] With the ever-expanding demand for new energy vehicles, the requirements for lithium battery production are becoming increasingly stringent. Improving production capacity and enhancing testing efficiency have become top priorities for manufacturers. Currently, some stages of the lithium battery prototyping process have been automated, such as electrode coating, rolling, and slitting, which can all utilize automated equipment to ensure product stability and improve production efficiency. However, in the battery positioning and welding process, for small-batch, multi-type product prototyping, battery packs suffer from low tooling precision, significant variations in terminal height between different models and within the pack, and inconsistent terminal spacing, making automated welding difficult. Currently, the battery pack busbar prototyping process is mostly done manually. Manual personnel teach the robot height and position of hundreds of terminals in the pack, followed by manual welding. This method is not only inefficient and labor-intensive but also struggles to ensure consistent terminal welding, resulting in low welding quality and numerous potential hazards to the battery.

[0004] Currently, while some methods exist to obtain the approximate location of the terminals by acquiring product information from the battery pack, and then using image analysis to determine the precise location of the cell terminals through camera photography; or to identify terminal positioning by comparing coordinate values ​​fed back from a three-axis servo module, these methods are primarily suitable for standard prototypes with high pack precision and good consistency. However, in actual prototyping processes, pack precision is generally low, consistency is poor, there is a large discrepancy between the preset product information and the actual product information, and there is a significant height difference between adjacent terminals, which affects the accuracy of camera photography, resulting in poor welding precision and quality. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides an automatic welding method and system for battery pack busbar prototypes, which solves the problems of difficulty in addressing, non-automation of the welding process, low welding efficiency, and difficulty in ensuring welding quality caused by poor consistency of pack tooling precision, large variations in pole height, and inconsistent pole spacing during the prototype process.

[0006] In a first aspect, the present invention provides an automated welding method for electrode posts in the trial fabrication 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 measured height value between the current pole and the welding equipment is obtained in real time; the measured height value is dynamically adjusted by adjusting the height of the welding equipment through closed-loop verification and dynamic compensation judgment method, so that the height error value 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 with the corresponding pole number; Based on the welding height value, adjust the camera's shooting height to determine whether the camera has successfully identified the pole. If so, take a picture directly and analyze the pole position to obtain the welding position information of the current pole. Otherwise, start the cyclic offset recognition and adjust the camera to offset by a preset distance in the horizontal and vertical directions until the camera successfully identifies the pole, obtains the welding position information of the current pole, and binds it with the corresponding pole number. According to the pole number, measure the welding height value and welding position information corresponding to all pole numbers to obtain a welding dataset, and perform pole welding according to the welding dataset.

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

[0008] Furthermore, the cyclic offset identification includes: The camera is offset by a preset distance in both 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 preset offset distance is added in both the horizontal and vertical directions until the recognition is successful.

[0009] Furthermore, the method also includes: According to the pole number, the welding height value corresponding to all poles is measured in sequence to obtain a height dataset in which the pole number and the welding height value are one-to-one correspondence. Based on the welding height value corresponding to each pole number in the height dataset, the welding position information corresponding to all pole numbers is obtained by taking pictures and analyzing them one by one, and then binding them with the corresponding pole numbers in the height dataset to obtain a welding dataset in which the pole number, welding height value, and welding position information correspond to each other.

[0010] Furthermore, the methods for determining whether the welding height values ​​corresponding to all pole posts have been measured include: If the pole number equals the total number of poles, it means that the welding height value of all poles has been measured and the measurement of welding position information has begun. Conversely, increment the pole number by 1 to obtain the initial position information of the next pole number, repeat the measurement of the welding height value of the next pole, until the welding height value of all poles is measured, and then proceed to the measurement of welding position information.

[0011] Furthermore, the methods for determining whether the welding position information corresponding to all pole posts 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 dataset has been obtained. Conversely, increment the pole number by 1 to obtain the initial position information of the next pole number, and repeat the measurement of the welding position information of the next pole until the welding position information of all poles is measured to obtain the welding dataset.

