CN109570835B - Utmost point ear welding control system and utmost point ear welding equipment - Google Patents
Utmost point ear welding control system and utmost point ear welding equipment Download PDFInfo
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- 238000003466 welding Methods 0.000 title claims abstract description 326
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Abstract
The invention provides a tab welding control system and tab welding equipment, and relates to the field of power batteries. This utmost point ear welding control system includes: the device comprises a tab detection sensor, a controller and a welding position detection device, wherein the tab detection sensor and the welding position detection device are connected with the controller; the pole lug detection sensor detects the pole lug on the pole piece to be detected, generates and sends a pole lug detection signal to the controller; then the controller sends a trigger instruction to the welding position detection device according to the tab detection signal, so that the welding position detection device detects the tab welding position on the pole piece to be detected, generates and sends welding position data to the controller; then, the controller generates a welding position adjusting value based on the welding position data, so that the problems of low automation degree and low yield rate due to manual measurement in the prior art are solved; the purpose of automatic detection and control of the welding position of the tab can be realized, and the automation level and the yield are improved.
Description
Technical Field
The invention relates to the technical field of power batteries, in particular to a tab welding control system and tab welding equipment.
Background
One end of the tab is provided with a sealant (sealant), when the tab with the sealant is welded on the pole piece, the welding datum line is required to be used as a reference, the sealant of the welded tab and the edge of the pole piece are required to keep a set distance, and meanwhile, the side edge of the tab and the welding datum line of the tab are required to keep the set distance, so that the requirement that the wound battery cell reaches the subsequent assembly process is met. The tab welding position has a direct influence on the quality of the battery product.
At present, on the one hand, the tab welding position is often measured manually, so that in the early debugging process of the winding machine and in the batch bad process of the middle tab welding position, great manpower is required to be invested to complete the manual measurement of the tab welding position, and according to the measurement result, a plurality of relevant mechanisms of equipment are regulated and controlled according to debugging or operation experience so as to solve the bad condition of the tab welding position. On the other hand, if the welding position of the tab is abnormal, the abnormal real-time monitoring and real-time measurement cannot be realized in a manual measurement mode, so that the poor mass production of products is easily caused, and the production and manufacturing cost is increased.
In conclusion, the existing method for detecting and regulating the welding position of the tab depends on manual operation, and has the problems of low automation level and poor yield. Therefore, a complete method for detecting and controlling the welding position of the tab is needed to control the welding position of the tab.
Disclosure of Invention
In view of this, the present invention provides a tab welding control system and a tab welding apparatus having the same, so as to control a welding position of a tab.
In a first aspect, an embodiment of the present invention provides a tab welding control system, including: the welding device comprises a tab detection sensor, a controller and a welding position detection device, wherein the tab detection sensor and the welding position detection device are connected with the controller;
the tab detection sensor is used for detecting a tab on a pole piece to be detected, generating and sending a tab detection signal to the controller;
the controller is used for generating and sending a trigger instruction to the welding position detection device according to the tab detection signal;
the welding position detection device is used for detecting the welding position of the lug on the pole piece to be detected according to the trigger command, generating and sending welding position data to the controller;
the controller is used for generating a welding position adjusting value according to the welding position data.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the welding position detection device is a sensor group;
the sensor group comprises a first sensor and/or a second sensor, and the first sensor is used for acquiring the data of the extending distance of the lug; the second sensor is used for acquiring welding distance data of the pole lug.
With reference to the first possible implementation manner of the first aspect, the present invention provides a second possible implementation manner of the first aspect, wherein the first sensor is a correlation sensor, and the second sensor is a vision sensor or a baseline sensor.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the tab detection sensor is a correlation sensor.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the welding position detection device is a visual detection device;
the visual detection device is used for photographing according to the trigger instruction to generate a tab welding state characteristic image and sending the tab welding state characteristic image to the controller.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the controller is configured to acquire a characteristic dimension in the welding position data; calculating the verticality of the edges of the pole lugs and the pole pieces according to the characteristic size; judging whether the perpendicularity is within a preset perpendicularity threshold range or not; if the verticality is judged to be within a preset verticality threshold range, marking the characteristic size as the characteristic size for statistics; wherein the feature size comprises a probing distance data and/or a welding distance data.
With reference to the fifth possible implementation manner of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the controller is further configured to obtain a plurality of feature sizes for statistics; obtaining a first statistical parameter based on a plurality of the statistical feature sizes; judging whether the plurality of feature sizes for statistics meet the requirement of consistency or not based on the first statistical parameter; if the first statistical parameter meets the consistency requirement, obtaining a second statistical parameter based on a plurality of feature sizes for statistics; calculating a characteristic size adjustment value based on the second statistical parameter; wherein the feature size adjustment value comprises a seek distance adjustment value and/or a weld distance adjustment value.
