Pole welding control method and apparatus, welding system, battery production line, medium and product

Abstract

The application discloses a pole welding control method and device, a welding system, a battery production line, a medium and a product, relates to the technical field of battery production, and through first welding based on actual coordinates of target battery poles, the target battery poles are part of battery poles in a battery pack, small-power welding is not necessary for all battery poles on the battery pack, thereby reducing the time of first welding; and the actual coordinates of other battery poles of the battery pack are compensated according to the deviation value of the actual coordinates of the target battery poles and the first welding coordinates after corresponding welding, the second welding coordinates of the battery poles of the battery pack are obtained, and the time consumption of correction is reduced. Finally, based on the compensated second welding coordinates, the battery poles of the battery pack are welded for the second time. While ensuring the welding quality, the adjustment time after product model change is greatly shortened, and the production efficiency and adaptability are improved.

Description

Technical Field

[0001] This application relates to the field of battery manufacturing technology, and in particular to electrode welding control methods and equipment, welding systems, battery production lines, dielectrics, and products. Background Technology

[0002] During battery production, multiple terminals of various cells in a battery pack need to be welded together with a busbar assembly (also known as a battery pack terminal) to achieve electrical connection between the cells. If the busbar assembly and terminals are welded off-center, it will affect the battery's performance.

[0003] After changing the battery pack type on the production line, it is necessary to re-acquire the actual coordinates of the cell terminals of the new battery pack using a vision camera, and then perform low-power welding based on these coordinates. If the welded coordinates deviate from the actual coordinates of the cell terminals, workers need to manually correct and assign values ​​one by one before performing high-power welding to avoid misalignment. However, the low-power welding and manual correction processes are time-consuming, resulting in excessive adjustment time after product changeover and reduced production efficiency. Summary of the Invention

[0004] The main objective of this application is to provide a method and equipment for electrode welding control, a welding system, a battery production line, a medium, and a product, which aims to ensure welding quality while significantly shortening the adjustment time after product changeover and improving production efficiency and adaptability.

[0005] To achieve the above objectives, this application proposes a terminal welding control method, which is applied in battery production. The method includes: obtaining the actual coordinates of the battery cell terminals in the welding coordinate system based on a welding system; performing a first welding on the target battery cell terminals based on the actual coordinates of the target battery cell terminals on the battery pack, wherein the target battery cell terminals are a portion of the battery cell terminals in the battery pack; if the deviation between the actual coordinates of the target battery cell terminals and the first welding coordinates obtained after welding is greater than or equal to a preset threshold, compensating the actual coordinates of the battery cell terminals in the battery pack according to the deviation value to obtain a second welding coordinate of the battery cell terminals in the battery pack; and performing a second welding on the battery cell terminals in the battery pack based on the second welding coordinate of the battery cell terminals in the battery pack, wherein the power of the second welding is greater than the power of the first welding.

[0006] In this embodiment, the actual coordinates of the battery pack's cell terminals in the welding coordinate system are obtained through a welding system. A first welding (low power) is performed based on the actual coordinates of the target cell terminals. Since the target cell terminals are only a portion of the battery pack's cell terminals, it's unnecessary to perform low-power welding on all cell terminals, thus reducing the time spent on the first welding (low power). Furthermore, by obtaining the deviation between the actual coordinates of the target cell terminals and the corresponding first welding coordinates, and when the deviation is greater than or equal to a preset threshold, the actual coordinates of the other cell terminals in the battery pack are automatically compensated based on this deviation, resulting in the second welding coordinates of the battery pack's cell terminals. This eliminates the need for manual correction, achieving automated correction and reducing correction time. Finally, based on the compensated second welding coordinates, a second welding (high power) is performed on the battery pack's cell terminals. Since the first welding (low power) is only used for sampling and deviation calculation, the second welding uses high power to complete the final welding, ensuring the reliability of the welding strength and reducing the risk of welding deviation through coordinate compensation. This embodiment ensures welding quality while significantly shortening the adjustment time after product changeover, thereby improving production efficiency and adaptability.

[0007] In one embodiment, the battery pack includes multiple preset regions, each preset region including at least one target cell terminal; the first welding of the target cell terminal based on the actual coordinates of the target cell terminal on the battery pack includes: performing a first welding of the target cell terminal in each preset region based on the actual coordinates of the target cell terminal in each preset region on the battery pack;

[0008] Accordingly, when the deviation between the actual coordinates of the target cell terminal and the first welding coordinates obtained after welding is greater than or equal to a preset threshold, the actual coordinates of the cell terminal of the battery pack are compensated according to the deviation value to obtain the second welding coordinates of the cell terminal of the battery pack. This includes: when the deviation between the actual coordinates of the target cell terminal and the corresponding first welding coordinates after welding in each preset area is greater than or equal to the preset threshold, the actual coordinates of all cell terminals in each preset area are compensated according to the deviation value to obtain the second welding coordinates of all cell terminals in each preset area.

[0009] In this embodiment, multiple preset regions are preset, each including at least one target cell terminal. Based on the deviation value corresponding to the target cell terminal in each preset region, all cell terminals in the preset region are compensated in sections. This can adapt to local deformation or installation deviation of the battery pack and improve the overall welding accuracy and consistency.

[0010] In one embodiment, the preset area includes: multiple cell terminals of the same cell, wherein the target cell terminal is at least one cell terminal of the same cell; the step of compensating the actual coordinates of all cell terminals in each preset area according to the deviation value to obtain the second welding coordinates of all cell terminals in each preset area includes: compensating the actual coordinates of all cell terminals of the same cell according to the deviation value of the target cell terminal in the same cell to obtain the second welding coordinates of all cell terminals of the same cell.

[0011] In this embodiment, the compensation logic is simplified. It is assumed that the battery terminals within the same battery cell have similar positional deviations, which reduces the amount of data processing and improves processing efficiency.

[0012] In one embodiment, the preset region includes: multiple battery cell terminals located on the same fitted straight line; the step of compensating the actual coordinates of all battery cell terminals in each preset region according to the deviation value to obtain the second welding coordinates of all battery cell terminals in each preset region includes: compensating the actual coordinates of all battery cell terminals on the same fitted straight line according to the deviation value of the target battery cell terminal on the same fitted straight line to obtain the second welding coordinates of all battery cell terminals on the same fitted straight line.

