A welding method and system for a battery production process

Abstract

The present application relates to the technical field of battery production, and provides a welding method and system for battery production process, comprising: obtaining the planar coordinates of each cell pole of a battery pack to be welded to form a first planar coordinate set; obtaining a preset position, controlling the movement of the battery pack and limiting it at the preset position; based on the spatial position relationship between the preset position and the welding device, converting the first planar coordinate set into a second coordinate set in the coordinate system of the welding device; sequentially selecting target welding point coordinates in the second coordinate set; for the current target welding point, controlling the welding device to move above the current target welding point; obtaining the height coordinate of the current target welding point; controlling the movement of the welding device and contacting the target welding point to perform corresponding welding operation until the welding of all target welding points is completed. Only the coordinates of multiple cell poles need to be obtained once, and there is no need to calculate the target coordinates of the next welding point after the welding of one welding point is completed, thereby improving the welding efficiency.

Description

Technical Field

[0001] This invention relates to the field of battery manufacturing technology, and more specifically to a welding method and system for battery manufacturing processes. Background Technology

[0002] With the popularization of new energy vehicles, the power battery pack serves as the core energy unit. The battery pack consists of multiple battery packs, and each battery pack requires reliable laser welding of the terminal post at the top of each cell and each connecting piece of the integrated busbar to achieve electrical series connection.

[0003] Currently, the main method for automating this process is through robotic arm welding systems. These systems typically integrate multiple modules, such as vision cameras and laser welding guns, into the end effector of a multi-joint robotic arm. The working mode is as follows: the robotic arm moves to the vicinity of a welding point, takes a local photograph for positioning, adjusts its posture to complete the welding, and then moves to the next welding point, repeating this cycle.

[0004] However, for workpieces like battery packs with multiple welding points, welding using a robotic arm welding system suffers from low efficiency. Because the robotic arm's end effector integrates all modules, its pose changes after each welding operation. Therefore, the robotic arm welding system cannot reuse the initial global coordinate information. After each weld point is completed, the robotic arm's pose changes, requiring recalculation of local visual positioning and coordinates for the next weld point. This repetitive positioning consumes a significant amount of time, resulting in low welding efficiency that is difficult to improve.

[0005] Therefore, there is an urgent need for a welding method and system for battery manufacturing processes that can improve welding efficiency and meet the needs of large-scale battery production. Summary of the Invention

[0006] The efficiency of welding methods in existing battery manufacturing processes needs to be improved. The purpose of this invention is to provide a welding method and system for battery manufacturing processes that only requires obtaining the coordinates of multiple cell terminals once, thereby avoiding the calculation and time consumption of repeated positioning for each welding point in existing robotic arm solutions, and improving welding efficiency.

[0007] To address the above problems, the present invention provides the following technical solution:

[0008] In a first aspect, the present invention provides a welding method for battery manufacturing processes, applied in a welding system, the welding system including an independent welding device and a vision positioning device, the method comprising: The planar coordinates of each cell terminal on the battery pack to be welded are obtained through a visual positioning device, forming a first set of planar coordinates; Obtain a preset position, control the movement of the battery pack, and limit it to the preset position; Based on the preset position and the spatial positional relationship of the welding device, the first plane coordinate set is transformed into a second coordinate set under the coordinate system of the welding device; Select the coordinates of the target welding points sequentially from the second coordinate set; For the current target welding point, control the welding device to move above the current target welding point; Obtain the height coordinates of the current target welding point; Based on the elevation coordinates, the welding device is controlled to move and contact the target welding points, and the corresponding welding operations are performed until all target welding points are completed.

[0009] In some embodiments, the planar coordinates of each cell terminal on the battery pack to be welded are obtained through a visual positioning device to form a first set of planar coordinates, including: The planar coordinates of the center point of each cell terminal on the battery pack to be welded are obtained through a visual positioning device. After the integrated busbar is installed on the battery pack, the integrated busbar is provided with connection parts that correspond one-to-one with the terminal posts of each cell, and the planar coordinates of the center of each connection part are obtained. The planar coordinates of the center point of each cell terminal are compared with the planar coordinates of the center of the corresponding connection part. The planar coordinates of the center of the connection part with a deviation value less than a preset threshold are selected to form the first set of planar coordinates.

[0010] In some embodiments, obtaining a preset location includes: The visual positioning device identifies a marker point on the battery pack and obtains the coordinates of the marker point in the visual positioning device's coordinate system; The coordinate system of the welding device has a pre-stored reference coordinate position; When the battery pack is running and limited to a certain position, the position of the marker point coincides with the position of the reference coordinates, and this position is taken as the preset position.

