Welding deviation correction control method and device of battery welding platform and battery welding platform

Abstract

The application discloses a battery welding platform welding deviation correction control method and device and a battery welding platform, and belongs to the technical field of battery welding. The method comprises the following steps: analyzing a pulse signal sent by a battery carrying mechanism to obtain a real-time first-axis direction position of the battery carrying mechanism; based on the first-axis direction position and the slope of a theoretical welding track, correcting the second-axis direction position to be moved by a welding positioning mechanism in real time to obtain a corrected second-axis direction position; controlling the battery carrying mechanism to move to the corrected second-axis direction position; the slope of the theoretical welding track is determined based on a corrected welding starting position and a corrected welding ending position of a weld; the corrected welding starting position is a position obtained after correcting a theoretical light-emitting position; and the corrected welding ending position is a position obtained after correcting a theoretical light-receiving position, so that the coincidence degree of the fitted theoretical welding track and the actual welding track is high, and the welding error is effectively reduced.

Description

Technical Field

[0001] This application belongs to the field of battery welding technology, and in particular relates to a welding correction control method, device and battery welding platform for battery welding platform. Background Technology

[0002] In the battery assembly process, during the welding of the battery cover to the aluminum shell, in order to produce qualified batteries, it is necessary to correct the welding trajectory to achieve the ideal welding effect.

[0003] Some related technologies involve independent movement in two axial directions, which can cause welding errors due to independent mechanical motion. Other related technologies control the movement in two axial directions through a shaft group to achieve composite trajectory welding and avoid the errors caused by independent control. However, these technologies do not calculate the errors between the theoretical light-emitting position and the theoretical light-receiving position of the welding machine and the actual weld start and end positions, which also results in high welding errors. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a welding correction control method, device, and battery welding platform, which makes the overlap between the fitted theoretical welding trajectory and the actual welding trajectory high, makes the trajectory control logic more rigorous, and effectively reduces welding errors.

[0005] In a first aspect, this application provides a welding deviation control method for a battery welding platform. The battery welding platform includes a battery transport mechanism for clamping batteries and a welding positioning mechanism on which a welding machine is mounted. The battery transport mechanism moves along a first axis; the welding positioning mechanism moves along a second axis. The method includes: The pulse signals sent by the battery handling mechanism are acquired and analyzed in real time to obtain the real-time position of the battery handling mechanism in the first axis direction. Based on the first axial position and the slope of the pre-obtained theoretical welding trajectory, the second axial position to be moved by the welding positioning mechanism is corrected in real time to obtain the corrected second axial position. Control the battery transport mechanism to move to the corrected second axis position; The slope of the theoretical welding trajectory is determined based on the welding start position and welding end position after the weld deviation correction. The welding start position after correction is the position obtained after correcting the theoretical light output position of the welding machine; the welding end position after correction is the position obtained after correcting the theoretical light collection position of the welding machine.

[0006] According to the welding correction control method of the battery welding platform of this application, by acquiring and analyzing the pulse signal sent by the battery handling mechanism in real time, the real-time first axis position of the battery handling mechanism is obtained, and the entire welding trajectory can be calculated in real time to achieve dynamic following welding. Based on the first axis position and the slope of the theoretical welding trajectory, the second axis position to be moved by the welding positioning mechanism is corrected in real time to obtain the corrected second axis position. The corrected welding start position is the position obtained after correcting the theoretical light output position of the welding machine; the corrected welding end position is the position obtained after correcting the theoretical light receiving position of the welding machine. That is, the correction of the theoretical light output position and the theoretical light receiving position are considered, and the slope of the theoretical welding trajectory is also introduced to achieve dynamic fitting of the entire trajectory. This makes the overlap between the fitted theoretical welding trajectory and the actual welding trajectory high, making the trajectory control logic more rigorous, effectively reducing welding errors, and thus effectively reducing the generation of defective batteries.

[0007] According to one embodiment of this application, based on the first axial direction position and the slope of a pre-obtained theoretical welding trajectory, the second axial direction position to be moved by the welding positioning mechanism is corrected in real time to obtain the corrected second axial direction position, including: Based on the slope of the theoretical welding trajectory and the position of the first axis direction, the first position difference between the second directional position after correction and the welding start position after correction is determined. The second axial position after correction is obtained based on the difference between the welding start position after correction and the first position.

[0008] According to one embodiment of this application, the battery welding platform further includes a welding loading station, a first flying camera station, and a second flying camera station deployed in the second axial direction; the first flying camera station is located between the welding loading station and the second flying camera station; the second flying camera station is at the same position as the theoretical light emission position; the method further includes: The slope of the theoretical welding trajectory is determined based on the following method: Based on the weld images acquired by the first and second aerial photography stations, the first correction value of the theoretical light-emitting position and the weld start position in the second axis direction, and the second correction value of the theoretical light-receiving position and the weld end position in the second axis direction are determined. The welding start position is obtained by correcting the second axis position of the theoretical light-emitting position according to the first correction value, and the welding end position is obtained by correcting the second axis position of the theoretical light-receiving position according to the second correction value. The slopes of the corrected welding start position and the corrected welding end position are determined as the slopes of the theoretical welding trajectory.