[0013] In this embodiment, linear fitting compensation effectively corrects the cumulative error or overall offset of the linearly arranged poles, thereby improving the welding uniformity.

[0014] In one embodiment, obtaining the actual coordinates of the battery pack's cell terminals in the welding coordinate system based on the welding system includes: obtaining the theoretical coordinates of the battery pack's cell terminals and marker points in the welding coordinate system; obtaining the actual coordinates of the marker points in the welding coordinate system based on the theoretical coordinates of the marker points; determining a first compensation amount based on the theoretical coordinates and the actual coordinates of the marker points; compensating the theoretical coordinates of the battery pack's cell terminals in the welding coordinate system based on the first compensation amount to obtain the initial coordinates of the battery pack's cell terminals in the welding coordinate system; and obtaining the actual coordinates of the battery pack's cell terminals in the welding coordinate system based on the initial coordinates of the battery pack's cell terminals.

[0015] This embodiment utilizes marked points as a reference to achieve precise mapping between the machine coordinate system and the workstation coordinate system, reducing coordinate errors caused by mechanical installation errors or workstation deviations. Through dual coordinate acquisition (theoretical compensation and visual measurement), the accuracy of the actual coordinates is improved, providing reliable positioning for welding. This enhances the system's adaptability to different workstations and supports flexible production.

[0016] In one embodiment, obtaining the theoretical coordinates of the battery pack's cell terminals and marker points in the welding coordinate system includes: obtaining the model coordinates of the battery pack's cell terminals and marker points in a three-dimensional design model coordinate system, wherein the model coordinates are obtained based on the three-dimensional design model of the battery pack at the welding system station; and converting the model coordinates of the battery pack's cell terminals and marker points into theoretical coordinates in the welding coordinate system.

[0017] In this embodiment, after the battery pack product type is changed, there is no need to use a battery pack model for coordinate teaching. Instead, the battery pack model is placed on the actual workstation of the welding system, and the coordinates of multiple cell terminals and marker points on the battery pack model are collected by a vision camera as theoretical coordinates. This embodiment directly transforms the design coordinate system to the welding coordinate system, thus obtaining the theoretical coordinates of the battery pack's cell terminals and marker points in the welding coordinate system. This achieves seamless integration between virtual design and actual production, improving automation levels. Furthermore, it saves on the teaching process, significantly reducing adjustment time after battery pack changeover and supporting rapid battery pack changeovers.

[0018] Furthermore, to achieve the above objectives, this application also proposes a welding system, comprising: a vision camera, a robotic arm, and a laser welding component mounted on the robotic arm. A controller is configured to: control the vision camera to acquire the actual coordinates of the battery pack's cell terminals in a welding coordinate system; based on the actual coordinates of the target cell terminals on the battery pack, control the robotic arm to drive the laser welding component to perform a first welding operation on the target cell terminals, where the target cell terminals are a portion of the battery pack's cell terminals; and if the deviation between the actual coordinates of the target cell terminals and the first welding coordinates obtained after welding is greater than or equal to a preset threshold, compensate the actual coordinates of the battery pack's cell terminals according to the deviation value to obtain a second welding coordinate of the battery pack's cell terminals; based on the second welding coordinates of the battery pack's cell terminals, control the robotic arm to drive the laser welding component to perform a second welding operation on the battery pack's cell terminals, where the power of the second welding operation is greater than the power of the first welding operation.

[0019] In addition, to achieve the above objectives, this application also proposes a battery production line, including the welding system described in the above embodiments.

[0020] In addition, to achieve the above objectives, this application also proposes a pole welding control device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the pole welding control method as described above.

[0021] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the pole welding control method described above.

[0022] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the pole welding control method described above. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a simplified schematic diagram of the battery pack in this application;

[0026] Figure 2 This is a three-dimensional structural diagram of the welding system of this application;

[0027] Figure 3 This is a flowchart illustrating an embodiment of the electrode welding control method of this application.

[0028] Figure 4 This is a flowchart illustrating Embodiment 2 of the electrode welding control method of this application;

[0029] Figure 5 This is a schematic diagram illustrating the division of a battery pack area according to this application;

[0030] Figure 6 This is a schematic diagram illustrating another method of dividing the battery pack area according to this application;

[0031] Figure 7 This is a schematic diagram illustrating another method of dividing the battery pack area according to this application;

[0032] Figure 8 This is a flowchart illustrating Embodiment 3 of the electrode welding control method of this application;

[0033] Figure 9 This is a flowchart illustrating Embodiment 4 of the electrode welding control method of this application;

[0034] Figure 10(a) is a schematic diagram of the three-dimensional design model of the battery pack at the welding system station;

[0035] Figure 10(b) is a schematic diagram of the battery pack cell terminals and corresponding model coordinates obtained based on the three-dimensional design model;

[0036] Figure 11 This is a schematic diagram of the structure of the rangefinder in this application for measuring the distance to the upper surface of the target cell electrode post;

[0037] Figure 12 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the pole welding control method in the embodiments of this application.

[0038] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0041] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0042] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0043] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0044] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0045] During battery production, multiple terminals of various cells in a battery pack need to be welded together with a busbar assembly (also known as a battery pack terminal) to achieve electrical connection between the cells. If the busbar assembly and terminals are welded off-center, it will affect the battery's performance.

[0046] like Figure 1 The diagram shows a simplified schematic of the battery pack. The battery pack 10 includes multiple cell terminals 102, and the battery pack 10 has marking points 101 (also called Mark points). Typically, at least four marking points are required, distributed at the four diagonal or symmetrical positions of the battery pack 10. By photographing the four marking points on a standard battery pack of the same model as the battery pack 10, a first coordinate system can be constructed on the surface of the standard battery pack, and the initial coordinates of the multiple cell terminals 102 can be determined in the first coordinate system.

[0047] The marking points should be located in the fixed structural area of ​​the battery pack 10 (such as the edge of the cover plate or near the fixing screws) to avoid positional displacement due to vibration or assembly process. Simple geometric shapes (such as circles or crosses) can be used, and the shape must be a single shape (e.g., no double eyelid-shaped circles) to facilitate rapid recognition and matching by image processing algorithms.