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

[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] Furthermore, The reference height value is: the preset reference distance measuring instrument height value between the pole and the rangefinder and / or the preset reference galvanometer height value between the pole and the galvanometer. The measured height value is: the first height value between the current pole and the rangefinder and / or the second height value between the current pole and the galvanometer; The height error value is: the difference between the height value of the preset reference rangefinder and the first height value; or, the difference between the height value of the preset reference galvanometer and the second height value.

[0015] In a second aspect, the present invention provides an automatic electrode welding system for prototyping battery pack busbars, 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 methods described above.

[0016] In summary, this invention provides an automated welding method and system for prototyping battery pack busbars. Compared with existing technologies, the technical solution conceived in this invention can achieve the following beneficial effects: (1) This invention solves the problem of inconsistent height dimensions for different Pack models through closed-loop verification and dynamic compensation judgment, enabling accurate calculation of the welding height value and camera imaging height of each pole during the trial production process; by continuously calibrating the welding height value through the reference height value and height error value, the welding height value always changes with 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. This not only reduces the possibility of missed welding and false welding caused by the large height difference between poles, but also ensures that the camera focal length is always kept at a fixed value during the trial production process, without repeated focusing, making the imaging results more accurate and obtaining more accurate welding position information. This solves the problem of difficulty in addressing and non-automation of the welding process caused by poor Pack tooling precision consistency and large pole height changes during the trial production process, thereby improving welding efficiency and welding quality.

[0017] (2) This invention solves the problem of difficulty in addressing and non-automation of welding process caused by poor consistency of Pack tooling accuracy and inconsistent pole spacing during the trial production process by cyclic offset recognition. This enables accurate positioning and identification of the position of each pole 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 automation level of the bus trial production process, improving the production efficiency in the trial production process, and improving and ensuring welding accuracy and welding quality. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the method steps of an automatic welding method and system for prototyping battery pack busbars provided by the present invention; Figure 2 This is a schematic diagram illustrating the principle of measuring the welding height value of an automatic welding method and system for trial production of battery pack busbars provided by the present invention. Figure 3 This is a compensation determination diagram of an automatic electrode welding method and system for trial production of battery pack busbars provided by the present invention. Figure 4 This is a schematic diagram of the welding height measurement process of an automatic welding method and system for trial production of battery pack busbars provided by the present invention. Figure 5 This is a schematic diagram of the cyclic offset identification of an automatic electrode welding method and system for battery pack busbar trial production provided by the present invention. Figure 6 This is a schematic diagram of the welding position information measurement process of an automatic welding method and system for battery pack busbar trial production provided by the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0022] It should be noted that, in the description of the embodiments of the present invention, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a method, step, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to the method, step, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the method, step, or apparatus that includes that element.

[0023] The trial production process and the trial manufacturing process are completely different. Generally speaking, trial production belongs to the engineering research and development stage and begins in the engineering research and development stage. It refers to the attempt to manufacture or produce before large-scale production. The accuracy of the Pack tooling is inconsistent, the pole height varies greatly, and the pole spacing is inconsistent. On the other hand, trial manufacturing is a small-batch production stage after the design is finalized and before the production is finalized. It refers to the mass production work after the production (process) is finalized. The accuracy of the Pack tooling is consistent, and the pole height and pole spacing are consistent.

[0024] Therefore, this application is applied to the trial production process, mainly to solve the problems of poor addressing, lack of automation in the welding process, low welding efficiency, and difficulty in guaranteeing welding quality caused by poor consistency of Pack tooling precision, large variations in terminal height, and inconsistent terminal spacing during the trial production process. This invention aims to improve the production efficiency of battery pack busbar trial production. The present invention provides an automatic terminal welding method and system for battery pack busbar trial production, such as... Figure 1 As shown, the method specifically includes: Step 101: Obtain the pole number and the initial position information of the corresponding pole number.