[0009] According to one embodiment of this application, before determining a first correction value for the theoretical light-emitting position and the weld start position in the second axial direction, and a second correction value for the theoretical light-receiving position and the weld end position in the second axial direction, the method further includes: When the welding head of the welding machine is located at the weld start position of the preset reference battery, the first reference position of the battery transport mechanism in the first axial direction and the second reference position of the welding positioning mechanism in the second axial direction are obtained. Record the coordinate positions corresponding to the first and second reference positions as the theoretical light emission positions; When the welding head of the welding machine is located at the weld end position of the preset reference battery, the third reference position of the battery transport mechanism in the first axis direction and the fourth reference position of the welding positioning mechanism in the second axis direction are obtained. The coordinate positions corresponding to the third and fourth reference positions are recorded as the theoretical light-receiving positions.

[0010] According to one embodiment of this application, the method further includes: Welding trajectory is obtained by acquiring weld images from the first and / or second aerial photography stations; Determine the welding slope of the welding trajectory; The welding speed of the welding machine in the second axis direction is adjusted in real time according to the welding slope.

[0011] According to one embodiment of this application, the battery welding platform further includes a drive device for the welding positioning mechanism; Controlling the battery transport mechanism to move to the corrected second axial position includes: A synchronous absolute movement command is sent to the drive unit so that the drive unit drives the battery transport mechanism to move to the corrected second axis position according to the synchronous absolute movement command.

[0012] According to one embodiment of this application, the battery transport mechanism is any one of a magnetic levitation moving mechanism, a servo drive mechanism, and a linear drive mechanism.

[0013] Secondly, this application provides a welding deviation correction control device for a battery welding platform. The battery welding platform includes a battery transport mechanism for clamping batteries and a welding positioning mechanism on which a welding machine is mounted. The battery transport mechanism moves along a first axis; the welding positioning mechanism moves along a second axis. The welding deviation correction control device includes: The parsing module is used to acquire and parse the pulse signals sent by the battery handling mechanism in real time to obtain the real-time position of the battery handling mechanism in the first axis direction. The correction module is used to correct the position of the welding positioning mechanism to be moved in the second axis direction in real time based on the position of the first axis direction and the slope of the theoretical welding trajectory obtained in advance, so as to obtain the corrected position of the second axis direction. The control module is used to control the battery handling mechanism to move to the position in the second axis direction; The slope is determined based on the weld start position and weld end position after correction. The welding start position after correction is the position obtained after correcting the theoretical light output position of the welding machine; the welding end position after correction is the position obtained after correcting the theoretical light collection position of the welding machine.

[0014] According to the welding correction control device of the battery welding platform of this application, by acquiring and analyzing the pulse signal sent by the battery transport mechanism in real time, the real-time first axis position of the battery transport mechanism can be obtained, and the entire welding trajectory can be calculated in real time to achieve dynamic following welding. Based on the first axis position and the slope of the theoretical welding trajectory, the second axis position to be moved by the welding positioning mechanism is corrected in real time to obtain the corrected second axis position. The corrected welding start position is the position obtained after correcting the theoretical light output position of the welding machine; the corrected welding end position is the position obtained after correcting the theoretical light collection position of the welding machine. That is, the correction of the theoretical light output position and the theoretical light collection position are considered, and the slope of the theoretical welding trajectory is also introduced to achieve dynamic fitting of the entire trajectory. The overlap between the fitted theoretical welding trajectory and the actual welding trajectory is high, making the trajectory control logic more rigorous, effectively reducing welding errors, and thus effectively reducing the generation of defective batteries.

[0015] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the welding correction control method for the battery welding platform provided in the first aspect above.

[0016] Fourthly, this application provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the welding correction control method for the battery welding platform provided in the first aspect above.

[0017] Fifthly, this application provides a chip including a processor and a communication interface coupled to the processor, the processor being used to run programs or instructions to implement the welding deviation control method of the battery welding platform as provided in the first aspect.

[0018] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the welding deviation control method for the battery welding platform as described in the first aspect above.

[0019] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects: By acquiring and analyzing the pulse signals sent by the battery handling mechanism in real time, the real-time position of the first axis of the battery handling mechanism can be obtained. This allows for the real-time calculation of the entire welding trajectory, enabling dynamic following welding. Based on the first axis position and the slope of the theoretical welding trajectory, the second axis position of the welding positioning mechanism is corrected in real time, resulting in a corrected second axis position. This corrected welding start position is obtained after correcting the theoretical light-emitting position of the welding machine; the corrected welding end position is obtained after correcting the theoretical light-receiving position of the welding machine. In other words, it considers the correction of both the theoretical light-emitting and theoretical light-receiving positions and also incorporates the slope of the theoretical welding trajectory, achieving dynamic fitting of the entire trajectory. The high degree of overlap between the fitted theoretical welding trajectory and the actual welding trajectory makes the trajectory control logic more rigorous, effectively reducing welding errors and thus significantly reducing the generation of defective batteries.