[0048] Figure 2 This is a three-dimensional structural diagram of a welding system used for welding battery pack cell terminals and plates. The welding system includes: a vision camera (not shown in the figure), a gantry three-axis mechanism (including two gantry X-axis, namely the first gantry X-axis 211 and the second gantry X-axis 212, the gantry Y-axis 22, and the gantry Z-axis 23), a copper nozzle 26 disposed on the gantry three-axis mechanism, and two moving components.

[0049] Specifically, the first gantry X-axis 211 and the second gantry X-axis 212 are arranged in parallel, the gantry Y-axis 22 is bridging and movable on the two gantry X-axis, the gantry Z-axis 23 is movably arranged on the gantry Y-axis 22, and the copper nozzle 26 is movably arranged on the gantry Z-axis 23.

[0050] Two moving components are respectively set on the two gantry X-axis and connected to the gantry Y-axis 22. The two moving components are used to drive the gantry Y-axis 22 to move on the two gantry X-axis.

[0051] The welding system also includes a robotic arm 30 and a laser welding component 31 mounted on the robotic arm 30.

[0052] The controller is electrically connected to the gantry three-axis mechanism, the vision camera, and the robotic arm 30. The controller can be any of a programmable logic controller (PLC), a microcontroller, a mid-level controller, or a host computer. The controller may include a processor and a memory storing processor-executable instructions. When the instructions are executed by the processor, the pole welding control method provided in this application embodiment is implemented. The pole welding control method provided in this application embodiment uses the controller of the welding system as the execution entity.

[0053] Currently, the welding system on the same production line is used to weld a specific type of battery pack. If the type of battery pack on the production line needs to be changed (different types of battery packs have different sizes and structures), the battery pack must first be replaced using an automated trolley or lifting mechanism. Then, the actual coordinates of the cell terminals of the replaced battery pack are re-acquired using a vision camera, and low-power welding (e.g., 500W) is performed based on these actual coordinates. If the welded coordinates deviate from the actual coordinates of the cell terminals, workers need to manually correct and assign values ​​one by one before performing high-power welding (3000~4500W) to avoid misalignment. However, because low-power welding and manual correction processes are time-consuming, the adjustment time after product changeover is too long, reducing production efficiency.

[0054] To address this, this application proposes a terminal welding control method, which is applied in battery production. The method includes: obtaining the actual coordinates of the battery cell terminals in the welding coordinate system based on a welding system; performing a first welding on the target battery cell terminals based on the actual coordinates of the target battery cell terminals on the battery pack, wherein the target battery cell terminals are a portion of the battery cell terminals in the battery pack; if the deviation between the actual coordinates of the target battery cell terminals and the first welding coordinates obtained after welding is greater than or equal to a preset threshold, compensating the actual coordinates of the battery cell terminals in the battery pack according to the deviation value to obtain a second welding coordinate of the battery cell terminals in the battery pack; and performing a second welding on the battery cell terminals in the battery pack based on the second welding coordinate of the battery cell terminals in the battery pack, wherein the power of the second welding is greater than the power of the first welding.

[0055] In this embodiment, the actual coordinates of the battery pack's cell terminals in the welding coordinate system are obtained through a welding system. A first welding (low power) is performed based on the actual coordinates of the target cell terminals. Since the target cell terminals are only a portion of the battery pack's cell terminals, it's unnecessary to perform low-power welding on all cell terminals, thus reducing the time spent on the first welding (low power). Furthermore, by obtaining the deviation between the actual coordinates of the target cell terminals and the corresponding first welding coordinates, and when the deviation is greater than or equal to a preset threshold, the actual coordinates of the other cell terminals in the battery pack are automatically compensated based on this deviation, resulting in the second welding coordinates of the battery pack's cell terminals. This eliminates the need for manual correction, achieving automated correction and reducing correction time. Finally, based on the compensated second welding coordinates, a second welding (high power) is performed on the battery pack's cell terminals. Since the first welding (low power) is only used for sampling and deviation calculation, the second welding uses high power to complete the final welding, ensuring the reliability of the welding strength and reducing the risk of welding deviation through coordinate compensation. This embodiment ensures welding quality while significantly shortening the adjustment time after product changeover, thereby improving production efficiency and adaptability.

[0056] Based on the above, this application provides a method for controlling pole welding, referring to... Figure 3 , Figure 3 This is a flowchart illustrating the first embodiment of the electrode welding control method of this application.

[0057] In this embodiment, the electrode welding control method includes steps S10~S70:

[0058] Step S10: Obtain the actual coordinates of the battery pack's cell terminals in the welding coordinate system based on the welding system.

[0059] The actual coordinates of the battery cell terminals in the battery pack are the coordinates of the center points of multiple battery cell terminals on the battery pack in the welding coordinate system of the current welding system, obtained based on the vision camera of the welding system. It should be understood that the actual coordinates of multiple battery cell terminals in the welding coordinate system of the same welding system will also be different for different types of battery packs. This is because the size of different types of battery packs and the distribution of multiple battery cell terminals are different.

[0060] If the same welding system is only used to weld the same type of battery pack, then after obtaining the actual coordinates of the cell terminals of that type of battery pack for the first time, subsequent welding processes can directly use the actual coordinates of the cell terminals of that battery pack without having to obtain them every time. However, due to variations in battery pack manufacturing processes and positional deviations of the battery pack at the welding system station, even for the same type of battery pack under the same welding coordinate system, the actual coordinates of multiple cell terminals may still be different. Therefore, before the welding process, it is necessary to use a vision camera to obtain the actual coordinates of the battery pack's cell terminals at the welding station of the welding system.

[0061] Step S20: Based on the actual coordinates of the target cell terminal on the battery pack, perform the first welding on the target cell terminal.

[0062] Between steps S10 and S20, the process also includes controlling a robotic arm to lay foil pads on the cell terminals of the battery pack. During welding, welding is performed on the foil pads to weld them together with the cell terminals.

[0063] A subset of battery cell terminals are selected as target terminals from the battery pack. Based on the actual coordinates of these target terminals, a robotic arm is controlled to perform the first welding operation using laser welding. The first welding operation uses low power (on the target terminals) to create only temporary weld points, avoiding over-welding. Optionally, target terminals can be selected randomly or at fixed intervals.

[0064] Step S30: Obtain the deviation between the actual coordinates of the target cell electrode and the first welding coordinates obtained after welding.