[0011] In some embodiments, based on a preset position and the spatial positional relationship of the welding device, converting a first planar coordinate set into a second coordinate set in the coordinate system of the welding device includes: Based on the coordinates of the marked points and the reference coordinates, determine the coordinate transformation relationship between the coordinate system of the visual positioning device and the coordinate system of the welding device 1. Based on the coordinate transformation relationship, the first plane coordinate set is transformed into the second coordinate set under the coordinate system of the welding device.

[0012] In some embodiments, selecting the target welding point coordinates sequentially from the second coordinate set includes: Sort multiple coordinates in the second coordinate set to generate a welding sequence that minimizes the total path of the welding device moving between multiple target welding points. Select the coordinates of the target welding points sequentially according to the welding sequence.

[0013] Secondly, the present invention provides a welding system for battery manufacturing process, the system including a main control device, a vision positioning device, a welding device, a positioning station placement platform, a welding station placement platform, a limiting device, and a conveying mechanism. The battery pack to be welded is placed on the positioning station platform, and the vision positioning device obtains the planar coordinates of each cell terminal on the battery pack to be welded, forming the first planar coordinate set. The conveying mechanism is used to transport the battery pack to be welded to the welding station placement platform, and the limiting device is used to limit the battery pack to be welded in a preset position. The main control unit is communicatively connected to the vision positioning device, conveying mechanism, limiting device, and welding device, and performs the following operations: Receive the first plane coordinate set; Based on the preset position and the spatial positional relationship of the welding device, the first plane coordinate set is transformed into a second coordinate set under the coordinate system of the welding device; Select the target welding point coordinates sequentially according to the second coordinate set, and send the first command to the welding device; send the second command to the welding device according to the height coordinates; The welding device is used to move above the target welding point according to the first instruction, move and contact the target welding point according to the second instruction, and perform the corresponding welding operation until the welding of all target welding points is completed.

[0014] In some embodiments, the visual positioning device includes a 2D camera, and the welding system integrates a height measurement module for measuring height; or the visual positioning device includes a 3D depth camera for acquiring three-dimensional coordinates.

[0015] In some embodiments, the welding apparatus includes: The X-axis beam is used to provide the welding device with the degree of freedom to move in the first horizontal direction; The Y-axis beam, mounted on the X-axis beam, provides the welding device with a degree of freedom to move along a second horizontal direction, which is perpendicular to the first horizontal direction. The Z-axis crossbeam, mounted on the Y-axis crossbeam, provides the welding device with the freedom to move in the vertical direction. The laser welding module is mounted on the X-axis beam and is used to perform corresponding welding operations.

[0016] In some embodiments, the laser welding module includes a laser head, a galvanometer, and a welding block; After the integrated busbar is installed on the battery pack, the integrated busbar is provided with connection parts that correspond one-to-one with the terminals of each cell. Welding blocks are used to press the connection parts tightly so that the connection parts are in close contact with the terminals. The laser head is used to emit a laser beam, the galvanometer is used to precisely deflect the laser beam to the target welding point, and the laser beam is used to weld the target welding point.

[0017] In some embodiments, the laser welding module further includes a height measurement module; The height measurement module is used to obtain the height of the current target welding point in real time. Based on the difference between the height of the laser head and the height of the current target welding point, the galvanometer is controlled to adjust the deflection angle of the laser beam.

[0018] The beneficial effects of this invention are as follows: By using a visual positioning device, the planar coordinates of each cell terminal on the battery pack to be welded are acquired, forming a first planar coordinate set. The battery pack moves and is confined to a preset position at the welding station. Based on the spatial relationship between the preset position and the welding device, the first planar coordinate set is converted into a second coordinate set in the coordinate system of the welding device. The coordinates of target welding points are sequentially selected from the second coordinate set, and the welding device is controlled to perform welding one by one. This eliminates the need to recalculate the target coordinates of the next welding point after welding one point, thus improving welding efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic flowchart of a welding method for a battery manufacturing process provided in an embodiment of this application; Figure 2 This is a structural block diagram of a welding system for a battery manufacturing process provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a welding apparatus provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application; Figure 5 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of this application.

