CN116673624A - Self-adaptive laser welding equipment - Google Patents
Self-adaptive laser welding equipment Download PDFInfo
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- CN116673624A CN116673624A CN202310831735.8A CN202310831735A CN116673624A CN 116673624 A CN116673624 A CN 116673624A CN 202310831735 A CN202310831735 A CN 202310831735A CN 116673624 A CN116673624 A CN 116673624A
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- 238000003466 welding Methods 0.000 title claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 62
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 30
- 229910052802 copper Inorganic materials 0.000 claims abstract description 30
- 239000010949 copper Substances 0.000 claims abstract description 30
- 239000000428 dust Substances 0.000 claims abstract description 25
- 238000005259 measurement Methods 0.000 claims description 9
- 230000003044 adaptive effect Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 230000001351 cycling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The invention relates to self-adaptive laser welding equipment, a tray lifting mechanism and a copper nozzle clamping mechanism are arranged in the middle of a rack, flexible vibrating mirror mechanisms are arranged at two ends of the rack, dust collection mechanisms are arranged at the side parts of the tray lifting mechanism, the copper nozzle clamping mechanism comprises a clamping electric cylinder, a guide plate and a clamping plate, the clamping plate is arranged above the guide plate, the guide plate is arranged on an output shaft of the clamping electric cylinder, a plurality of guide grooves are formed in the guide plate, a horizontal chute inclines from the inner side to the outer side of the guide plate, a copper nozzle of the dust collection mechanism is arranged in the guide grooves, the guide plate can move under the driving of the clamping electric cylinder, and the copper nozzle can move into a clamping groove of the clamping plate along the guide grooves.
Description
Technical Field
The invention relates to the technical field of new energy bus bar laser welding, in particular to self-adaptive laser welding equipment.
Background
Along with the rapid development of new energy automobiles, the development of the new energy lithium battery industry is also rapid, the traditional screwing of screws is replaced by laser welding, and the flexible integration of the welding of the tabs is more and more important, wherein the welding flexibility and precision of a robot-carried laser vibrating mirror are the most important, the welding flexibility and precision of the robot-carried laser vibrating mirror depend on one precision of the robot, so that the precision input cost of the robot is very high in the prior art, even though the high input cost of the robot still has certain defects, the working efficiency and the welding precision are low in practical use, and the practical requirement is far less.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an adaptive laser welding apparatus, which can effectively improve welding efficiency and welding accuracy and greatly reduce welding cost.
In order to solve the technical problems, a first technical scheme adopted by the invention is as follows: the self-adaptive laser welding equipment comprises a frame, wherein a tray lifting mechanism and a copper nozzle clamping mechanism are arranged in the middle of the frame, flexible galvanometer mechanisms are arranged at two ends of the frame, a dust collecting mechanism is arranged at the side part of the tray lifting mechanism, the tray lifting mechanism comprises a substrate, a guide table and lifting cylinders, rollers at two sides of the substrate are arranged on the inclined surface of the guide table, the guide table can horizontally move under the driving of the lifting cylinders and drive the substrate to lift,
the copper nozzle clamping mechanism comprises a clamping electric cylinder, a guide plate and a clamping plate, wherein the clamping plate is arranged above the guide plate, the guide plate is arranged on an output shaft of the clamping electric cylinder, a plurality of guide grooves are formed in the guide plate, the guide grooves are formed in a way that horizontal inclined grooves incline from the inner side to the outer side of the guide plate, a copper nozzle of the dust collection mechanism is arranged in the guide grooves, the guide plate can move under the driving of the clamping electric cylinder, the copper nozzle can move into a clamping groove of the clamping plate along the guide grooves,
the flexible galvanometer mechanism comprises a camera, a galvanometer and a servo module, wherein the camera and the galvanometer are arranged on the servo module and can move along with the servo module.
In the technical scheme, the dust removing pipe of the dust collecting mechanism is arranged on the frame, the pipeline opening and closing mechanism is arranged on the dust removing pipe and comprises an opening and closing sheet and an opening and closing cylinder thereof, and the opening and closing sheet can open and close the pipe orifice of the dust removing pipe under the driving of the opening and closing cylinder.
In the technical scheme, the guide tables on two sides are arranged on the connecting frame, the connecting frame is arranged on the track and can move along the track under the driving of the lifting cylinder, and the periphery of the base plate is provided with the guide posts.
In the technical scheme, the clamping groove is coincided with the inner end of the guide groove.