[0065] After the first weld, a welding trajectory is formed above the tab on the target cell terminal. The coordinates of the center point of the welding trajectory are the first welding coordinates obtained after welding. Theoretically, the deviation between the center point of the welding trajectory and the center point of the target cell terminal should be less than a preset threshold. However, due to factors such as process errors, the deviation may be greater than or equal to the preset threshold. Therefore, after the first weld, the first welding coordinates of the welding trajectory on each target cell terminal are obtained using a vision camera, and the deviation between the actual coordinates of the target cell terminal and the first welding coordinates is calculated.

[0066] Step S40: Determine whether there is a deviation value corresponding to the target cell terminal that is greater than or equal to a preset threshold. If so, proceed to step S50; otherwise, proceed to step S70.

[0067] Step S50: Compensate for the actual coordinates of the battery pack's cell terminals based on the deviation value to obtain the second welding coordinates of the battery pack's cell terminals.

[0068] If the deviation value corresponding to the target cell terminal is greater than or equal to a preset threshold (e.g., 0.3mm), it indicates that the center point of the welding trajectory deviates significantly from the center point of the target cell terminal. Directly performing high-power welding in this case will result in misaligned welding, affecting battery pack performance. Therefore, it is necessary to compensate for the actual coordinates of the battery pack's cell terminals based on the deviation value to obtain the second welding coordinates of the battery pack's cell terminals.

[0069] In one case, if the deviation values ​​(Δx1, Δy1) corresponding to a certain target cell electrode are both greater than a preset threshold, the same translation compensation can be applied to the actual coordinates of the target cell electrode and the N neighboring cell electrodes based on the deviation values ​​(Δx1, Δy1) to obtain the second welding coordinates.

[0070] In another case, if the deviation values ​​of more than 90% of the target cell terminals are greater than the preset threshold and the offset directions are the same, then the deviation can be considered not to be caused by accidental factors, but to be universal. In this case, the same translation compensation can be applied to the actual coordinates of all cell terminals based on the deviation values ​​(Δx1, Δy1) to obtain the second welding coordinates.

[0071] In another case, if the deviation values ​​of less than 30% of the target cell terminals are all greater than the preset threshold and the offset directions are different, it can be considered that the deviation is not universal. Based on the deviation values ​​(Δx1, Δy1) of each target cell terminal, the same translation compensation can be applied to the target cell terminal and the N neighboring cell terminals around it to obtain the second welding coordinates.

[0072] It is worth noting that no compensation is required for other cell terminals that are not adjacent to the target cell terminal; their actual coordinates can be used as the second welding coordinates.

[0073] Step S60: Based on the second welding coordinates of the battery pack's cell terminals, perform a second welding on the battery pack's cell terminals. The power of the second welding is greater than that of the first welding.

[0074] After compensating for the actual coordinates of the battery pack's cell terminals to obtain the second welding coordinates of the battery pack's cell terminals, the robotic arm is controlled to drive the laser welding component to perform a second welding on all cell terminals based on the second welding coordinates of the battery pack's cell terminals. The second welding uses higher power (e.g., 1000W) to ensure welding strength and quality.

[0075] Step S70: Based on the actual coordinates of the battery pack's cell terminals, perform a second welding on the battery pack's cell terminals. The power of the second welding is greater than that of the first welding.

[0076] Since there is no situation where the deviation value corresponding to the target cell terminal is greater than or equal to the preset threshold (e.g., 0.3mm), the robotic arm can be controlled to drive the laser welding component to perform a second welding on all cell terminals based on the actual coordinates of the battery pack's cell terminals. The second welding uses higher power (e.g., 1000W) to ensure welding strength and quality.

[0077] In this embodiment, the actual coordinates of the battery pack's cell terminals in the welding coordinate system are obtained through the vision camera of the welding system. A first welding (low power) is performed based on the actual coordinates of the target cell terminals. Since the target cell terminals are only a portion of the battery pack's cell terminals, it's unnecessary to perform low-power welding on all cell terminals, thus reducing the time spent on the first welding (low power). Furthermore, by obtaining the deviation between the actual coordinates of the target cell terminals and the corresponding first welding coordinates, and when the deviation is greater than or equal to a preset threshold, the actual coordinates of the other cell terminals in the battery pack are automatically compensated based on this deviation, resulting in the second welding coordinates of the battery pack's cell terminals. This eliminates the need for manual correction, achieving automated correction and reducing correction time. Finally, based on the compensated second welding coordinates, a second welding (high power) is performed on the battery pack's cell terminals. Since the first welding (low power) is only used for sampling and deviation calculation, the second welding uses high power to complete the final welding, ensuring the reliability of the welding strength and reducing the risk of welding deviation through coordinate compensation. This embodiment ensures welding quality while significantly shortening the adjustment time after product changeover, thereby improving production efficiency and adaptability.

[0078] In one feasible implementation, the battery pack includes multiple preset regions, each preset region including at least one target cell terminal.

[0079] Reference Figure 4 The above step S20 includes step S201, which involves performing the first welding on the target cell terminals in each preset area based on the actual coordinates of the target cell terminals in each preset area of ​​the battery pack.

[0080] In this embodiment, the battery pack is divided into multiple preset regions (e.g., a 3×3 or 4×4 grid region based on the physical layout of the battery pack), and each preset region includes at least one target battery cell terminal. Based on the actual coordinates of the target battery cell terminal in each preset region, the robotic arm is controlled to drive the laser welding component to perform the first welding on the target battery cell terminal in each preset region in sequence. For example, a target battery cell terminal is selected for each preset region, and the robotic arm performs welding in the order of the regions.

[0081] Accordingly, step S30 includes step S301, which obtains the deviation between the actual coordinates of the target cell electrode post in each preset area and the first welding coordinates after welding.

[0082] Accordingly, step S50 includes step S501, which compensates for the actual coordinates of all cell terminals in each preset area according to the deviation value, and obtains the second welding coordinates of all cell terminals in each preset area.

[0083] After the first welding, for each preset area, the first welding coordinates of the target cell electrode within that preset area are measured using a vision camera, and the deviation value between these coordinates and the actual coordinates is calculated. If the deviation value of a preset area is greater than or equal to a preset threshold, the actual coordinates of all cell electrodes within that preset area are compensated based on this deviation value to obtain the second welding coordinates of all cell electrodes within that preset area.