[0020] Reference numerals: 1. Welding device; 11. X-axis crossbeam; 111. First beam; 112. Second beam; 113. Third beam; 12. Y-axis crossbeam; 121. Fourth beam; 122. Fifth beam; 123. Sixth beam; 13. Z-axis crossbeam; 131. Seventh beam; 132. Eighth beam; 133. Ninth beam; 134. Tenth beam; 14. Laser welding module; 2. Welding station placement platform. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] For ease of description of the first, second, and third directions in the embodiments of this application, the first direction is the left-right direction in the figures, the second direction is the front-back direction in the figures, and the third direction is the up-down direction in the figures. The x-axis arrow direction is referred to as the "right" direction, the y-axis arrow direction as the "up" direction, and the z-axis arrow direction as the "back" direction, but these are not the sole limitations in the actual application of this application.

[0024] This application provides a welding method for battery manufacturing. After the visual positioning device acquires the global coordinates of all weld points at once, the welding device 1 can perform continuous and uninterrupted welding operations based on the transformed second coordinate set. This method completely eliminates the time overhead of having to interrupt the process and recalculate the local positioning after each weld point is completed, which is particularly suitable for battery modules with a large number of dense weld points. It can significantly shorten the production cycle and meet the needs of large-scale and efficient production.

[0025] Please see Figure 1 , Figure 1 This is a schematic flowchart of a welding method for battery manufacturing provided in an embodiment of this application. Figure 1 As shown, the welding method 1 of the battery manufacturing process includes steps S100 to S700.

[0026] This application provides a welding method for battery manufacturing processes, which is applied to a welding system. The welding system includes an independent welding device 1 and a vision positioning device.

[0027] In some embodiments, the welding device 1 and the vision positioning device are independent and can be set at different stations on the production line, such as the welding station and the positioning station, with the vision positioning device located upstream of the welding device 1.

[0028] Step S100: Obtain the planar coordinates of each cell terminal on the battery pack to be welded using a visual positioning device, forming a first set of planar coordinates.

[0029] In some implementations, the battery pack is placed on a platform at the positioning station, with the visual positioning device positioned above the battery pack.

[0030] In some implementations, the visual positioning device includes a high-resolution 2D industrial camera. The 2D industrial camera identifies the outline of the cell terminals of each battery pack through image processing algorithms and calculates the pixel coordinates of the center point of the cell terminals in the coordinate system of the visual positioning device, where the pixel coordinates are two-dimensional planar coordinates, including the X-axis and Y-axis.

[0031] Optionally, the platform of the positioning station has a conveying mechanism, specifically a slide rail, which transports the battery pack to the welding station so that the welding device 1 can weld the battery pack.

[0032] In some implementations, a visual positioning device is used to obtain the planar coordinates of the center point of each cell terminal on the battery pack to be welded; after the integrated busbar is installed on the battery pack, the integrated busbar is provided with connection parts corresponding to each cell terminal, and the planar coordinates of the center of each connection part are obtained; the planar coordinates of the center point of each cell terminal are compared with the planar coordinates of the center of the corresponding connection part, and the planar coordinates of the center of the connection part with a deviation value less than a preset threshold are selected to form a first set of planar coordinates.

[0033] This technical solution involves screening before transporting the components to welding device 1 to identify target welding points suitable for welding. It ensures that each welding point, i.e., the connection points on the pole and busbar, is aligned to achieve high-precision welding.

[0034] In some implementations, if the visual positioning device detects a defective product, it informs the user of the center coordinates or cell number of the connection part with a deviation value greater than a preset threshold, so as to guide the operator to quickly remove it and ensure that all solder joints meet the accuracy requirements before welding.

[0035] In some implementations, the first planar coordinate set includes the coordinates of the marker point. The battery pack is provided with marker points. The visual positioning device identifies the marker points and obtains the coordinates of the marker points in the coordinate system of the visual positioning device.

[0036] This technical solution establishes a unified spatial reference for the visual positioning device and the welding device 1 by setting marker points. When the battery pack moves and is positioned at a preset location in the welding station, the marker points are moved and coincide with a pre-stored reference coordinate position in the coordinate system of the welding device 1. When it coincides with the pre-stored reference coordinate position in the coordinate system of the welding device 1, the coordinate transformation relationship between the coordinate system of the visual positioning device and the coordinate system of the welding device 1 can be determined based on the marker point coordinates and the reference coordinates. This allows for the accurate conversion of the first plane coordinate set identified by the visual positioning device into a second plane coordinate set in the coordinate system of the welding device 1. Setting marker points ensures the consistency and absolute accuracy of subsequent coordinate transformations. Furthermore, the welding device of this application does not require a camera, resulting in low cost.

[0037] Step S200: Obtain a preset position, control the movement of the battery pack and limit it to the preset position.