[0020] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of a welding path provided in an embodiment of this application; Figure 2 This is a schematic diagram illustrating the composition of an exemplary battery welding platform provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a battery welding platform provided in an embodiment of this application; Figure 4 This is a schematic flowchart of a welding correction control method for a battery welding platform provided in an embodiment of this application; Figure 5 This is a schematic diagram showing the positional relationship of the welding loading station, the first flying camera station, the second flying camera station, and the welding end position on a plane, provided in an embodiment of this application. Figure 6 This is a schematic diagram of the welding correction control device for the battery welding platform provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0023] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0024] When welding the battery, the battery transport mechanism moves along the first axis (e.g., the X-axis); the welding positioning mechanism moves along the second axis (e.g., the Y-axis). Since the battery offset in the first axis direction is much smaller than the offset in the second axis direction, the second axis direction is used as the correction execution direction, and the offset in the first axis direction will be fitted into the welding trajectory during the correction calculation.

[0025] See Figure 1 This application embodiment illustrates a schematic diagram of a welding path, including a battery, a weld start position 1 and a weld end position 2, a light-emitting position and a light-receiving position, a first axis direction X and a second axis direction Y. Since the photography software usually provides the correction values ​​of the two points of weld start position 1 and weld end position 2, the theoretical welding trajectory is line segment A. However, in actual correction, the correction values ​​of the two points of weld start position 1 and weld end position 2 are directly used in the light-emitting-light-receiving interval (i.e., line segment B), without calculating the correction values ​​of the extended trajectory of the light-emitting and light-receiving positions, so there is a difference from the theoretical welding trajectory.

[0026] Some related technologies involve separate movements in the two axial directions. For example, the QH1.0 shell and cover welding machine moves along the first axial direction to the light-emitting position and starts the correction in the X-axis direction. It does not calculate the correction value of the extended trajectory of the light-emitting and light-receiving positions in the Y-axis direction. Moreover, the movements in the two axial directions are separate, which will cause welding errors due to independent mechanical movements.

[0027] Some related technologies use shaft groups to control the movement of two axes to achieve composite trajectory welding. For example, the QH2.0 shell and cover welding machine uses shaft groups to control the X and Y axes based on the QH1.0 shell and cover welding machine to achieve composite trajectory welding and avoid the errors caused by individual control. However, the Y-axis correction does not calculate the correction value of the extended trajectory of the light position and the light receiving position.

[0028] To address the aforementioned issues, this application provides a welding deviation control method, apparatus, and battery welding platform.

[0029] The following description, in conjunction with the accompanying drawings, details a welding correction control method, apparatus, and battery welding platform provided in this application, through specific embodiments and application scenarios.

[0030] like Figure 2 As shown in the diagram, this application provides an exemplary battery welding platform, including a battery transport mechanism in the first axis direction, a welding positioning mechanism in the second axis direction, and a PLC (Programmable Logic Controller). Specifically, the battery transport mechanism may include a magnetic levitation clamping device and a magnetic levitation controller. The magnetic levitation controller can control the magnetic field strength and position of the magnetic levitation clamping device, and send pulse signals to a pulse receiving module in real time to inform the magnetic levitation controller of its real-time position in the first axis direction. The PLC controller includes a pulse receiving module and a welding correction control device. The pulse receiving module can receive the pulse signals sent by the magnetic levitation controller, and the welding correction control device can analyze the real-time pulse signals to obtain the real-time position of the battery transport mechanism in the first axis direction. Based on the first axis direction position and the slope of the theoretical welding trajectory of the current battery, the second axis direction position to be moved by the welding positioning mechanism is corrected in real time to obtain the corrected second axis direction position, thereby controlling the battery transport mechanism to move to the second axis direction position. Detailed processes are described in subsequent sections.

[0031] See Figure 3 This application provides a schematic diagram of the structure of a battery welding platform, including a battery transport mechanism in the first axis direction, a welding positioning mechanism in the second axis direction, and a moving mechanism in the third axis direction (generally the Z-axis). The third axis direction is usually used to adjust the height of the welding machine (or the welding head of the welding machine), and it is usually not changed after adjustment. Therefore, during welding, it can be regarded as moving along the third axis direction.

[0032] The first axis direction, the second axis direction, and the third axis direction are different directions and can be any angle direction. In the coordinate system, the first axis direction can be regarded as the X-axis, the second axis direction as the Y-axis, and the third axis direction as the Z-axis.

[0033] See Figure 4 This application provides a schematic flowchart of a welding correction control method for a battery welding platform, including the following steps: 410, 420 and 430.

[0034] Step 410: Acquire and parse the pulse signal sent by the battery transport mechanism in real time to obtain the real-time position of the battery transport mechanism in the first axis direction.

[0035] The battery transport mechanism holds the battery, and the battery moves with the movement of the battery transport mechanism. The battery transport mechanism can send pulse signals to the PLC controller in real time, thereby informing the battery of its real-time position in the first axis direction.