With reference to the sixth possible implementation manner of the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, wherein the controller is further configured to call a statistical calculation method based on a plurality of the feature sizes for statistics to obtain the first statistical parameter, where the statistical calculation method includes a standard deviation value calculation method, a variance value calculation method, or a CPK value calculation method; accordingly, the first statistical parameter comprises a standard deviation value, a variance value or a CPK value.
With reference to the sixth possible implementation manner of the first aspect, the embodiment of the present invention provides an eighth possible implementation manner of the first aspect, wherein the controller is further configured to call a statistical calculation method to obtain the second statistical parameter based on a plurality of the statistical feature sizes, where the statistical calculation method includes any one of a weighted average calculation method, a harmonic average calculation method, a geometric average calculation method, a pruning average calculation method, and a median calculation method; correspondingly, the second statistical parameter includes any one of a weighted average, a harmonic average, a geometric average, a pruning average, and a median.
In a second aspect, an embodiment of the present invention further provides a tab welding control apparatus, including: a tab welding mechanism and a tab welding control system as set forth in any one of the first aspect and possible embodiments thereof.
In combination with the second aspect, the present invention provides a first possible implementation manner of the second aspect, wherein the tab welding mechanism includes: the pole piece conveying assembly, the tab cutting assembly, the tab conveying assembly, the tab welding assembly and the welding assembly are arranged on the frame;
the pole piece conveying assembly is used for conveying a pole piece to be detected to a welding station to wait for welding; the tab cutting assembly is used for cutting tab strips to obtain tabs welded to the pole pieces to be detected; wherein the tab strip is provided with a plurality of tab sealants at equal intervals in advance; each tab is provided with a tab sealant; the tab conveying assembly is used for conveying a tab to be welded to a preset bearing position of the tab conveying assembly; the tab welding feeding assembly is used for conveying a tab to be welded positioned at the preset bearing position to the welding station; the welding assembly is used for welding the pole lug to be welded at the welding station to the pole lug to be detected.
With reference to the first possible implementation manner of the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, wherein the pole piece conveying assembly includes a welding transfer motor connected to the controller;
the tab cutting assembly comprises a blade;
the lug conveying assembly comprises a servo motor, a first lead screw connected with the servo motor, a first lead screw sliding block connected with the first lead screw and a hand-changing clamping jaw arranged on the first lead screw sliding block;
the lug welding conveying assembly comprises a lug conveying motor connected with the controller, a second lead screw connected with the lug conveying motor, a second lead screw sliding block connected with the second lead screw and a welding conveying clamping jaw arranged on the second lead screw sliding block;
the welding assembly comprises a welding head bracket and a welding head arranged on the welding head bracket.
The embodiment of the invention has the following beneficial effects: the tab welding control system provided by the embodiment of the invention comprises: the device comprises a tab detection sensor, a controller and a welding position detection device, wherein the tab detection sensor and the welding position detection device are connected with the controller; the problems of low automation level and low yield rate due to manual measurement in the prior art are solved, the detection and control of the welding position of the tab can be realized, and the automation level is improved; in addition, the system can further automatically adjust the pole piece transferring distance of the welding transferring motor and the pole lug transferring distance of the pole lug transferring motor according to the welding position of the detected pole lug and the calculated characteristic size adjusting value (the difference value between the current value and the reference value), so that the automatic adjustment of the welding position is realized, the continuous detection and correction can be carried out on the follow-up pole lug, and the closed-loop detection correction is realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a first structural schematic diagram of a tab welding control system according to an embodiment of the present invention;
fig. 2 is a first application view of a tab welding control system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a second structure of a tab welding control system according to an embodiment of the invention;
fig. 4 is a second application scenario diagram of a tab welding control system according to an embodiment of the present invention;
fig. 5 is a diagram illustrating the welding requirements of a tab sealant according to an embodiment of the present invention;
fig. 6 is a schematic view of a tab welding mechanism according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the existing tab welding position detection and regulation and control depends on a manual mode, and the problems of low automation level and poor yield are solved.
For the convenience of understanding the present embodiment, a tab welding control system disclosed in the present embodiment will be described in detail first.
The first embodiment is as follows:
as shown in fig. 1 and 2, an embodiment of the present invention provides a tab welding control system, including: the welding device comprises a pole lug detection sensor 10, a controller 20 and a welding position detection device 30, wherein the pole lug detection sensor 10 and the welding position detection device 30 are connected with the controller 20.
The tab detecting sensor 10 is configured to detect a tab 52 on a pole piece 51 to be detected, generate and send a tab detecting signal to the controller 20; in other words, the tab detecting sensor 10 can detect whether the tab on the pole piece to be detected reaches a predetermined detection position, and when the tab reaches the detection position, generates and sends a tab detecting signal to the controller 20; it should be noted that a welding reference line 53 is preset on the pole piece 51 to be detected, and the whole pole piece strip is provided with a plurality of welding reference lines 53; a tab sealant 54 (sealant for short) is arranged on each tab 52 in advance, and is bonded with the tab; and a plurality of tabs are welded on the tab to be detected at intervals of a preset distance.