[0038] In some implementations, a slide rail is positioned between the positioning station and the welding station, transporting the positioned battery pack to the welding station via the slide rail. By installing a slide rail between the two stations, automatic and directional transfer of the battery pack is achieved.

[0039] In some implementations, obtaining a preset position includes: the visual positioning device identifies a marker point on the battery pack and obtains the coordinates of the marker point in the coordinate system of the visual positioning device; a reference coordinate position is pre-stored in the coordinate system of the welding device; when the battery pack is running and limited to a position, the marker point position and the reference coordinate position coincide, and the position is taken as the preset position.

[0040] Specifically, the marker point's position needs to coincide with the reference coordinate position. This means that the actual position of the moved marker point in three-dimensional space coincides with the actual position in three-dimensional space corresponding to the reference coordinate position in the welding device. The welding device has its own coordinate system for movement and welding operations.

[0041] Specifically, the marker point can be transported to a position on the welding station. The welding device can be moved so that its tip is aligned with the marker point. At this time, the welding device acquires the coordinates of the marker point in its coordinate system and stores them as reference coordinates. Subsequently, the battery pack is precisely moved to a preset position and limited, and then these reference coordinates can be used to convert the first planar coordinate set into a second coordinate set in the coordinate system of the welding device 1.

[0042] To ensure the battery pack moves precisely to the preset position and is limited, a box can be fixedly installed on the slide rail. This box is used to load the battery pack. Specifically, the size of the box is perfectly matched to the shape of the battery pack. After the battery pack is installed, the outer side of the battery pack and the inner wall of the box fit together completely, so that the battery pack does not shift during transportation and avoids the marking points of the battery pack from not coinciding with the pre-stored reference coordinates of the coordinate system of the welding device 1.

[0043] Optionally, the servo motor and the slide rail are connected by a lead screw. The servo motor is connected to a measuring unit to measure the angle and speed of the motor shaft in real time, thereby calculating the transport distance of the slide rail. The slide rail stops after traveling a preset distance, at which point the box is confined to a preset position. The preset distance can be obtained through calibration: it is the precise travel distance between the fixed starting point of the positioning station and the preset position of the welding station. After the slide rail is started, the servo system drives its operation. When the real-time calculated distance reaches the preset distance, the motor immediately brakes precisely, thereby causing the box to stop stably at the preset position, achieving high positioning accuracy.

[0044] Optionally, a high-precision position sensor is installed at the preset position of the welding station. When the box on the slide rail moves to the corresponding position, the position sensor is triggered and sends a corresponding signal, thereby controlling the slide rail to stop moving according to the signal. This method is low-cost and simple.

[0045] Step S300: Based on the preset position and the spatial positional relationship of the welding device 1, the first planar coordinate set is converted into a second coordinate set under the coordinate system of the welding device 1.

[0046] In some embodiments, the coordinate transformation relationship between the coordinate system of the visual positioning device and the coordinate system of the welding device 1 is determined based on the coordinates of the marker points and the reference coordinates of the coordinate system of the welding device 1; based on the coordinate transformation relationship, the first plane coordinate set is converted into a second coordinate set under the coordinate system of the welding device 1.

[0047] In some implementations, the battery pack is fixed inside a housing, and the relative positions between any two points on the battery pack remain unchanged during transport from the positioning station to the welding station. Therefore, the relative positional relationship between the marking points and other cell terminals also remains unchanged.

[0048] Optionally, for the first planar coordinate set, the coordinates of the marked point are used as a reference. These marked point coordinates are obtained in the coordinate system of the visual positioning device. The relative coordinates or offset vectors of other battery cell terminals relative to the marked point are calculated. When the battery pack is transported to the welding station, the marked point of the battery pack coincides with the pre-stored reference coordinates of the coordinate system of the welding device 1. Therefore, based on these reference coordinates, and according to the relative coordinates or offset vectors of other battery cell terminals relative to the marked point, the coordinates of the center of each battery cell terminal or connecting piece in the welding coordinate system can be calculated, thereby obtaining the second planar coordinate set.

[0049] This technical solution avoids complex calculations, requiring only simple addition and subtraction of coordinate vectors. The calculation speed is fast, and the accuracy depends only on the measurement accuracy of the vision positioning device and the accuracy of the alignment of the marked points and the reference coordinates when the battery pack is transported to the welding station. Therefore, the accuracy is reliable, which greatly simplifies the system complexity while ensuring high precision and high reliability. It is very suitable for the automated welding process of battery packs.

[0050] Step S400: Select the coordinates of the target welding points sequentially in the second coordinate set.

