Welding method and welding system for terminal posts

Abstract

The present disclosure provides a welding method and welding system for terminal posts, said welding system comprising a control apparatus, a manufacturing execution system, and a welding device. The control apparatus is used for, when a first target verification result represents that verification is successful and a downward pressing result of a pressing plate mechanism in the welding device represents that downward pressing is completed, sending to the welding device target welding coordinates of each terminal post. The downward pressing result of the pressing plate mechanism is determined on the basis of height feature information of the pressing plate mechanism and height feature information of bus assemblies corresponding to a plurality of terminal posts, and the target welding coordinates of a terminal post are determined on the basis of first terminal post coordinates of said terminal post in a welding station coordinate system and the height feature information of the bus assembly corresponding to said terminal post. The welding device is used for, on the basis of the target welding coordinates of each terminal post, welding each terminal post and the corresponding bus assembly.

Description

Pole welding method and welding system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The present disclosure is based on the Chinese patent application with application number 202410143662.8, application date February 1, 2024, and invention name “Welding method and welding system for pole”, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into the present disclosure as a reference. Technical Field

[0003] The present disclosure relates to, but is not limited to, the field of battery production technology, and in particular to a welding method and a welding system for a pole. Background Art

[0004] In the related art, multiple battery cells are usually assembled together and connected between the bus assembly and the positive and negative poles of the battery cells through welding. However, during the welding process, there are welding quality problems such as cold welding and welding deviation.

[0005] Summary of the Invention

[0006] Embodiments of the present disclosure provide a pole welding method and a welding system.

[0007] The technical solution of the embodiment of the present disclosure is implemented as follows:

[0008] An embodiment of the present disclosure provides a pole welding system, the welding system comprising a control device, a manufacturing execution system, and welding equipment, wherein:

[0009] The control device is used to send identification information corresponding to the battery to be welded to the manufacturing execution system; wherein the battery to be welded includes a plurality of poles;

[0010] The manufacturing execution system is configured to determine a first target verification result of the battery to be welded based on identification information corresponding to the battery to be welded, and transmit the verification information to the control device; wherein the verification information includes one of the following: a first target verification result indicating a verification failure, a first target verification result indicating a verification success, and associated information of the battery to be welded, wherein the associated information of the battery to be welded is determined based on a blueprint corresponding to the battery to be welded;

[0011] The control device is further configured to send the target welding coordinates of each pole to the welding device when the first target verification result indicates successful verification and the pressing result of the pressing mechanism in the welding device indicates completion of pressing; wherein the pressing result of the pressing mechanism is determined based on height characteristic information of the pressing mechanism and height characteristic information of busbar assemblies corresponding to the plurality of poles, the target welding coordinates of the pole are determined based on the first pole coordinates of the pole in the welding station coordinate system and the height characteristic information of the busbar assemblies corresponding to the poles, and the first pole coordinates of the pole in the welding station coordinate system are determined based on associated information of the batteries to be welded;

[0012] The welding equipment is used to respectively weld each of the poles to the corresponding busbar assembly based on the target welding coordinates of each pole.

[0013] In the embodiment of the present disclosure, firstly, the battery to be welded is verified (for example, type, site, etc.) by the manufacturing execution system to improve the accuracy of the verification result. When the verification is successful, the subsequent production process is carried out accurately and efficiently according to the associated information of the battery to be welded (for example, size, number and position of marking points, etc.), thereby improving the production efficiency of the battery. Secondly, the pressing result of the pressing plate mechanism is comprehensively determined according to the height characteristic information of the pressing plate mechanism of the welding equipment and the height characteristic information of each busbar assembly, thereby improving the accuracy of the pressing result and improving the welding efficiency. Secondly, the busbar assembly and the pole are welded only when the pressing result of the pressure plate mechanism indicates that the pressing is completed, which reduces the possibility of cold welding and leaking welding caused by the pressure plate mechanism being biased or not pressing down. Finally, the target welding coordinates of each pole are determined according to the height characteristic information of each busbar assembly and the pole coordinates of each pole, which improves the accuracy of the welding coordinates, thereby reducing the possibility of cold welding and leaking welding caused by the tolerance of the pole in various directions, thereby improving the welding quality and the yield of the battery, and meeting the production needs of high timeliness and high efficiency.

[0014] In some embodiments, the welding equipment further includes a welding moving mechanism and a detection mechanism, wherein: the pressing plate mechanism is used to press against the bus assemblies corresponding to the multiple poles so that at least one bus assembly is respectively fitted with the corresponding pole; the detection mechanism is used to collect height characteristic information of the pressing plate mechanism and height characteristic information of the at least one bus assembly; the welding moving mechanism is used to weld each pole and the corresponding bus assembly based on the target welding coordinates of each pole when the pressing result of the pressing plate mechanism indicates that the pressing is completed.

[0015] In the embodiment disclosed herein, on the one hand, after the pressure plate mechanism presses against each bus assembly, the detection mechanism collects height characteristic information of the pressure plate mechanism and the height characteristic information of each bus assembly, thereby improving the accuracy and effectiveness of various height characteristic information; on the other hand, when the downward pressure result of the pressure plate mechanism indicates that the downward pressure is completed, the welding movement mechanism welds the bus assembly and the pole again, thereby reducing the possibility of cold welding and welding leakage caused by the pressure plate mechanism being biased or not fully pressed, thereby improving the welding quality and the yield of the battery, and being able to meet the production requirements of high timeliness and high efficiency.

[0016] In some embodiments, the pressure plate mechanism includes at least one pressure nozzle assembly, the number of the pressure nozzle assemblies is adapted to the number of the poles, the pressure nozzle assembly includes a pressure plate, a pressure nozzle and a buffer, the pressure nozzle is used to press on the corresponding convergence assembly, the height characteristic information of the pressure plate mechanism includes the height characteristic information of each of the pressure plates and the height characteristic information of each of the pressure nozzles, the pressure plate is provided with a first through hole, the first through hole is used to collect the height characteristic information of the pressure plate and the height characteristic information of the pressure nozzle when the detection mechanism enters the first through hole; the pressure nozzle is provided with a second through hole connected to the corresponding first through hole, the second through hole is used to collect the height characteristic information of the corresponding convergence assembly when the detection mechanism enters the first through hole; the buffer is provided between the pressure nozzle and the pressure plate, and can be extended and retracted along the pressing direction of the pressure nozzle.

[0017] In the embodiment disclosed herein, on the one hand, the buffer member allows the pressure nozzle to expand and contract along the pressing direction, which can better adapt to the changes in the position to be welded on the battery along the pressing direction, thereby facilitating the purpose of fitting the pole and the bus assembly under the force of the pressure nozzle, thereby improving the welding quality; on the other hand, the design of each through hole not only provides a channel for the operation of the detection mechanism and the welding movement mechanism, but also reduces the possibility of high-temperature foreign matter splashed during welding adhering to the galvanometer, thereby protecting the galvanometer and extending the service life of the galvanometer.

[0018] In some embodiments, the detection mechanism includes a profilometer and a light source, wherein: the light source is used to provide light during the scanning process of the profilometer; the profilometer is used to collect height characteristic information of the pressure plate mechanism and the height characteristic information of the at least one confluence component by emitting laser.

[0019] In the embodiment of the present disclosure, on the one hand, the light source provides light for the profilometer to scan so as to improve the clarity of the scanning results; on the other hand, the height characteristic information of the pressure plate mechanism and each convergence component is collected by the profilometer. Compared with scanning point by point using a rangefinder, it not only improves the scanning efficiency, but also can more comprehensively and accurately reflect the contour of the object to be scanned, and can meet the requirements of high-precision and high-speed scanning, thereby improving the accuracy of the welding coordinates.

[0020] In some embodiments, the welding equipment further includes at least one of the following: a conveying mechanism for conveying the battery to be welded to the welding area; a first positioning mechanism for fixing the battery to be welded in the welding area; a second positioning mechanism for fixing at least one bus assembly on the corresponding pole; a visual acquisition mechanism for acquiring an image of the marking point corresponding to the battery to be welded, and the image is used to determine the first pole coordinate of each pole in the welding station coordinate system.

[0021] In the embodiment of the present disclosure, first, the battery to be welded is fixed to the area to be welded by the first positioning mechanism, which meets the fixing requirements of different types of batteries and reduces the possibility of battery movement during welding, thereby facilitating improved welding stability and flexible welding operations; secondly, the bus assembly is fixed to the pole by the second positioning mechanism, which reduces the possibility of cold welding, welding deviation, etc. caused by the movement of the bus assembly during welding; thirdly, the visual acquisition mechanism only captures the image of the marking point to accurately determine the pole coordinates of each pole in the welding station coordinate system, without the need to take images of each pole one by one to determine the pole coordinates of each pole in the welding station coordinate system, thereby ensuring the accuracy of the pole coordinates and improving the determination efficiency; finally, through the cooperation between the conveying mechanism, each positioning mechanism, the pressure plate mechanism and the welding moving mechanism, the battery can be smoothly welded, thereby improving the welding quality and the welding efficiency.

[0022] An embodiment of the present disclosure provides a pole welding method, which is applied to a control device. The welding method includes:

[0023] The control detection mechanism collects height characteristic information of the pressing plate mechanism and height characteristic information of at least one busbar assembly; wherein each of the busbar assemblies is respectively fixed to a pair of poles of the battery to be welded;

[0024] Determining a pressing result of the pressing plate mechanism based on the height characteristic information of the pressing plate mechanism and the height characteristic information of the at least one confluence component;

[0025] When the pressing result of the pressing plate mechanism indicates that the pressing is completed, for each pole, determining a target welding coordinate of the pole based on a first pole coordinate of the pole in the welding station coordinate system and height characteristic information of a busbar assembly corresponding to the pole;

[0026] The target welding coordinates of each pole are sent to the welding moving mechanism, so that the welding moving mechanism welds each pole and the corresponding bus assembly respectively based on the target welding coordinates of each pole.

[0027] In the embodiment disclosed herein, first, the pressing result of the pressing plate mechanism is comprehensively determined based on the height characteristic information of the pressing plate mechanism and the height characteristic information of each bus assembly, thereby improving the accuracy of the pressing result and thus improving the accuracy of welding; secondly, the bus assembly and the pole are welded when the pressing result of the pressing plate mechanism indicates that the pressing is completed, thereby reducing the possibility of cold welding, leaking welding, etc. caused by the pressure deviation of the pressing plate mechanism, failure to complete the pressing, etc.; finally, the target welding coordinates of each pole are determined separately based on the height characteristic information of each bus assembly and the pole coordinates of each pole, thereby improving the accuracy of the welding coordinates, thereby reducing the possibility of cold welding, leaking welding, etc. caused by the tolerance of the pole in various directions, thereby improving the welding quality and the yield of the battery, and being able to meet the production needs of high timeliness and high efficiency.

[0028] In some embodiments, the pressure plate mechanism includes at least one pressure nozzle assembly, the number of the pressure nozzle assemblies is adapted to the number of the poles, the pressure nozzle assembly includes a pressure plate, a pressure nozzle and a buffer, and the height characteristic information of the pressure plate mechanism includes the height characteristic information of each pressure plate and the height characteristic information of each pressure nozzle; the determination of the downward pressing result of the pressure plate mechanism based on the height characteristic information of the pressure plate mechanism and the height characteristic information of the at least one bus assembly includes: for each pole, based on the height characteristic information of the bus assembly corresponding to the pole, the height characteristic information of the pressure nozzle corresponding to the pole and the height characteristic information of the pressure plate corresponding to the pole, determining the downward pressing result of the pressure nozzle corresponding to the pole; determining the downward pressing result of the pressure plate mechanism based on the downward pressing result of the pressure nozzle corresponding to each pole.