[0084] like Figure 5 As shown, the battery pack includes at least a first preset region A and a second preset region B. The cell terminal labeled 1 is the target cell terminal in the first preset region A, and the cell terminal labeled 2 is the target cell terminal in the second preset region B. After the first welding, for the first preset region A, based on the deviation between the actual coordinates of the cell terminal labeled 1 and its corresponding first welding coordinates, the actual coordinates of all cell terminals (including the cell terminal labeled 1 and cell terminals labeled 1-1 to 1-8) within the first preset region A are compensated. Similarly, for the second preset region B, based on the deviation between the actual coordinates of the cell terminal labeled 2 and its corresponding first welding coordinates, the actual coordinates of all cell terminals (including the cell terminal labeled 2 and cell terminals labeled 2-1 to 2-8) within the second preset region B are compensated.

[0085] In this embodiment, multiple preset regions are preset, each including at least one target cell terminal. Based on the deviation value corresponding to the target cell terminal in each preset region, all cell terminals in the preset region are compensated in sections. This can adapt to local deformation or installation deviation of the battery pack and improve the overall welding accuracy and consistency.

[0086] In one feasible implementation, the preset area includes: multiple cell terminals of the same cell, and the target cell terminal is at least one cell terminal of the same cell; the actual coordinates of all cell terminals in each preset area are compensated according to the deviation value to obtain the second welding coordinates of all cell terminals in each preset area, including: compensating the actual coordinates of all cell terminals of the same cell according to the deviation value of the target cell terminal in the same cell to obtain the second welding coordinates of all cell terminals of the same cell.

[0087] In this embodiment, the preset area includes multiple cell terminals of the same cell (for example, a cell contains two cell terminals, positive and negative), and the target cell terminal is at least one cell terminal of the same cell (for example, the positive terminal is selected as the target cell terminal).

[0088] In the first welding operation, only the target cell terminals for each battery cell are welded (e.g., the positive terminals of all cells are welded), meaning 50% of the cell terminals in the entire battery pack are welded. After welding, the deviation between the actual coordinates of each target cell terminal and the corresponding first welding coordinates is calculated. If the deviation exceeds a preset threshold, compensation is made based on this deviation to obtain the second welding coordinates for all cell terminals.

[0089] like Figure 6 As shown, the battery pack includes at least a first cell C, a second cell D, and a third cell E. The first cell C includes two cell terminals 1-1 and 1-2; the second cell D includes two cell terminals 2-1 and 2-2; and the third cell E includes two cell terminals 3-1 and 3-2. Cell terminals 1-1 of the first cell C, 2-1 of the second cell D, and 3-1 of the third cell E are selected as target cell terminals for the first welding. After welding, coordinate compensation is performed on cell terminals 1-1 and 1-2 based on the deviation between their actual coordinates and the corresponding first welding coordinates. Similarly, coordinate compensation is performed on cell terminals 2-1 and 2-2 based on the deviation between their actual coordinates and the corresponding first welding coordinates; and coordinate compensation is performed on cell terminals 3-1 and 3-2 based on the deviation between their actual coordinates and the corresponding first welding coordinates.

[0090] In this embodiment, the compensation logic is simplified. It is assumed that the battery terminals within the same battery cell have similar positional deviations, which reduces the amount of data processing and improves processing efficiency.

[0091] In one feasible implementation, the preset region includes: multiple battery cell terminals located on the same fitted straight line; the actual coordinates of all battery cell terminals in each preset region are compensated according to the deviation value to obtain the second welding coordinates of all battery cell terminals in each preset region, including: compensating the actual coordinates of all battery cell terminals on the same fitted straight line according to the deviation value of the target battery cell terminal on the same fitted straight line to obtain the second welding coordinates of all battery cell terminals on the same fitted straight line.

[0092] In this embodiment, the preset area includes multiple cell terminals located on the same fitted straight line, and the target cell terminal is at least one cell terminal on the fitted straight line.

[0093] In the first welding operation, target cell terminals on the fitted straight line are welded. After welding, the deviation between the actual coordinates of these target cell terminals and the corresponding first welding coordinates is calculated, and the overall deviation of the straight line is calculated (for example, the average deviation of the target cell terminals is taken as the straight line deviation value). If the deviation value is greater than a preset threshold, the actual coordinates of all cell terminals on the straight line are compensated according to the straight line deviation value to obtain the second welding coordinates.

[0094] like Figure 7 As shown, the battery pack includes at least a preset region F, which includes three cell terminals on the same fitted straight line (shown by the dashed line), specifically six cell terminals numbered 1-1 to 1-6. Any cell terminal on the straight line can be selected as the target cell terminal, for example, cell terminal 1-3 or 1-4 located in the middle. The first welding is then performed. After welding, coordinate compensation is performed on all cell terminals (cell terminals 1-1 to 1-6) on the fitted straight line based on the deviation between the actual coordinates of cell terminal 1-3 or 1-4 and the corresponding coordinates of the first welding.

[0095] In this embodiment, linear fitting compensation effectively corrects the cumulative error or overall offset of the linearly arranged poles, thereby improving the welding uniformity.

[0096] It is worth noting that for cell terminals that are not on the fitted straight line, correction compensation can be performed separately.

[0097] In one feasible implementation, refer to Figure 8 The above step S10 includes the following steps S101 and S105:

[0098] Step S101: Obtain the theoretical coordinates of the battery pack's cell terminals and marker points in the welding coordinate system. When the battery pack arrives at the welding system's workstation, the theoretical coordinates of the battery pack's cell terminals and marker points in the welding coordinate system can be obtained by scanning the QR code or barcode on the battery pack. The theoretical coordinates can be obtained by addressing the battery pack model of the same type on the welding system before welding.

[0099] Step S102: Based on the theoretical coordinates of the marker points, obtain the actual coordinates of the marker points in the welding coordinate system based on the welding system.

[0100] Due to production deviations during battery pack manufacturing and positional variations at the welding system station, the theoretical coordinates of the battery pack's marker points may not be equivalent to their actual coordinates at the welding system station. Therefore, after obtaining the theoretical coordinates of the battery pack's marker points, addressing welding cannot be performed based on these theoretical coordinates. Instead, the welding system's vision camera must first be moved to the theoretical coordinate position of the marker point to capture and obtain the actual coordinates of the battery pack's marker points in the welding system's welding coordinate system.