[0051] In some implementations, multiple coordinates in the second coordinate set are sorted to generate a welding sequence that minimizes the total path of the welding device 1 as it moves between multiple target welding points, and the coordinates of the target welding points are selected sequentially according to the welding sequence.

[0052] Optionally, the welding sequence is generated as a sequence, and welding is performed sequentially according to the coordinate points in the sequence.

[0053] Optionally, each target welding point can be used as the starting point, and all other target welding points can be used as necessary nodes to traverse the path and select the shortest traversal path.

[0054] Optionally, the welding device 1 moves in this sequence. When it reaches a target welding point, the welding device 1 performs a preset welding step. After completing the welding of the target welding point, it immediately moves to the position of the next target welding point in the sequence, and so on.

[0055] Step S500: For the current target welding point, control the welding device 1 to move above the current target welding point.

[0056] Optionally, for the current target welding point, the welding device 1 moves to be directly above the target welding point according to the coordinates of the target welding point in the first plane coordinate set, such as the X coordinate and Y coordinate.

[0057] Step S600: Obtain the height coordinates of the current target welding point.

[0058] Optionally, the height coordinates of the current target welding point can be obtained through a visual positioning device, and the first planar coordinate set also includes the Z-axis coordinates of each cell electrode. Optionally, the first planar coordinate set includes the Z-axis coordinates of the center point of each cell electrode.

[0059] Optionally, the height coordinates of the current target welding point can be obtained through a height measurement module, which can be installed at the positioning station or the welding station.

[0060] Optionally, the height coordinates of the current target welding point can also be the height coordinates of the center point of the connecting component corresponding to the cell electrode post.

[0061] Optionally, the visual positioning device includes a 3D depth camera capable of acquiring the height coordinates, i.e., the Z-axis coordinates, of the center point of each cell terminal or connecting component.

[0062] Optionally, the height measurement module is a laser displacement sensor. Since the cell terminals or connecting parts are located on the top of the battery pack, the laser displacement sensor is located above the positioning station or welding station. By emitting a laser into the battery pack, the height of the cell terminals or connecting parts can be calculated.

[0063] Optionally, the height of the battery cell terminal can also be measured by a probe. When the probe tip touches the surface of the battery terminal or the connecting component, the probe triggers a high-level signal, thereby determining the height of the battery cell terminal based on the probe's travel.

[0064] Step S700: Based on the height coordinates, control the welding device 1 to move and contact the target welding point, and perform the corresponding welding operation until the welding of all target welding points is completed.

[0065] Optionally, after the current target welding point is completed, the next target welding point is selected according to the welding sequence, and the welding device 1 is moved above the next welding point according to the target welding point to continue welding until all target welding points are completed.

[0066] It also includes step S800: After the battery pack is welded and passes the test, it enters the subsequent assembly process.

[0067] Optionally, the testing includes leakage detection and cold solder joint detection. Cold solder joint detection is used to check for gaps in the electrical connection between the cell terminals and connecting components, or to test its conductivity. Leakage detection is used to detect whether the internal electrolyte is leaking.

[0068] Optionally, subsequent assembly processes include installing insulation and structural components. For example, epoxy resin boards may be assembled between cells or above and below the battery pack to provide the necessary electrical insulation and structural support. This also includes integrating peripheral components and assembling the complete battery module, including installing wiring harnesses, sampling boards, etc. Finally, final encapsulation is performed, installing side panels and covers for the battery pack, and sealing with adhesive or laser welding to form a complete battery pack with the specified protection level.

[0069] The welding system includes a main control device, a vision positioning device, a welding device 1, a positioning station placement platform, a welding station placement platform 2, a limiting device, and a conveying mechanism. The battery pack to be welded is placed on the positioning station placement platform. The vision positioning device acquires the planar coordinates of each cell terminal on the battery pack to be welded, forming a first set of planar coordinates. The conveying mechanism is used to transport the battery pack to be welded to the welding station placement platform 2, and the limiting device is used to limit the battery pack to be welded to a preset position.

[0070] Please see Figure 2 , Figure 2 This is a structural block diagram of a welding system for a battery manufacturing process provided in an embodiment of this application. Figure 2 As shown, the main control device is communicatively connected to the vision positioning device, the conveying mechanism, the limiting device, and the welding device 1, and performs the following operations: 1. Receive the first plane coordinate set; based on the preset position and the spatial positional relationship between the welding device 1 and the first plane coordinate set, convert the first plane coordinate set into the second coordinate set under the coordinate system of the welding device 1.