The controller 20 is used for generating and sending a trigger instruction to the welding position detection device according to the tab detection signal;
the welding position detection device 30 is used for detecting the welding position of the tab on the pole piece to be detected according to the trigger instruction, generating and sending welding position data to the controller; wherein, the tab welding position refers to the relative position of the tab and the pole piece to be detected; the welding position data comprises characteristic dimensions representing the welding state of the electrode lug, and the characteristic dimensions comprise the detected distance data and/or the welding distance data.
The controller 20 is also configured to generate a weld position adjustment value based on the weld position data.
In this embodiment, the welding detection device is a sensor group, the sensor group is configured to obtain the data of the detected distance of the tab and/or the data of the welding distance of the tab according to a trigger instruction of the controller, and send the data to the controller, and the controller generates a welding position adjustment value according to the data of the detected distance and/or the data of the welding distance of the tab;
it is noted that in other embodiments, the welding position detection means may also be a visual detection means.
Further, the sensor group comprises a first sensor 301 and/or a second sensor 302; the first sensor is used for acquiring the data of the extending distance of the tab; the second sensor is used for acquiring welding distance data of the pole lug.
Optionally, the first sensor is a correlation sensor, and the second sensor is a vision sensor or a baseline sensor. It should be understood that when the second sensor is a vision sensor, the second sensor includes a CCD image sensor, and the image processing is performed to obtain the welding distance data of the tab.
In this embodiment, the sensor group includes a first sensor 301 and a second sensor 302, the first sensor is a correlation photoelectric sensor, and the second sensor is a baseline sensor.
Specifically, the first sensor includes a transmitting end 3011 and a receiving end 3012 corresponding to the transmitting end, where the transmitting end emits light with a preset width (called broad light for short), when there is no obstacle between the transmitting end and the receiving end, the broad light can reach the receiving end without being blocked, and when there is an obstacle between the transmitting end and the receiving end, the form information (including size information) of the obstacle can be obtained by blocking the broad light by the obstacle; based on the principle, the first sensor can detect the data of the extending distance of the lug by judging the width of the shielded wide light. The second sensor is a baseline sensor, when the welding distance measuring device is used, the lug detection sensor is used for detecting whether the lug reaches the detection position, the baseline sensor is used for detecting the baseline, and welding distance data is obtained by recording the time when the lug reaches the lug detection sensor and the time when the baseline reaches the baseline sensor and combining the advancing speed of the pole piece, the installation position of the lug detection sensor and the installation position of the baseline sensor.
Further, after receiving the welding position data, the controller is configured to obtain a feature size included in the welding position data, that is, extract the feature size from the welding position data; calculating the verticality of the edges of the pole lugs and the pole pieces according to the characteristic size; judging whether the verticality is within a preset verticality threshold range or not; if the verticality is judged to be within a preset verticality threshold range, marking the characteristic size as a characteristic size for statistics; wherein the feature size comprises a probing distance data or a welding distance data; the plurality of characteristic dimensions for statistics are obtained by detecting the welding positions of a plurality of lugs on the pole piece to be detected, wherein the characteristic dimensions in the welding position data of each lug meet the verticality requirement.
Further, the controller is further configured to generate a weld sizing value based on the plurality of statistically useful feature sizes.
Specifically, the controller is further configured to obtain a plurality of feature sizes for statistics; obtaining a first statistical parameter based on the plurality of statistical feature sizes; judging whether the plurality of feature sizes for statistics meet the requirement of consistency or not based on the first statistical parameter; if the consistency requirement is met, obtaining a second statistical parameter based on a plurality of feature sizes for statistics; calculating a characteristic size adjustment value based on the second statistical parameter; wherein the feature size adjustment value comprises a seek distance adjustment value and/or a weld distance adjustment value.
In this embodiment, the controller is further configured to call a statistical calculation method based on a plurality of statistical feature sizes to obtain a first statistical parameter, where the statistical calculation method includes a standard deviation value calculation method, a variance value calculation method, or a CPK value calculation method; accordingly, the first statistical parameter comprises a standard deviation value, a variance value or a CPK value.
The controller is further used for calling a statistical calculation method to calculate a second statistical parameter based on the plurality of statistical feature sizes, wherein the statistical calculation method comprises any one of a weighted average calculation method, a harmonic average calculation method, a geometric average calculation method, a trimming average calculation method and a median calculation method; correspondingly, the second statistical parameter includes any one of a weighted average, a harmonic average, a geometric average, a pruning average, and a median.
