Grooving method and grooving device

Abstract

A grooving apparatus according to an embodiment of the present disclosure may include: a first laser generator for cutting a portion of an electrode film; a sensor unit for sensing whether weld residue is generated on the electrode film; a second laser generator for removing the weld residue; and a control unit for controlling the second laser generator based on the sensing result of the sensor unit.

Description

Technical Field

[0001] This disclosure relates to a grooving method and a grooving apparatus. Background Technology

[0002] A secondary battery is an energy storage method that can be charged and discharged. Secondary batteries are widely used in various devices that use electricity as a power source. As an example, secondary batteries are used as an energy storage method in a wide range of devices, from small devices such as mobile phones, laptops, and tablets to large devices such as vehicles and aircraft. In recent years, in particular, the application of secondary batteries as a power source for vehicles has been actively explored.

[0003] Secondary batteries can be classified into lead-acid batteries, nickel-cadmium batteries, nickel-metal hydride batteries, and lithium-ion batteries based on electrode materials. The appropriate type of secondary battery can be selected based on design capacity and operating environment. Compared to other types of secondary batteries, lithium-ion batteries can achieve relatively high voltage and capacity. Therefore, lithium-ion batteries are widely used in fields requiring high-density energy storage, such as automotive battery packs.

[0004] The above description is provided to aid in understanding the background technology of this disclosure and should not be construed as narrowing, limiting, or restricting the technical concept of this disclosure. Furthermore, the content described or implied in the above description does not necessarily refer to prior art, and some may include content that is not part of the prior art. Summary of the Invention

[0005] (a) Technical problems to be solved According to one aspect of this disclosure, weld residues generated during the laser grooving process can be effectively removed.

[0006] The secondary battery disclosed herein can be widely used in electric vehicles, battery charging stations, and other green technology fields such as solar power generation and wind power generation that utilize batteries. Furthermore, the secondary battery disclosed herein can be used in eco-friendly electric vehicles and hybrid vehicles that prevent climate change by suppressing air pollution and greenhouse gas emissions.

[0007] (II) Technical Solution A grooving apparatus according to an embodiment of the present disclosure may include: a first laser generator for cutting a portion of an electrode film; a sensor unit for sensing whether weld residue is generated on the electrode film; a second laser generator for removing the weld residue; and a control unit for controlling the second laser generator based on the sensing result of the sensor unit.

[0008] According to one embodiment, it may further include a laser driving unit for adjusting the laser emission position and emission angle of the second laser generator.

[0009] According to one embodiment, the control unit can control the laser drive unit based on the sensing results of the sensor unit, thereby adjusting the emission position and emission angle of the second laser generator to remove the weld residue.

[0010] According to one embodiment, the sensor unit may include a first sensor and a second sensor for sensing the weld residue. The first sensor may be disposed on the upper part of the electrode film to sense the weld residue, and the second sensor may be disposed in a lateral direction perpendicular to the transfer direction of the electrode film to sense the weld residue.

[0011] According to one embodiment, the sensor unit may further include a third sensor that can sense the weld residue in a direction different from the sensing direction of the first sensor and the sensing direction of the second sensor.

[0012] According to one embodiment, the sensing direction of the third sensor may form an angle of more than 30° and less than 60° with the sensing direction of the first sensor or the sensing direction of the second sensor.

[0013] According to one embodiment, the sensor unit may further include a light-emitting unit for irradiating light onto the cut surface of the electrode film.

[0014] According to one embodiment, the grooving device may include: a supply unit for supplying the electrode film; and a recycling unit for recycling the electrode film partially cut by the first laser generator.

[0015] According to one embodiment, the first laser generator may be disposed closer to the supply unit than the second laser generator, and the sensor unit may be disposed between the first laser generator and the second laser generator.

[0016] According to one embodiment, a grooving method according to an embodiment of the present disclosure may include the following steps: cutting an electrode film with a first laser generator; sensing whether weld residue is generated; and removing the weld residue with a second laser generator.

[0017] According to one embodiment, in the step of sensing whether weld residue is generated, the height and protruding shape of the weld residue can be sensed.

[0018] According to one embodiment, in the step of removing the weld residue with a second laser generator, the method of removing the weld residue can be determined based on the height and protruding shape of the weld residue.