[0071] 2. Obtain the preset position, control the movement of the battery pack and limit it to the preset position.

[0072] 3. Select the target welding point coordinates sequentially according to the second coordinate set and send the first command to the welding device 1; send the second command to the welding device 1 according to the height coordinates.

[0073] 4. The welding device 1 is used to move above the target welding point according to the first instruction, move and contact the target welding point according to the second instruction, and perform the corresponding welding operation until the welding of all target welding points is completed.

[0074] In some embodiments, the visual positioning device includes a 2D camera, and the welding system integrates a height measurement module; or the visual positioning device includes a 3D depth camera for acquiring three-dimensional coordinates.

[0075] In some embodiments, the welding device 1 includes an X-axis beam 11, a Y-axis beam 12, a Z-axis beam 13, and a laser welding module 14. The laser welding module 14 is mounted on the X-axis beam 11 and is slidable along the X-axis beam 11. The X-axis beam 11 provides the welding device 1 with a degree of freedom of movement in a first horizontal direction. The Y-axis beam 12 is mounted on the X-axis beam 11 and is slidable along the Y-axis beam 12. The Y-axis beam 12 provides the welding device 1 with a degree of freedom of movement in a second horizontal direction, which is perpendicular to the first horizontal direction. The Z-axis beam 13 is mounted on the Y-axis beam 12 and provides the welding device 1 with a degree of freedom of movement in a vertical direction.

[0076] Optionally, the side walls of the Y-axis beam 12 and the Z-axis beam 13 are slidably connected, and the Y-axis beam 12 can slide along the Z-axis beam 13.

[0077] In some implementations, please refer to Figure 3 , Figure 3 Figure 3 This is a schematic diagram of the structure of a welding apparatus 1 provided in an embodiment of this application. Figure 3 As shown, the X-axis beam 11 includes a first beam 111, a second beam 112, and a third beam 113; the Y-axis beam 12 includes a fourth beam 121, a fifth beam 122, and a sixth beam 123; and the Z-axis beam 13 includes a seventh beam 131, an eighth beam 132, a ninth beam 133, and a tenth beam 134.

[0078] Specifically, one end of the second beam 112 is connected to one end of the first beam 111, and the other end of the second beam 112 is connected to one end of the sixth beam 123. One end of the third beam 113 is connected to the other end of the first beam 111, and the other end of the third beam 113 is connected to the other end of the sixth beam 123. A laser welding module 14 is slidably connected to the first beam 111 and is connected to a drive motor. The welding device 1 slides in the X direction according to the X coordinate of the target welding point. The second beam 112 is mounted on the fourth beam 121, and the third beam 113 is mounted on the fifth beam 122. Both the second beam 112 and the third beam 113 are connected to drive motors, and they slide in the Y direction according to the Y coordinate of the target welding point. The sixth beam 123 provides rigidity to the second beam 112 and the third beam 113.

[0079] One end of the fourth beam 121 is connected to the top of the seventh beam 131, and the other end of the fourth beam 121 is connected to the top of the eighth beam 132. One end of the fifth beam 122 is connected to the top of the ninth beam 133, and the other end of the fifth beam 122 is connected to the top of the tenth beam 134. The bottoms of the seventh beam 131, eighth beam 132, ninth beam 133, and tenth beam 134 are all connected to the welding station placement platform 2. The Z-axis crossbeam 13 can extend and retract downwards. The Z-axis crossbeam 13 extends and retracts according to the height coordinate of the target welding point. At this time, the welding device 1 contacts the target welding point and performs the welding action.

[0080] In some embodiments, the laser welding module 14 includes a laser head, a galvanometer, and a welding block. After the integrated busbar is installed on the battery pack, the integrated busbar is provided with connection parts corresponding to the terminals of each battery cell. The welding block is used to press the connection parts to make the connection parts in close contact with the terminals. The laser head is used to emit a laser beam, the galvanometer is used to accurately deflect the laser beam to the target welding point, and the laser beam is used to weld the target welding point.

[0081] In some embodiments, the height measurement module is installed in the laser welding module 14. The height measurement module is used to measure the surface height of the current target welding point in real time. Based on the height difference between the measured surface height and the preset laser focusing plane, the galvanometer is controlled to adjust the deflection angle of the laser beam so as to keep the laser focus always on the welding surface.

[0082] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 4 As shown, the electronic device 400 includes: one or more processors 410 and a memory 420. Figure 4 Take a processor 410 as an example.