[0029] In the embodiment disclosed herein, firstly, the pressure nozzle is extended and retracted along the pressing direction by the buffer part, which can better adapt to the change of the position to be welded on the battery along the pressing direction, thereby facilitating the purpose of fitting the pole and the bus assembly under the action of the pressure nozzle, thereby improving the welding quality; secondly, the design of each through hole not only provides a channel for the operation of the detection mechanism and the welding moving mechanism, but also reduces the possibility of high-temperature foreign matter splashed during welding adhering to the galvanometer, thereby protecting the galvanometer and extending the service life of the galvanometer; thirdly, the height characteristic information of the pressure plate, pressure nozzle and bus assembly is obtained at the same time by the detection mechanism, compared with scanning point by point with a rangefinder, not only the scanning efficiency is improved, but also a variety of height characteristic information can be obtained more comprehensively and accurately; finally, the pressing result of the pressure plate mechanism is determined based on the height characteristic information of the bus assembly, pressure nozzle and pressure plate, thereby improving the accuracy of the pressing result.

[0030] In some embodiments, the pressing result of the pressing plate mechanism is determined based on the pressing result of the pressing nozzle corresponding to each of the poles, including: when the pressing result of the pressing nozzle corresponding to each of the poles indicates that the pressing is completed, the first pressing result indicating that the pressing is completed is used as the pressing result of the pressing plate mechanism; when the pressing result of the pressing nozzle corresponding to at least one pole indicates that the pressing is not completed, the second pressing result indicating that the pressing is not completed is used as the pressing result of the pressing plate mechanism.

[0031] In the embodiment of the present disclosure, the pressing result of the pressure plate mechanism is comprehensively determined by the pressing result of the pressure nozzle corresponding to each pole, which not only improves the accuracy of the pressing result of the pressure plate mechanism, but also ensures that each pressure nozzle accurately presses against the corresponding bus assembly, so that the bus assembly can better fit on the corresponding pole.

[0032] In some embodiments, the target welding coordinates of the pole are determined based on the first pole coordinates of the pole in the welding station coordinate system and the height characteristic information of the bus assembly corresponding to the pole, including: determining the pole offset coordinates based on the first pole coordinates of the pole in the welding station coordinate system and the preset first standard pole coordinates; determining the height offset information based on the height characteristic information of the bus assembly corresponding to the pole and the preset standard pole height; and determining the target welding coordinates of the pole based on the pole offset coordinates and the height offset information.

[0033] In the embodiment of the present disclosure, targeted compensation is performed based on the deviation information of each pole in various directions. Compared with using the same compensation value for each pole in a certain direction (for example, height), the accuracy of the welding coordinates is improved, thereby improving the welding quality and welding yield.

[0034] In some embodiments, the control detection mechanism collects height characteristic information of the pressure plate mechanism and height characteristic information of at least one bus assembly, including: determining the second target verification result of the battery to be welded based on the first pole coordinate of each pole in the welding station coordinate system; when the second target verification result of the battery to be welded indicates that the verification is successful, controlling the detection mechanism to collect the height characteristic information of the pressure plate mechanism and height characteristic information of at least one bus assembly.

[0035] In the embodiment of the present disclosure, on the one hand, the second target verification result is determined based on the pole coordinates of each pole in the welding station coordinate system, thereby improving the accuracy of the second target verification result; on the other hand, when the second target verification result indicates that the verification is successful, the detection mechanism is controlled to collect each height feature information to reduce the possibility of cold welding, welding deviation, etc. caused by defects in the pole itself.

[0036] In some embodiments, the second target verification result of the battery to be welded is determined based on the first pole coordinate of each pole in the welding station coordinate system, including: for each pole, based on the second pole coordinate of the pole in the pre-welding addressing station coordinate system and the mapping relationship, determining the first pole coordinate of the pole in the welding station coordinate system, and determining the verification result of the pole based on the first pole coordinate and the preset second standard pole coordinate; wherein the mapping relationship is determined based on the first mark coordinate of the mark point corresponding to the battery to be welded in the welding station coordinate system and the second mark coordinate of the mark point in the pre-welding addressing station coordinate system; based on the verification result of each pole, the second target verification result of the battery to be welded is determined.

[0037] In the embodiment of the present disclosure, first, with the coordinates of the marking points of the battery to be welded in the pre-welding addressing station coordinate system and the welding station coordinate system as a reference, the mapping relationship of the coordinates between the pre-welding addressing station coordinate system and the welding station coordinate system can be quickly and accurately determined. Based on this mapping relationship, the coordinates of the poles of the battery to be welded in the pre-welding addressing station coordinate system can be quickly and accurately converted into the coordinates of the poles in the welding station coordinate system. There is no need to determine the coordinates of each pole in the welding station coordinate system by taking images of the poles one by one, thereby improving the accuracy and efficiency of determining the coordinates of the poles in the welding station coordinate system; secondly, based on the coordinates of the poles in the welding station coordinate system and the standard pole coordinates, the verification result of the pole is determined, thereby improving the accuracy of the verification result of the pole, and reducing the possibility of cold welding, welding deviation, etc. caused by defects in the poles themselves; finally, based on the verification result of each pole, the second target verification result of the battery to be welded is determined, thereby improving the accuracy and comprehensiveness of the second target verification result.

[0038] In some embodiments, the determining of the first pole coordinates of the pole in the welding station coordinate system based on the second pole coordinates of the pole in the pre-welding addressing station coordinate system and the mapping relationship includes: determining the first marking coordinates of the marking point in the welding station coordinate system based on the image of the marking point corresponding to the battery to be welded acquired by the visual acquisition mechanism; determining the mapping relationship based on the first marking coordinates of the marking point in the welding station coordinate system and the second marking coordinates of the marking point in the pre-welding addressing station coordinate system; and using the mapping relationship to convert the second pole coordinates of the pole in the pre-welding addressing station coordinate system to obtain the first pole coordinates of the pole in the welding station coordinate system.

[0039] In the embodiment of the present disclosure, on the one hand, the coordinates of the marking points of the battery to be welded in the pre-welding addressing station coordinate system and the welding station coordinate system are used as references, so that the mapping relationship of the coordinates between the pre-welding addressing station coordinate system and the welding station coordinate system can be determined quickly and accurately; on the other hand, the visual acquisition mechanism only collects the image and mapping relationship of the marking points to accurately determine the pole coordinates of each pole in the welding station coordinate system, without having to take the image of each pole one by one to determine the pole coordinates of each pole in the welding station coordinate system, thereby ensuring the accuracy of the pole coordinates while improving the determination efficiency.

[0040] In some embodiments, determining the second target verification result of the battery to be welded based on the verification result of each of the poles includes: when the verification result of at least one pole indicates a verification failure, using the first verification result indicating a verification failure as the second target verification result of the battery to be welded; when the verification result of each of the poles indicates a verification success, determining the second target verification result of the battery to be welded based on the first pole coordinate of each pole in the welding station coordinate system and the calibration straight line corresponding to the pressure plate mechanism.

[0041] In the embodiment of the present disclosure, when the verification results of each pole are successful, the second target verification result of the battery to be welded is determined based on the pole coordinates of each pole in the welding station coordinate system and the calibration straight line, thereby improving the accuracy of the second target verification result, thereby ensuring the orderly progress of subsequent collection operations and welding operations.

[0042] In some embodiments, determining the second target verification result of the battery to be welded based on the first pole coordinates of each pole in the welding station coordinate system and the calibration straight line corresponding to the pressure plate mechanism includes: generating a fitting straight line based on the first pole coordinates of each pole in the welding station coordinate system; determining a deviation angle based on the fitting straight line and the calibration straight line; and determining the second target verification result of the battery to be welded based on the deviation angle.

[0043] In the embodiment of the present disclosure, on the one hand, the deviation angle is determined based on the pole coordinates of each pole in the welding station coordinate system and the calibration straight line, thereby improving the accuracy of the deviation angle; on the other hand, the second target verification result of the battery to be welded is determined based on the deviation angle, thereby improving the accuracy of the second target verification result.

[0044] In some embodiments, determining the second target verification result of the battery to be welded based on the deviation angle includes: when the deviation angle is within a preset angle deviation range, using the second verification result representing a successful verification as the second target verification result of the battery to be welded; when the deviation angle is not within the angle deviation range, determining the second target verification result of the battery to be welded based on the next first pole coordinate of each pole in the welding station coordinate system.

[0045] In the embodiment of the present disclosure, the second target verification result of the battery to be welded is determined based on the deviation angle and the angle deviation range, thereby improving the accuracy of the second target verification result to ensure that subsequent operations are performed when the deviation angle is within the angle deviation range, thereby improving the efficiency and accuracy of the operation.

[0046] In some embodiments, when the deviation angle is within the angle deviation range, the welding method further includes: determining a correction position based on the fitting straight line and the calibration straight line; and controlling the pressure plate mechanism to move to the correction position.

[0047] In the embodiment of the present disclosure, on the one hand, the correction position is determined based on the fitting straight line and the calibration straight line, thereby improving the accuracy of the correction position; on the other hand, the pressure plate mechanism is corrected according to the verification position, thereby reducing the possibility of welding leaks, cold welding, etc. caused by the deviation of the pressure plate mechanism.

[0048] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and, together with the specification, are used to explain the technical solutions of the present disclosure.

[0050] FIG1 is a schematic diagram of a first implementation flow of a pole welding method provided by an embodiment of the present disclosure;

[0051] FIG2 is a schematic diagram of the structure of a pole welding system provided by an embodiment of the present disclosure;

[0052] FIG3 is a schematic diagram of a battery to be welded according to an embodiment of the present disclosure;

[0053] FIG4 is a schematic diagram of the structure of a nozzle assembly provided by an embodiment of the present disclosure;

[0054] FIG5 is a first schematic diagram of the structure of a pole welding device provided by an embodiment of the present disclosure;

[0055] FIG6 is a schematic diagram of the structure of a welding movement mechanism provided in an embodiment of the present disclosure;

[0056] FIG7 is a second schematic diagram of the structure of a pole welding device provided by an embodiment of the present disclosure;

[0057] FIG8 is a third schematic diagram of the structure of a pole welding device provided by an embodiment of the present disclosure;

[0058] FIG9 is a second schematic diagram of the implementation process of a pole welding method provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting the present disclosure. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0060] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0061] In the following description, the terms "first\second\third" are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the art of the present disclosure. The terms used herein are only for the purpose of describing the embodiments of the present disclosure and are not intended to limit the present disclosure.

[0063] In related technologies, new energy batteries are increasingly being used in daily life and industry. New energy batteries are not only used in energy storage systems such as hydropower, thermal power, wind power, and solar power plants, but are also widely used in electric vehicles such as electric bicycles, electric motorcycles, and electric vehicles, as well as in aerospace and other fields. As the application areas of power batteries continue to expand, their market demand is also growing. Batteries can be single cells. A single cell is a basic unit that can convert chemical energy into electrical energy and can be used to make battery modules or battery packs to power electrical devices. A single cell can be a secondary battery, which refers to a cell that can be recharged to activate the active material after discharge and continue to be used. Cells can be lithium-ion batteries, sodium-ion batteries, sodium-lithium-ion batteries, lithium metal batteries, sodium metal batteries, lithium-sulfur batteries, magnesium-ion batteries, nickel-metal hydride batteries, nickel-cadmium batteries, lead-acid batteries, and others. A battery can also be a single physical module comprising one or more cells to provide higher voltage and capacity. When there are multiple cells, they are connected in series, parallel, or in parallel via a busbar. The electrode plate is the main component of a single battery and directly determines the electrochemical performance and safety of the battery.

[0064] Welding refers to the use of energy such as laser to fuse the busbar components (for example, busbars, also known as busbars) placed on the battery cells together with the battery cells to achieve series and parallel connection between the battery cells. Since different battery products require different numbers of rows and columns of battery cells, the spacing between each battery cell may also be different, and the spacing between cells in the same battery product may also be different, after multiple battery cells are grouped, each pole may have grouping tolerances in the XYZ directions. The larger the battery size, the greater the tolerance may be. In the process of non-contact welding using a galvanometer, fixed parameters are usually used for welding, which results in serious quality problems such as cold soldering and weld deviation when welding battery poles of different heights.