[0019] (III) Beneficial Effects According to one embodiment of this disclosure, weld residues generated during laser grooving can be removed in real time, thereby improving electrode quality.

[0020] Furthermore, according to one embodiment of this disclosure, welding residues can be sensed from multiple directions by multiple sensors and removed by laser, thereby improving the quality of the electrode.

[0021] The effects of this disclosure are not limited to the foregoing; those skilled in the art will readily recognize other effects not mentioned in the following description. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a grooving apparatus according to an embodiment of the present disclosure.

[0023] Figure 2 This is a block diagram of a slotting apparatus according to an embodiment of the present disclosure.

[0024] Figure 3 This is an illustrative diagram showing the process of removing weld residue generated during the grooving process.

[0025] Figure 4 This is a diagram illustrating, by way of example, a sensor section of an embodiment of this disclosure.

[0026] Figure 5 This is a diagram illustrating the configuration of the sensor section of one embodiment of the present disclosure.

[0027] Figure 6 This is a flowchart of a slotting method according to an embodiment of the present disclosure.

[0028] Explanation of reference numerals in the attached figures: 10: Supply Department 20: Recycling Department 30: Electrode film; 31: Foil 32: Active substance 100: Slotting device 110: First laser generator; 120: Second laser generator 200: Laser driver section; 300: Sensor section 301: Light-emitting part; 310: First sensor 320: Second sensor; 400: Control unit Detailed Implementation

[0029] Before detailing this disclosure, the terms or words used in this specification and claims should not be limited to their ordinary or dictionary meanings, but should be interpreted as meanings and concepts consistent with the technical spirit of this disclosure, based on the principle that the inventors can appropriately define the terms and concepts in order to best illustrate their invention. Therefore, it should be understood that the embodiments described in this specification and the constructions shown in the accompanying drawings are merely the most preferred embodiments of this disclosure and do not represent all the technical ideas of this disclosure. Various equivalents and modifications may exist at the time of filing this application.

[0030] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. It should be noted that, as far as possible, the same components are represented by the same reference numerals in the drawings. Furthermore, detailed descriptions of well-known functions and structures that may obscure the essence of the present disclosure will be omitted. For the same reason, some components may be exaggerated, omitted, or shown schematically in the drawings, and the sizes of the components do not necessarily reflect their actual sizes. For example, the terms "upper side," "upper part," "above," "lower side," "lower part," "below," and "side" in this specification are based on the drawings, and the related terms may change when the orientation of the corresponding object changes.

[0031] Figure 1 This is a schematic diagram of a grooving device 100 according to an embodiment of the present disclosure. Figure 2 This is a block diagram of a grooving apparatus 100 according to an embodiment of the present disclosure. Figure 3 This is an illustrative diagram showing the process of removing weld residue generated during the grooving process.

[0032] Reference Figure 1 According to one embodiment of the present disclosure, the grooving device 100 may include a supply section 10 and a recovery section 20 for the electrode film 30.

[0033] The supply unit 10 can be a structure that supplies the wound electrode film 30, and the recycling unit 20 can be a structure that the grooved electrode film 30 supplied from the supply unit 10 is transferred and wound.

[0034] In other words, the grooving device 100 according to an embodiment of the present disclosure may include: a supply unit 10 for supplying electrode film 30; and a recycling unit 20 for recycling the electrode film 30 partially cut by the first laser generator 110.

[0035] Reference Figure 1 Although the electrode film 30 is shown as being transferred in a roll-to-roll manner, it is not limited to this and can also be applied to cases where the electrode film 30 is transferred in a roll-to-sheet manner.

[0036] The supply section 10 and the recycling section 20 are non-essential structures of the present invention, and detailed descriptions can be omitted.

[0037] A grooving apparatus 100 according to an embodiment of the present disclosure may include: a first laser generator 110 for cutting an electrode film 30; a sensor unit 300 for sensing whether welding residue is generated on the electrode film 30; a second laser generator 120 for removing welding residue; and a control unit 400 for controlling the second laser generator 120 based on the sensing result of the sensor unit 300.

[0038] Here, the first laser generator 110 can be positioned closer to the supply unit 10 than the second laser generator 120, and the sensor unit 300 can be positioned between the first laser generator 110 and the second laser generator 120.