[0083] In some implementations, the processor 410 and the memory 420 may be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0084] In some embodiments, the processor 410 acquires the planar coordinates of each cell terminal on the battery pack to be welded through a visual positioning device, forming a first planar coordinate set; controls the movement of the battery pack and limits it to a preset position at the welding station; based on the spatial relationship between the preset position and the welding device 1, converts the first planar coordinate set into a second coordinate set in the coordinate system of the welding device 1; sequentially selects the coordinates of target welding points in the second coordinate set; for the current target welding point, controls the welding device 1 to move above the current target welding point; acquires the height coordinates of the current target welding point; according to the height coordinates, controls the welding device 1 to move and contact the target welding point, and performs the corresponding welding operation until the welding of all target welding points is completed.

[0085] In some embodiments, memory 420 serves as a non-volatile computer-readable storage medium, used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules for the welding method of the battery manufacturing process in the embodiments of this application. Processor 410 executes various functional applications and data processing of electronic device 400 by running the non-volatile software programs, instructions, and modules stored in memory 420, thereby implementing the welding method of the battery manufacturing process in the above-described method embodiments.

[0086] In some embodiments, memory 420 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of electronic device 400, etc. Furthermore, memory 420 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 420 may optionally include memory remotely located relative to processor 410, and this remote memory may be connected to the controller via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0087] In some implementations, one or more modules are stored in memory 420 and, when executed by one or more processors 410, perform the welding method of the battery manufacturing process in any of the above method embodiments, for example, performing the above-described welding method. Figure 1 The method steps S100 to S700.

[0088] In some implementations, the electronic device can be a chip, such as a data processing unit (DPU) chip used in a data center. Alternatively, the electronic device can be a network interface card that includes a chip and multiple interfaces (such as PCI / PCIE interfaces, UART interfaces, USB interfaces, etc.). Or, the electronic device can be a traditional server, or a server that includes a network interface card or chip. The server includes a host and a data processor. The data processor is used to schedule packets to the host or the data processor itself for processing. The host is used to process the packets scheduled by the data processor.

[0089] Please refer to Figure 5 , Figure 5 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of this application. The computer-readable storage medium 500 stores program code 510, which can be called by a processor to execute the welding method of the battery manufacturing process described in the above method embodiments.

[0090] The computer-readable storage medium 500 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium 500 has storage space for program code that performs any of the method steps of the welding method of the above-described battery manufacturing process. This program code can be read from or written to one or more computer program products. The program code may, for example, be compressed in a suitable form.

[0091] In summary, this application provides a welding method and system for battery manufacturing. The welding method includes: acquiring the planar coordinates of each cell terminal on the battery pack to be welded using a visual positioning device, forming a first planar coordinate set; moving and limiting the battery pack to a preset position at the welding station; converting the first planar coordinate set into a second coordinate set in the coordinate system of the welding device 1 based on the spatial relationship between the preset position and the welding device 1; sequentially selecting the coordinates of target welding points in the second coordinate set; for the current target welding point, controlling the welding device 1 to move above the current target welding point; acquiring the height coordinates of the current target welding point; and, based on the height coordinates, controlling the welding device 1 to move and contact the target welding point, performing the corresponding welding operation, until all target welding points are welded. This method only requires acquiring the coordinates of multiple cell terminals once, and acquires multiple coordinates at once, thus avoiding the calculation and time consumption of repeatedly positioning each welding point in existing robotic arm solutions, and improving welding efficiency.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A welding method in a battery manufacturing process, characterized in that, Applied to welding systems, which include separate welding units and vision positioning devices, the methods include: The visual positioning device is used to obtain the planar coordinates of each cell terminal on the battery pack to be welded, forming a first set of planar coordinates. Obtain a preset position, control the movement of the battery pack, and limit it to the preset position; Based on the spatial relationship between the preset position and the welding device, the first planar coordinate set is converted into a second coordinate set in the coordinate system of the welding device; Select the coordinates of the target welding points sequentially from the second coordinate set; For the current target welding point, control the welding device to move above the current target welding point; Obtain the height coordinates of the current target welding point; Based on the height coordinates, the welding device is controlled to move and contact the target welding point, and the corresponding welding operation is performed until the welding of all target welding points is completed.

2. The welding method for a battery manufacturing process according to claim 1, characterized in that, The step of obtaining the planar coordinates of each cell terminal on the battery pack to be welded through the visual positioning device to form a first planar coordinate set includes: The visual positioning device is used to obtain the planar coordinates of the center point of each cell terminal on the battery pack to be welded. After the integrated busbar is installed on the battery pack, the integrated busbar is provided with connection parts that correspond one-to-one with the terminal posts of each battery cell, and the planar coordinates of the center of each connection part are obtained. The planar coordinates of the center point of each cell terminal are compared with the planar coordinates of the center of the corresponding connection part. The planar coordinates of the center of the connection part with a deviation value less than a preset threshold are selected to form the first set of planar coordinates.