The tab welding control system provided by the embodiment of the invention comprises: the device comprises a tab detection sensor, a controller and a welding position detection device, wherein the tab detection sensor and the welding position detection device are connected with the controller; the problems of low automation level and low yield due to manual measurement in the prior art are solved, the detection of the welding position of the lug can be realized, and the automation level is improved.
Example two:
as shown in fig. 3 and 4, an embodiment of the present invention provides a tab welding control system, including: the device comprises a tab detection sensor 10, a controller 20 and a visual detection device 30, wherein the tab detection sensor 10 and the visual detection device 30 are connected with the controller 20.
Alternatively, the tab detecting sensor 10 may be a reflective sensor or a correlation photoelectric sensor; in this embodiment, the tab detecting sensor 10 is a correlation type photoelectric sensor, and can detect whether the tab reaches a predetermined detecting position based on a photoelectric detection principle; the visual inspection device 30 is a CCD visual inspection device, which includes a light source 31 and a CCD camera 32; wherein the light source 31 is directly opposite to the tab 52; the light source 31 may be used to assist the CCD camera to shoot the tab, so that the CCD camera can better collect the tab welding state characteristic image, and the controller 20 can process and analyze the collected tab welding state characteristic image conveniently.
The tab detecting sensor 10 is configured to detect a tab 52 on a pole piece 51 to be detected, and generate and send a tab detecting signal to the controller 20.
Specifically, the tab detecting sensor 10 detects a tab 52 on a pole piece 51 to be detected, generates a tab detecting signal, and sends the tab detecting signal to the controller 20; wherein the whole polar sheet material belt is provided with a plurality of welding reference lines 53; a tab sealant 54 is pre-arranged on each tab 52 and is bonded with the tab; a plurality of tabs are welded on the to-be-detected tab at intervals of a preset distance; fig. 4 only schematically shows one tab and one tab welding reference line. It should be noted that, after the tab welding mechanism welds a tab 52 to the pole piece 51 to be detected, the tab welding control system detects the tab.
The controller 20 is configured to generate and send a trigger command to the visual inspection device 30 according to the tab detection signal.
Specifically, the controller determines the time when the tab reaches the preset photographing range of the visual detection device 30 according to the received tab detection signal sent by the tab detection sensor; the controller generates and sends a trigger command to the visual detection device 30 to enable the visual detection device 30 to take a picture, wherein the installation distance between the visual detection device 30 and the tab detection sensor 10 and the pole piece conveying speed are combined to judge when the tab reaches the visual field range of the visual detection device, for example, 2s after the tab detection sensor 10 sends the trigger signal, the tab reaches the visual field range of the visual detection device.
The visual inspection device 30 is configured to take a picture according to the trigger instruction to generate a tab welding state characteristic image, and send the tab welding state characteristic image to the controller 20.
The tab welding state characteristic image comprises an image of a welding reference line on a tab, a sealant, a pole piece and a pole piece, namely, the controller can identify the welding reference line on the tab, the sealant and the pole piece and the relative position relation between the tab and the pole piece, between the tab and the sealant, between the sealant and the pole piece and between the tab and the pole piece; fig. 5 can be used as a tab welding state characteristic image.
The controller 20 is further configured to obtain a characteristic dimension in the tab welding state characteristic image; calculating the verticality of the edges of the pole lugs and the pole pieces according to the characteristic size; judging whether the perpendicularity is within a preset perpendicularity threshold range or not; if the verticality is judged to be within the preset verticality threshold range, the tab welding state characteristic image is marked as a statistical tab welding state characteristic image; the perpendicularity threshold range can be set according to actual process requirements, and the embodiment is not particularly limited.
Wherein the characteristic dimension comprises a probing distance data and/or a welding distance data; referring to fig. 5, a and b represent the detected distance data, and c and d represent the welding distance data; specifically, a or b represents the distance from the sealant to the edge of the pole piece, and is hereinafter referred to as the probing distance; c or d represents the distance from the tab to the welding reference line, hereinafter referred to as the welding distance; in actual detection, a can be the vertical distance from the left lower edge point of the sealant to the pole piece, and b can be the vertical distance from the right lower edge point of the sealant to the pole piece; c, the vertical distance from the upper right edge of the tab to the welding reference line can be taken, and d, the vertical distance from the point of the right side edge where the tab and the pole piece are intersected to the welding reference line can be taken; in FIG. 5, the weld reference line is generally the boundary between a coating layer and a non-coating layer on the electrode sheet.
It should be noted that a, b, c, and d are all size requirements, and the quality requirement is equal to the size requirement, that is, the quality requirement can be characterized by the size requirement, and therefore a and b, or c and d, can characterize the welding quality; if a and b are not equal and exceed the process requirement, or c and d are not equal and exceed the process requirement, the method is equivalent to the inclination of the tab.