[0039] The first laser generator 110 can cut the electrode film 30 to form a notching.

[0040] Reference Figure 1 The first laser generator 110 can be disposed between the supply section 10 and the recovery section 20 of the electrode film 30, which is transferred in a roll-to-roll manner. The first laser generator 110 can be a laser that irradiates the electrode film 30 with a laser beam to cut the electrode film 30. Furthermore, the beam quality, output, and pulse conditions of the first laser generator 110 can be optimized according to the material (e.g., Al, Cu) and thickness of the electrode film 30.

[0041] However, during the process of cutting the electrode film 30, the laser energy of the first laser generator 110 can melt the active material 32 and foil 31 of the electrode film 30, and when the melt is re-solidified, weld residues (e.g., slag, burrs) may be generated.

[0042] The sensor unit 300 can sense whether weld residue is generated on the cut surface of the electrode film 30.

[0043] Figure 4 This is a diagram illustrating, by way of example, a sensor section 300 of one embodiment of the present disclosure. Figure 5 This is a diagram illustrating the configuration of the sensor section of one embodiment of the present disclosure.

[0044] Reference Figure 4 and Figure 5 The sensor unit 300 may include a first sensor 310 and a second sensor 320 for sensing weld residue. The first sensor 310 may be disposed on the upper part of the electrode film 30 to sense weld residue, and the second sensor 320 may be disposed on the side of the electrode film 30 to sense weld residue.

[0045] Reference Figure 4 The sensor unit 300 can be a camera equipped with a lens.

[0046] The sensor unit 300 may include a first sensor 310 for inspecting the upper surface of the electrode film 30 and a second sensor 320 for inspecting the side surface of the electrode film 30, thereby sensing weld residue from multiple directions.

[0047] The first sensor 310 can be disposed on the upper side of the electrode film 30 to sense whether weld residue is generated on the cut surface in a direction perpendicular to the upper surface of the electrode film 30.

[0048] The first sensor 310 can be equipped with a common macro lens to ensure a wide field of view. This allows for rapid and efficient inspection of the upper surface of the electrode film 30.

[0049] In addition, the second sensor 320 can sense whether weld residue is generated on the cut surface in the direction perpendicular to the transfer direction of the electrode film 30, i.e., in the lateral direction of the electrode film 30.

[0050] The second sensor 320 can use a high-resolution macro lens to sense the side of the relatively narrow electrode film 30.

[0051] The sensor unit 300 may further include a light-emitting unit 301 for irradiating light onto the cut surface of the electrode film 30.

[0052] The light-emitting part 301 can be an LED (light-emitting diode) for illumination. By illuminating the electrode film 30, which is the object being inspected, the light-emitting part 301 helps the sensor part 300 to more accurately sense weld residue.

[0053] In particular, the light-emitting part 301 can be configured to illuminate light in the same direction as the sensing direction of the sensor part 300, so that the sensor part 300 can more effectively sense weld residue.

[0054] According to one embodiment of the present disclosure, the sensor unit 300 may further include a third sensor 330, which can sense weld residue in a direction different from the sensing direction of the first sensor 310 and the sensing direction of the second sensor 320.

[0055] The sensing direction of the third sensor 330 can form a predetermined angle with the sensing direction of the first sensor 310, that is, the line perpendicular to the upper surface of the electrode film 30.

[0056] Furthermore, the sensing direction of the third sensor 330 can form an angle with the sensing direction of the second sensor 320, that is, the lateral direction perpendicular to the transfer direction of the electrode film.

[0057] Figure 5 (a) is observed from the upper surface (x-axis direction) of the electrode film 30. Figure 4 A schematic diagram, Figure 5 (b) is an observation from the side (y-axis direction) of the electrode film 30. Figure 4 A schematic diagram.

[0058] Reference Figure 5 (a) The third sensor 330 can be configured to form a predetermined angle with the monitoring direction of the second sensor 320 and monitor the electrode film 30. Furthermore, referring to... Figure 5 (b) The third sensor 330 can be configured to form a predetermined angle with the monitoring direction of the first sensor 310 and monitor the electrode film 30.

[0059] Here, although Figure 5 (b) shows that the third sensor 330 is disposed on the upper side of the electrode film 30, but it is not limited thereto; the third sensor 330 may also be disposed on the lower side of the electrode film 30.