[0025] It should be noted that this step mainly involves coarse positioning of the poles, determining their number, and marking them. 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, establishing a coordinate system on the pack. Based on the mark point array, the approximate horizontal and vertical coordinates of each pole in the pack can be obtained, and the poles can be numbered. This allows us to obtain the pole number and its corresponding approximate location.

[0026] Step 102: Based on the initial position information of the current pole, measure the height between the current pole and the welding equipment in real time; adjust the height of the welding equipment 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, thereby obtaining the welding height value and binding it with 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 initiates the pole height measurement step.

[0028] It should be noted that the welding equipment may 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 to the top of the current pole, it collects multiple sets of measured height values ​​between the current pole and the welding equipment. A sliding smoothing filter technique is used to perform in-depth processing on the measured height values ​​to accurately extract the effective height values. After processing, the measured height value of the current pole is obtained.

[0029] As an example, such as 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 the 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 Therefore, the preset reference rangefinder height value is obtained. and preset reference galvanometer height value Any height value in the equation can be used to obtain another height value.

[0030] Preferred method for obtaining the preset reference rangefinder height value is as follows: move the rangefinder above the first pole, measure the height between the first pole and the rangefinder, and use this height as the preset reference rangefinder height value.

[0031] Preferred method for obtaining the preset reference galvanometer height value: if the rangefinder and the galvanometer are at the same height, i.e., a 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 between 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 rangefinder. And / or the second height value between the current pole and the galvanometer. .

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

[0034] To address the issue of battery terminal height misalignment caused by varying enclosure heights in different types of packs, precise height positioning of each terminal is required. The welding equipment is adjusted to ensure that the measured height value is as close as possible to the reference height value. However, once the welding equipment reaches the reference welding height, the actual measured height value may deviate from the reference height value. Therefore, this invention incorporates closed-loop verification and dynamic compensation functions.

[0035] As an example, such as Figure 3 As shown, the closed-loop verification and dynamic compensation functions are enabled. The real-time measured height value is compared with the reference height value, and the height is adjusted accordingly. 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... Compared with the reference height value The height error value between them is less than or equal to the set threshold. Then the actual measured height value will be... This is recorded as the welding height value and stored; otherwise, height adjustment continues.

[0036] Among them, the measured height value Compared with the reference height value The difference between them is the height error value, that is: .generally, It can be set to 0.1mm. The smaller the value, the higher the welding precision.

[0037] More specifically, the measured height value of the adjusted welding equipment. Reference height value This can be either the measured height of the first pole or a manually set height value. The closed-loop verification and dynamic compensation determination method includes: determining whether the height error between the measured height value and the reference height value is less than or equal to a set threshold; if so, then the measured height value... Save the welding height value as 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, and save the welding height value; then match the welding height value with the pole number. Bind, denoted as .

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

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

[0040] If the set reference height value is the height between the pole and the rangefinder, then the first height value is used as the reference height value. The first measured height value Compared with the reference height value The difference between them is the height error value, and the height error value of pole 1. , .

[0041] If the set reference height value is the height between the pole and the galvanometer, then the second height value is used as the reference height value. The second measured height value Compared with the reference height value The difference between them is the height error value, and the height error value of pole 1. , The welding height value of pole post 1 is the actual height difference between the pole post and the galvanometer, which is also the second height value. , and pole number Bind, denoted as .

[0042] If a human-defined height value is used as the baseline height value When measuring pole 1, the first height value was obtained. The second height value is , .

[0043] If the set reference height is the height between the pole and the rangefinder, then the first measured height value is used as the measured height value to calculate the first height value of pole 1. Compared with the reference height value The difference between them is the height error value. If the height error value of pole 1 is... , Then it is recorded as If the height error value of pole post 1 , Then continue adjusting the welding equipment until the height error value is correct. Then save the welding height value and record it as... .