[0065] The disclosed embodiment provides a method for welding poles. First, the pressing result of the pressing plate mechanism is comprehensively determined according to the height characteristic information of the pressing plate mechanism and the height characteristic information of each bus assembly, thereby improving the accuracy of the pressing result and thus improving the precision of welding. Second, the bus assembly and the pole are welded when the pressing result of the pressing plate mechanism indicates that the pressing is completed, thereby reducing the possibility of cold welding and leaking welding caused by the pressure plate mechanism being biased or not fully pressed. Finally, the target welding coordinates of each pole are determined according to the height characteristic information of each bus assembly and the pole coordinates of each pole, thereby improving the accuracy of the welding coordinates and thus reducing the possibility of cold welding and leaking welding caused by the tolerance of the pole in various directions, thereby improving the welding quality and the yield of the battery and meeting the production requirements of high timeliness and high efficiency.

[0066] The method provided by the embodiments of the present disclosure can be performed by welding equipment, a control device, and the like. The welding equipment can be any suitable type of welding equipment and any suitable scenario. In some embodiments, the welding equipment can include the control device. The control device can include, but is not limited to, at least one of a programmable logic controller (PLC), a host computer, a mid-level computer, a single-chip microcomputer, and the like. During implementation, the control device can also include a processor and a memory storing processor-executable instructions. When the instructions are executed by the processor, the method provided by the embodiments of the present disclosure is implemented.

[0067] Below, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the drawings in the embodiments of the present disclosure.

[0068] FIG1 is a schematic diagram of a first implementation flow of a pole welding method provided by an embodiment of the present disclosure, which is applied to a control device. As shown in FIG1 , the welding method includes steps S11 to S14, wherein:

[0069] Step S11, controlling the detection mechanism to collect height characteristic information of the pressing plate mechanism and height characteristic information of at least one busbar assembly; wherein each of the busbar assemblies is respectively fixed on a pair of poles of the battery to be welded.

[0070] Here, the control device can be any suitable device, such as a host computer, a PLC, a host computer + a PLC, etc. In practice, the control device can be located in the welding equipment or can be independent of the welding equipment. The control device is in communication with the welding equipment.

[0071] The detection mechanism can be any suitable mechanism for achieving this function. For example, a profilometer can be used to scan the pressure plate mechanism and each busbar assembly to obtain corresponding height feature information. This height feature information indicates the distance between the corresponding components (including the pressure plate mechanism, busbar assembly, etc.) and the pole surface. The pole surface refers to the surface of the pole of the battery to be welded. In some embodiments, the control device sends an acquisition instruction to the detection mechanism, so that the detection mechanism acquires each height feature information based on the acquisition instruction. In this way, compared with real-time acquisition, the number of acquisition times is reduced and hardware consumption is reduced.

[0072] The pressure plate mechanism is used to press against each busbar assembly to force it to mate with the corresponding terminal. In practice, the pressure plate mechanism can be any suitable mechanism capable of achieving this function. For example, the pressure plate mechanism can include at least one nozzle assembly, the number of which matches the number of terminals in the battery to be welded. In practice, the number of nozzle assemblies can be the same as, less than, or more than the number of terminals to accommodate the welding requirements of different battery products. For example, if there are 20 terminals, the number of nozzle assemblies can be 4, 20, 40, etc. The nozzle assembly can include, but is not limited to, a pressure plate, a nozzle, and a buffer. The nozzle presses against the busbar assembly, with the buffer disposed between the nozzle and the pressure plate. A through-hole in the pressure plate communicates with a through-hole in the nozzle to provide a channel for the inspection mechanism and welding operations. In some embodiments, the pressure plates of the various nozzle assemblies are connected, that is, the same mounting plate is divided into multiple areas, and the mounting plate of each area serves as the pressure plate of the nozzle assembly. In some embodiments, the pressure plates of the various nozzle assemblies are independent of each other.

[0073] The height characteristic information of the pressing plate mechanism may be any appropriate information, for example, the height characteristic information of the pressing nozzle, the height characteristic information of the pressing plate, etc.

[0074] The height characteristic information of the nozzle may include, but is not limited to, at least one of the height of a set point in the nozzle and the average height of the nozzle's through-hole. The set point may be a point in the through-hole, such as the center point or the edge point of the through-hole. The height of a set point in the nozzle refers to the distance between the set point and the surface of the pole. The average height of the nozzle's through-hole refers to the average of the distances between each point in the nozzle's through-hole and the pole surface.

[0075] The platen's height characteristic information may include, but is not limited to, at least one of a set point on the platen and the average height of the platen's through-holes. The set point may be a point within the through-hole, such as the center or edge of the through-hole. The height of a set point on the platen refers to the distance between the set point and the surface of the pole. The average height of the platen's through-holes refers to the average of the distances between each point within the platen's through-holes and the pole surface.

[0076] The bus assembly is used to achieve electrical connection between battery cells, namely: series connection, parallel connection, mixed connection, etc. During implementation, each bus assembly can be fixed to the pole of the corresponding battery cell according to the connection method, and the two ends of the bus assembly are fixed on two different poles respectively. The height characteristic information of the bus assembly may include but is not limited to at least one of the height of a set point in the bus assembly, the average height corresponding to the contour surface of the bus assembly, etc. The set point can be a point in the contour surface, for example, the center point of the contour surface, the edge point of the contour surface. The height of a set point in the bus assembly refers to the distance between the set point and the pole surface. The average height corresponding to the contour surface of the bus assembly refers to the average of the distances between each point in the contour surface and the pole surface.

[0077] The battery to be welded (ie, a battery product) includes at least two battery cells, and each battery cell includes a pair of positive and negative electrodes.

[0078] In some embodiments, after the preliminary verification characterization verification of the battery to be welded is successful, the detection mechanism can be controlled to collect various height feature information. The preliminary verification may include but is not limited to at least one of the pole position verification, deviation angle verification, etc. The pole position verification refers to whether the deviation value between the actual pole coordinates of the pole in the welding station coordinate system and the standard pole coordinates is within the deviation threshold range. The deviation angle verification refers to whether the deviation angle between the fitting straight line and the calibration straight line is within the preset deviation angle range. The fitting straight line is generated based on the actual pole coordinates of multiple target poles in the welding station coordinate system, and the target poles are determined from multiple poles. The calibration straight line refers to the straight line obtained by calibrating at least two marking points of the entire area of ​​the pressure plate mechanism.

[0079] In some embodiments, when the preliminary verification includes pole position verification and deviation angle verification, the pole position verification can be performed first. If the pole position verification indicates that the verification is passed, the deviation angle verification can be performed. Alternatively, the deviation angle verification can be performed first. If the deviation angle verification is passed, the pole position verification can be performed.

[0080] Step S12: Determine the pressing result of the pressing plate mechanism based on the height characteristic information of the pressing plate mechanism and the height characteristic information of the at least one confluence component.

[0081] Here, the pressing result of the pressing plate mechanism may include but is not limited to a first pressing result, a second pressing result, etc. The first pressing result indicates that the pressing is completed, and the second pressing result indicates that the pressing is not completed.

[0082] In some embodiments, the height characteristic information of the pressure plate mechanism can be compared with a preset first calibration height to obtain a first comparison result, and the height characteristic information of each confluence component can be compared with a preset second calibration height to obtain a second comparison result corresponding to each confluence component. Based on the first comparison result and the second comparison result corresponding to each confluence component, the pressing result of the pressure plate mechanism is determined. For example, if the first comparison result indicates that the pressing is completed, and the second comparison result corresponding to each confluence component also indicates that the pressing is completed, the first pressing result is used as the pressing result of the pressure plate mechanism; conversely, if the first comparison result indicates that the pressing is not completed, and / or the second comparison result corresponding to at least one confluence component also indicates that the pressing is not completed, the second pressing result is used as the pressing result of the pressure plate mechanism.

[0083] In some embodiments, a difference between the characteristic height information of the pressing plate mechanism and the characteristic height information of the corresponding busbar assembly can be determined, and the pressing result of the pressing plate mechanism can be determined based on the difference. For example, if the difference indicates that the pressing is complete, the first pressing result is used as the pressing result of the pressing plate mechanism; conversely, if the difference indicates that the pressing is not complete, the second pressing result is used as the pressing result of the pressing plate mechanism.

[0084] In some embodiments, the pressing plate mechanism includes at least one pressing nozzle assembly, the number of the pressing nozzle assemblies is adapted to the number of the poles, the pressing nozzle assembly includes a pressing plate, a pressing nozzle, and a buffer, and the height characteristic information of the pressing plate mechanism includes the height characteristic information of each pressing plate and the height characteristic information of each pressing nozzle; the step S12 includes steps S121 to S122, wherein:

[0085] Step S121: for each pole, based on the height characteristic information of the bus assembly corresponding to the pole, the height characteristic information of the pressure nozzle corresponding to the pole, and the height characteristic information of the pressure plate corresponding to the pole, determine the pressing result of the pressure nozzle corresponding to the pole.

[0086] Here, when the pressure plate mechanism is pressed downward, it can be seen from top to bottom that the nozzle assembly presses against one end of the corresponding bus assembly, and one end of the bus assembly presses against the corresponding pole.

[0087] The pressing result of the press nozzle may include but is not limited to the third pressing result, the fourth pressing result, etc. The third pressing result indicates that the press nozzle has completed pressing, and the fourth pressing result indicates that the press nozzle has not completed pressing. In some embodiments, the method for determining the pressing result of the press nozzle may include but is not limited to the first difference, the second difference, and / or the third difference, etc. The first difference refers to the difference between the height characteristic information of the confluence component and the height characteristic information of the press nozzle. The second difference refers to the difference between the height characteristic information of the press nozzle and the height characteristic information of the pressure plate. The third difference refers to the difference between the height characteristic information of the pressure plate and the height characteristic information of the confluence component. During implementation, those skilled in the art can select the method for determining the pressing result of the press nozzle according to actual needs, and the embodiments of the present disclosure are not limited thereto.

[0088] For example, the displacement of the buffer is determined based on the difference between the third difference and the third calibration difference, and the downward pressure intensity is determined based on the displacement of the buffer. If the downward pressure intensity is not less than a preset force threshold, the third downward pressure result is used as the downward pressure result of the nozzle; otherwise, the fourth downward pressure result is used as the downward pressure result of the nozzle. The third calibration difference refers to the difference between the height characteristic information of the pressure plate and the height characteristic information of the confluence assembly when the pressure plate mechanism is not pressed. For another example, the displacement of the buffer is determined based on the difference between the second difference and the second calibration difference. If the displacement is not less than a preset displacement threshold, the third downward pressure result is used as the downward pressure result of the nozzle; otherwise, the fourth downward pressure result is used as the downward pressure result of the nozzle. The second calibration difference refers to the difference between the height characteristic information of the pressure plate and the height characteristic information of the nozzle when the pressure plate mechanism is not pressed. For another example, the difference between the first difference and the first calibration difference is determined. If the difference is not greater than a preset difference threshold, the third pressing result is used as the pressing result of the nozzle; otherwise, the fourth pressing result is used as the pressing result of the nozzle. The first calibration difference refers to the difference between the height characteristic information of the confluence component and the height characteristic information of the nozzle when the pressure plate mechanism is not pressed. For another example, the difference between the first difference and the first calibration difference is determined, and the displacement of the buffer is determined based on the difference between the second difference and the second calibration difference. If the difference is not greater than a preset difference threshold and the displacement is not less than a preset displacement threshold, the third pressing result is used as the pressing result of the nozzle; otherwise, the fourth pressing result is used as the pressing result of the nozzle.

[0089] Step S122: Determine the pressing result of the pressing plate mechanism based on the pressing result of the pressing nozzle corresponding to each of the poles.

[0090] Here, the pressing result of the pressing plate mechanism includes a first pressing result, a second pressing result, and the like.

[0091] In some embodiments, step S122 includes step S1221 and / or step S1222, wherein:

[0092] Step S1221: When the pressing results of the pressing nozzles corresponding to each of the poles indicate that the pressing is completed, the first pressing result indicating that the pressing is completed is used as the pressing result of the pressing plate mechanism.

[0093] Here, if the pressing result of the pressing nozzle corresponding to each pole is the third pressing result, the first pressing result can be used as the pressing result of the pressing plate mechanism.