[0101] Step S103: Determine the first compensation amount based on the theoretical coordinates and the actual coordinates of the marker point.

[0102] If the theoretical coordinates of the battery pack marker point differ from the actual coordinates of the marker point, then the first compensation amount is determined ( x2, y2).

[0103] Step S104: Compensate the theoretical coordinates of the battery pack's cell terminals in the welding coordinate system according to the first compensation amount to obtain the initial coordinates of the battery pack's cell terminals in the welding coordinate system.

[0104] Due to manufacturing deviations during battery pack production and positional variations at the welding system stations, the theoretical coordinates of the battery pack's cell terminals are not necessarily equivalent to their actual coordinates. If addressing and welding are performed based on the theoretical coordinates, issues such as misaligned or incomplete welds may occur. Therefore, it is necessary to first determine the actual coordinates of the battery pack's cell terminals within the welding coordinate system.

[0105] If the vision camera is controlled to capture the actual coordinates of the battery pack's cell terminals based on their theoretical coordinates, due to deviations, the vision camera may not be able to capture the cell terminal within its field of view even after moving to the theoretical coordinate position. Therefore, a first compensation amount ( x, y) Compensate for the theoretical coordinates of the battery pack's cell terminals in the welding coordinate system to obtain the initial coordinates of the battery pack's cell terminals in the welding coordinate system.

[0106] Step S105: Based on the initial coordinates of the battery pack's cell terminals, obtain the actual coordinates of the battery pack's cell terminals in the welding coordinate system based on the welding system.

[0107] Based on the initial coordinates of the battery pack's cell terminals in the welding coordinate system, the vision camera of the welding system is moved to obtain the actual coordinates of the battery pack's cell terminals in the welding coordinate system.

[0108] In this embodiment, marker points are used as a reference to achieve accurate conversion from theoretical coordinates to actual coordinates, reduce coordinate errors caused by production errors or workstation deviations, improve the accuracy of actual coordinates, provide reliable positioning for welding, and enhance the system's adaptability to different workstations, supporting flexible production.

[0109] In another feasible implementation, refer to Figure 9 The above step S101 includes the following steps S1011 and S1012:

[0110] Step S1011: Obtain the model coordinates of the battery pack's cell terminals and marker points in the three-dimensional design model coordinate system.

[0111] The 3D design model serves as the product drawing for the battery pack and welding system. The actual battery pack and welding system are manufactured based on this 3D design model. The model coordinates are derived from the 3D design model of the battery pack at the welding system workstation.

[0112] In this embodiment, the model coordinates of the battery pack's cell terminals and marker points are directly derived from the three-dimensional design model (such as a CAD model) of the battery pack and welding system. Figure 10(a) shows the three-dimensional design model of the battery pack at the welding system station; Figure 10(b) shows the battery pack's cell terminals and corresponding model coordinates obtained based on the three-dimensional design model.

[0113] Step S1012 converts the model coordinates of the battery pack's cell terminals and markers in the three-dimensional design model coordinate system into theoretical coordinates in the welding coordinate system.

[0114] By transforming the model coordinates from the 3D design model coordinate system to the welding coordinate system of the welding system using a coordinate transformation matrix (e.g., a rigid body transformation matrix, including translation and rotation parameters), the theoretical coordinates of the battery pack's cell terminals and marker points in the welding coordinate system are obtained.

[0115] Thus, after a change in battery pack product type, there is no need to use a battery pack model for coordinate teaching on the actual welding system. That is, there is no need to place the battery pack model on the actual welding station and use a vision camera to collect the coordinates of the battery pack's cell terminals and marker points as theoretical coordinates. In this embodiment, the model coordinates of the battery pack's cell terminals in the 3D design model coordinate system are directly transformed to the welding coordinate system to obtain the theoretical coordinates of the battery pack's cell terminals. This allows for the acquisition of the theoretical coordinates of the battery pack's cell terminals and marker points in the welding coordinate system, achieving seamless integration between virtual design and actual production, improving automation levels; and saving the teaching process, greatly reducing adjustment time after battery pack type change, and supporting rapid battery pack type changeover.

[0116] This application also provides a welding system, which can be found in detail below. Figure 1 The welding system includes: a vision camera, a robotic arm, laser welding parts mounted on the robotic arm, and a controller.

[0117] The controller is configured to: control the vision camera to acquire the actual coordinates of the battery pack's cell terminals in the welding coordinate system; based on the actual coordinates of the target cell terminals on the battery pack, control the robotic arm to drive the laser welding component to perform a first welding on the target cell terminals, where the target cell terminals are a portion of the battery pack's cell terminals; and if the deviation between the actual coordinates of the target cell terminals and the first welding coordinates obtained after welding is greater than or equal to a preset threshold, compensate the actual coordinates of the battery pack's cell terminals according to the deviation value to obtain the second welding coordinates of the battery pack's cell terminals; based on the second welding coordinates of the battery pack's cell terminals, control the robotic arm to drive the laser welding component to perform a second welding on the battery pack's cell terminals, where the power of the second welding is greater than the power of the first welding.

[0118] In one implementation, the controller is configured to: control the robotic arm to drive the laser welding component to perform a first welding operation on the target cell terminals in each preset area of ​​the battery pack, based on the actual coordinates of the target cell terminals in each preset area; correspondingly, if the deviation between the actual coordinates of the target cell terminals in each preset area and the corresponding first welding coordinates after welding is greater than or equal to the preset threshold, the actual coordinates of all cell terminals in each preset area are compensated according to the deviation value to obtain the second welding coordinates of all cell terminals in each preset area.

[0119] In one implementation, the preset area includes: multiple cell terminals of the same cell, wherein the target cell terminal is at least one cell terminal of the same cell; the controller is configured to: compensate the actual coordinates of all cell terminals of the same cell according to the deviation value of the target cell terminal in the same cell, to obtain the second welding coordinates of all cell terminals of the same cell.