[0044] If the set reference height value is the height between the pole post and the galvanometer, then the measured second height value is used as the measured height value to calculate the second height value of pole post 1. Compared with the reference height value The difference between them is the height error value. If the height error value of pole 1 is... , Then it is recorded as If the height error value of pole post 1 , Then continue adjusting the welding equipment until the height error value is correct. Then save the welding height value and record it as... .

[0045] When measuring pole 2, the first height value was obtained. The second height value is ; If the set reference height value is the height between the pole and the rangefinder, then calculate the first height value of pole 2. Compared with the reference height value The difference between them is the height error value. If the height error value of pole 2 is... , Then it is recorded as If the height error value of pole post 2 , Then continue adjusting the welding equipment until the height error value is correct. Then save the welding height value and record it as... .

[0046] If the set reference height value is the height between the pole post and the galvanometer, then calculate the second height value of pole post 2. Compared with the reference height value The difference between them is the height error value. If the height error value of pole 2 is... , Then it is recorded as If the height error value of pole post 2 , Then continue adjusting the welding equipment until the height error value is correct. Then save the welding height value and record it as... .

[0047] At this point, the target height value of the rangefinder of the adjusted welding equipment... That is, the adjusted Theoretically it should be equal to Adjusted galvanometer height of welding equipment That is, the adjusted Theoretically it should be equal to .

[0048] This process is repeated until the welding height of all poles has been measured. The welding height is continuously calibrated using a reference height and a height error value, ensuring that the welding height changes with the pole height during the trial production process. This guarantees that the height difference between the pole and the welding equipment is as close as possible to the reference height, reducing the possibility of incomplete or ineffective welding due to large height differences between poles.

[0049] In addition, the method also includes: measuring the welding height value corresponding to all poles in sequence according to the pole number, and obtaining a height dataset in which the pole number and the welding height value correspond one-to-one.

[0050] As an embodiment of the present invention, preliminary position information of the electrode post is obtained according to the electrode post number, the welding height value is obtained in real time and the height is adjusted, closed-loop verification and dynamic compensation functions are enabled, and the welding height value of the electrode post is saved; for example Figure 4 As shown, the methods for determining whether the welding height values ​​corresponding to all pole posts 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 complete, and the measurement of welding position information begins; otherwise, the pole number is incremented 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 measurement of all poles is complete, and the measurement of welding position information begins.

[0051] After measuring the welding height, the robot moves the camera to the initial position above the pole post and begins the next pole post addressing step.

[0052] Step 103: Adjust the camera's shooting height based on the welding height value to determine whether the camera has successfully identified the pole. If so, take a picture directly and analyze the pole position to obtain the welding position information of the current pole. Otherwise, start the cyclic offset recognition and adjust the camera to offset by a preset distance in the horizontal and vertical directions until the camera successfully identifies the pole, obtains the welding position information of the current pole, and binds it with the corresponding pole number.

[0053] As an example, adjusting the camera's image capture height based on the welding height value includes: adjusting the image capture height according to a fixed deviation between the welding height value and the reference image capture height value, ensuring that the actual image capture height value of the camera is equal to the reference image capture height value each time; ensuring that the camera's focal length remains a fixed value during the trial production process, eliminating the need for repeated focusing, making the image capture results more accurate, obtaining more accurate welding position information, thereby ensuring the stability and accuracy of visual positioning.

[0054] Preferably, before the automatic addressing process, the camera can perform nine-point calibration at the reference imaging height to transform the image coordinate system to the robot coordinate system, thereby directly outputting the horizontal and vertical coordinates of the polar column. .

[0055] For example, a rangefinder can be used to record the welding height value during calibration, and this welding height can be set as the reference imaging height value, which is the height between the camera and the pole. Once the camera is adjusted to the reference imaging height value, it begins taking pictures and performing analysis to calculate the current position of the pole in the robot coordinate system. Coordinate values, denoted as and will Binding to pole number And thus obtain .

[0056] Because the spacing between poles in the Pack during the trial production process is not uniform, if standard equal-spacing positions are used for taking pictures, pole features may be missing or recognition may fail. Therefore, this application introduces a cyclic offset mechanism to accurately identify pole features.