[0036] In practice, the battery handling mechanism can be any one of the following: a magnetic levitation moving mechanism (moving by electromagnetic force), a servo drive mechanism (moving by a servo motor), or a linear drive mechanism (moving by a linear motor).

[0037] Step 420: Based on the first axial direction position and the pre-obtained welding trajectory, the second axial direction position to be moved by the welding positioning mechanism is corrected in real time to obtain the corrected second axial direction position; the slope is determined based on the corrected welding start position and the corrected welding end position of the weld.

[0038] The welding start position after correction is the position obtained after correcting the theoretical light output position of the welding machine; the welding end position after correction is the position obtained after correcting the theoretical light collection position of the welding machine.

[0039] Welding positioning mechanisms are collectively referred to as servo drive mechanisms, which can drive the actuator to move along the Y-axis.

[0040] A battery weld refers to the welded joint used during battery manufacturing to connect various internal components (such as electrodes and conductive strips). Welds are used to fix these components together using welding technology, ensuring a stable and reliable electrical connection for the battery.

[0041] The theoretical light-emitting position in this embodiment is determined by moving a preset reference cell, and the specific determination method is as follows: ① Move the starting position of the weld seam of the preset reference battery to below the welding head of the welding machine. In the coordinate system, determine the first reference position x1 of the battery transport mechanism in the first axis direction and the second reference position y1 of the welding positioning mechanism in the second axis direction. Then, the starting position of the weld seam can be determined as (x1, y1).

[0042] ② Move the preset reference battery. When the welding head of the welding machine is located at the weld end position of the preset reference battery, obtain the third reference position x2 of the battery transport mechanism in the first axis direction and the fourth reference position y2 of the welding positioning mechanism in the second axis direction. Then, the weld end position can be determined as (x2, y2).

[0043] After the preset reference battery has moved, the starting position (x1, y1) of the weld can be used as the theoretical light-emitting position, and the ending position (x2, y2) of the weld can be used as the theoretical light-receiving position.

[0044] During the actual welding process, due to mechanical errors or battery movement deviations, the theoretical light emission position and theoretical light reception position may deviate from the current weld start position and weld end position of the battery, mainly the deviation along the Y-axis. In this case, deviation correction is required.

[0045] If the theoretical light-emitting position corresponds to the first correction value p1 along the Y-axis, and the theoretical light-receiving position corresponds to the second correction value p2 along the Y-axis, then the corrected welding start position is (x1, y1+p1), which is also the welding start position, and the corrected welding end position is (x2, y2+p2), which is also the welding end position.

[0046] Therefore, the pre-obtained welding trajectory K = [(y2+p2)-(y1+p1)] / (x2-x1) can be determined.

[0047] Next, based on the welding trajectory K and the first axial direction position x, the first position difference Δy = K·x between the second axial direction position to be determined after correction and the welding start position after correction can be determined. Then, according to the welding start position x after correction and the first position difference Δy, the second axial direction position y after correction can be obtained, y = Δy + y1 + p1 = K·x + y1 + p1 = [(y2 + p2) - (y1 + p1)] / (x2 - x1)·x + y1 + p1.

[0048] Of course, it can also be represented as y=(x-x1) / (x2-x1)((y2+p2)-(y1+p1))+y1+p1.

[0049] Step 430: Control the battery transport mechanism to move to the second axis position after correction.

[0050] In this embodiment of the application, after determining the second axis position after the above-mentioned correction, the battery transport mechanism can be controlled to move to the second axis position after the correction by synchronous absolute movement command.

[0051] This application embodiment obtains the real-time position of the battery handling mechanism in the first axis direction by acquiring and parsing the pulse signal sent by the battery handling mechanism in real time. This allows for the real-time calculation of the entire welding trajectory, enabling dynamic following welding. Based on the first axis direction position and the slope of the theoretical welding trajectory, the second axis direction position of the welding positioning mechanism to be moved is corrected in real time, resulting in a corrected second axis direction position. This corrected welding start position is obtained by correcting the theoretical light-emitting position of the welding machine; the corrected welding end position is obtained by correcting the theoretical light-receiving position of the welding machine. In other words, it considers the correction of the theoretical light-emitting and theoretical light-receiving positions and also introduces the slope of the theoretical welding trajectory, achieving dynamic fitting of the entire trajectory. The fitted theoretical welding trajectory has a high degree of overlap with the actual welding trajectory, making the trajectory control logic more rigorous, effectively reducing welding errors, and thus effectively reducing the generation of defective batteries.

[0052] In some embodiments, based on the first axial position and the slope of a pre-obtained weld trajectory, the second axial position to be moved by the welding positioning mechanism is corrected in real time to obtain the corrected second axial position, including: Based on the slope of the theoretical welding trajectory and the position of the first axis direction, the first position difference between the second directional position after correction and the welding start position after correction is determined. The second axial position after correction is obtained based on the difference between the welding start position after correction and the first position.

[0053] As explained in the foregoing embodiments, if the welding trajectory is K and the position of the first axial direction is x, the first position difference Δy = K·x between the second axial direction position to be determined after correction and the welding start position after correction can be determined. Then, based on the welding start position x after correction and the first position difference Δy, the second axial direction position y after correction is obtained, y = Δy + y1 + p1 = K·x + y1 + p1 = [(y2 + p2) - (y1 + p1)] / (x2 - x1)·x + y1 + p1.

