EP-4737049-A1 - WELDING METHOD AND SYSTEM FOR BATTERY POLES

EP4737049A1EP 4737049 A1EP4737049 A1EP 4737049A1EP-4737049-A1

Abstract

A welding method and system for battery poles, wherein the method is applied to a control device in a welding system. The welding system further comprises a movable welding device (402), and a welding module (4021) and a ranging sensor (4022) which are arranged on the movable welding device (402). The method comprises: acquiring a set of pole coordinates, in a welding station coordinate system, of a plurality of poles of a battery; on the basis of the set of pole coordinates and welding quantity information of a welding module (4021), determining a set of welding coordinates of the welding module (4021); acquiring welding heights corresponding to welding coordinates in the set of welding coordinates, wherein the welding heights are determined on the basis of height distances between a ranging sensor (4022) and poles corresponding to the welding coordinates, which height distances are collected by means of the ranging sensor (4022); and on the basis of the set of welding coordinates and the welding heights corresponding to the welding coordinates, controlling the welding module (4021) to weld the poles of the battery. By means of the welding system, welding quality problems caused by non-uniform heights of poles are reduced, thereby improving the yield of batteries.

Inventors

WU, KAI
ZHAO, JUN
DUAN, Minmin
WANG, WENCHONG
CHEN, SHAOLIN

Assignees

Contemporary Amperex Technology Co., Limited

Dates

Publication Date: 20260506
Application Date: 20240816

Claims (20)