[0057] As one embodiment, the cyclic offset recognition includes: adjusting the camera by a preset distance in both the horizontal and vertical directions, taking a picture for recognition; if recognition is successful, saving the current welding position information of the pole; if recognition fails, continuing to accumulate the preset offset distance in both the horizontal and vertical directions until recognition is successful. The preset distance can be ±5mm, ±2mm, ±1mm, etc. Cyclic offset recognition enables accurate positioning and recognition of each pole during the prototyping process, thereby ensuring the addressing accuracy of automatic addressing and the welding quality during the welding process, and enhancing the system's compatibility with changes in pack size and position during prototyping.

[0058] For example, such as Figure 5 As shown, after the camera is adjusted to the corresponding shooting height, the cyclic offset recognition is activated. The robot moves the camera by +5mm in the x-direction, the camera takes a picture, recognizes the image, and sends a recognition status signal to determine the camera's recognition status. If the recognition is successful, the welding position information of the pole piece is saved. If the recognition fails, the robot continues to move the camera by -10mm in the x-direction, the camera takes a picture, recognizes the image, and sends a recognition status signal to determine the camera's recognition status. If the recognition is successful, the welding position information of the pole piece is saved. If the recognition fails, the robot continues to move the camera by +5mm in the y-direction, the camera takes a picture, recognizes the image, and sends a recognition status signal to determine the camera's recognition status. If the recognition is successful, the welding position information of the pole piece is saved. If the recognition fails, the robot continues to move the camera by -10mm in the y-direction, the camera takes a picture, recognizes the image, and sends a recognition status signal to determine the camera's recognition status. If the recognition is successful, the welding position information of the pole piece is saved. If the recognition fails, the robot continuously increases the offset until the recognition is successful.

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

[0060] For example, such as Figure 6 As shown, based on the pole number, the welding height value and initial position information of the pole are obtained. 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 have been measured. The method for determining whether the welding position information of all poles has been measured is as follows: if the pole number equals the total number of poles, it means that the welding position information of all poles has been measured and a welding dataset is obtained; otherwise, the pole number is incremented 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 has been measured and a welding dataset is obtained.

[0061] Step 104: According to the pole number, measure the welding height value and welding position information corresponding to all pole numbers to obtain the welding dataset, and perform pole welding according to the welding dataset.

[0062] After measuring the welding height and welding position information of the battery terminals, a welding dataset is obtained. A busbar is then installed, and the welding process begins, sequentially requesting the welding height and welding position information for each terminal. The robot drives the welding equipment to the designated positions in sequence to perform light-emitting welding until all busbars are welded. The busbar is a multi-layered composite structure connecting bar that enables electrical connections between battery cells and voltage and temperature sampling. It is available in materials such as copper, aluminum, and copper-aluminum composite.

[0063] In a second aspect, the present invention also provides an automatic electrode welding system for prototyping battery pack busbars, including 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 methods described above.

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

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

[0066] The system first uses a height measurement module to automatically measure and locate the height of each terminal post. Then, an addressing module takes pictures and identifies the terminal posts at a specified shooting height, achieving automatic and precise positioning of each terminal post. Finally, a welding module performs automatic welding of each terminal post. This system can perform high-quality and efficient welding even when battery pack dimensions are unstable, there are no fixed fixtures, or the fixture accuracy is low (e.g., ±10mm).

[0067] In summary, this invention combines closed-loop verification with dynamic compensation judgment and cyclic offset identification, which helps to further improve the automation level of the bus trial production process. It solves the problems of poor pack tooling accuracy consistency, large changes in pole height, and inconsistent pole spacing during the trial production process, which lead to difficulties in addressing, non-automation of the welding process, low welding efficiency, and difficulty in ensuring welding quality. It improves the production efficiency during the trial production process while ensuring welding accuracy and welding quality.