In the technical scheme, the flexible addressing method of the self-adaptive laser welding equipment comprises the following steps of:
s1, establishing a coordinate system: the servo axis carries the camera and the distance measuring instrument to cooperate with each other to use the calibration zero point, eliminate the deviation, the servo axis moves the center of 4 polar posts shot by the measuring camera each time, the center of the lens of the camera is taken as the origin, the optical axis of the camera is taken as the Z axis, the X axis is taken as the horizontal axis, the Y axis is vertical, the servo axis carries the camera to move to the fixed Mark point of the tray to carry out zero resetting, the zero point coordinates are recorded as the origins (0, 0 and 0), the X axis and the Z axis are horizontal coordinates, and the Y axis is the vertical coordinates of the welding area;
s2: placing a standard module to a corresponding position, driving a camera to move, checking and calibrating the module by a servo shaft, wherein the position is defined as an origin (0, 0), at this time, offset accumulated by the camera and the servo shaft needs to be compensated, a camera planner moves a distance of 4 electric cores each time, pole centers of the 4 electric cores can appear in a camera visual field range, coordinates of the pole centers are calibrated, pole center values of the corresponding electric cores define rules, the pole centers of the first electric core are calibrated as (A1, 0, ZA 1), the center of the second electric core is calibrated as (A2, 0, ZA 2) … …, and the like, all pole coordinates are calibrated, a coordinate system is established, and the center values of all the poles are recorded;
s3: the module to be detected is in place, the servo shaft drives the camera to move to a check zero point, the offset of the camera and the servo shaft is eliminated, the distance between 4 electric cores is moved each time, the pole centers of the 4 electric cores are generated in the visual field range of the camera, the coordinates of the pole centers of the electric cores are detected, the first electric core pole center is calibrated to be (X1, 0, Z1), the second electric core pole center is calibrated to be (X2, 0, Z2) … …, and the coordinate value of the pole center value of the module to be detected is calculated and a new coordinate system is established;
s4: calculating the deviations delta X and delta Z of the horizontal coordinates of the standard group and the group to be detected, recording the numerical value, transmitting the difference value to a laser vibrating mirror, and automatically compensating the laser vibrating mirror according to the difference value;
s5: the galvanometer compensates coordinates, and the compensated coordinates (XX 1, Y, ZZ 1) (XX 1, -Y, ZZ 1), (XX 2, Y, ZZ 2) (XX 2, -Y, ZZ 2) … …, wherein the X-axis calculation formula is: xx1=x1+Δx1, xx2=x2+Δx2 … …, the calculation formula of the Z axis is: zz1=z1+Δz1, zz2=z2+Δz2 … ….
In the above technical solution, the offset compensation and ranging detection of the flexible addressing method comprises the following steps:
s'1: the servo detection welding system itself compensates for the offset while the rangefinder detects the Z-offset of the zero.
S'2: taking 4 points in a standard module as examples, measuring distance from point 1, point 2, point 3 and point 4, wherein corresponding Z values are Z1, Z2, Z3 and Z4 respectively, and taking the measured values as reference values;
s'3: zaverage= (z1+z2+z3+z4)/4, Δz=zlog-zaverage, where Δz is the compensation value and zlog is the camera ranging value;
s'4: after compensation, the 1,2,3,4 points are measured and marked as delta Z1, delta Z2, delta Z3 and delta Z4;
s'5: calculating the actual light emitting distance Z through a formula Z=Ztest+DeltaZ;
s'6: the welding system monitors reference values Z1, Z2, Z3, Z4, delta Z1, delta Z2, delta Z3, delta Z4 and Z measurement at the same time;
s'7: alarming when the distance measurement value of the Z-distance measurement sensor is more than 0.1, and not performing welding
In summary, compared with the traditional technical means, the technical scheme provided by the invention has the following beneficial effects: according to the invention, the tray lifting mechanism and the copper nozzle clamping mechanism are arranged, the tray is accurately positioned by automatically lifting the module positioned on the supporting plate through the tray lifting mechanism, the copper nozzle for dust collection can be automatically clamped through the copper nozzle clamping mechanism to ensure the welding pressure and the welding protection of the shielding gas, so that the welding quality, the progress and the like are improved, the partial structure is optimized, the automation degree of the whole device is improved, and the work welding efficiency is effectively improved;
the flexible vibrating mirror mechanisms arranged at two ends of the whole device are mutually independent, so that the welding time is greatly saved, the mutual influence is avoided, the compensation calculation times are reduced, the running time is saved, the flexible vibrating mirror device is compatible with flexible addressing and laser welding of modules with different lengths, the applicability is higher, the space and the debugging time are saved for an integrated system, the cost investment is reduced, and the 99.99% qualification rate is realized by means of pole addressing ranging and welding compensation in combination with floating compaction ranging of welding.