A welding method for battery terminal posts, applied to a control device in a welding system, the welding system further comprising a movable welding device, and a welding module and a ranging sensor which are arranged on the movable welding device, the method comprising: acquiring a terminal post coordinate set of a plurality of terminal posts of a battery to be welded in a welding station coordinate system; based on the terminal post coordinate set and welding quantity information of the welding module, determining a welding coordinate set of the welding module; acquiring welding heights corresponding to welding coordinates in the welding coordinate set, the welding heights being determined based on height distances, collected by the ranging sensor, from the ranging sensor to the terminal posts corresponding to the welding coordinates; and based on the welding coordinate set and the welding heights corresponding to the welding coordinates, controlling the welding module to weld the terminal posts of the battery.
The welding method according to claim 1, wherein the based on the terminal post coordinate set and welding quantity information of the welding module, determining a welding coordinate set of the welding module comprises: based on the welding quantity information of the welding module, dividing the plurality of terminal posts of the battery to obtain at least one welding area; and based on the terminal post coordinate set and the terminal posts corresponding to the at least one welding area, determining the welding coordinates corresponding to the at least one welding area, so as to obtain the welding coordinate set of the welding module.
The welding method according to claim 1 or 2, wherein the movable welding device further comprises a visual collection system, and the welding method further comprises: acquiring first horizontal distances of a vision center of the visual collection system and a measuring center of the ranging sensor projected to a horizontal plane; and based on the first horizontal distances, controlling the movable welding device to drive the ranging sensor to move to the welding coordinates in the welding coordinate set, so as to collect the corresponding welding heights of the welding module at the welding coordinates by the ranging sensor.
The welding method according to claim 3, wherein the based on the first horizontal distances, controlling the movable welding device to drive the ranging sensor to move to the welding coordinates in the welding coordinate set, so as to collect the corresponding welding heights of the welding module at the welding coordinates by the ranging sensor comprises: based on the first horizontal distances and the terminal post coordinate set, determining a ranging coordinate set of the movable welding device; controlling the movable welding device to move to the ranging coordinates in the ranging coordinate set, so as to acquire the height distances, collected by the ranging sensor, from the ranging sensor to the terminal posts corresponding to the welding coordinates; and based on the height distances and a standard welding height, determining the corresponding welding heights of the welding module at the welding coordinates.
The welding method according to any one of claims 1 to 4, wherein: the movable welding device further comprises a visual collection system; and the welding method further comprises: acquiring second horizontal distances of a visual center of the visual collection system and a welding center of the welding module projected to a horizontal plane; and correspondingly, the based on the welding coordinate set and the welding heights corresponding to the welding coordinates, controlling the welding module to weld the terminal posts of the battery comprises: based on the second horizontal distances, the welding coordinate set of the welding module and the welding heights, controlling the welding module to weld the terminal posts of the battery.
The welding method according to claim 5, wherein the based on the second horizontal distances, the welding coordinate set of the welding module and the welding heights, controlling the welding module to weld the terminal posts of the battery comprises: based on the second horizontal distances and the welding coordinate set of the welding module, determining the welding coordinate set of the movable welding device; and in response to the movable welding device being located at the welding coordinates in the welding coordinate set, controlling the welding module of the movable welding device to be located at the welding heights corresponding to the welding coordinates, so as to weld the terminal posts corresponding to the welding coordinates.
The welding method according to any one of claims 1 to 6, further comprising: acquiring an addressing coordinate set of the plurality of terminal posts of the battery in an addressing station coordinate system, a first mark point coordinate set of at least two mark points of the battery in the addressing station coordinate system and a second mark point coordinate set in the welding station coordinate system; based on the first mark point coordinate set and the second mark point coordinate set, determining a transformation relationship between the addressing station coordinate system and the welding station coordinate system; and based on the transformation relationship and the addressing coordinate set, determining the terminal post coordinate set of the plurality of terminal posts in the welding station coordinate system.
A welding system for battery terminal posts, comprising a control device, a movable welding device, and a welding module and a ranging sensor which are arranged on the movable welding device, wherein: the control device is configured to: acquire a terminal post coordinate set of a plurality of terminal posts of a battery to be welded in a welding station coordinate system; based on the terminal post coordinate set and welding quantity information of the welding module, determine a welding coordinate set of the welding module; acquire welding heights corresponding to welding coordinates in the welding coordinate set, the welding heights being determined based on height distances, collected by the ranging sensor, from the ranging sensor to the terminal posts corresponding to the welding coordinates; and based on the welding coordinate set and the welding heights corresponding to the welding coordinates, control the welding module to weld the terminal posts of the battery; and the movable welding device is configured to receive the welding coordinate set and the welding heights corresponding to the welding coordinates, and weld the terminal posts of the battery.
The welding system according to claim 8, wherein the control device is further configured to: based on the welding quantity information of the welding module, divide the plurality of terminal posts of the battery to obtain at least one welding area; and based on the terminal post coordinate set and the terminal posts corresponding to the at least one welding area, determine welding coordinates corresponding to the at least one welding area, so as to obtain the welding coordinate set of the welding module.
The welding system according to claim 8 or 9, wherein: the movable welding device further comprises a visual collection system; and the control device is also configured to: acquire first horizontal distances of a vision center of the visual collection system and a measuring center of the ranging sensor projected to a horizontal plane; and based on the first horizontal distances, control the movable welding device to drive the ranging sensor to move to the welding coordinates in the welding coordinate set, so as to collect the corresponding welding heights of the welding module at the welding coordinates by the ranging sensor.
The welding system according to claim 10, wherein the control device is also configured to: based on the first horizontal distances and the terminal post coordinate set, determine a ranging coordinate set of the movable welding device; control the movable welding device to move to the ranging coordinates in the ranging coordinate set, so as to acquire the height distances, collected by the ranging sensor, from the ranging sensor to the terminal posts corresponding to the welding coordinates; and based on the height distances and a standard welding height, determine the corresponding welding heights of the welding module at the welding coordinates.
The welding system according to any one of claims 8 to 11, wherein: the movable welding device further comprises a visual collection system; and the control device is also configured to acquire second horizontal distances of a visual center of the visual collection system and a welding center of the welding module projected to a horizontal plane; and the control module is also configured to: based on the second horizontal distances, the welding coordinate set of the welding module and the welding heights, control the welding module to weld the battery terminal posts.
The welding system according to claim 12, wherein the control device is also configured to: based on the second horizontal distances and the welding coordinate set of the welding module, determine the welding coordinate set of the movable welding device; and in response to the movable welding device being located at the welding coordinates in the welding coordinate set, control the corresponding welding heights of the welding module of the movable welding device at the welding coordinates, so as to weld the terminal posts corresponding to the welding coordinates.