[0094] Step S1222: When the pressing result of the pressing nozzle corresponding to at least one pole indicates that the pressing is not completed, the second pressing result indicating that the pressing is not completed is used as the pressing result of the pressing plate mechanism.

[0095] Here, if the pressing result of the pressing nozzle corresponding to at least one pole is the fourth pressing result, the second pressing result can be used as the pressing result of the pressing plate mechanism.

[0096] In this way, the pressing results of the pressure plate mechanism are comprehensively determined by the pressing results of the pressure nozzles corresponding to each pole, which not only improves the accuracy of the pressing results of the pressure plate mechanism, but also ensures that each pressure nozzle is accurately pressed against the corresponding bus assembly, so that the bus assembly can better fit on the corresponding pole.

[0097] In the embodiment disclosed herein, firstly, the pressure nozzle is extended and retracted along the pressing direction by the buffer part, which can better adapt to the change of the position to be welded on the battery along the pressing direction, thereby facilitating the purpose of fitting the pole and the bus assembly under the action of the pressure nozzle, thereby improving the welding quality; secondly, the design of each through hole not only provides a channel for the operation of the detection mechanism and the welding moving mechanism, but also reduces the possibility of high-temperature foreign matter splashed during welding adhering to the galvanometer, thereby protecting the galvanometer and extending the service life of the galvanometer; thirdly, the height characteristic information of the pressure plate, pressure nozzle and bus assembly is obtained at the same time by the detection mechanism, compared with scanning point by point with a rangefinder, not only the scanning efficiency is improved, but also a variety of height characteristic information can be obtained more comprehensively and accurately; finally, the pressing result of the pressure plate mechanism is determined based on the height characteristic information of the bus assembly, pressure nozzle and pressure plate, thereby improving the accuracy of the pressing result.

[0098] Step S13: When the pressing result of the pressing plate mechanism indicates that the pressing is completed, for each pole, based on the first pole coordinate of the pole in the welding station coordinate system and the height characteristic information of the busbar assembly corresponding to the pole, determine the target welding coordinate of the pole.

[0099] Here, the height characteristic information of the busbar assembly may include but is not limited to the height of a set point in the busbar assembly, the average height corresponding to the contour surface of the busbar assembly, etc. For example, the average height corresponding to the contour surface of the busbar assembly is used as the height characteristic information of the busbar assembly.

[0100] In some embodiments, the step S13 of “determining the target welding coordinates of the pole based on the first pole coordinates of the pole in the welding station coordinate system and the height characteristic information of the busbar assembly corresponding to the pole” includes steps S131 to S133, wherein:

[0101] Step S131: Determine a pole offset coordinate based on a first pole coordinate of the pole in the welding station coordinate system and a preset first standard pole coordinate.

[0102] Here, the first standard polar coordinates refer to the polar coordinates corresponding to the battery cell modeling. The first polar coordinates may refer to plane coordinates, namely, X and Y coordinates. In implementation, the polar offset coordinates include a first offset in the X direction and a second offset in the Y direction. The first offset refers to the difference between the X coordinate of the first polar coordinate and the X coordinate of the first standard polar coordinate, and the second offset refers to the difference between the Y coordinate of the first polar coordinate and the Y coordinate of the first standard polar coordinate.

[0103] Step S132: Determine height offset information based on the height characteristic information of the busbar assembly corresponding to the pole and a preset standard pole height.

[0104] Here, the standard pole height refers to the pole height corresponding to the battery cell model. During implementation, the height characteristic information of the busbar assembly can be used as the welding height of the pole. The height offset information refers to the difference between the welding height of the pole and the standard pole height.

[0105] Step S133: Determine the target welding coordinates of the pole based on the pole offset coordinates and the height offset information.

[0106] Here, the target welding coordinates are three-dimensional coordinates, namely, X, Y, and Z coordinates. These target welding coordinates can be offset coordinates formed by the pole offset coordinates and height offset information, or they can be obtained by compensating the standard welding coordinates based on the offset coordinates. The standard welding coordinates are pre-set coordinates and are three-dimensional coordinates, namely, X, Y, and Z coordinates. During implementation, the target welding coordinates are obtained by compensating the standard welding coordinates in three directions based on the pole offset coordinates and height offset information.

[0107] In some embodiments, the control device sends the target welding coordinates obtained after compensating the standard welding coordinates based on the offset coordinates to the welding moving mechanism, so that the welding moving mechanism uses the target welding coordinates as the final welding coordinates and performs welding operations according to the final welding coordinates.

[0108] In some embodiments, the standard welding coordinates may be located in a welding motion mechanism. During implementation, the control device may send the target welding coordinates formed by the pole offset coordinates and height offset information to the welding motion mechanism, so that the welding motion mechanism compensates the standard welding coordinates based on the pole offset coordinates and height offset information to obtain the final welding coordinates of the pole, and performs welding according to the final welding coordinates of the pole. In this way, targeted compensation is performed based on the deviation information of each pole in each direction. Compared with using the same compensation value for each pole in a certain direction (for example, height), the accuracy of the welding coordinates is improved, thereby improving the welding quality and welding yield.

[0109] Step S14: sending the target welding coordinates of each of the poles to the welding moving mechanism, so that the welding moving mechanism welds each of the poles and the corresponding busbar assembly based on each of the target welding coordinates.

[0110] Here, the welding movable mechanism refers to a movable welding mechanism. The welding mechanism can be any suitable mechanism that can realize the welding function. For example, a laser welding mechanism emits a laser to irradiate the position to be welded so as to melt the material in the position to be welded, thereby achieving the purpose of welding. In some embodiments, the welding mechanism includes a laser generator and a galvanometer, wherein the laser generator is used to generate a laser, and the galvanometer is used to reflect the laser emitted by the laser generator, and its reflecting surface forms an angle with the laser emitted by the laser generator. By controlling the swing of the galvanometer, the emission angle of the laser reflected by the galvanometer can be changed, thereby expanding the range of the welding operation through the galvanometer when the position of the laser generator is fixed.

[0111] The welding mechanism can be moved in any suitable manner. For example, the welding mechanism can be connected to a moving mechanism (e.g., an actuator of a robot) to drive the welding mechanism to move to a target welding position for each pole. The target welding position is determined based on the final welding coordinates of the pole.

[0112] In some embodiments, the number of the welding mechanism may be at least one. When the welding mechanism does not need to perform welding, the welding mechanism can be driven to move to a default position to reduce the possibility of sound collision between different welding mechanisms.

[0113] In the embodiment disclosed herein, first, the pressing result of the pressing plate mechanism is comprehensively determined based on the height characteristic information of the pressing plate mechanism and the height characteristic information of each bus assembly, thereby improving the accuracy of the pressing result and thus improving the accuracy of welding; secondly, the bus assembly and the pole are welded when the pressing result of the pressing plate mechanism indicates that the pressing is completed, thereby reducing the possibility of cold welding, leaking welding, etc. caused by the pressure deviation of the pressing plate mechanism, failure to complete the pressing, etc.; finally, the target welding coordinates of each pole are determined separately based on the height characteristic information of each bus assembly and the pole coordinates of each pole, thereby improving the accuracy of the welding coordinates, thereby reducing the possibility of cold welding, leaking welding, etc. caused by the tolerance of the pole in various directions, thereby improving the welding quality and the yield of the battery, and being able to meet the production needs of high timeliness and high efficiency.

[0114] In some embodiments, step S11 includes steps S111 to S112, wherein:

[0115] Step S111: determining a second target verification result of the battery to be welded based on a first pole coordinate of each pole in the welding station coordinate system.

[0116] Here, the second target verification result includes a first verification result, a second verification result, etc. The first verification result indicates that the verification has failed, and the second verification result indicates that the verification has succeeded.

[0117] In some embodiments, step S111 includes steps S141 to S142, wherein:

[0118] Step S141: For each pole, based on the second pole coordinates of the pole in the pre-welding addressing station coordinate system and the mapping relationship, determine the first pole coordinates of the pole in the welding station coordinate system; based on the first pole coordinates and the preset second standard pole coordinates, determine the verification result of the pole.

[0119] Here, the mapping relationship is determined based on the first marking coordinates of the marking point corresponding to the battery to be welded in the welding station coordinate system and the second marking coordinates of the marking point in the pre-welding addressing station coordinate system.

[0120] The method for obtaining the second pole coordinates may be any suitable method. For example, the control device communicates with the control device on the pre-weld addressing station to obtain the second pole coordinates. Before welding the battery to be welded, at least one pole and a marking point of the battery product to be welded may be addressed at the pre-weld addressing station to obtain the second pole coordinates of each pole in the pre-weld addressing station coordinate system and the second marking coordinates of the marking point in the pre-weld addressing station coordinate system. The pre-weld addressing station may be a station before the welding station, and the pre-weld addressing station coordinate system may be a unified coordinate system constructed for each physical position in the addressing station. Through the pre-weld addressing station coordinate system, the visual positions of at least one pole and a marking point of the battery product to be welded in the pre-weld addressing station can be unified to the same coordinate system. The method for obtaining the second pole coordinates and the second marking coordinates may be any suitable method. For example, each pole and marking point is photographed by an area array camera to obtain the coordinates of each pole and marking point in the addressing image. According to the conversion relationship between the image coordinate system and the addressing coordinate system, the position of each pole and marking point in the addressing image is converted into the coordinates in the addressing coordinate system.

[0121] For another example, the control device communicates with a manufacturing execution system (MES) to obtain the second polar coordinate.

[0122] In some embodiments, the step S141 of “determining the first pole coordinates of the pole in the welding station coordinate system based on the second pole coordinates of the pole in the pre-welding addressing station coordinate system and the mapping relationship” includes steps S1411 to S1413, wherein:

[0123] Step S1411: Based on the image of the marking point corresponding to the battery to be welded acquired by the visual acquisition mechanism, determine the first marking coordinates of the marking point in the welding station coordinate system.

[0124] Here, the visual acquisition mechanism can be any suitable mechanism for implementing this function, for example, a camera. In some embodiments, the control device sends an acquisition instruction to the visual acquisition mechanism, causing the visual acquisition mechanism to acquire an image of the marker point based on the acquisition instruction. This reduces the number of acquisitions and hardware consumption compared to real-time acquisition.

[0125] The marking point can be a fixed feature point on the battery product other than the pole, or it can be a fixed feature point on the carrier that carries the battery product. The number of marking points can be at least one. For example, 2, 4. In some embodiments, the position and number of the marking points can be the same or different for different products (for example, battery modules, battery packs, etc.). During implementation, if the number of the marking points is at least two, then the first marking coordinate includes the marking coordinates of each marking point. In some embodiments, the number and position of the marking points can be obtained from the associated information of the battery to be welded, and the associated information of the battery to be welded can be obtained from the blueprint corresponding to the battery to be welded.

[0126] In some embodiments, the image may be recognized by any suitable neural network and / or model to obtain the first marking coordinates of the marking point in the welding station coordinate system.

[0127] Step S1412: Determine the mapping relationship based on the first marking coordinate of the marking point in the welding station coordinate system and the second marking coordinate of the marking point in the pre-welding addressing station coordinate system.

[0128] Here, the second marker coordinates can be obtained in any suitable manner. For example, the control device communicates with a control device at the pre-weld addressing station to obtain the second marker coordinates. In another example, the control device communicates with the MES to obtain the second marker coordinates. During implementation, the coordinates in the pre-weld addressing station coordinate system and the welding station coordinate system can be converted to each other to achieve position alignment in the two coordinate systems.

[0129] The mapping relationship may include but is not limited to at least one of a rotation parameter, a translation parameter, a scaling parameter, etc. During implementation, the mapping relationship is calculated using the first marker coordinates and the second marker coordinates.

[0130] Step S1413: using the mapping relationship, convert the second pole coordinates of the pole in the pre-welding addressing station coordinate system to obtain the first pole coordinates of the pole in the welding station coordinate system.