The characteristic dimension (a, b or c, d) is used for calculating and obtaining the verticality of the edge of the pole lug and the pole piece; the feature size may be directly expressed in the form of pixel data; it should be noted that the feature size may also be expressed in the form of an actual distance after the pixel data is converted into the actual distance by the controller in combination with the photographing distance.
Considering that the tab welding state characteristic image is not necessarily horizontal, in order to facilitate the controller to acquire the characteristic dimension of the tab welding state characteristic image, the controller is further configured to perform image processing on the tab welding state characteristic image after acquiring the tab welding state characteristic image and before acquiring the characteristic dimension in the tab welding state characteristic image.
Specifically, the controller adjusts the whole picture to be in a horizontal state, namely the controller performs rotation correction on the whole image to obtain a tab welding state characteristic image subjected to horizontal correction, and then the controller obtains pixel measurement data according to the tab welding state characteristic image subjected to image processing, wherein the pixel measurement data comprises a characteristic dimension, so that the controller can calculate the verticality according to the characteristic dimension.
The controller identifies the location (profile) and/or angle of the tab and sealant using image recognition techniques, including, for example, identifying the four apex locations of the tab, the four apex locations of the sealant, and the location of the two points where the tab intersects the pole piece.
When a and b are not equal and exceed the process requirement, or c and d are not equal and exceed the process requirement, the process is equivalent to the inclination of the pole lug, namely the perpendicularity is not within the preset perpendicularity threshold range, namely the perpendicularity exceeds the standard.
And if the perpendicularity is within the preset perpendicularity threshold range, the controller marks the tab welding state characteristic image as a statistical tab welding state characteristic image.
If the verticality is not within the preset verticality threshold range, the controller outputs prompt information, for example, the controller outputs the prompt information to a human-computer interaction interface in a text mode to prompt an operator to perform manual intervention; wherein the human-computer interaction interface is connected with the controller.
The controller 20 is further configured to obtain a feature size adjustment value according to the statistical feature sizes of the plurality of statistical tab welding state feature images.
Specifically, the controller 20 may perform statistical analysis according to the feature sizes in the plurality of statistical tab welding state feature images to obtain a feature size adjustment value. The number of the characteristic images of the tab welding state for statistics is selected according to requirements (e.g., precision, process), and the embodiment is not limited.
In the embodiment, the controller is used for acquiring a plurality of tab welding state characteristic images for statistics; obtaining a first statistical parameter based on the characteristic size in the characteristic image of the tab welding state for multiple statistics; judging whether the characteristic sizes in the characteristic images of the welding states of the multiple tabs for statistics meet the requirement of consistency or not based on the first statistical parameters; if the first statistical parameter meets the consistency requirement, obtaining a second statistical parameter based on the characteristic size in the characteristic image of the tab welding state for the plurality of statistics; calculating to obtain a characteristic size adjustment value based on the second statistical parameter;
the first statistical parameter is used for analyzing the consistency of the characteristic sizes in the characteristic images of the welding states of the multiple tabs for statistics; the second statistical parameter is used for calculating a characteristic size adjustment value; the feature size adjustment value includes a seek distance adjustment value and/or a weld distance adjustment value.
In specific implementation, the controller is used for calling a statistical calculation method to calculate to obtain a first statistical parameter based on the characteristic sizes in the characteristic images of the tab welding state for statistics, wherein the statistical calculation method comprises a standard deviation value calculation method, a variance value calculation method or a CPK value calculation method; accordingly, the first statistical parameter comprises a standard deviation value, a variance value or a CPK value.
It should be noted that the CPK value, the standard deviation value and the variance value may all be used separately to determine the consistency of the feature sizes in the tab welding state feature images for statistics, and the predetermined threshold range is different corresponding to the first statistical parameter, for example, when the first statistical parameter is the CPK value, the corresponding predetermined threshold range is the predetermined threshold range of the CPK value; where the first statistical parameter is a standard deviation value, the corresponding predetermined threshold range is a predetermined threshold range of standard deviation values.
Generally, the CPK value can better reflect the consistency of the characteristic size in characteristic images of the welding state of a plurality of tabs for statistics; however, for general process requirements, the standard deviation value and the variance value as the criterion for determining the degree of consistency can also meet the requirements, the standard deviation value and the variance value are convenient to calculate, and the variance value is the square of the standard deviation value, so the standard deviation value is selected as the first statistical parameter in general practical applications.