[0068] It should be noted that, for the sake of simplicity, the foregoing embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0069] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in 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. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0071] The units described as separate components may or may not be physically separate. 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0072] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0073] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, 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 several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

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

[0075] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of embodiments of this disclosure upon considering the specification and practicing the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described herein. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

[0076] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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] Those skilled in the art will readily understand 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 within the scope of protection of the present invention.

Claims

1. An automatic welding method for electrode posts in the trial fabrication of a battery pack busbar, characterized in that, The method includes: 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 measured height value between the current pole and the welding equipment is obtained in real time. The measured height value is dynamically adjusted by adjusting the height of the welding equipment through closed-loop verification and dynamic compensation judgment methods, so that the height error value 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 with the corresponding pole number. The measured height value is obtained by multiple sampling calculations. Adjusting the camera's shooting height based on the welding height value means 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, and determining whether the camera has successfully identified the pole piece; if so, the camera is directly shot and the pole piece position is analyzed to obtain the welding position information of the current pole piece; otherwise, cyclic offset recognition is started, and the camera is offset by a preset distance in the horizontal and vertical directions until the camera successfully identifies the pole piece, obtains the welding position information of the current pole piece, and binds it with the corresponding pole piece number; According to the pole number, measure the welding height value and welding position information corresponding to all pole numbers to obtain a welding dataset, and perform pole welding according to the welding dataset; The closed-loop verification and dynamic compensation determination method includes: determining whether the height error 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 adjusted up and down until the height error value is less than or equal to the set threshold and the welding height value is saved. The cyclic offset recognition includes: adjusting the camera by a preset distance in the horizontal and vertical directions, taking a picture for recognition; if the recognition is successful, saving the current welding position information of the pole; if the recognition fails, continuing to accumulate the preset offset distance in the horizontal and vertical directions until the recognition is successful.

2. The automatic welding method for electrode posts in the trial fabrication of a battery pack busbar according to claim 1, characterized in that, The method further includes: According to the pole number, the welding height value corresponding to all poles is measured in sequence to obtain a height dataset in which the pole number and the welding height value are one-to-one correspondence. Based on the welding height value corresponding to each pole number in the height dataset, the welding position information corresponding to all pole numbers is obtained by taking pictures and analyzing them one by one, and then binding them with the corresponding pole numbers in the height dataset to obtain a welding dataset in which the pole number, welding height value, and welding position information correspond to each other.

3. The automatic welding method for electrode posts in the trial fabrication of a battery pack busbar according to claim 1, characterized in that, The methods for determining whether the welding height values ​​corresponding to all pole posts have been measured include: If the pole number equals the total number of poles, it means that the welding height value of all poles has been measured and the measurement of welding position information has begun. Conversely, increment the pole number by 1 to obtain the initial position information of the next pole number, repeat the measurement of the welding height value of the next pole, until the welding height value of all poles is measured, and then proceed to the measurement of welding position information.

4. The automatic welding method for electrode posts in the trial production of a battery pack busbar according to claim 1, characterized in that, The 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 dataset has been obtained. Conversely, increment the pole number by 1 to obtain the initial position information of the next pole number, and repeat the measurement of the welding position information of the next pole until the welding position information of all poles is measured to obtain the welding dataset.

5. The automatic welding method for electrode posts in the 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 positions of which are relatively fixed; the welding height value is the actual height difference between the adjusted pole and the galvanometer.

6. The automatic welding method for electrode posts in the trial production of a battery pack busbar according to claim 5, characterized in that, The reference height value is: the preset reference distance measuring instrument height value between the pole and the rangefinder and / or the preset reference galvanometer height value between the pole and the galvanometer. The measured height value is: the first height value between the current pole and the rangefinder and / or the second height value between the current pole and the galvanometer; The height error value is: the difference between the height value of the preset reference rangefinder and the first height value; or, the difference between the height value of the preset reference galvanometer and the second height value.

7. An automatic electrode welding system for trial production of battery pack busbars, 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 6.

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