[0131] Here, according to the mapping relationship, the second polar coordinate is converted to obtain the first polar coordinate. For example, when the mapping relationship includes a rotation parameter, the second polar coordinate is rotated according to the rotation parameter (i.e., rotated around a preset rotation point) to obtain the first polar coordinate. For another example, when the mapping relationship includes a translation parameter, the second polar coordinate is translated according to the translation parameter to obtain the first polar coordinate. For another example, when the mapping relationship includes a rotation parameter and a scaling parameter, the second polar coordinate can be rotated according to the rotation parameter to obtain the rotated second polar coordinate, and then the rotated second polar coordinate can be scaled according to the scaling parameter to obtain the first polar coordinate; or the second polar coordinate can be scaled according to the scaling parameter to obtain the scaled second polar coordinate, and then the scaled second polar coordinate can be rotated according to the rotation parameter to obtain the first polar coordinate.

[0132] In the embodiment of the present disclosure, on the one hand, the coordinates of the marking points of the battery to be welded in the pre-welding addressing station coordinate system and the welding station coordinate system are used as references, so that the mapping relationship of the coordinates between the pre-welding addressing station coordinate system and the welding station coordinate system can be determined quickly and accurately; on the other hand, the visual acquisition mechanism only collects the image and mapping relationship of the marking points to accurately determine the pole coordinates of each pole in the welding station coordinate system, without having to take the image of each pole one by one to determine the pole coordinates of each pole in the welding station coordinate system, thereby ensuring the accuracy of the pole coordinates while improving the determination efficiency.

[0133] The verification result of the pole indicates whether the verification of the pole is successful. The second standard pole coordinate is any suitable pole coordinate. For example, the second standard pole coordinate can be a pre-set pole coordinate. In some embodiments, the difference between the first pole coordinate and the second standard pole coordinate can be determined. If the difference is within the set difference range, it indicates that the pole verification is successful, otherwise it indicates that the pole verification has failed. The difference includes the difference in the X direction and the difference in the Y direction, and the difference range includes the difference range in the X direction and the difference range in the Y direction. During implementation, if the difference in the X direction is within the difference range in the X direction and the difference in the Y direction is within the difference range in the Y direction, it indicates that the verification of the pole is successful, otherwise it indicates that the verification of the pole has failed.

[0134] Step S142: Determine a second target verification result of the battery to be welded based on the verification result of each of the poles.

[0135] Here, the second target verification result includes the first verification result, the second verification result, etc. During implementation, if the verification result of at least one pole indicates a verification failure, the first verification result can be used as the second target verification result of the battery to be welded; conversely, if the verification result of each pole indicates a verification pass, the second verification result can be used as the second target verification result of the battery to be welded. Alternatively, the battery to be welded can be further subjected to a deviation angle verification, and the second target verification result of the battery to be welded can be determined based on the deviation angle verification.

[0136] In some embodiments, step S142 includes step S1421 and / or step S1422, wherein:

[0137] Step S1421: When the verification result of at least one electrode indicates a verification failure, the first verification result indicating the verification failure is used as a second target verification result of the battery to be welded.

[0138] Here, if the verification result of at least one electrode indicates a verification failure, the first verification result may be used as the second target verification result of the battery to be welded.

[0139] Step S1422: When the verification result of each pole indicates successful verification, determine a second target verification result of the battery to be welded based on the first pole coordinate of each pole in the welding station coordinate system and the calibration line corresponding to the pressure plate mechanism.

[0140] Here, if the verification results for each pole indicate that the verification has passed, a deviation angle verification can be further performed on the battery to be welded. Based on this deviation angle verification, a second target verification result for the battery to be welded is determined. During implementation, if the deviation angle is within the preset angle deviation range, the second verification result is used as the second target verification result for the battery to be welded; otherwise, the first verification result can be used as the second target verification result for the battery to be welded, or the second target verification result for the battery to be welded is determined based on the next first pole coordinate of each pole.

[0141] In this way, when the verification results of each pole are successful, the second target verification result of the battery to be welded is determined based on the pole coordinates of each pole in the welding station coordinate system and the calibration straight line, thereby improving the accuracy of the second target verification result, thereby ensuring the orderly progress of subsequent collection operations and welding operations.

[0142] In the embodiment of the present disclosure, for each pole, based on the second pole coordinates of the pole in the pre-welding addressing station coordinate system and the mapping relationship, the first pole coordinates of the pole in the welding station coordinate system are determined; based on the first pole coordinates and the preset second standard pole coordinates, the verification result of the pole is determined; based on the verification result of each pole, the second target verification result of the battery to be welded is determined. In this way, firstly, with the coordinates of the marking points of the battery to be welded in the pre-welding addressing station coordinate system and the welding station coordinate system as reference, the coordinate mapping relationship between the pre-welding addressing station coordinate system and the welding station coordinate system can be quickly and accurately determined. Based on this mapping relationship, the coordinates of the poles of the battery to be welded in the pre-welding addressing station coordinate system can be quickly and accurately converted into the coordinates of the poles in the welding station coordinate system. There is no need to determine the coordinates of each pole in the welding station coordinate system by taking images of the poles one by one, thereby improving the accuracy and efficiency of determining the coordinates of the poles in the welding station coordinate system; secondly, according to the coordinates of the poles in the welding station coordinate system and the standard pole coordinates, the verification result of the pole is determined, which improves the accuracy of the verification result of the pole and reduces the possibility of cold welding, welding deviation, etc. caused by defects in the poles themselves; finally, the second target verification result of the battery to be welded is determined according to the verification result of each pole, which improves the accuracy and comprehensiveness of the second target verification result.

[0143] Step S112: When the second target verification result of the battery to be welded indicates successful verification, control the detection mechanism to collect height characteristic information of the pressing plate mechanism and height characteristic information of at least one busbar assembly.

[0144] Here, the detection mechanism is controlled to collect various height feature information only when the verification is successful. For the specific collection process, please refer to the specific implementation of the aforementioned step S11.

[0145] In the disclosed embodiment, a second target verification result for the battery to be welded is determined based on the first pole coordinate of each pole in the welding station coordinate system. If the second target verification result for the battery to be welded indicates successful verification, the detection mechanism is controlled to collect height characteristic information of the pressure plate mechanism and height characteristic information of at least one busbar assembly. Determining the second target verification result based on the pole coordinates of each pole in the welding station coordinate system improves the accuracy of the second target verification result. If the second target verification result indicates successful verification, the detection mechanism is controlled to collect each height characteristic information to reduce the possibility of poor solder joints, weld deviation, and the like caused by defects in the poles themselves.

[0146] In some embodiments, the step S1422 of “determining the second target calibration result of the battery to be welded based on the first pole coordinate of each pole in the welding station coordinate system and the calibration straight line corresponding to the pressure plate mechanism” includes steps S151 to S153, wherein:

[0147] Step S151: Generate a fitting straight line based on the first pole coordinate of each pole in the welding station coordinate system.

[0148] Here, each target first polar coordinate can be fitted within the pressure plate region of the pressure plate mechanism using any suitable fitting algorithm to obtain the fitted line. The target first polar coordinate is determined from the plurality of first polar coordinates. In implementation, the target first polar coordinate can be determined in any suitable manner, such as a custom method, a random method, etc. In some embodiments, each first polar coordinate is used as a target first polar coordinate.

[0149] Step S152: Determine a deviation angle based on the fitting straight line and the calibration straight line.

[0150] Here, the deviation angle may be determined by, but is not limited to, an included angle, a weighted value of the included angle, etc. The included angle refers to the angle between the fitted straight line and the calibration straight line. For example, the included angle is used as the deviation angle.

[0151] Step S153: Determine a second target verification result of the battery to be welded based on the deviation angle.

[0152] Here, if the deviation angle is within the preset angle deviation range, the second verification result is used as the second target verification result of the battery to be welded; otherwise, the first verification result can be used as the second target verification result of the battery to be welded, or the second target verification result of the battery to be welded is determined based on the next first pole coordinates of each pole.

[0153] In some embodiments, step S153 includes step S1531 and / or step S1532, wherein:

[0154] Step S1531: When the deviation angle is within a preset angle deviation range, the second verification result indicating successful verification is used as the second target verification result of the battery to be welded.

[0155] Here, the angle deviation range is a pre-set angle deviation range. During implementation, if the deviation angle is within the angle deviation range, the second verification result is used as the second target verification result of the battery to be welded.

[0156] Step S1532: When the deviation angle is not within the angle deviation range, determine a second target verification result of the battery to be welded based on the next first pole coordinate of each pole in the welding station coordinate system.

[0157] Here, the next first polar coordinate is a new first polar coordinate. The method for determining the next first polar coordinate is similar to the method for determining the first polar coordinate. For implementation, see the specific implementation of step S141 above. If the deviation angle is not within the angle deviation range, the second target verification result can be determined based on the next first polar coordinate. For implementation, see the specific implementation of step S111 above.

[0158] In this way, the second target verification result of the battery to be welded is determined based on the deviation angle and the angle deviation range, thereby improving the accuracy of the second target verification result to ensure that subsequent operations are performed when the deviation angle is within the angle deviation range, thereby improving the efficiency and accuracy of the operation.

[0159] In the embodiment of the present disclosure, on the one hand, the deviation angle is determined based on the pole coordinates of each pole in the welding station coordinate system and the calibration straight line, thereby improving the accuracy of the deviation angle; on the other hand, the second target verification result of the battery to be welded is determined based on the deviation angle, thereby improving the accuracy of the second target verification result.

[0160] In some embodiments, when the deviation angle is within the angle deviation range, the method further includes steps S1533 to S1534, wherein:

[0161] Step S1533: Determine a correction position based on the fitting straight line and the calibration straight line.

[0162] Here, the correction position may be a correction in a certain direction, for example, the Y direction. The correction position may refer to the midline of the deviation angle, that is, half of the deviation angle.

[0163] Step S1534: Control the pressing plate mechanism to move to the calibration position.

[0164] Here, the control device sends a movement instruction carrying the correction position to the pressing plate mechanism, so that the pressing plate mechanism moves from the default position to the correction position based on the movement instruction.

[0165] In the embodiment of the present disclosure, on the one hand, the correction position is determined based on the fitting straight line and the calibration straight line, thereby improving the accuracy of the correction position; on the other hand, the pressure plate mechanism is corrected according to the verification position, thereby reducing the possibility of welding leaks, cold welding, etc. caused by the deviation of the pressure plate mechanism.

[0166] Based on the above embodiments, the present disclosure further provides a pole welding system. FIG2 is a schematic diagram of the composition structure of a pole welding system provided by the present disclosure. As shown in FIG2 , the welding system 20 includes a control device 21, a manufacturing execution system 22, and a welding device 23, wherein:

[0167] The control device 21 is used to send identification information corresponding to the battery to be welded to the manufacturing execution system; wherein the battery to be welded includes a plurality of poles;

[0168] The manufacturing execution system 22 is configured to determine a first target verification result of the battery to be welded based on the identification information corresponding to the battery to be welded, and send the verification information to the control device; wherein the verification information includes one of the following: a first target verification result indicating a verification failure, a first target verification result indicating a verification success, and associated information of the battery to be welded, wherein the associated information of the battery to be welded is determined based on the blueprint corresponding to the battery to be welded;

[0169] The control device 21 is further configured to send the target welding coordinates of each pole to the welding device when the first target verification result indicates successful verification and the pressing result of the pressing mechanism in the welding device indicates completion of pressing; wherein the pressing result of the pressing mechanism is determined based on the height characteristic information of the pressing mechanism and the height characteristic information of the busbar assemblies corresponding to the plurality of poles, the target welding coordinates of the pole are determined based on the first pole coordinates of the pole in the welding station coordinate system and the height characteristic information of the busbar assemblies corresponding to the poles, and the first pole coordinates of the pole in the welding station coordinate system are determined based on the associated information of the battery to be welded;

[0170] The welding device 23 is used to weld each of the poles to the corresponding busbar assembly based on the target welding coordinates of each pole.