Under the condition of high process requirements, in order to improve the accuracy of the consistency judgment of the feature sizes in the tab welding state feature images for statistics, when the first statistical parameter includes a standard difference value or a variance value, before the standard difference value or the variance value is calculated, normal distribution statistics can be performed on the feature sizes in the tab welding state feature images for statistics in advance to know the dispersion degree of the feature sizes in the tab welding state feature images for statistics. Normally, when the characteristic size in the characteristic images of the welding state of the multiple statistical tabs is subjected to normal distribution statistics, the controller can obtain the normal distribution condition of the characteristic size in the characteristic images of the welding state of the multiple statistical tabs; and determining whether to calculate a standard difference value or a variance value by judging whether the normal distribution condition of the characteristic sizes in the characteristic images of the tab welding state for statistics meets the preset requirement. The execution process of performing normal distribution statistics on the characteristic sizes in the characteristic images of the tab welding states for multiple statistics may be as follows: the controller divides a plurality of intervals around a standard value of the characteristic dimension (such as a detected distance) in advance, and the preset number range of each interval; the number of the characteristic sizes of the plurality of tab welding state characteristic images for statistics falling into each interval is counted, and the number of the characteristic sizes of the plurality of tab welding state characteristic images for statistics falling into each interval obtained through statistics is compared with the preset number range of the corresponding interval respectively, so that whether the normal distribution condition of the characteristic sizes of the tab welding state characteristic images for statistics meets the preset requirement or not is judged. For example, the detected distance standard value is 2cm, 1cm-3cm is equally divided into 20 intervals, a quantity range is preset in each interval (generally, the more the quantity falling in the interval closest to the detected distance standard value is, the better the quantity falling in the interval closest to the detected distance standard value is, the less the quantity falling in the interval close to 1cm or 3cm is, the better the quantity falling in the interval closest to the detected distance standard value is), the quantity of the characteristic sizes in the tab welding state characteristic images for statistics respectively falling into 20 intervals is counted, and the counted quantity is compared with the preset quantity range of each interval, so that whether the normal distribution condition of the characteristic sizes in the tab welding state characteristic images for statistics meets the preset requirement or not is judged. Specifically, if the normal distribution condition of the characteristic sizes in the characteristic images of the lug welding state for statistics meets the preset requirement, performing statistical analysis based on the characteristic sizes in the characteristic images of the lug welding state for statistics to obtain a first statistical parameter; outputting unstable information if the normal distribution condition of the characteristic sizes in the characteristic images of the tab welding state for statistics does not meet the preset requirement; the unstable information may be displayed in the form of text or an alarm.
Similarly, in order to further comprehensively judge the consistency of the feature sizes, when the standard deviation value or the variance value is used as the first statistical parameter and the consistency is within a predetermined threshold range, whether one or more of a weighted average value, a harmonic average value, a geometric average value, a trimming average value and a median of the feature sizes in the reference tab welding state feature images meet the consistency requirement or not can be further combined.
When the feature size includes the detected distance data, the first statistical parameter may be implemented in one or two of the following ways:
in the first mode, the controller performs statistical analysis according to the detected distance data a (or b) in the plurality of statistical tab welding state characteristic images to obtain a first statistical parameter of the plurality of detected distance data a (or b), for example, the first statistical parameter of the plurality of detected distance data a (or b) is calculated by using at least one of the statistical calculation methods.
The controller performs statistical analysis according to the detected distance data a and b in the characteristic images of the welding state of the lugs for statistics, firstly, an average value X of the detected distance data a and b is calculated, and the X is used as a characteristic parameter for statistics to perform statistical analysis to obtain a first statistical parameter of the characteristic parameters X; a first statistical parameter of the plurality of characteristic parameters X is calculated, for example using at least one of the statistical calculation methods described above.
When the feature size includes the welding distance data, the first statistical parameter may be implemented in a third or fourth manner as follows:
performing statistical analysis by the controller according to the welding distance data c (or d) in the characteristic images of the welding state of the multiple tabs for statistics to obtain first statistical parameters of the multiple welding distance data c (or d); a first statistical parameter of the plurality of welding distance data c (or d) is calculated, for example, using at least one of the statistical calculation methods described above.
The controller performs statistical analysis according to the welding distance data c and d in the characteristic images of the welding states of the multiple tabs for statistics, firstly, an average value Y of the multiple welding distance data c and d is calculated, and the Y is used as a characteristic parameter for statistics to perform statistical analysis to obtain a first statistical parameter of the multiple characteristic parameters Y; a first statistical parameter of the plurality of characteristic parameters Y is calculated, for example using at least one of the statistical calculation methods described above.
In the embodiment, the controller obtains a first statistical parameter through statistical analysis of the characteristic size of the characteristic images of the welding state of the plurality of tabs for statistics;
the controller judges whether the characteristic sizes in the characteristic images of the lug welding states for statistics meet the requirement of consistency or not based on the first statistical parameters;
in specific implementation, the controller may compare the obtained first statistical parameter with a corresponding predetermined threshold range to determine consistency of feature sizes in the multiple statistical tab welding state feature images.