[0120] In one implementation, the preset area includes multiple battery cell terminals located on the same fitted straight line; the controller is configured to compensate the actual coordinates of all battery cell terminals on the same fitted straight line according to the deviation value of the target battery cell terminal on the same fitted straight line, so as to obtain the second welding coordinates of all battery cell terminals on the same fitted straight line.

[0121] In one implementation, the welding system further includes a gantry three-axis mechanism; the controller is configured to, before acquiring the actual coordinates of the battery pack's cell terminals in the welding coordinate system, control the robotic arm to insert a first copper nozzle onto the gantry three-axis mechanism upon detecting a change in the battery pack's model, wherein the first copper nozzle matches the model of the battery pack, and the size of the first copper nozzle is adapted to the size of the battery pack's cell terminals.

[0122] After the battery pack product type is changed, and before obtaining the actual coordinates of the battery pack cell terminals in the welding coordinate system, the controller replaces the copper nozzles on the gantry three-axis mechanism to match the battery pack model. The controller controls the robotic arm to fix the first copper nozzle to the gantry three-axis mechanism through a plug-in mechanism, instead of fixing it with bolts, reducing manual nozzle replacement time and improving production efficiency and safety.

[0123] Upon detecting a change in battery pack model (e.g., RFID tag identification or visual inspection), the controller directs the robotic arm to automatically retrieve the first copper nozzle from the tool library and insert it into the gantry three-axis mechanism. The first copper nozzle matches the battery pack model, and its size (e.g., aperture) is adapted to the size of the battery cell terminal (e.g., for small terminals, a small aperture copper nozzle is used).

[0124] In this embodiment, automatic replacement of copper nozzles is realized to adapt to the production needs of different battery pack models, improve the flexibility of the production line and the ability to handle multiple varieties; and the robotic arm automatically inserts the first copper nozzle into the gantry three-axis mechanism, reducing the time for manual nozzle replacement and improving production efficiency and safety.

[0125] In one implementation, the welding system further includes a rangefinder; the controller is configured to: after acquiring the actual coordinates of the battery pack's cell terminals in the welding coordinate system, and before controlling the robotic arm to drive the laser welding component to perform the first welding on the target cell terminal based on the actual coordinates of the target cell terminal on the battery pack, further control the rangefinder to acquire a first distance from the upper surface of the target cell terminal; control the gantry three-axis mechanism to move the first copper nozzle to the actual coordinate position of the target cell terminal, and based on the first distance and the thickness of the welding plate, drive the first copper nozzle to press down so that the first copper nozzle contacts the welding plate on the target cell terminal.

[0126] After obtaining the actual coordinates of the battery pack's cell terminals in the welding coordinate system, and before controlling the robotic arm to drive the laser welding component to perform the first welding on the target cell terminals based on the actual coordinates of the target cell terminals on the battery pack, such as... Figure 11As shown, the rangefinder 32 measures the distance to the upper surface of the target cell electrode 102 of the battery cell 103 to obtain a first distance h1. For example, the rangefinder emits a laser vertically downwards and receives the reflected signal to calculate the distance.

[0127] Based on the first distance h1 and the thickness H of the electrode plate, the desired downward pressure distance can be determined as h1-H. Therefore, the controller controls the first copper nozzle to move downward on the Z-axis of the gantry by the desired downward pressure distance h1-H, so that the first copper nozzle is pressed down and makes contact with the electrode plate on the target cell terminal.

[0128] In this embodiment, by measuring distance and controlling pressure, the first copper nozzle is ensured to contact the plate on the target cell terminal, avoiding poor welding (such as cold solder joint or overheating) caused by gaps between the target cell terminal and the plate, thereby improving the stability and repeatability of the welding process, reducing process fluctuations, and improving product quality.

[0129] The control device provided in this application adopts the pole welding control method in the above embodiments. The beneficial effects of the control device provided in this application are the same as those of the pole welding control method provided in the above embodiments, and other technical features in the control device are the same as those disclosed in the methods of the above embodiments, which will not be repeated here.

[0130] This application also proposes a battery production line, including the welding system in any of the above embodiments.

[0131] This application provides a control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the pole welding control method in any of the above embodiments.

[0132] The following is for reference. Figure 12 The diagram illustrates a structural schematic of a control device suitable for implementing embodiments of this application. The control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 12 The control device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0133] like Figure 12 As shown, the control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the control device to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows control devices with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented alternatively.

[0134] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0135] The beneficial effects of the control device provided in this application are the same as those of the pole welding control method provided in the above embodiments, and other technical features of the control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0136] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0137] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0138] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the pole welding control method in the above embodiments.

[0139] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0140] The aforementioned computer-readable storage medium may be included in the control device; or it may exist independently and not assembled into the control device.

[0141] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by a control device, enable the control device to implement the pole welding control method in any of the above embodiments.

[0142] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0143] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0144] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0145] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., a computer program) for executing the above-described pole welding control method. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the pole welding control method provided in the above embodiments, and will not be repeated here.

[0146] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the pole welding control method described above. The beneficial effects of the computer program product provided in this application are the same as those of the pole welding control method provided in the above embodiments, and will not be repeated here.

[0147] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for controlling electrode welding, wherein the electrode welding control method is applied in battery production, characterized in that, The method includes: The actual coordinates of the battery pack's cell terminals in the welding coordinate system are obtained based on the welding system. Based on the actual coordinates of the target cell terminal on the battery pack, the target cell terminal is welded for the first time. The target cell terminal is a portion of the cell terminal in the battery pack. If the deviation between the actual coordinates of the target cell terminal and the first welding coordinates obtained after welding is greater than or equal to a preset threshold, the actual coordinates of the cell terminal of the battery pack are compensated according to the deviation value to obtain the second welding coordinates of the cell terminal of the battery pack. Based on the second welding coordinates of the cell terminals of the battery pack, a second welding is performed on the cell terminals of the battery pack, and the power of the second welding is greater than the power of the first welding.

2. The method as described in claim 1, characterized in that, The battery pack includes multiple preset regions, and each preset region includes at least one of the target cell terminals; The first welding of the target cell terminal based on the actual coordinates of the target cell terminal on the battery pack includes: Based on the actual coordinates of the target cell electrode posts in each preset area on the battery pack, the target cell electrode posts in each preset area are welded for the first time. Accordingly, when the deviation between the actual coordinates of the target cell terminal and the first welding coordinates obtained after welding is greater than or equal to a preset threshold, the actual coordinates of the cell terminal of the battery pack are compensated according to the deviation value to obtain the second welding coordinates of the cell terminal of the battery pack, including: If the deviation between the actual coordinates of the target cell electrode in each preset area and the first welding coordinates after welding is greater than or equal to the preset threshold, the actual coordinates of all cell electrodes in each preset area are compensated according to the deviation value to obtain the second welding coordinates of all cell electrodes in each preset area.