[0171] Here, the identification information corresponding to the battery to be welded may include but is not limited to the identification information of the battery to be welded, the identification information of the conveying mechanism for conveying the battery to be welded, etc. The method for obtaining the identification information may be any suitable method. For example, an image of the battery to be welded is taken, and the identification information is determined based on the image. During implementation, the control device 21 sends an acquisition instruction to a preset acquisition device (e.g., a camera) so that the acquisition device acquires the image of the battery to be welded according to the acquisition instruction. The control device may be any suitable device capable of realizing this function, such as a PLC, a host computer, a host computer + PLC, etc.

[0172] FIG3 is a schematic diagram of a battery to be welded according to an embodiment of the present disclosure. As shown in FIG3 , the battery to be welded 31 includes a plurality of battery cells 311 , each of which includes two poles 3111 , and corresponding busbar assemblies 312 are respectively fixed to the plurality of poles 3111 .

[0173] The height characteristic information of the pressure plate mechanism may include, but is not limited to, the height characteristic information of the pressure nozzle and the height characteristic information of the pressure plate. The height characteristic information of the busbar assembly may include, but is not limited to, at least one of the following: the height of a set point in the busbar assembly, the average height corresponding to the contour surface of the busbar assembly, etc. The set point may be a point in the contour surface, such as the center point or an edge point of the contour surface. During implementation, the process of collecting the height characteristic information of the busbar assembly corresponding to the pole and the height characteristic information of the pressure plate mechanism can be referred to the specific implementation of the aforementioned step S11.

[0174] The pressing result of the pressing plate mechanism may include but is not limited to the first pressing result, the second pressing result, etc. The process of determining the pressing result of the pressing plate mechanism may refer to the specific implementation of the aforementioned step S12.

[0175] The process of determining the target welding coordinates of the pole can refer to the specific implementation of the aforementioned step S13.

[0176] The Manufacturing Execution System 22 is used to obtain output information from multiple devices. This output information includes the production time of multiple products produced by the equipment and identifiers used to indicate whether the multiple products are qualified. The Manufacturing Execution System includes monitoring of the production process. The production process monitoring of the MES system focuses on monitoring material transportation and quality indicators between production processes and technological processes. Based on real-time data from the production process and utilizing the configuration technology of the MES system, it can achieve real-time monitoring of production progress, process quality, and material consumption in production areas such as production workshops, power and energy workshops, auxiliary material warehouses, and finished product warehouses. When the production process monitoring system detects an anomaly, it can issue an alarm according to pre-set settings. This helps the company's production command and dispatch department coordinate production, make reasonable scheduling, and improve the rapid response capability of production.

[0177] The control device communicates with the MES and sends the identification information of the battery to be welded to the MES.

[0178] The first target verification result indicates whether the verification of the battery to be welded is successful, mainly verifying the type and site of the battery to be welded. During implementation, if the type of the battery to be welded does not match the type of the currently produced battery, and / or the current site of the battery to be welded does not match the target site (for example, there is a site jump, etc.), it indicates that the verification of the battery to be welded has failed, that is, the battery to be welded is treated as an abnormal welding battery and removed from the current welding station; if the type of the battery to be welded is compatible with the type of the currently produced battery, and the current site of the battery to be welded matches the target site, it indicates that the verification of the battery to be welded is successful and welding can be performed.

[0179] The associated information of the battery to be welded can be any suitable information. During the welding process, any information related to the battery to be welded can be used as the associated information. For example, the size of the battery to be welded, the number and / or size of the electrodes in the battery to be welded, the number and / or size of the marking points corresponding to the battery to be welded, etc. In some embodiments, the MES will pre-store blueprints corresponding to multiple battery products. During the welding process, the associated information can be obtained from the blueprint corresponding to the battery to be welded.

[0180] The welding device 23 includes at least the pressure plate mechanism. The pressure plate mechanism can be any suitable mechanism capable of achieving this function. In some embodiments, the pressure plate mechanism can be pressed downward based on a downward pressure command sent by a control device. In practice, when each busbar assembly is fixed to the corresponding pole, the control device sends a downward pressure command to the pressure plate mechanism, causing the pressure plate mechanism to press against each busbar assembly.

[0181] In some embodiments, the pressure plate mechanism includes at least one pressure nozzle assembly, the number of the pressure nozzle assemblies is adapted to the number of the poles, the pressure nozzle assembly includes a pressure plate, a pressure nozzle and a buffer, the pressure nozzle is used to press on the corresponding convergence assembly, the height characteristic information of the pressure plate mechanism includes the height characteristic information of each of the pressure plates and the height characteristic information of each of the pressure nozzles, the pressure plate is provided with a first through hole, the first through hole is used to collect the height characteristic information of the pressure plate and the height characteristic information of the pressure nozzle when the detection mechanism enters the first through hole; the pressure nozzle is provided with a second through hole connected to the corresponding first through hole, the second through hole is used to collect the height characteristic information of the corresponding convergence assembly when the detection mechanism enters the first through hole; the buffer is provided between the pressure nozzle and the pressure plate, and can be extended and retracted along the pressing direction of the pressure nozzle.

[0182] Here, the number of nozzle assemblies can be the same as the number of poles, or less than or more than the number of poles to accommodate the welding requirements of different battery products. During implementation, the spacing between the nozzle assemblies can be adjusted in real time based on the distance between the poles to accommodate the needs of different poles, achieving a flexible design.

[0183] The buffer member can be any suitable component capable of achieving this function, such as a spring. The expansion and contraction range of the buffer member can be any suitable size.

[0184] In some embodiments, the pressure plates of the various pressure nozzle assemblies may be independent of each other or may be interconnected.

[0185] Figure 4 is a schematic diagram of the composition structure of a nozzle assembly provided in an embodiment of the present disclosure. As shown in Figure 4, the nozzle assembly 41 includes a pressure plate 411, a nozzle 412 and a buffer member 413. A first through hole 4111 is provided on the pressure plate 411, and a second through hole 4121 is provided on the nozzle 412. The first through hole 4111 and the second through hole 4121 are connected.

[0186] In the embodiment disclosed herein, on the one hand, the buffer member allows the pressure nozzle to expand and contract along the pressing direction, which can better adapt to the changes in the position to be welded on the battery along the pressing direction, thereby facilitating the purpose of fitting the pole and the bus assembly under the force of the pressure nozzle, thereby improving the welding quality; on the other hand, the design of each through hole not only provides a channel for the operation of the detection mechanism and the welding movement mechanism, but also reduces the possibility of high-temperature foreign matter splashed during welding adhering to the galvanometer, thereby protecting the galvanometer and extending the service life of the galvanometer.

[0187] In some embodiments, the welding equipment 23 also includes a welding moving mechanism and a detection mechanism, wherein: the pressing plate mechanism is used to press against the bus assemblies corresponding to the multiple poles so that at least one bus assembly is respectively fitted with the corresponding pole; the detection mechanism is used to collect height characteristic information of the pressing plate mechanism and height characteristic information of the at least one bus assembly; the welding moving mechanism is used to weld each pole and the corresponding bus assembly based on the target welding coordinates of each pole when the pressing result of the pressing plate mechanism indicates that the pressing is completed.

[0188] Here, the detection mechanism can be any suitable mechanism for achieving this function. For example, a profilometer can be used to scan the pressure plate mechanism and each confluence component to obtain corresponding height characteristic information. In some embodiments, the number of such detection mechanisms can be at least one, for example, one or two.

[0189] In some embodiments, the detection mechanism includes a profilometer and a light source, wherein: the light source is used to provide light during the scanning process of the profilometer; the profilometer is used to collect height characteristic information of the pressure plate mechanism and the height characteristic information of the at least one confluence component by emitting laser.

[0190] Here, a light source is positioned adjacent to the profilometer to provide light during the profilometer's scanning process. The profilometer can be any suitable profilometer, for example, a three-dimensional profilometer. This not only improves scanning efficiency but also more comprehensively and accurately reflects the contours of the scanned object, meeting the requirements for high-precision and high-speed scanning, thereby enhancing the accuracy of weld coordinates. Furthermore, the profilometer collects characteristic height information about the platen mechanism and each confluence component. Compared to point-by-point scanning using a rangefinder, this not only improves scanning efficiency but also provides a more comprehensive and accurate representation of the object's contours. This meets the requirements for high-precision and high-speed scanning, thereby improving the accuracy of weld coordinates.

[0191] In some embodiments, the control device sends a collection instruction to the detection mechanism, causing the detection mechanism to collect each height feature information based on the collection instruction. This reduces the number of collection times and hardware consumption compared to real-time collection. The detection mechanism collects each height feature information, as described in the aforementioned step S11.

[0192] A movable welding mechanism refers to a movable welding mechanism. The welding mechanism can be any suitable mechanism capable of performing a welding function. For example, a laser welding mechanism. In some embodiments, the welding mechanism includes a laser generator and a galvanometer. The laser generator is used to generate laser light, and the galvanometer is used to reflect the laser light emitted by the laser generator, with its reflective surface forming an angle with the laser light emitted by the laser generator. By controlling the oscillation of the galvanometer, the emission angle of the laser light reflected by the galvanometer can be varied. Thus, while the position of the laser generator is fixed, the galvanometer can be used to expand the range of the welding operation.

[0193] FIG5 is a schematic diagram of the first structure of a pole welding device provided by an embodiment of the present disclosure. As shown in FIG5 , the welding device 23 includes a pressing plate mechanism 51, a welding moving mechanism 52, and a detection mechanism 53, wherein:

[0194] The pressing plate mechanism 51 is used to press on each bus assembly so that each bus assembly fits with the corresponding pole.

[0195] The detection mechanism 53 collects the height characteristic information of the pressure plate mechanism and the height characteristic information of each confluence component;

[0196] When the pressing result of the pressing plate mechanism 51 indicates that the pressing is completed, each pole is welded to the corresponding bus assembly according to the target welding coordinates of each pole by the welding movement mechanism 52 .

[0197] The welding mechanism can be moved in any suitable manner. For example, the welding mechanism can be connected to a moving mechanism to drive the welding mechanism to move to the final welding position coordinates of each pole to perform the welding operation. The moving mechanism can be any suitable mechanism capable of movement, such as a robot, a trolley, etc.

[0198] Figure 6 is a schematic diagram of the composition structure of a welding mobile mechanism provided in an embodiment of the present disclosure. As shown in Figure 6, the welding mobile mechanism 52 includes a mobile mechanism 521, a welding mechanism 522 and a base 523. The mobile mechanism 521 is fixed on the base 523. The mobile mechanism 521 drives the welding mechanism 522 to move to the final welding position of each pole in turn for welding.

[0199] In some embodiments, the number of movable welding mechanisms may be at least one, for example, two. During implementation, the number of movable welding mechanisms may match the number of detection mechanisms. For example, if there are two detection mechanisms, the number of movable welding mechanisms may also be two. During implementation, when one detection mechanism is performing a detection operation, the corresponding movable welding mechanism of the other detection mechanism can perform a welding operation; and when the other detection mechanism is performing a detection operation, the corresponding movable welding mechanism of the detection mechanism can perform a welding operation. This alternating operation can improve welding efficiency.

[0200] The process of the welding equipment performing the welding operation may refer to the specific implementation of the aforementioned step S14.

[0201] FIG7 is a second schematic diagram of the structure of a pole welding device provided by an embodiment of the present disclosure. As shown in FIG7 , the welding device 23 includes a pressing plate mechanism 51, a welding moving mechanism and a detection mechanism 53. The welding moving mechanism includes a moving mechanism 521 and a welding mechanism 522, wherein:

[0202] The control device controls the drive mechanism corresponding to the pressing plate mechanism 51, with the pole as the downward limit, so that the drive mechanism drives the pressing plate mechanism 51 to press against the bus assembly corresponding to each pole, so that each bus assembly fits with the corresponding pole;

[0203] After the pressing plate mechanism 51 is pressed down, the control device performs a preliminary check on the battery to be welded (including the position check and deviation angle check of the pole). After the preliminary check passes, the control device controls the drive mechanism corresponding to the detection mechanism 53 to drive the detection mechanism 53 to scan in sequence along the Y-axis direction to obtain the height characteristic information of the pressing plate mechanism and the height characteristic information of at least one busbar assembly;

[0204] After the detection mechanism 53 completes the scanning, the control device determines the pressing result of the pressing mechanism according to the height characteristic information of the pressing mechanism and the height characteristic information of at least one bus assembly. When the pressing result indicates that the pressing is completed, the control device determines the target welding coordinates (including the pole offset coordinates and height offset information) of each pole according to the first pole coordinates of each pole in the welding station coordinate system and the height characteristic information of the bus assembly corresponding to each pole, and sends the target welding coordinates of each pole to the welding mobile mechanism;

[0205] The welding moving mechanism determines the final welding coordinates of each pole (including the welding position and target welding height of the pole) according to the offset coordinates and height offset information of each pole. The moving mechanism 521 drives the welding mechanism 522 to move to the welding position of each pole (i.e., X coordinate and Y coordinate) in sequence, and adjusts the height of the welding mechanism 522 according to the target welding height (i.e., Z coordinate) of each pole, so that the welding mechanism 522 welds each pole to the corresponding bus assembly.