Drawings
The foregoing and other objects, features, and advantages of the invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic side view of the present invention;
FIG. 4 is a schematic top view of the present invention;
FIG. 5 is a schematic perspective view of the invention with the copper nozzle clamping mechanism clamping plate removed;
FIG. 6 is a schematic top view of FIG. 5;
FIG. 7 is a schematic perspective view of the present invention with the copper nozzle clamping mechanism removed;
FIG. 8 is a schematic perspective view of a tray lifting mechanism according to the present invention;
FIG. 9 is a schematic perspective view of a copper nozzle clamping mechanism according to the present invention
FIG. 10 is a schematic front view of a flexible galvanometer mechanism of the invention;
FIG. 11 is an enlarged partial schematic view of FIG. 5;
FIG. 12 is a flow chart of an addressing method of the present invention;
FIG. 13 is a schematic flow chart of the fool-proof mode in the present invention;
the labels are as follows: a frame 100; a tray lifting mechanism 200; a substrate 210; a roller 211 guide 220; a lifting cylinder 230; a connection frame 240; a track 241; a guide post 250; a copper mouth clamping mechanism 300; clamping the electric cylinder 310; a guide plate 320; a guide groove 321; a clamping plate 330; a clamping groove 331; a flexible galvanometer mechanism 400; a camera 410; vibrating mirror 420; a servo module 430; a dust collection mechanism 500; a copper mouth 510; a dust removing pipe 520; a pipe opening and closing mechanism 530; an opening and closing piece 531; and an opening and closing cylinder 532.
Detailed Description
The following preferred embodiments according to the present invention are intended to suggest that various changes and modifications may be made by the worker skilled in the art without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
The invention will be further described with reference to the following drawings:
embodiment one:
as shown in fig. 1 to 11, an adaptive laser welding apparatus has a frame 100, a tray lifting mechanism 200 and a copper nozzle clamping mechanism 300 are provided in the middle of the frame 100, flexible galvanometer mechanisms 400 are provided at both ends of the frame 100, a dust suction mechanism 500 is provided at the side of the tray lifting mechanism 200,
the tray lifting mechanism 200 comprises a base plate 210, a guide table 220 and a lifting cylinder 230, wherein rollers 211 on two sides of the base plate 210 are arranged on the inclined surface of the guide table 220, the guide table 220 can be driven by the lifting cylinder 230 to move horizontally and drive the base plate 210 to lift, the copper nozzle clamping mechanism 300 comprises a clamping cylinder 310, a guide plate 320 and a clamping plate 330, the clamping plate 330 is arranged above the guide plate 320, the guide plate 320 is arranged on an output shaft of the clamping cylinder 310, a plurality of guide grooves 321 are formed in the guide plate 320, the guide grooves 321 are inclined horizontally and obliquely from the inner side to the outer side of the guide plate 320, copper nozzles 510 of the dust suction mechanism 500 are arranged in the guide grooves 321, the guide plate 320 can be driven by the clamping cylinder 310 to move horizontally and drive the copper nozzles 510 to the clamping grooves 331 of the clamping plate 330, and the flexible vibrating mirror mechanism 400 comprises a camera 410, a vibrating mirror 420 and a servo module 430, and the camera 410 and the vibrating mirror 420 are arranged on the servo module 430 and can move along with the servo module 430.
The dust removing device is characterized in that the frame 100 is provided with a dust removing pipe 520 of the dust removing mechanism 500, the dust removing pipe 520 is provided with a pipeline opening and closing mechanism 530, the pipeline opening and closing mechanism 530 comprises an opening and closing piece 531 and an opening and closing cylinder 532 thereof, and the opening and closing piece 531 can open and close the pipe orifice of the dust removing pipe 520 under the driving of the opening and closing cylinder 532.
The welding flexibility is higher, reduces welding cost, and each pole corresponds an independent copper mouth for welding precision is higher, and the vibrating mirror of large visual field makes servo removal once can weld 8 poles and two side vibrating mirror welding, improves the welding beat greatly.
The guide tables 220 on both sides are mounted on a connecting frame 240, the connecting frame 240 is mounted on a rail 241 and can move along the rail 241 under the driving of the lifting cylinder 230, and guide posts 250 are arranged around the substrate 210.