3. The welding method for a battery manufacturing process according to claim 1, characterized in that, The process of obtaining the preset position includes: The visual positioning device identifies a marker point on the battery pack and obtains the coordinates of the marker point in the coordinate system of the visual positioning device. The coordinate system of the welding device has a pre-stored reference coordinate position; When the battery pack is running and limited to a certain position, the position of the marker point coincides with the position of the reference coordinates, and this position is taken as the preset position.

4. The welding method for a battery manufacturing process according to claim 3, characterized in that, The step of converting the first planar coordinate set into a second coordinate set in the coordinate system of the welding device based on the preset position and the spatial positional relationship of the welding device includes: Based on the coordinates of the marked points and the reference coordinates of the welding device coordinate system, determine the coordinate transformation relationship between the coordinate system of the visual positioning device and the coordinate system of the welding device. According to the coordinate transformation relationship, the first planar coordinate set is converted into a second coordinate set in the coordinate system of the welding device.

5. The welding method for a battery manufacturing process according to claim 1, characterized in that, The step of sequentially selecting the target welding point coordinates in the second coordinate set includes: The coordinates in the second coordinate set are sorted to generate a welding sequence that minimizes the total path of the welding device as it moves between multiple target welding points. The coordinates of the target welding points are selected sequentially according to the welding sequence.

6. A welding system for a battery manufacturing process, characterized in that, The system includes a main control device, a vision positioning device, a welding device, a positioning station placement platform, a welding station placement platform, a limiting device, and a conveying mechanism. The battery pack to be welded is placed on the positioning station platform, and the visual positioning device acquires the planar coordinates of each cell terminal on the battery pack to be welded, forming a first set of planar coordinates. The conveying mechanism is used to transport the battery pack to be welded to the welding station placement platform, and the limiting device is used to limit the battery pack to be welded in a preset position. The main control device is communicatively connected to the vision positioning device, the conveying mechanism, the limiting device, and the welding device, and performs the following operations: Receive the first planar coordinate set; Obtain a preset position, control the movement of the battery pack, and limit it to the preset position; Based on the spatial relationship between the preset position and the welding device, the first planar coordinate set is converted into a second coordinate set in the coordinate system of the welding device; Based on the second coordinate set, select the target welding point coordinates sequentially and send a first command to the welding device; based on the height coordinates, send a second command to the welding device. The welding device is used to move above the target welding point according to the first instruction, move and contact the target welding point according to the second instruction, and perform the corresponding welding operation until the welding of all target welding points is completed.

7. The welding system for the battery manufacturing process according to claim 6, characterized in that, The visual positioning device includes a 2D camera, and the welding system integrates a height measurement module; or the visual positioning device includes a 3D depth camera for acquiring three-dimensional coordinates.

8. The welding system for the battery manufacturing process according to claim 6, characterized in that, The welding apparatus includes: The X-axis beam is used to provide the welding device with a degree of freedom to move along the first horizontal direction; The Y-axis beam, mounted on the X-axis beam, provides the welding device with a degree of freedom to move along a second horizontal direction, which is perpendicular to the first horizontal direction. The Z-axis crossbeam, mounted on the Y-axis crossbeam, is used to provide the welding device with the degree of freedom to move in the vertical direction; The laser welding module is mounted on the X-axis beam and is used to perform corresponding welding operations.

9. The welding system for the battery manufacturing process according to claim 8, characterized in that, The laser welding module includes a laser head, a galvanometer, and a welding clamping block; After the integrated busbar is installed on the battery pack, the integrated busbar is provided with connection parts that correspond one-to-one with the terminals of each battery cell. The welding pressure block is used to press the connection parts tightly so that the connection parts are in close contact with the terminals. The laser head is used to emit a laser beam, the galvanometer is used to precisely deflect the laser beam to the target welding point, and the laser beam is used to weld the target welding point.

10. The welding system for the battery manufacturing process according to claim 9, characterized in that, The laser welding module also includes a height measurement module; Used to measure the surface height of the current target welding point in real time; based on the height difference between the measured surface height and the preset laser focusing plane, the galvanometer is controlled to adjust the deflection angle of the laser beam so as to keep the laser focus always on the welding surface.

Images