The welding system according to any one of claims 8 to 13, wherein the control device is also configured to: acquire an addressing coordinate set of the plurality of terminal posts of the battery in an addressing station coordinate system, a first mark point coordinate set of at least two mark points of the battery in the addressing station coordinate system and a second mark point coordinate set in the welding station coordinate system; based on the first mark point coordinate set and the second mark point coordinate set, determine a transformation relationship between the addressing station coordinate system and the welding station coordinate system; and based on the transformation relationship and the addressing coordinate set, determine the terminal post coordinate set of the plurality of terminal posts in the welding station coordinate system.
A welding apparatus for battery terminal posts, applied to a control device in a welding system, the welding system further comprising a movable welding device, and a welding module and a ranging sensor which are arranged on the movable welding device, the welding apparatus comprising: a first acquisition module configured to acquire a terminal post coordinate set of a plurality of terminal posts of a battery to be welded in a welding station coordinate system; a determination module configured to: based on the terminal post coordinate set and welding quantity information of the welding module, determine a welding coordinate set of the welding module; a second acquisition module configured to acquire welding heights corresponding to welding coordinates in the welding coordinate set, the welding heights being determined based on height distances, collected by the ranging sensor, from the ranging sensor to the terminal posts corresponding to the welding coordinates; and a control module configured to: based on the welding coordinate set and the welding heights corresponding to the welding coordinates, control the welding module to weld the terminal posts of the battery.
The welding apparatus according to claim 15, wherein the determination module is also configured to: based on the welding quantity information of the welding module, divide the plurality of terminal posts of the battery to obtain at least one welding area; and based on the terminal post coordinate set and the terminal posts corresponding to the at least one welding area, determine welding coordinates corresponding to the at least one welding area, so as to obtain the welding coordinate set of the welding module.
The welding apparatus according to claim 15 or 16, wherein the movable welding device further comprises a visual collection system, and the welding apparatus further comprises: a third acquisition module, configured to: acquire first horizontal distances of a vision center of the visual collection system and a measuring center of the ranging sensor projected to a horizontal plane; and a first control module, configured to: based on the first horizontal distances, control the movable welding device to drive the ranging sensor to move to the welding coordinates in the welding coordinate set, so as to collect the corresponding welding heights of the welding module at the welding coordinates by the ranging sensor.
The welding apparatus according to claim 17, wherein the first control module is also configured to: based on the first horizontal distances and the terminal post coordinate set, determine a ranging coordinate set of the movable welding device; control the movable welding device to move to the ranging coordinates in the ranging coordinate set, so as to acquire the height distances, collected by the ranging sensor, from the ranging sensor to the terminal posts corresponding to the welding coordinates; and based on the height distances and a standard welding height, determine the corresponding welding heights of the welding module at the welding coordinates.
The welding apparatus according to any one of claims 15 to 18, wherein: the movable welding device further comprises a visual collection system; the welding apparatus further comprises a fourth acquisition module configured to acquire second horizontal distances of a visual center of the visual collection system and a welding center of the welding module projected to a horizontal plane; and correspondingly, the control module is also configured to: based on the second horizontal distances, the welding coordinate set of the welding module and the welding heights, control the welding module to weld the battery terminal posts.
The welding apparatus according to claim 19, wherein the control module is also configured to: based on the second horizontal distances and the welding coordinate set of the welding module, determine the welding coordinate set of the movable welding device; and in response to the movable welding device being located at the welding coordinates in the welding coordinate set, control the corresponding welding heights of the welding module of the movable welding device at the welding coordinates, so as to weld the terminal posts corresponding to the welding coordinates.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present disclosure claims priority to Chinese Patent Application 202311289456.X, entitled "WELDING METHOD AND SYSTEM FOR BATTERY TERMINAL POSTS" filed on October 8, 2023, which is incorporated by reference in the present disclosure. TECHNICAL FIELD The embodiments of the present disclosure relate to the technical field of batteries, and relate to but not limited to a welding method and system for battery terminal posts. BACKGROUND New energy batteries are more and more widely used in life and industry, for example, new energy automobiles equipped with batteries have been widely used, and moreover, batteries are increasingly used in the field of energy storage; in a battery production process, a plurality of cells are usually assembled together and connected by busbars to realize connection between electrodes of the cells; and currently, the most common method for welding the busbars to positive and negative terminal posts of the cells is a resistance welding method. In relevant technology, a traditional three-axis movable welding device with a galvanometric scanner is adopted to weld the battery terminal posts and the busbars, but it has low flexibility during welding, leading to low welding efficiency; and moreover, in a traditional welding technology, the welding is performed with fixed parameters, resulting in welding quality and yield not meeting the welding requirements. SUMMARY OF THE INVENTION The present disclosure provides a welding method and system for battery terminal posts, which can improve the welding efficiency, and moreover, welding parameters can be changed according to the conditions of cell terminal posts, thereby reducing the problems that the welding quality and yield cannot meet the welding requirements. In a first aspect, the welding method for the battery terminal posts provided by the embodiment of the present application is applied to a control device in a welding system; the welding system further includes a movable welding device, and a welding module and a ranging sensor which are arranged on the movable welding device; the method includes: acquiring a terminal post coordinate set of a plurality of terminal posts of a battery to be welded in a welding station coordinate system; based on the terminal post coordinate set and welding quantity information of the welding module, determining a welding coordinate set of the welding module; acquiring welding heights corresponding to welding coordinates in the welding coordinate set, the welding heights being determined based on height distances, collected by the ranging sensor, from the ranging sensor to the terminal posts corresponding to the welding coordinates; and based on the welding coordinate set and the welding heights corresponding to the welding coordinates, controlling the welding module to weld the terminal posts of the battery. In the above embodiment, the welding coordinate set for the welding module to perform welding on the cell terminal posts of the battery is determined according to the terminal post coordinate set of the plurality of terminal posts of the battery in the welding station coordinate system and the welding number information of the welding module, the welding height corresponding to each welding coordinate in the welding coordinate set is determined based on the ranging sensor, and the welding module is controlled to weld the terminal posts of the battery according to the welding coordinate set and the welding heights corresponding to the welding coordinates. Therefore, the welding efficiency of the cell terminal posts in welding is improved, and moreover, the welding module is adjusted based on the welding heights, thus the distance from each cell terminal post to a galvanometric scanner is fixed, thereby improving the welding quality. In some embodiments, the based on the terminal post coordinate set and welding quantity information of the welding module, determining a welding coordinate set of the welding module includes: based on the welding quantity information of the welding module, dividing the plurality of terminal posts of the battery to obtain at least one welding area; and based on the terminal post coordinate set and the terminal posts corresponding to the at least one welding area, determining the welding coordinates corresponding to the at least one welding area, so as to obtain the welding coordinate set of the welding module. In the above embodiment, the plurality of terminal posts of the battery are divided according to the welding number information of the welding module, and the welding coordinates corresponding to the divided welding areas are determined; and when the welding module performs welding on the terminal posts in the welding areas at the welding coordinates, the distances from the welding module to the terminal posts are the same, thus the welding yield is improved. In some embodiments, the movable welding device further includes