The clamping groove 331 coincides with the inner end of the guide groove 321.
Embodiment two:
the flexible addressing method of the self-adaptive laser welding equipment is applied to the self-adaptive laser welding equipment in the first embodiment, and comprises the following steps:
s1, establishing a coordinate system: the servo axis carries the camera and the distance measuring instrument to cooperate with each other to use the calibration zero point, eliminate the deviation, the servo axis moves the center of 4 polar posts shot by the measuring camera each time, the center of the lens of the camera is taken as the origin, the optical axis of the camera is taken as the Z axis, the X axis is taken as the horizontal axis, the Y axis is vertical, the servo axis carries the camera to move to the fixed Mark point of the tray to carry out zero resetting, the zero point coordinates are recorded as the origins (0, 0 and 0), the X axis and the Z axis are horizontal coordinates, and the Y axis is the vertical coordinates of the welding area;
s2: placing a standard module to a corresponding position, driving a camera to move, checking and calibrating the module by a servo shaft, wherein the position is defined as an origin (0, 0), at this time, offset accumulated by the camera and the servo shaft needs to be compensated, a camera planner moves a distance of 4 electric cores each time, pole centers of the 4 electric cores can appear in a camera visual field range, coordinates of the pole centers are calibrated, pole center values of the corresponding electric cores define rules, the pole centers of the first electric core are calibrated as (A1, 0, ZA 1), the center of the second electric core is calibrated as (A2, 0, ZA 2) … …, and the like, all pole coordinates are calibrated, a coordinate system is established, and the center values of all the poles are recorded;
s3: the module to be detected is in place, the servo shaft drives the camera to move to a check zero point, the offset of the camera and the servo shaft is eliminated, the distance between 4 electric cores is moved each time, the pole centers of the 4 electric cores are generated in the visual field range of the camera, the coordinates of the pole centers of the electric cores are detected, the first electric core pole center is calibrated to be (X1, 0, Z1), the second electric core pole center is calibrated to be (X2, 0, Z2) … …, and the coordinate value of the pole center value of the module to be detected is calculated and a new coordinate system is established;
s4: calculating the deviations delta X and delta Z of the horizontal coordinates of the standard group and the group to be detected, recording the numerical value, transmitting the difference value to a laser vibrating mirror, and automatically compensating the laser vibrating mirror according to the difference value;
s5: the galvanometer compensates coordinates, and the compensated coordinates (XX 1, Y, ZZ 1) (XX 1, -Y, ZZ 1), (XX 2, Y, ZZ 2) (XX 2, -Y, ZZ 2) … …, wherein the X-axis calculation formula is: xx1=x1+Δx1, xx2=x2+Δx2 … …, the calculation formula of the Z axis is: zz1=z1+Δz1, zz2=z2+Δz2 … ….
The offset compensation and ranging detection of the flexible addressing method comprise the following steps:
s'1: the servo detection welding system can compensate offset, and meanwhile, the distance meter detects Z-direction offset of zero point, so that the depth quality of welding is guaranteed, and the phenomenon of cold welding or welding through is avoided.
S'2: taking 4 points in a standard module as examples, measuring distance from point 1, point 2, point 3 and point 4, wherein corresponding Z values are Z1, Z2, Z3 and Z4 respectively, and taking the measured values as reference values;
s'3: zaverage= (z1+z2+z3+z4)/4, Δz=zlog-zaverage, where Δz is the compensation value and zlog is the camera ranging value;
s'4: after compensation, the 1,2,3,4 points are measured and marked as delta Z1, delta Z2, delta Z3 and delta Z4;
s'5: calculating the actual light emitting distance Z through a formula Z=Ztest+DeltaZ;
s'6: the welding system monitors reference values Z1, Z2, Z3, Z4, delta Z1, delta Z2, delta Z3, delta Z4 and Z measurement at the same time;
s'7: when the distance measurement value of the Z-distance measurement sensor is more than 0.1, the welding is not performed, and the fact that the flatness tolerance of the electrode column of the battery cell is too large is indicated at the moment, and the quality of the welded electrode column is unqualified
When the invention is used, the tray of the carrier module is moved to the tray lifting mechanism 200, the tray lifting mechanism 200 is lifted, the module to be welded on the tray is lifted along with the tray, after the module is lifted in place, the clamping electric cylinder 310 of the copper nozzle clamping mechanism 300 is retracted to drive the guide plate 320 to retract, the copper nozzle 510 is moved along the guide groove 321 and clamped to the pole post of the module electric core, the servo module 430 is provided with the galvanometer 420 and the camera 410 to move to the addressing position, the camera 410 photographs Mark points, then the camera 410 photographs the central hole of the first electric core to check the module, then the camera 410 photographs the central hole of the second electric core to calculate the theoretical value of the module electric core, the difference value is transmitted to the galvanometer 420, the galvanometer 420 can adjust the welding offset according to the difference,
the vibrating mirror 420 can weld 8 cells at a time, cycling through this until the weld is complete.