[0060] That is, the third sensor 330 can form a predetermined angle with the plane (xy plane) where the first sensor 310 and the second sensor 320 are set and monitor the electrode film 30.

[0061] Here, the angle formed by the sensing direction of the third sensor 330 and the sensing direction of the first sensor 310 or the sensing direction of the second sensor 320 can be more than 30° and less than 60°. Preferably, the angle formed by the sensing direction of the third sensor 330 and the sensing direction of the first sensor 310 or the sensing direction of the second sensor 320 can be about 45°.

[0062] The third sensor 330 can be configured to form a predetermined angle with the first sensor 310 and the second sensor 320, thereby enabling the use of triangulation to sense the protrusion height and tilt of the weld residue, and to sense the weld residue of the moving electrode film 30 without blind spots.

[0063] On the other hand, the sensor unit 300 can be a laser displacement sensor or a 3D scanner. A laser displacement sensor uses a laser to measure the distance to the object, thereby sensing changes in the height of the cut surface or protruding weld residue. Furthermore, a 3D scanner can accurately determine the presence and size of weld residue by reconstructing the overall three-dimensional shape of the cut surface.

[0064] Refer again Figure 1 and Figure 2According to one embodiment of the present disclosure, the grooving device 100 may further include a laser driving unit 200 that can adjust the laser emission position and emission angle of the second laser generator 120.

[0065] The control unit 400 can control the laser drive unit 200 based on the sensing results of the sensor unit 300, thereby adjusting the emission position and emission angle of the second laser generator 120 to remove welding residue.

[0066] For example, the laser drive unit 200 can be configured as a robotic arm or a mechanical actuator, which can change the angle of the second laser generator 120 according to the command of the control unit 400, which will be described later. That is, the laser drive unit 200 can be a robotic arm with multiple joints, or a ball screw or piezoelectric actuator connected by tilting and rotating parts.

[0067] The laser drive unit 200 can change the position and angle of the second laser generator 120. The laser drive unit 200 can irradiate the second laser generator 120 in a vertical direction to remove residues on the upper surface, or in a horizontal or inclined direction to remove residues on the side.

[0068] The control unit 400 can be implemented by a non-volatile memory (not shown) and a processor (not shown). The non-volatile memory is configured to store data related to software instructions for an algorithm or reproduction algorithm used to control the operation of various components of the first laser generator 110, the second laser generator 120, and the laser drive unit 200. The processor is configured to use the data stored in the memory to perform operations that will be described below.

[0069] Here, the memory and processor can be implemented using separate chips. Alternatively, the memory and processor can be implemented using a single chip integrated with each other. The processor can take the form of more than one processor.

[0070] The control unit 400 can control the second laser generator 120 based on the sensing results of the sensor unit 300. The control unit 400 can analyze the data transmitted in real time from the sensor unit 300 and confirm the location and amount of weld residue generated.

[0071] The control unit 400 can control the laser drive unit 200 based on the sensing results of the sensor unit 300, and move the second laser generator 120 to a position suitable for removing welding residue by controlling the laser drive unit 200.

[0072] In addition, the control unit 400 can variably control the power, position, and angle of the second laser generator 120 to determine the optimal conditions for removing weld residue.

[0073] Reference Figure 3 (a) The electrode film 30 may include a foil 31 of a metal material such as aluminum and an electrode active material 32 disposed on at least one of the two sides of the foil 31.

[0074] Reference Figure 3 (b) The electrode film 30 can be slotted using the first laser generator 110. During this process, the electrode film 30 may be melted by the energy of the first laser generator 110, resulting in weld residue.

[0075] Here, weld residue can be formed by molten material flowing out and solidifying around the cut surface, or by solidifying and adhering to the bottom under gravity. Weld residue generated on the electrode film 30 may lead to product defects in subsequent processes.

[0076] Reference Figure 3 (c) According to one embodiment of the present disclosure, the grooving apparatus 100 can continuously sense whether weld residue is generated by the first laser generator 110 through the sensor unit 300. Furthermore, when weld residue is sensed by the sensor unit 300, the control unit 400 can remove the weld residue using the second laser generator 120.

[0077] Here, the second laser generator 120 can be used to remove weld residue by means of remelting, cutting and evaporation.