[0206] The driving mechanism may be any suitable mechanism capable of achieving this function, such as a cylinder.

[0207] In some embodiments, the welding equipment further includes at least one of the following: a conveying mechanism for conveying the battery to be welded to the welding area; wherein the battery to be welded includes each of the poles; a first positioning mechanism for fixing the battery to be welded in the welding area; a second positioning mechanism for fixing at least one bus assembly on the corresponding pole; a visual acquisition mechanism for acquiring an image of the marking point corresponding to the battery to be welded, the image being used to determine the first pole coordinate of each of the poles in the battery to be welded in the welding station coordinate system.

[0208] Here, the conveying mechanism can be any suitable mechanism capable of achieving this function. For example, the conveying mechanism includes a drive assembly and a carrier assembly. The carrier assembly is used to carry the batteries to be welded, and the drive assembly drives the carrier assembly to move the batteries to be welded on the carrier assembly. The drive assembly can be a conveyor line, an automated guided vehicle (AGV), etc.

[0209] The first positioning mechanism can be any suitable mechanism for achieving this function. For example, the first positioning mechanism includes a positioning member and a driving member, the driving member being used to drive the positioning member to detachably insert or remove from the positioning hole of the battery to be welded. During implementation, the position and / or insertion depth of the positioning member can be adjusted to secure different batteries.

[0210] The second positioning mechanism may be any suitable mechanism for achieving this function, for example, a positioning member that fixes the position of the pole and the busbar assembly to reduce the possibility of cold welding or welding deviation caused by the relative position change of the busbar assembly and the pole during subsequent welding.

[0211] The visual acquisition mechanism can be any suitable mechanism for achieving this function, such as a CCD (Charge Coupled Device) camera. In practice, after the battery to be welded is secured by the first positioning mechanism, the control device sends an acquisition instruction to the visual acquisition mechanism, causing it to acquire an image of the marked point based on the acquisition instruction.

[0212] The method for determining the first polar coordinates may refer to the specific implementation of the aforementioned step S141.

[0213] FIG8 is a third schematic diagram of the structure of a pole welding device provided by an embodiment of the present disclosure. As shown in FIG8 , the welding device 23 includes a pressing plate mechanism 51, a welding moving mechanism 52, a detection mechanism 53, a conveying mechanism 54, a first positioning mechanism 55, a second positioning mechanism 56, and a visual acquisition mechanism 57, wherein:

[0214] The battery to be welded is transported to the welding area by the transport mechanism 54;

[0215] The battery to be welded is fixed to the welding area by the first positioning mechanism 55;

[0216] Each busbar assembly is fixed to the corresponding pole by the second positioning mechanism 56;

[0217] The image of the marking point corresponding to the battery to be welded is collected by the visual collection mechanism 57;

[0218] The pressing plate mechanism 51 is used to press on each bus assembly so that each bus assembly fits with the corresponding pole.

[0219] The detection mechanism 53 collects the height characteristic information of the pressure plate mechanism and the height characteristic information of each confluence component;

[0220] When the pressing result of the pressing plate mechanism 51 indicates that the pressing is completed, each pole is welded to the corresponding bus assembly according to the target welding coordinates of each pole by the welding movement mechanism 52 .

[0221] In the embodiment of the present disclosure, first, the battery to be welded is fixed to the area to be welded by the first positioning mechanism, which meets the fixing requirements of different types of batteries and reduces the possibility of battery movement during welding, thereby facilitating improved welding stability and flexible welding operations; secondly, the bus assembly is fixed to the pole by the second positioning mechanism, which reduces the possibility of cold welding, welding deviation, etc. caused by the movement of the bus assembly during welding; thirdly, the visual acquisition mechanism only captures the image of the marking point to accurately determine the pole coordinates of each pole in the welding station coordinate system, without the need to take images of each pole one by one to determine the pole coordinates of each pole in the welding station coordinate system, thereby ensuring the accuracy of the pole coordinates and improving the determination efficiency; finally, through the cooperation between the conveying mechanism, each positioning mechanism, the pressure plate mechanism and the welding moving mechanism, the battery can be smoothly welded, thereby improving the welding quality and the welding efficiency.

[0222] FIG9 is a second schematic diagram of a process flow of implementing a pole welding method provided by an embodiment of the present disclosure. As shown in FIG9 , the welding method includes steps S201 to S223, wherein:

[0223] Step S201: The control device controls the trolley (corresponding to the aforementioned conveying mechanism) to move the battery to be welded into the welding room;

[0224] Here, the control device can be any appropriate device, for example, a PLC+host computer.

[0225] Step S202: The control device controls the acquisition mechanism to acquire images of the battery to be welded to obtain identification information corresponding to the battery to be welded, and sends the identification information corresponding to the battery to be welded to the manufacturing execution system;

[0226] Step S203: The manufacturing execution system performs type and site verification on the battery to be welded according to the identification information corresponding to the battery to be welded, obtains a first target verification result, and sends verification information including the first target verification result to the control device;

[0227] Step S204: The control device determines whether the verification information indicates that the verification is successful. If so, the process proceeds to step S205; otherwise, the process proceeds to step S223;

[0228] Step S205: The control device analyzes the verification information to obtain relevant information of the battery to be welded;

[0229] Step S206: The control device corrects the deviation of the trolley and the battery to be welded to ensure that the trolley and the battery to be welded are aligned;

[0230] Step S207: The control device controls the visual acquisition mechanism to acquire an image of the mark point corresponding to the battery to be welded, and determines the first mark coordinate of the mark point in the welding station coordinate system based on the image;

[0231] Here, the marking point corresponding to the battery to be welded is obtained from the associated information of the battery to be welded.

[0232] Step S208: The control device obtains the second marking coordinates of the marking point in the coordinate system of the pre-welding addressing station and the second pole coordinates of each pole in the coordinate system of the pre-welding addressing station from the pre-welding addressing station;

[0233] Step S209: The control device determines a mapping relationship based on the first marker coordinates and the second marker coordinates;

[0234] Step S210: The control device determines the first pole coordinates of each pole in the welding station coordinate system based on the mapping relationship and the second pole coordinates of each pole in the pre-welding addressing station coordinate system;

[0235] Step S211: The control device determines the verification result of each pole according to each first pole coordinate and a preset second standard pole coordinate;

[0236] Step S212: The control device determines whether the verification results of each pole indicate that the verification is successful, and then proceeds to step S213; otherwise, it proceeds to step S223;

[0237] Step S213: The control device performs fitting on each first pole coordinate to obtain the fitting straight line;

[0238] Step S214: The control device determines the deviation angle based on the fitting straight line and the calibration straight line corresponding to the pressure plate mechanism;

[0239] Step S215: The control device determines whether the deviation angle is within a preset angle deviation range. If so, the process proceeds to step S217; if not, the process proceeds to step S216.

[0240] Step S216: The control device receives the retest instruction and proceeds to step S206;

[0241] Here, the retest instruction refers to an instruction issued after the staff has checked and confirmed that it is correct. The retest instruction can be issued in any suitable way, for example, by clicking a retest button on the display screen. For example, a retest voice instruction can be issued.

[0242] Step S217: The control device determines a correction position based on the fitting straight line and the calibration straight line, and moves the pressing plate mechanism to the correction position;

[0243] Step S218: The control device controls the pressing plate mechanism to press against each of the busbar assemblies, and controls the detection mechanism to collect height characteristic information of the pressing plate mechanism and height characteristic information of each of the busbar assemblies;

[0244] Step S219: The control device determines the pressing result of the pressing mechanism based on the height characteristic information of the pressing mechanism and the height characteristic information of each confluence component;

[0245] Step S220: The control device determines whether the pressing result of the pressing plate mechanism indicates that the pressing is completed. If so, the control device proceeds to step S221; otherwise, the control device proceeds to step S223;

[0246] Step S221: The control device determines the target welding coordinates of each pole based on the first pole coordinates of each pole in the welding station coordinate system and the height characteristic information of the busbar assembly corresponding to each pole, and sends the target welding coordinates of each pole to the welding moving mechanism;

[0247] Here, the target welding coordinates include pole offset coordinates and height offset information.

[0248] Step S222 : The welding movement mechanism welds each pole to the corresponding bus assembly based on the target welding coordinates of each pole.

[0249] Here, the welding movement mechanism compensates the standard welding coordinates based on the pole offset coordinates and height offset information to obtain the final welding coordinates of the pole, and performs welding operations according to the final welding coordinates of the pole.

[0250] Step S223, end.

[0251] In the embodiment of the present disclosure, firstly, the battery to be welded is verified (for example, type, site, etc.) by the manufacturing execution system to improve the accuracy of the verification result. When the verification is successful, the subsequent production process is carried out accurately and efficiently according to the associated information of the battery to be welded (for example, size, number and position of marking points, etc.), thereby improving the production efficiency of the battery. Secondly, the pressing result of the pressing plate mechanism is comprehensively determined according to the height characteristic information of the pressing plate mechanism of the welding equipment and the height characteristic information of each busbar assembly, thereby improving the accuracy of the pressing result and improving the welding efficiency. Secondly, the busbar assembly and the pole are welded only when the pressing result of the pressure plate mechanism indicates that the pressing is completed, which reduces the possibility of cold welding and leaking welding caused by the pressure plate mechanism being biased or not pressing down. Finally, the target welding coordinates of each pole are determined according to the height characteristic information of each busbar assembly and the pole coordinates of each pole, which improves the accuracy of the welding coordinates, thereby reducing the possibility of cold welding and leaking welding caused by the tolerance of the pole in various directions, thereby improving the welding quality and the yield of the battery, and meeting the production needs of high timeliness and high efficiency.

[0252] It should be understood that references to "one embodiment" or "an embodiment" throughout this specification mean that specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present disclosure. Therefore, the appearance of "in one embodiment" or "in an embodiment" throughout this specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of the present disclosure, the order of execution of the above-mentioned processes does not necessarily indicate a precedence in execution. The execution order of each process should be determined by its function and inherent logic and should not constitute any limitation on the implementation of the embodiments of the present disclosure. The above-mentioned numbers of the embodiments of the present disclosure are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. It should be noted that, as used herein, the terms "comprise," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. Without further limitation, the phrase "comprises an..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising such elements.

[0253] In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units described is merely a logical functional division. In actual implementation, other divisions may be used, such as combining multiple units or components, integrating them into another system, or omitting or not implementing certain features. Furthermore, the coupling, direct coupling, or communication connection between the components shown or discussed may be through interfaces. The indirect coupling or communication connection between devices or units may be electrical, mechanical, or other. The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. They may be located in a single location or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the objectives of the present embodiments. Furthermore, the functional units in the embodiments of this disclosure may be fully integrated into a single processing unit, each unit may be a separate unit, or two or more units may be integrated into a single unit. These integrated units may be implemented in hardware or as hardware plus software functional units.