The clamping cylinder 310 of the copper mouth clamping mechanism 300 is extended and the guide plate 320 is opened with the copper mouth 510, and the copper mouth 510 is separated from the die set.
The tray lifting mechanism 200 descends, the tray drives the module to descend, and finally the tray is slid out with the module.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An adaptive laser welding apparatus having a frame (100), characterized by: a tray lifting mechanism (200) and a copper nozzle clamping mechanism (300) are arranged in the middle of the stand (100), flexible galvanometer mechanisms (400) are arranged at two ends of the stand (100), dust collection mechanisms (500) are arranged at the side parts of the tray lifting mechanism (200),
the tray lifting mechanism (200) comprises a base plate (210), a guide table (220) and a lifting cylinder (230), wherein rollers (211) on two sides of the base plate (210) are arranged on the inclined surface of the guide table (220), the guide table (220) can horizontally move under the driving of the lifting cylinder (230) and drive the base plate (210) to lift,
the copper nozzle clamping mechanism (300) comprises a clamping electric cylinder (310), a guide plate (320) and a clamping plate (330), the clamping plate (330) is arranged above the guide plate (320), the guide plate (320) is arranged on an output shaft of the clamping electric cylinder (310), a plurality of guide grooves (321) are formed in the guide plate (320), the guide grooves (321) are inclined from the inner side to the outer side of the guide plate (320), the copper nozzle (510) of the dust collection mechanism (500) is arranged in the guide grooves (321), the guide plate (320) can move under the driving of the clamping electric cylinder (310), and the copper nozzle (510) can move into a clamping groove (331) of the clamping plate (330) along the guide grooves (321),
the flexible galvanometer mechanism (400) comprises a camera (410), a galvanometer (420) and a servo module (430), wherein the camera (410) and the galvanometer (420) are both arranged on the servo module (430) and can move along with the servo module (430).
2. The adaptive laser welding apparatus of claim 1, wherein: the dust removal device is characterized in that a dust removal pipe (520) of the dust collection mechanism (500) is arranged on the frame (100), a pipeline opening and closing mechanism (530) is arranged on the dust removal pipe (520), the pipeline opening and closing mechanism (530) comprises an opening and closing piece (531) and an opening and closing cylinder (532) thereof, and the opening and closing piece (531) can open and close a pipe orifice of the dust removal pipe (520) under the driving of the opening and closing cylinder (532).
3. The adaptive laser welding apparatus of claim 1, wherein: the guide tables (220) on two sides are arranged on the connecting frame (240), the connecting frame (240) is arranged on the track (241) and can move along the track (241) under the driving of the lifting air cylinder (230), and guide posts (250) are arranged around the substrate (210).
4. The adaptive laser welding apparatus of claim 1, wherein: the clamping groove (331) is coincided with the inner end of the guide groove (321).