3. The method as described in claim 2, characterized in that, The preset area includes: multiple cell terminals of the same cell, and the target cell terminal is at least one cell terminal of the same cell; The step of compensating for the actual coordinates of all cell terminals within each preset area based on the deviation value to obtain the second welding coordinates of all cell terminals within each preset area includes: Based on the deviation value of the target cell terminal in the same cell, the actual coordinates of all cell terminals in the same cell are compensated to obtain the second welding coordinates of all cell terminals in the same cell.

4. The method as described in claim 2, characterized in that, The preset region includes: multiple cell terminals located on the same fitted straight line; The step of compensating for the actual coordinates of all cell terminals within each preset area based on the deviation value to obtain the second welding coordinates of all cell terminals within each preset area includes: Based on the deviation value of the target cell electrode on the same fitted straight line, the actual coordinates of all cell electrodes on the same fitted straight line are compensated to obtain the second welding coordinates of all cell electrodes on the same fitted straight line.

5. The method according to any one of claims 1-4, characterized in that, The method of obtaining the actual coordinates of the battery pack's cell terminals in the welding coordinate system based on the welding system includes: Obtain the theoretical coordinates of the battery pack's cell terminals and marker points in the welding coordinate system; Based on the theoretical coordinates of the marked point, the actual coordinates of the marked point in the welding coordinate system are obtained based on the welding system. The first compensation amount is determined based on the theoretical coordinates and the actual coordinates of the marked point; The theoretical coordinates of the battery pack's cell terminals in the welding coordinate system are compensated based on the first compensation amount to obtain the initial coordinates of the battery pack's cell terminals in the welding coordinate system. Based on the initial coordinates of the battery pack's cell terminals, the actual coordinates of the battery pack's cell terminals in the welding coordinate system are obtained based on the welding system.

6. The method as described in claim 5, characterized in that, Obtaining the theoretical coordinates of the battery pack's cell terminals and marker points in the welding coordinate system includes: Obtain the model coordinates of the battery pack's cell terminals and marker points in the three-dimensional design model coordinate system, wherein the model coordinates are obtained based on the three-dimensional design model of the battery pack at the welding system station; The model coordinates of the battery pack's cell terminals and marker points are converted into theoretical coordinates in the welding coordinate system.

7. A welding system, characterized in that, The welding system includes: a vision camera, a robotic arm, a laser welding component mounted on the robotic arm, and a controller; The controller is configured to: control the vision camera to acquire the actual coordinates of the battery pack's cell terminals in the welding coordinate system; based on the actual coordinates of the target cell terminals on the battery pack, control the robotic arm to drive the laser welding component to perform a first welding on the target cell terminals, where the target cell terminals are a portion of the battery pack's cell terminals; and if the deviation between the actual coordinates of the target cell terminals and the first welding coordinates obtained after welding is greater than or equal to a preset threshold, compensate the actual coordinates of the battery pack's cell terminals according to the deviation value to obtain the second welding coordinates of the battery pack's cell terminals; based on the second welding coordinates of the battery pack's cell terminals, control the robotic arm to drive the laser welding component to perform a second welding on the battery pack's cell terminals, where the power of the second welding is greater than the power of the first welding.

8. The system as described in claim 7, characterized in that, The controller is configured to: based on the actual coordinates of the target cell terminals in each preset area on the battery pack, control the robotic arm to drive the laser welding component to perform the first welding on the target cell terminals in each preset area; correspondingly, if the deviation between the actual coordinates of the target cell terminals in each preset area and the corresponding first welding coordinates after welding is greater than or equal to the preset threshold, compensate the actual coordinates of all cell terminals in each preset area according to the deviation value to obtain the second welding coordinates of all cell terminals in each preset area.

9. The system as described in claim 8, characterized in that, The preset area includes: multiple cell terminals of the same cell, wherein the target cell terminal is at least one cell terminal of the same cell; the controller is configured to: compensate the actual coordinates of all cell terminals of the same cell according to the deviation value of the target cell terminal in the same cell, and obtain the second welding coordinates of all cell terminals of the same cell.

10. The system as described in claim 8, characterized in that, The preset area includes multiple battery cell terminals located on the same fitted straight line; the controller is configured to compensate the actual coordinates of all battery cell terminals on the same fitted straight line according to the deviation value of the target battery cell terminal on the same fitted straight line, so as to obtain the second welding coordinates of all battery cell terminals on the same fitted straight line.

11. The system according to any one of claims 7-10, characterized in that, The welding system also includes: a gantry three-axis mechanism; The controller is configured to, before acquiring the actual coordinates of the battery pack's cell terminals in the welding coordinate system, control the robotic arm to insert a first copper nozzle into the gantry three-axis mechanism if a change in the battery pack's model is detected, wherein the first copper nozzle matches the model of the battery pack and the size of the first copper nozzle is adapted to the size of the battery pack's cell terminals.

12. The system as claimed in claim 11, characterized in that, The welding system also includes a rangefinder; The controller is configured to: after acquiring the actual coordinates of the battery pack's cell terminals in the welding coordinate system, and before controlling the robotic arm to drive the laser welding component to perform the first welding on the target cell terminal based on the actual coordinates of the target cell terminal on the battery pack, also control the rangefinder to acquire the first distance to the upper surface of the target cell terminal. The gantry three-axis mechanism is controlled to move the first copper nozzle to the actual coordinate position of the target cell electrode post, and based on the first distance and the thickness of the electrode plate, the first copper nozzle is pressed down so that the first copper nozzle contacts the electrode plate on the target cell electrode post.

13. A battery production line, characterized in that, The welding system includes any one of claims 7-12 above.

14. A pole welding control device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the pole welding control method as described in any one of claims 1 to 6.

15. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the pole welding control method as described in any one of claims 1 to 6.

16. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the pole welding control method as described in any one of claims 1 to 6.

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