[0054] In some embodiments, the battery welding platform further includes a welding loading station, a first flying camera station, and a second flying camera station deployed in the second axial direction; the first flying camera station is located between the welding loading station and the second flying camera station; the second flying camera station is at the same position as the theoretical light emission position; the method further includes: The slope of the theoretical welding trajectory is determined based on the following method: Based on the weld images acquired by the first and second aerial photography stations, the first correction value of the theoretical light-emitting position and the weld start position in the second axis direction, and the second correction value of the theoretical light-receiving position and the weld end position in the second axis direction are determined. The welding start position is obtained by correcting the second axis position of the theoretical light-emitting position according to the first correction value, and the welding end position is obtained by correcting the second axis position of the theoretical light-receiving position according to the second correction value. The slopes of the corrected welding start position and the corrected welding end position are determined as the slopes of the theoretical welding trajectory.

[0055] The welding machine loading station refers to the area on the welding production line responsible for transferring batteries to the welding station. The main task of this station is to ensure a timely and accurate supply of welding materials, providing the necessary raw materials for the welding process and ensuring a smooth production flow.

[0056] A "flying camera station" is a station on a production line, typically used for automated welding, assembly, or other processes. It is characterized by the rapid movement and slapping or positioning of workpieces or materials during production to ensure accurate completion of specific operations. Flying camera stations are usually equipped with image acquisition devices.

[0057] In this embodiment of the application, multiple flying camera stations are set in the second axis direction, including a first flying camera station and a second flying camera station.

[0058] See Figure 5 This application provides a schematic diagram showing the positional relationship of a welding loading station, a first flying camera station, a second flying camera station, and a welding end position on a plane. The first flying camera station is located between the welding loading station and the second flying camera station; the second flying camera station is at the same position as the theoretical light output position; the welding end position is behind the second flying camera station.

[0059] In this embodiment, by identifying the weld images acquired by the first and second aerial photography stations, a first correction value p1 is determined between the theoretical light-emitting position (x1, y1) and the weld start position in the second axial direction, and a second correction value p2 is determined between the theoretical light-receiving position (x2, y2) and the weld end position in the second axial direction. Then, the second axial position y1 of the theoretical light-emitting position is corrected according to the first correction value to obtain the corrected welding start position y1+p1. The second axial position y2 of the theoretical light-receiving position is corrected according to the second correction value p2 to obtain the corrected welding end position y2+p2.

[0060] Then, the slopes of the corrected welding start position and the corrected welding end position can be determined as the slopes of the theoretical welding trajectory.

[0061] During subsequent welding, when the battery transport mechanism is at x1 in the first axis direction, the welding positioning mechanism needs to move in advance to the calculated rearward welding starting position y1+p1. Subsequently, the battery transport mechanism starts from x1, and the welding positioning mechanism follows the battery transport mechanism to weld in real time.

[0062] In some embodiments, before determining a first correction value for the theoretical light-emitting position and the weld start position in the second axial direction, and a second correction value for the theoretical light-receiving position and the weld end position in the second axial direction, the method further includes: When the welding head of the welding machine is located at the weld start position of the preset reference battery, the first reference position of the battery transport mechanism in the first axial direction and the second reference position of the welding positioning mechanism in the second axial direction are obtained. Record the coordinate positions corresponding to the first and second reference positions as the theoretical light emission positions; When the welding head of the welding machine is located at the weld end position of the preset reference battery, the third reference position of the battery transport mechanism in the first axis direction and the fourth reference position of the welding positioning mechanism in the second axis direction are obtained. The coordinate positions corresponding to the third and fourth reference positions are recorded as the theoretical light-receiving positions.

[0063] The foregoing embodiments have already described this, and will not be repeated here.

[0064] In some embodiments, the method further includes: Welding trajectory is obtained by acquiring weld images from the first and / or second aerial photography stations; Determine the welding slope of the welding trajectory; The welding speed of the welding machine in the second axis direction is adjusted in real time according to the welding slope.

[0065] The welding deviation control algorithm of this application embodiment can also be used in combination with other welding control technologies, such as welding speed control and welding power control, to further improve welding quality and efficiency. For example, the welding speed in the second axis direction can be dynamically adjusted according to the welding slope of the welding trajectory (usually referring to the angle of the welding head). For example, the speed can be reduced in areas with a large welding slope and increased in areas with a small welding slope, thereby achieving a smoother and more efficient welding process.

[0066] In some embodiments, the battery welding platform further includes a drive device for the welding positioning mechanism; Controlling the battery transport mechanism to move to the corrected second axial position includes: A synchronous absolute movement command is sent to the drive unit so that the drive unit drives the battery transport mechanism to move to the corrected second axis position according to the synchronous absolute movement command.