5. The adaptive laser welding apparatus of claim 1, wherein: the flexible addressing method of the self-adaptive laser welding equipment comprises the following steps:
s1, establishing a coordinate system: the servo shaft carries the camera and the distance measuring instrument to cooperate with each other to use the calibration zero point, eliminates the deviation, moves the center of 4 polar posts shot by the measuring camera each time,
taking the center of a camera lens as an origin, taking the optical axis of the camera as a Z axis, taking the X axis as a horizontal axis, taking the Y axis as a vertical axis, enabling the servo axis to move to a fixed Mark point of a tray for zeroing, recording zero coordinates as origins (0, 0 and 0), taking the X axis and the Z axis as horizontal coordinates, and taking the Y axis as vertical coordinates of a welding area;
s2: placing a standard module to a corresponding position, driving a camera to move, checking and calibrating the module by a servo shaft, wherein the position is defined as an origin (0, 0), at this time, offset accumulated by the camera and the servo shaft needs to be compensated, a camera planner moves a distance of 4 electric cores each time, pole centers of the 4 electric cores can appear in a camera visual field range, coordinates of the pole centers are calibrated, pole center values of the corresponding electric cores define rules, the pole centers of the first electric core are calibrated as (A1, 0, ZA 1), the center of the second electric core is calibrated as (A2, 0, ZA 2) … …, and the like, all pole coordinates are calibrated, a coordinate system is established, and the center values of all the poles are recorded;
s3: the module to be detected is in place, the servo shaft drives the camera to move to a check zero point, the offset of the camera and the servo shaft is eliminated, the distance between 4 electric cores is moved each time, the pole centers of the 4 electric cores are generated in the visual field range of the camera, the coordinates of the pole centers of the electric cores are detected, the first electric core pole center is calibrated to be (X1, 0, Z1), the second electric core pole center is calibrated to be (X2, 0, Z2) … …, and the coordinate value of the pole center value of the module to be detected is calculated and a new coordinate system is established;
s4: calculating the deviations delta X and delta Z of the horizontal coordinates of the standard group and the group to be detected, recording the numerical value, transmitting the difference value to a laser vibrating mirror, and automatically compensating the laser vibrating mirror according to the difference value;
s5: the galvanometer compensates coordinates, and the compensated coordinates (XX 1, Y, ZZ 1) (XX 1, -Y, ZZ 1), (XX 2, Y, ZZ 2) (XX 2, -Y, ZZ 2) … …, wherein the X-axis calculation formula is: xx1=x1+Δx1, xx2=x2+Δx2 … …, the calculation formula of the Z axis is: zz1=z1+Δz1, zz2=z2+Δz2 … ….
6. The adaptive laser welding apparatus of claim 5, wherein: the method is characterized in that: offset compensation and ranging detection in the flexible addressing method are as follows:
s'1: the servo detection welding system itself compensates for the offset while the rangefinder detects the Z-offset of the zero.
S'2: taking 4 points in a standard module as examples, measuring distance from point 1, point 2, point 3 and point 4, wherein corresponding Z values are Z1, Z2, Z3 and Z4 respectively, and taking the measured values as reference values;
s'3: zaverage= (z1+z2+z3+z4)/4, Δz=zlog-zaverage, where Δz is the compensation value and zlog is the camera ranging value;
s'4: after compensation, the 1,2,3,4 points are measured and marked as delta Z1, delta Z2, delta Z3 and delta Z4;
s'5: calculating the actual light emitting distance Z through a formula Z=Ztest+DeltaZ;
s'6: the welding system monitors reference values Z1, Z2, Z3, Z4, delta Z1, delta Z2, delta Z3, delta Z4 and Z measurement at the same time;
s'7: and alarming when the distance measurement value of the Z-distance measurement sensor is more than 0.1, and not executing welding.
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| CN202310831735.8A CN116673624B (en) | 2023-07-07 | 2023-07-07 | Self-adaptive laser welding equipment |
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| CN202310831735.8A CN116673624B (en) | 2023-07-07 | 2023-07-07 | Self-adaptive laser welding equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117001153A (en) * | 2023-10-08 | 2023-11-07 | 宁德时代新能源科技股份有限公司 | Welding method and system for battery pole |
| CN117020416A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Coordinate conversion method and welding system |
| CN117020414A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Pole welding method and pole welding system |
| CN117020413A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Polar column coordinate determination method, welding method and welding system |
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| CN116921854A (en) * | 2023-07-07 | 2023-10-24 | 上海君屹工业自动化股份有限公司 | Method for setting defocusing amount of BUSBAR welding |
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| CN117001153A (en) * | 2023-10-08 | 2023-11-07 | 宁德时代新能源科技股份有限公司 | Welding method and system for battery pole |
| CN117020416A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Coordinate conversion method and welding system |
| CN117020414A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Pole welding method and pole welding system |
| CN117020413A (en) * | 2023-10-08 | 2023-11-10 | 宁德时代新能源科技股份有限公司 | Polar column coordinate determination method, welding method and welding system |
| CN117020416B (en) * | 2023-10-08 | 2024-02-06 | 宁德时代新能源科技股份有限公司 | Coordinate conversion method and welding system |
| CN117001153B (en) * | 2023-10-08 | 2024-02-06 | 宁德时代新能源科技股份有限公司 | Welding method and system for battery pole |
| CN117020414B (en) * | 2023-10-08 | 2024-02-06 | 宁德时代新能源科技股份有限公司 | Pole welding method and pole welding system |
| CN117020413B (en) * | 2023-10-08 | 2024-02-23 | 宁德时代新能源科技股份有限公司 | Polar column coordinate determination method, welding method and welding system |
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