[0254] The above is only an embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the present disclosure, and they should all be covered by the protection scope of the present disclosure. Industrial Applicability

[0255] The present disclosure provides a pole welding method and a welding system, the welding system includes a control device, a manufacturing execution system and a welding device, the control device is used to send the identification information corresponding to the battery to be welded to the manufacturing execution system; wherein, the battery to be welded includes a plurality of poles; the manufacturing execution system is used to determine the first target verification result of the battery to be welded based on the identification information corresponding to the battery to be welded, and send the verification information to the control device; wherein, the verification information includes one of the following: the first target verification result indicating verification failure, the first target verification result indicating verification success and the associated information of the battery to be welded, the associated information of the battery to be welded is determined based on the blueprint corresponding to the battery to be welded; the control device is also used to When the first target verification result indicates that the verification is successful and the pressing result of the pressure plate mechanism in the welding equipment indicates that the pressing is completed, the target welding coordinates of each pole are sent to the welding equipment; wherein the pressing result of the pressure plate mechanism is determined based on the height characteristic information of the pressure plate mechanism and the height characteristic information of the bus assembly corresponding to the multiple poles, the target welding coordinates of the pole are determined based on the first pole coordinates of the pole in the welding station coordinate system and the height characteristic information of the bus assembly corresponding to the pole, and the first pole coordinates of the pole in the welding station coordinate system are determined based on the association information of the battery to be welded; the welding equipment is used to weld each pole and the corresponding bus assembly respectively based on the target welding coordinates of each pole. In this way, first, the battery to be welded is verified (for example, type, site, etc.) by the manufacturing execution system to improve the accuracy of the verification result. When the verification is successful, the subsequent production process is carried out accurately and efficiently according to the associated information of the battery to be welded (for example, size, number and position of marking points, etc.), thereby improving the production efficiency of the battery. Secondly, the pressing result of the pressing mechanism is comprehensively determined according to the height characteristic information of the pressing mechanism of the welding equipment and the height characteristic information of each bus assembly, thereby improving the accuracy of the pressing result and thus improving the accuracy of welding. Thirdly, the bus assembly and the pole are welded when the pressing result of the pressing mechanism indicates that the pressing is completed, thereby reducing the possibility of false welding and missing welding caused by the pressing mechanism being biased or not pressing incomplete. Finally, the target welding coordinates of each pole are determined separately according to the height characteristic information of each bus assembly and the pole coordinates of each pole, thereby improving the accuracy of the welding coordinates and thus reducing the possibility of false welding and missing welding caused by the tolerance of the pole in various directions. Thus, the welding quality and the yield of the battery are improved, and the production requirements of high timeliness and high efficiency can be met.

Claims

1. A welding system for a pole, comprising a control device, a manufacturing execution system, and welding equipment, wherein: The control device is used to send identification information corresponding to the battery to be welded to the manufacturing execution system; wherein the battery to be welded includes a plurality of poles; The manufacturing execution system is configured to determine a first target verification result of the battery to be welded based on identification information corresponding to the battery to be welded, and transmit the verification information to the control device; wherein the verification information includes one of the following: a first target verification result indicating a verification failure, a first target verification result indicating a verification success, and associated information of the battery to be welded, wherein the associated information of the battery to be welded is determined based on a blueprint corresponding to the battery to be welded; The control device is further configured to send the target welding coordinates of each pole to the welding device when the first target verification result indicates successful verification and the pressing result of the pressing mechanism in the welding device indicates completion of pressing; wherein the pressing result of the pressing mechanism is determined based on height characteristic information of the pressing mechanism and height characteristic information of busbar assemblies corresponding to the plurality of poles, the target welding coordinates of the pole are determined based on the first pole coordinates of the pole in the welding station coordinate system and the height characteristic information of the busbar assemblies corresponding to the poles, and the first pole coordinates of the pole in the welding station coordinate system are determined based on associated information of the batteries to be welded; The welding equipment is used to respectively weld each of the poles to the corresponding busbar assembly based on the target welding coordinates of each pole.

2. The welding system according to claim 1, wherein: The welding equipment also includes a welding movement mechanism and a detection mechanism, wherein: The pressing plate mechanism is used to press against the busbar assemblies corresponding to the plurality of poles, so that at least one busbar assembly is respectively fitted with the corresponding pole; The detection mechanism is used to collect the height characteristic information of the pressure plate mechanism and the height characteristic information of the at least one confluence component; The welding moving mechanism is used to weld each of the poles to the corresponding bus assembly based on the target welding coordinates of each pole when the pressing result of the pressing plate mechanism indicates that the pressing is completed.

3. The welding system according to claim 2, wherein: The pressure plate mechanism includes at least one pressure nozzle assembly, the number of the pressure nozzle assemblies is adapted to the number of the poles, the pressure nozzle assembly includes a pressure plate, a pressure nozzle and a buffer, the pressure nozzle is used to press against the corresponding bus assembly, and the height characteristic information of the pressure plate mechanism includes the height characteristic information of each pressure plate and the height characteristic information of each pressure nozzle, wherein: The pressing plate is provided with a first through hole, and the first through hole is used to collect the height characteristic information of the pressing plate and the height characteristic information of the pressing nozzle when the detection mechanism enters the first through hole; The pressure nozzle is provided with a second through hole connected to the corresponding first through hole, and the second through hole is used to collect the height characteristic information of the corresponding confluence component when the detection mechanism enters the first through hole; The buffer member is arranged between the pressing nozzle and the pressing plate, and can be extended and retracted along the pressing direction of the pressing nozzle.

4. The welding system according to claim 2 or 3, wherein: The detection mechanism includes a profilometer and a light source, wherein: The light source is used to provide light during the scanning process of the profilometer; The profilometer is used to collect height characteristic information of the pressure plate mechanism and height characteristic information of the at least one confluence component by emitting laser.

5. The welding system according to any one of claims 1 to 4, wherein: The welding equipment further comprises at least one of the following: A conveying mechanism, used for conveying the batteries to be welded to the welding area; A first positioning mechanism, used for fixing the battery to be welded in the welding area; A second positioning mechanism is used to fix at least one busbar assembly on a corresponding pole; A visual acquisition mechanism is used to acquire images of the marking points corresponding to the batteries to be welded, and the images are used to determine the first pole coordinates of each pole in the welding station coordinate system.

6. A method for welding a pole, applied to a control device, comprising: The control detection mechanism collects height characteristic information of the pressing plate mechanism and height characteristic information of at least one busbar assembly; wherein each of the busbar assemblies is respectively fixed to a pair of poles of the battery to be welded; Determining a pressing result of the pressing plate mechanism based on the height characteristic information of the pressing plate mechanism and the height characteristic information of the at least one confluence component; When the pressing result of the pressing plate mechanism indicates that the pressing is completed, for each pole, the target welding coordinate of the pole is determined based on the first pole coordinate of the pole in the welding station coordinate system and the height characteristic information of the busbar assembly corresponding to the pole. mark; The target welding coordinates of each pole are sent to the welding moving mechanism, so that the welding moving mechanism welds each pole and the corresponding busbar assembly respectively based on each target welding coordinate.

7. The welding method according to claim 6, wherein: The pressing plate mechanism includes at least one pressing nozzle assembly, the number of the pressing nozzle assemblies is adapted to the number of the poles, the pressing nozzle assembly includes a pressing plate, a pressing nozzle and a buffer, and the height characteristic information of the pressing plate mechanism includes the height characteristic information of each pressing plate and the height characteristic information of each pressing nozzle; The determining the pressing result of the pressing plate mechanism based on the height characteristic information of the pressing plate mechanism and the height characteristic information of the at least one confluence component includes: For each pole, based on the height characteristic information of the busbar assembly corresponding to the pole, the height characteristic information of the pressure nozzle corresponding to the pole, and the height characteristic information of the pressure plate corresponding to the pole, determining the pressing result of the pressure nozzle corresponding to the pole; The pressing result of the pressing plate mechanism is determined based on the pressing result of the pressing nozzle corresponding to each of the poles.

8. The welding method according to claim 7, wherein: The step of determining the pressing result of the pressing plate mechanism based on the pressing result of the pressing nozzle corresponding to each of the poles includes: When the pressing results of the pressing nozzles corresponding to each of the poles indicate that the pressing is completed, the first pressing result indicating that the pressing is completed is used as the pressing result of the pressing plate mechanism; In a case where the pressing result of the pressing nozzle corresponding to at least one pole indicates that the pressing is not completed, the second pressing result indicating that the pressing is not completed is used as the pressing result of the pressing plate mechanism.

9. The welding method according to any one of claims 6 to 8, wherein: The determining of the target welding coordinates of the pole based on the first pole coordinates of the pole in the welding station coordinate system and the height characteristic information of the busbar assembly corresponding to the pole includes: Determining a pole offset coordinate based on a first pole coordinate of the pole in the welding station coordinate system and a preset first standard pole coordinate; Determining height offset information based on height characteristic information of the busbar assembly corresponding to the pole and a preset standard pole height; The target welding coordinates of the pole are determined based on the pole offset coordinates and the height offset information.

10. The welding method according to any one of claims 6 to 9, wherein: The control detection mechanism collects the height characteristic information of the pressure plate mechanism and the height characteristic information of at least one confluence component, including: Determining a second target verification result of the battery to be welded based on a first pole coordinate of each pole in the welding station coordinate system; When the second target verification result of the battery to be welded indicates that the verification is successful, the detection mechanism is controlled to collect the height characteristic information of the pressing plate mechanism and the height characteristic information of at least one busbar assembly.

11. The welding method according to claim 10, wherein: The determining of the second target verification result of the battery to be welded based on the first pole coordinate of each pole in the welding station coordinate system includes: For each pole, based on the second pole coordinate of the pole in the pre-welding addressing station coordinate system and a mapping relationship, determine the first pole coordinate of the pole in the welding station coordinate system; based on the first pole coordinate and a preset second standard pole coordinate, determine the verification result of the pole; wherein the mapping relationship is determined based on the first marking coordinate of the marking point corresponding to the battery to be welded in the welding station coordinate system and the second marking coordinate of the marking point in the pre-welding addressing station coordinate system; Based on the verification result of each of the poles, a second target verification result of the battery to be welded is determined.

12. The welding method according to claim 11, wherein: The determining, based on the second pole coordinates of the pole in the pre-welding addressing station coordinate system and the mapping relationship, of the first pole coordinates of the pole in the welding station coordinate system comprises: Determine, based on the image of the marking point corresponding to the battery to be welded acquired by the visual acquisition mechanism, a first marking coordinate of the marking point in the welding station coordinate system; Determining the mapping relationship based on a first marking coordinate of the marking point in the welding station coordinate system and a second marking coordinate of the marking point in the pre-welding addressing station coordinate system; The mapping relationship is used to transform the second pole coordinates of the pole in the pre-welding addressing station coordinate system to obtain the first pole coordinates of the pole in the welding station coordinate system.

13. The welding method according to claim 11 or 12, wherein: The step of determining a second target verification result of the battery to be welded based on the verification result of each of the electrodes comprises: When the verification result of at least one electrode indicates a verification failure, the first verification result indicating the verification failure is used as a second target verification result of the battery to be welded; When the verification result of each pole indicates successful verification, a second target verification result of the battery to be welded is determined based on the first pole coordinate of each pole in the welding station coordinate system and the calibration line corresponding to the pressure plate mechanism.

14. The welding method according to claim 13, wherein: The determining of the second target verification result of the battery to be welded based on the first pole coordinate of each pole in the welding station coordinate system and the calibration straight line corresponding to the pressing plate mechanism includes: generating a fitting straight line based on a first pole coordinate of each pole in the welding station coordinate system; determining a deviation angle based on the fitted straight line and the calibration straight line; Based on the deviation angle, a second target verification result of the battery to be welded is determined.

15. The welding method according to claim 14, wherein: Determining a second target verification result of the battery to be welded based on the deviation angle includes: When the deviation angle is within the preset angle deviation range, the second verification result indicating successful verification is used as the second target verification result of the battery to be welded; When the deviation angle is not within the angle deviation range, a second target verification result of the battery to be welded is determined based on the next first pole coordinate of each pole in the welding station coordinate system.

16. The welding method according to claim 14 or 15, wherein: When the deviation angle is within the angle deviation range, the welding method further includes: determining a correction position based on the fitted straight line and the calibration straight line; The pressing plate mechanism is controlled to move to the correction position.

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