[0067] The battery welding platform in this application embodiment also includes a drive device for the welding positioning mechanism. The drive device can be a servo motor, a drive motor, etc. When the X-axis and Y-axis are controlled in coordination, after the PLC controller determines the corrected second axis position of the Y-axis, it will send a synchronous absolute movement command, namely the MC_SyncMoveAbsolute command, to the drive device.

[0068] The MC_SyncMoveAbsolute command is used in automation and motion control systems to synchronize the movement of multiple axes and precisely move them to their absolute positions. This command can perform precise positioning control simultaneously on multiple axes, ensuring that each axis moves according to predetermined absolute coordinates. By sending the MC_SyncMoveAbsolute command to the drive unit, the battery transport mechanism can move to the corrected position in the second axis direction. In this way, the Y-axis welding positioning mechanism can follow the movement of the X-axis battery transport mechanism in real time, performing welding along the calculated correction trajectory.

[0069] In some embodiments, the battery transport mechanism is any one of a magnetic levitation moving mechanism, a servo drive mechanism, and a linear drive mechanism.

[0070] Among them, the magnetic levitation moving mechanism is a system that uses the principle of electromagnetic force to levitate the battery clamping device and move it in a specific track or space through an electromagnetic device.

[0071] A servo drive mechanism is a drive system that achieves precise control through a servo motor. By combining the servo motor with a feedback control system, parameters such as position, speed, and torque can be precisely controlled, thereby achieving high-precision, high-response motion control.

[0072] Linear drive mechanisms are mechanical systems used to provide linear motion, typically consisting of linear motors, ball screws, cylinders, etc. These mechanisms can precisely control movement along a linear direction and provide sufficient thrust and stability.

[0073] In practical applications, the above welding correction control method can be implemented as a function block. The input pins of this function block include: the X-axis coordinate rXStart (rXStart=x1) of the theoretical light-emitting position, the Y-axis coordinate rYStart (rYStart=y1) of the theoretical light-emitting position, the X-axis coordinate rXEnd (rXEnd=x2) of the theoretical light-receiving position, the Y-axis coordinate rYEnd (rYEnd=y2) of the theoretical light-receiving position, the first correction value rYStartRectify (rYStartRectify=p1) of the theoretical light-emitting position's Y-axis coordinate y1, the first correction value rYEndRectify (rYEndRectify=p2) of the theoretical light-receiving position's Y-axis coordinate y2, and the real-time first axial position rX (rX=x) of the battery handling mechanism.

[0074] The output pins of this function block include: the Y-axis coordinate rY1 (rY1=y1+p1) of the welding start position after correction, the Y-axis coordinate rY2 (rY2=y2+p2) of the welding end position after correction, the slope K of the theoretical welding trajectory, and the second axis position rY (rY=y) of the welding positioning mechanism to be moved after correction.

[0075] In practical applications, the welding trajectory optimization algorithm based on dynamic following in this embodiment can effectively solve the welding trajectory deviation problem existing in traditional welding equipment. By calculating the corrected position of the second axis of the welding positioning mechanism in real time, the welding Y-axis can accurately follow the movement of the battery transport mechanism, thereby achieving high-precision welding trajectory control.

[0076] The welding deviation correction control method for a battery welding platform provided in this application can be executed by a welding deviation correction control device for the battery welding platform. This application uses the example of a welding deviation correction control device for the battery welding platform executing the welding deviation correction control method to illustrate the welding deviation correction control device for the battery welding platform provided in this application.

[0077] This application also provides a welding deviation control device for a battery welding platform. The battery welding platform includes a battery transport mechanism for clamping batteries and a welding positioning mechanism on which a welding machine is mounted; the battery transport mechanism moves along a first axis; the welding positioning mechanism moves along a second axis.

[0078] like Figure 6 As shown, the welding correction control device of the battery welding platform includes: analysis module 610, control module 620 and control module 630.

[0079] The parsing module 610 is used to acquire and parse the pulse signals sent by the battery handling mechanism in real time to obtain the real-time position of the battery handling mechanism in the first axis direction. The correction module 620 is used to correct the position of the welding positioning mechanism to be moved in the second axis direction in real time based on the position of the first axis direction and the slope of the theoretical welding trajectory obtained in advance, so as to obtain the corrected position of the second axis direction. Control module 630 is used to control the battery transport mechanism to move to the position in the second axis direction; The slope is determined based on the weld start position and weld end position after correction. The welding start position after correction is the position obtained after correcting the theoretical light output position of the welding machine; the welding end position after correction is the position obtained after correcting the theoretical light collection position of the welding machine.

[0080] According to the welding correction control device of the battery welding platform provided in this application embodiment, by acquiring and analyzing the pulse signal sent by the battery transport mechanism in real time, the real-time first axis position of the battery transport mechanism can be obtained, and the entire welding trajectory can be calculated in real time to achieve dynamic following welding. Based on the first axis position and the slope of the theoretical welding trajectory, the second axis position to be moved by the welding positioning mechanism is corrected in real time to obtain the corrected second axis position. The corrected welding start position is the position obtained after correcting the theoretical light output position of the welding machine; the corrected welding end position is the position obtained after correcting the theoretical light collection position of the welding machine. That is, the correction of the theoretical light output position and the theoretical light collection position are considered, and the slope of the theoretical welding trajectory is also introduced to achieve dynamic fitting of the entire trajectory. The overlap between the fitted theoretical welding trajectory and the actual welding trajectory is high, making the trajectory control logic more rigorous, effectively reducing welding errors, and thus effectively reducing the generation of defective batteries.