For example, the controller may compare the CPK value in the first statistical parameter with a predetermined threshold range of the corresponding CPK value, or compare the variance value in the first statistical parameter with a predetermined threshold range of the variance value, to determine consistency of the feature sizes in the plurality of statistical tab welding state feature images; if the parameter value (CPK value or standard difference value or variance value) in the first statistical parameter is within the preset threshold range, judging that the characteristic sizes in the characteristic images of the lug welding state for statistics meet the consistency process standard, and obtaining a second statistical parameter by the controller based on the characteristic sizes in the characteristic images of the lug welding state for statistics; and if the parameter value in the first statistical parameter is not in the preset threshold range, judging that the characteristic size in the characteristic images of the tab welding state for statistics does not meet the process standard, and outputting prompt information by the controller to prompt an operator.
When the consistency requirement is met, the controller is further used for calling a statistical calculation method to calculate a second statistical parameter based on the feature sizes in the feature images of the tab welding state for the plurality of statistics, wherein the statistical calculation method comprises any one of a weighted average calculation method, a harmonic average calculation method, a geometric average calculation method, a trimming average calculation method and a median calculation method; correspondingly, the second statistical parameter includes any one of a weighted average, a harmonic average, a geometric average, a pruning average, and a median.
It should be noted that, in the consistency determination, when the first statistical parameter used to meet the consistency requirement includes the second statistical parameter, the relevant parameter value is extracted from the first statistical parameter as the second statistical parameter; for example, if the first statistical parameter includes a median, the median can be directly used as the second statistical parameter, so as to save the calculation time and calculation resources and improve the efficiency.
The controller calculates a feature size adjustment value based on the second statistical parameter.
Specifically, the controller calculates a feature size adjustment value by subtracting the second statistical parameter from a preset reference value. For example, selecting the difference between the median of the detected distance and the reference value of the detected distance to obtain the adjustment value of the detected distance; and selecting the median of the welding distance and the reference value of the welding distance to make a difference so as to obtain an adjustment value of the welding distance.
Further, the tab welding control system further includes: a transfer motor 40 connected to the controller 20.
The controller 20 is further configured to control the transfer motor 40 to move according to the characteristic dimension adjustment value, so as to control the subsequent tab welding. The subsequent tab refers to a tab to be welded on the pole piece to be detected later.
Specifically, the controller 20 generates a control command according to the characteristic dimension adjustment value, and sends the control command to the moving motor 40; the moving motor 40 moves according to the control instruction.
In view of the fact that the characteristic dimension adjustment value includes a detected distance adjustment value and/or a welding distance adjustment value, the transfer motor includes a welding transfer motor 41 and a tab transfer motor 42, accordingly. The tab transfer motor 42 is used to adjust the projecting distance, and the welding transfer motor 41 is used to adjust the welding distance.
Specifically, the controller automatically adjusts the pole piece transfer distance of the welding transfer motor and the pole lug transfer distance of the pole lug transfer motor according to the calculated detection distance adjustment value and/or welding distance adjustment value, so that the subsequent pole lug welding position can be automatically adjusted, and the purpose of correction is achieved.
For example, consistency judgment is carried out according to the characteristic sizes of the first 10 tabs on the pole piece to be detected, if the consistency requirement is met, the adjustment value of the detection distance and/or the welding distance is calculated, and the characteristic sizes of the middle 10 tabs are adjusted according to the adjustment value; and then, carrying out consistency judgment on the characteristic sizes of the middle 10 lugs, calculating new adjustment values of the probing distance and/or the welding distance if the consistency requirements are met, adjusting … … the characteristic sizes of the next 10 lugs according to the new adjustment values, finishing continuous detection and correction of the subsequent lugs, and realizing automatic closed-loop detection and correction.
In this embodiment, the distance is transferred to the pole piece that the motor was transferred in the welding and the distance is transferred to the utmost point ear that the motor was transferred to utmost point ear to the controller automatic adjustment utmost point ear welding position to carry out continuously detecting and correcting to follow-up utmost point ear based on the position of transferring the motor after the adjustment, realize that closed loop detects and revises.
The tab welding control system provided by the embodiment of the invention solves the problems of low automation level and low yield rate due to manual measurement in the prior art, can realize detection and adjustment of the welding position of the tab, and improves the automation level; in addition, the system can further automatically adjust the pole piece transferring distance of the welding transferring motor and the pole lug transferring distance of the pole lug transferring motor according to the welding position of the detected pole lug and the calculated characteristic size adjusting value (the difference value between the current value and the reference value), so that the automatic adjustment of the welding position is realized, the continuous detection and correction can be carried out on the follow-up pole lug, and the closed-loop detection correction is realized.
Example three:
the embodiment of the invention provides tab welding equipment, which comprises: utmost point ear welding mechanism and the utmost point ear welding position detecting system as above.