[0078] The remelting method involves irradiating the weld residue with low energy by the second laser generator 120 to remelt the residue, causing the molten material to re-adhere evenly onto the surrounding electrode film 30. That is, the control unit 400 can precisely control the second laser generator 120 to selectively melt the weld residue and then re-solidify it, thereby removing unnecessary protruding weld residue.

[0079] Furthermore, cutting and evaporation can be achieved by irradiating the weld residue with high energy through the second laser generator 120 to evaporate or cut the residue, thereby removing the cutting residue. The control unit 400 can use the second laser generator 120 to instantly heat the residue to vaporize it, thereby enabling the removal of weld residue without the need for a physical removal process, which is particularly effective when the amount of weld residue is large.

[0080] On the other hand, the control unit 400 can adopt any one or a combination of remelting, cutting and evaporation methods.

[0081] Figure 6 This is a flowchart of a slotting method according to an embodiment of the present disclosure.

[0082] Reference Figure 6A grooving method according to an embodiment of the present disclosure may include: step S600 of cutting electrode film 30 with a first laser generator 110; step S700 of sensing whether weld residue is generated; and step S800 of removing weld residue with a second laser generator 120.

[0083] Step S600, which involves cutting the electrode film 30 with the first laser generator 110, may be a step of cutting a portion of the electrode film 30 being transferred by the first laser generator 110 to perform grooving.

[0084] During the process of cutting a portion of the electrode film 30 with the first laser generator 110, the active material 32 and foil 31 of the electrode film 30 may be melted by the energy of the first laser generator 110, and weld residue may be generated when the melt re-solidifies.

[0085] Here, weld residue can reduce the precision of the electrode and may cause defects in subsequent processes.

[0086] Step S700, which involves sensing whether weld residue has been generated, can be a step where the sensor unit 300 senses whether weld residue has been generated. In particular, in step S700, the height and protruding shape of the weld residue can be sensed.

[0087] According to one embodiment of the present disclosure, the sensor unit 300 may be disposed at the rear end of the first laser generator 110 with reference to the transfer direction of the electrode film 30, and may include multiple sensors disposed at different positions to each other.

[0088] For example, the sensor unit 300 may include a first sensor 310, a second sensor 320, and a third sensor 330 disposed at different positions from each other, and the first sensor 310, the second sensor 320, and the third sensor 330 may each include a camera with a lens.

[0089] More specifically, the first sensor 310 can sense whether weld residue has been generated from the top of the electrode film 30, and the second sensor 320 can sense whether weld residue has been generated from the side of the electrode film 30. The second sensor 320 can use a high-resolution lens to accurately sense the side of the electrode film 30. In addition, the third sensor 330 can sense weld residue from a different angle than the first sensor 310 and the second sensor 320, thereby sensing weld residue without blind spots, and using triangulation to confirm the height and protruding shape of the weld residue.

[0090] Furthermore, the sensor unit 300 may further include a light-emitting unit 301 for illuminating light onto the sensing area.

[0091] The light-emitting part 301 can be an LED light source, which can help the sensor part 300 to more accurately sense weld residues by illuminating the electrode film 30, which is the object of inspection.

[0092] Step S800, which involves using the second laser generator 120 to remove weld residue, can be a step in which the control unit 400 controls the laser drive unit 200 based on the result sensed in step S700, which senses whether weld residue has been generated, thereby adjusting the power, position, and angle of the second laser generator 120 to remove the weld residue.

[0093] Furthermore, in step S800, which involves removing the weld residue using a second laser generator, the method for removing the weld residue can be determined based on the height and protruding shape of the weld residue.

[0094] In step S800, when the second laser generator 120 is used to remove weld residue, the control unit 400 can control the laser drive unit 200 based on the result sensed in step S700, which senses whether weld residue has been generated, thereby adjusting the position and angle of the second laser generator 120 so as to remove the weld residue and remove the weld residue in a determined manner.

[0095] Here, the second laser generator 120 can be used to remove weld residue by means of remelting, cutting and evaporation.

[0096] The remelting method involves the second laser generator 120 irradiating the weld residue with low energy to remelt the residue, so that the molten material is uniformly reattached to the electrode film 30.