[0081] In some embodiments, the correction module 620 is used for: Based on the slope of the theoretical welding trajectory and the position of the first axis direction, the first position difference between the second directional position after correction and the welding start position after correction is determined. The second axial position after correction is obtained based on the difference between the welding start position after correction and the first position.

[0082] In some embodiments, the battery welding platform further includes a welding loading station, a first flying camera station, and a second flying camera station deployed along the second axis; the first flying camera station is located between the welding loading station and the second flying camera station; the second flying camera station is at the same position as the theoretical light emission position; the welding deviation correction control device further includes: Processing module, used for: Based on the weld images acquired by the first and second aerial photography stations, the first correction value of the theoretical light-emitting position and the weld start position in the second axis direction, and the second correction value of the theoretical light-receiving position and the weld end position in the second axis direction are determined. The welding start position is obtained by correcting the second axis position of the theoretical light-emitting position according to the first correction value, and the welding end position is obtained by correcting the second axis position of the theoretical light-receiving position according to the second correction value. The slopes of the corrected welding start position and the corrected welding end position are determined as the slopes of the theoretical welding trajectory.

[0083] In some embodiments, the processing module is further configured to: When the welding head of the welding machine is located at the weld start position of the preset reference battery, the first reference position of the battery transport mechanism in the first axial direction and the second reference position of the welding positioning mechanism in the second axial direction are obtained. Record the coordinate positions corresponding to the first and second reference positions as the theoretical light emission positions; When the welding head of the welding machine is located at the weld end position of the preset reference battery, the third reference position of the battery transport mechanism in the first axis direction and the fourth reference position of the welding positioning mechanism in the second axis direction are obtained. The coordinate positions corresponding to the third and fourth reference positions are recorded as the theoretical light-receiving positions.

[0084] In some embodiments, the welding deviation control device further includes: The adjustment module is used to obtain the welding trajectory from the weld images acquired by the first and / or second aerial photography stations. Determine the welding slope of the welding trajectory; The welding speed of the welding machine in the second axis direction is adjusted in real time according to the welding slope.

[0085] In some embodiments, the battery welding platform further includes a drive device for the welding positioning mechanism; The control module 630 is specifically used to send a synchronous absolute movement command to the drive device, so that the drive device drives the battery transport mechanism to move to the second axis position after correction according to the synchronous absolute movement command.

[0086] In some embodiments, the battery transport mechanism is any one of a magnetic levitation moving mechanism, a servo drive mechanism, and a linear drive mechanism.

[0087] The welding correction control device of the battery welding platform in this application embodiment can be an electronic device or a component of an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, handheld computer, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM or self-service machine, etc. The embodiments of this application do not specifically limit it.

[0088] The welding correction control device of the battery welding platform in this application embodiment can be a device with an operating system. This operating system can be a Microsoft (Windows) operating system, an Android operating system, an iOS operating system, or other possible operating systems; this application embodiment does not specifically limit it.

[0089] The welding deviation control device for the battery welding platform provided in this application embodiment can achieve... Figures 1 to 6 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0090] This application provides a battery welding platform, which includes a battery transport mechanism for holding batteries, a welding positioning mechanism for mounting a welding machine, and a controller; the battery transport mechanism moves along a first axis; the welding positioning mechanism moves along a second axis; the controller may include the aforementioned welding correction control device.

[0091] The detailed process is described in the aforementioned embodiments and will not be repeated here.

[0092] In some embodiments, such as Figure 7As shown, this application embodiment also provides an electronic device 700, including a processor 701, a memory 702, and a computer program stored in the memory 702 and executable on the processor 701. When the program is executed by the processor 701, it implements the various processes of the above-described battery welding platform welding correction control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0093] Processor 701 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 701 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0094] The memory 702 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0095] The memory 702 is used to store computer programs that execute the embodiments of this application, and the execution is controlled by the processor 701. The processor 701 is used to execute the computer programs stored in the memory 702 to implement the steps shown in the foregoing method embodiments.

[0096] It should be noted that the electronic devices in the embodiments of this application include the aforementioned mobile electronic devices and non-mobile electronic devices.

[0097] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described battery welding platform welding correction control method embodiment and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0098] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0099] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the welding deviation control method of the battery welding platform described above.

[0100] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0101] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described battery welding platform welding correction control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0102] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0103] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0104] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the related technology, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0105] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0106] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0107] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A welding deviation control method for a battery welding platform, characterized in that, The battery welding platform includes a battery handling mechanism for clamping batteries and a welding positioning mechanism equipped with a welding machine; the battery handling mechanism moves along a first axis; the welding positioning mechanism moves along a second axis; the method includes: The pulse signals sent by the battery handling mechanism are acquired and analyzed in real time to obtain the real-time position of the battery handling mechanism in the first axis direction. Based on the first axial position and the slope of the pre-obtained theoretical welding trajectory, the second axial position to be moved by the welding positioning mechanism is corrected in real time to obtain the corrected second axial position. Control the battery transport mechanism to move to the corrected second axial position; The slope of the theoretical welding trajectory is determined based on the welding start position and welding end position after the weld deviation correction. The corrected welding start position is the position obtained after correcting the theoretical light output position of the welding machine; the corrected welding end position is the position obtained after correcting the theoretical light collection position of the welding machine.

2. The welding deviation control method according to claim 1, characterized in that, The real-time correction of the second axial direction position of the welding positioning mechanism to be moved, based on the slope of the first axial direction position and the pre-obtained theoretical welding trajectory, to obtain the corrected second axial direction position, includes: Based on the slope of the theoretical welding trajectory and the position of the first axis, a first position difference is determined between the second directional position after correction and the welding start position after correction. The second axial position after correction is obtained based on the difference between the welding start position after correction and the first position.

3. The welding deviation control method according to claim 1, characterized in that, The battery welding platform further includes a welding loading station, a first flying camera station, and a second flying camera station deployed along the second axis; the first flying camera station is located between the welding loading station and the second flying camera station; the second flying camera station and the theoretical light emission position are at the same location; the method further includes: The slope of the theoretical welding trajectory is determined based on the following method: Based on the weld images acquired by the first and second aerial photography stations, a first correction value for the theoretical light-emitting position and the weld start position in the second axis direction is determined, and a second correction value for the theoretical light-receiving position and the weld end position in the second axis direction is determined. The welding start position is obtained by correcting the second axial direction position of the theoretical light-emitting position according to the first correction value, and the welding end position is obtained by correcting the second axial direction position of the theoretical light-receiving position according to the second correction value. The slopes of the corrected welding start position and the corrected welding end position are determined as the slopes of the theoretical welding trajectory.

4. The welding deviation control method according to claim 3, characterized in that, Before determining the first correction value of the theoretical light-emitting position and the weld start position in the second axial direction, and the second correction value of the theoretical light-receiving position and the weld end position in the second axial direction, the method further includes: When the welding head of the welding machine is located at the weld start position of the preset reference battery, the first reference position of the battery transport mechanism in the first axial direction and the second reference position of the welding positioning mechanism in the second axial direction are obtained; The coordinate positions corresponding to the first reference position and the second reference position are recorded as the theoretical light emission positions; When the welding head of the welding machine is located at the weld end position of the preset reference battery, the third reference position of the battery transport mechanism in the first axial direction and the fourth reference position of the welding positioning mechanism in the second axial direction are obtained. The coordinate positions corresponding to the third reference position and the fourth reference position are recorded as the theoretical light-receiving positions.

5. The welding deviation control method according to claim 3, characterized in that, The method further includes: Welding trajectory is obtained by acquiring weld images from the first and / or second aerial photography stations; Determine the welding slope of the welding trajectory; The welding speed of the welding machine in the second axial direction is adjusted in real time according to the welding slope.

6. The welding deviation control method according to claim 1, characterized in that, The battery welding platform also includes a drive device for the welding positioning mechanism; The control of moving the battery transport mechanism to the corrected second axial position includes: A synchronous absolute movement command is sent to the drive device so that the drive device drives the battery transport mechanism to move to the corrected second axial position according to the synchronous absolute movement command.

7. The welding deviation control method according to any one of claims 1-6, characterized in that, The battery transport mechanism can be any one of a magnetic levitation moving mechanism, a servo drive mechanism, or a linear drive mechanism.

8. A welding deviation correction control device for a battery welding platform, characterized in that, The battery welding platform includes a battery handling mechanism for clamping batteries and a welding positioning mechanism equipped with a welding machine; the battery handling mechanism moves along a first axis; the welding positioning mechanism moves along a second axis; the welding deviation correction control device includes: The parsing module is used to acquire and parse the pulse signals sent by the battery handling mechanism in real time to obtain the real-time position of the battery handling mechanism in the first axis direction. The correction module is used to correct the second axial direction position of the welding positioning mechanism to be moved in real time based on the first axial direction position and the slope of the pre-obtained theoretical welding trajectory, so as to obtain the corrected second axial direction position. The control module is used to control the battery transport mechanism to move to the position in the second axial direction; The slope of the theoretical welding trajectory is determined based on the welding start position and welding end position after the weld deviation correction. The corrected welding start position is the position obtained after correcting the theoretical light output position of the welding machine; the corrected welding end position is the position obtained after correcting the theoretical light collection position of the welding machine.

9. A battery welding platform, characterized in that, The battery welding platform includes a battery transport mechanism for clamping the battery, a welding positioning mechanism equipped with a welding machine, and a controller; the battery transport mechanism moves along a first axis; the welding positioning mechanism moves along a second axis; and the controller includes the welding deviation control device as described in claim 8.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the welding deviation control method as described in any one of claims 1-7.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the welding correction control method as described in any one of claims 1-7.

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