[0097] That is, by using remelting, the second laser generator 120 is precisely controlled by the control unit 400 to selectively melt the weld residue and then resolidify it, thereby removing unnecessary protruding weld residue.

[0098] Furthermore, the cutting and evaporation methods involve the second laser generator 120 irradiating the weld residue with high energy to evaporate or cut the residue, thereby removing it. The control unit 400 can use the second laser generator 120 to instantly heat the residue to vaporize it, thus enabling the removal of weld residue without a physical removal process, which is particularly effective when the amount of weld residue is large.

[0099] On the other hand, in step S800 of removing weld residue with the second laser generator 120, any one or a combination of methods, such as remelting, cutting and evaporation, can be used based on the result sensed in step S700 of sensing whether weld residue has been generated.

[0100] For example, in step S700, when sensing whether weld residue has been generated, if a low level or a small amount of weld residue is detected, the weld residue can be removed by remelting.

[0101] Furthermore, in step S700, when sensing whether weld residue has been generated, if a high level or a large amount of weld residue is detected, the weld residue can be removed by cutting and evaporation.

[0102] In step S800, which uses the second laser generator 120 to remove weld residue, the power of the second laser generator 120 can be controlled by the control unit 400 to remelt the weld residue, or to cut or evaporate the weld residue to remove it, thereby improving the grooving quality of the electrode film.

[0103] The method according to the present invention can be implemented as program instructions executable by various computer devices and can be recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., individually or in combination. The program instructions recorded in the computer-readable medium may be specifically designed and configured for the present invention or may be known to those skilled in the art of computer software.

[0104] Examples of computer-readable media include hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include not only machine language code generated by a compiler, but also high-level language code that can be executed on a computer using an interpreter. The hardware device can be configured to function as at least one software module to perform the operations of the present invention, and vice versa.

[0105] The embodiments of this disclosure have been described in detail above, but the scope of this disclosure is not limited thereto. Various modifications and variations can be made without departing from the technical concept of this disclosure as set forth in the claims, which will be obvious to those skilled in the art.

Claims

1. A grooving device, comprising: The first laser generator is used to cut a portion of the electrode film; The sensor unit is used to sense whether weld residue is generated on the electrode film; A second laser generator is used to remove the weld residue; as well as The control unit controls the second laser generator based on the sensing results from the sensor unit.

2. The grooving device according to claim 1, further comprising: A laser driving unit is used to adjust the laser emission position and emission angle of the second laser generator.

3. The grooving device according to claim 2, wherein, The control unit controls the laser drive unit based on the sensing results of the sensor unit, thereby adjusting the emission position and emission angle of the second laser generator to remove the weld residue.

4. The grooving device according to claim 1, wherein, The sensor unit includes a first sensor and a second sensor for sensing the weld residue. The first sensor is disposed on the upper part of the electrode film to sense the weld residue, and the second sensor is disposed on the side perpendicular to the transfer direction of the electrode film to sense the weld residue.

5. The grooving device according to claim 4, wherein, The sensor unit further includes a third sensor. The third sensor senses the weld residue in a direction different from the sensing direction of the first sensor and the sensing direction of the second sensor.

6. The grooving device according to claim 5, wherein, The angle formed by the sensing direction of the third sensor and the sensing direction of the first sensor or the sensing direction of the second sensor is greater than 30° and less than 60°.

7. The grooving device according to any one of claims 1 to 6, wherein, The sensor unit further includes a light-emitting unit for irradiating light onto the cut surface of the electrode film.

8. The grooving device according to any one of claims 1 to 6, comprising: The supply department supplies the electrode film; as well as The recycling section recovers the electrode film partially cut from the first laser generator.

9. The grooving device according to claim 8, wherein, The first laser generator is positioned closer to the supply unit than the second laser generator. The sensor unit is disposed between the first laser generator and the second laser generator.

10. A grooving method, comprising the following steps: The electrode film is cut using a first laser generator; Detect whether weld residue has been generated; as well as The weld residue is removed using a second laser generator.

11. The grooving method according to claim 10, wherein, In the step of sensing whether weld residue is generated, the height and protruding shape of the weld residue are sensed.

12. The grooving method according to claim 11, wherein, In the step of removing the weld residue using a second laser generator, the method of removing the weld residue is determined based on the height and protruding shape of the weld residue.

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