The pole piece to be detected is arranged on the pole lug welding mechanism in advance to wait for pole lug welding, and then the pole lug welding position detection system carries out welding position detection and position adjustment on the pole lug welded on the pole piece to be detected. .
Specifically, this utmost point ear welding mechanism includes: the pole piece conveying assembly, the tab cutting assembly, the tab conveying assembly, the tab welding assembly and the welding assembly are arranged on the frame; the pole piece conveying assembly is used for conveying a pole piece to be detected to a welding station 81 (a position corresponding to the welding assembly) for waiting for welding; the tab cutting assembly is used for cutting tab strips to obtain tabs welded to a pole piece to be detected, wherein the tab strips are provided with a plurality of tab sealant at equal intervals in advance, and each tab is provided with one tab sealant; the tab conveying assembly is used for conveying a tab to be welded to a preset bearing position of the tab conveying assembly; the preset bearing position can be set and adjusted according to requirements, for example, the preset bearing position is adjusted by a tab conveying assembly or a tab welding assembly according to a characteristic size adjusting value; the tab welding feeding assembly is used for conveying a tab to be welded positioned at a preset bearing position to a welding station; the welding assembly is used for welding the pole lug to be welded at the welding station to the pole lug to be detected; repeatedly executing to realize that one tab is welded on the pole piece at preset intervals; it should be noted that after the tab welding mechanism welds a tab to the pole piece to be detected, the tab welding control system of the tab welding equipment detects the tab.
Referring to fig. 6, the pole piece transfer assembly includes a welding transfer motor 41 connected to a controller; the tab cutting assembly includes a blade 56; the tab conveying assembly comprises a servo motor 61, a first lead screw 62 connected with the servo motor 61, a first lead screw sliding block 63 connected with the first lead screw 62 and a hand-changing clamping jaw 64 arranged on the first lead screw sliding block 63; the lug welding and conveying assembly comprises a lug conveying motor 42 connected with the controller, a second screw rod 71 connected with the lug conveying motor 42, a second screw rod slide block 72 connected with the second screw rod 71 and a welding and conveying clamping claw 74 arranged on the second screw rod slide block 72; the weld stack includes a horn carrier 83 and a horn 82 disposed on the horn carrier 83.
The working process of the tab welding equipment is briefly described below by taking a welding position detection device of a tab welding control system as an example of a visual detection device:
when in use, the tab welding equipment comprises the following two processes:
firstly, a welding process:
1. the welding transfer motor 41 of the pole piece conveying assembly transfers the pole piece 51 to be detected to a welding station below the welding assembly to wait for welding;
2. a blade 56 of the tab cutting assembly cuts the tab strip to obtain a tab 52 to be welded; it should be noted that, when cutting, the tab carrying assembly hand-changing clamping jaw 64 is firstly moved to the cutting position of the tab cutting assembly shown in the figure, then the tab 52 is clamped and fixed by the hand-changing clamping jaw 64, and finally the cutting is carried out by the blade 56;
3. a servo motor 61 of the tab conveying assembly drives a first lead screw sliding block 63 through a first lead screw 62, and further drives a hand-changing clamping jaw 64 arranged on the first lead screw sliding block 63 to convey a tab 52 to be welded to a bearing position of the tab conveying assembly;
4. a lug transferring motor 42 of the lug transferring and welding assembly drives a second lead screw sliding block 72 through a second lead screw 71, and further drives a transferring and welding clamping jaw 74 arranged on the second lead screw sliding block 72 through a bracket 73 to transfer the lug 52 positioned at the bearing position to a welding station 81 of the welding assembly;
5. the welding horn 82 of the welding assembly, which is arranged on the horn holder 83, welds the tab 52 located at the welding station 81 to the pole piece 51 to be tested.
It should be noted that the handoff holding jaw 64 and the welding feeding holding jaw 74 in this embodiment are preferably pneumatic holding jaws, and holding jaw bodies are correspondingly arranged on the output ends of the pneumatic holding jaws, so that the tab is held by the holding jaw bodies under the driving action of the pneumatic holding jaws. Of course, other clamping structures may be adopted as long as the clamping function can be achieved, and the clamping structure is not particularly limited herein.
Secondly, a tab position detection process:
the first step is as follows: the lug detection sensor (correlation sensor) detects the lug and feeds back a detection signal to the controller, and the controller triggers a CCD camera of the CCD visual detection device to take pictures after judging that the lug enters a CCD visual field range according to the detection signal so as to obtain a lug welding state characteristic image.
The second step is that: and the controller performs image processing on the acquired tab welding state characteristic image, detects the relevant characteristics of the product in the picture and acquires pixel measurement data. The main process is as follows: identifying the positions and angles of the tabs and the sealant; correcting the whole picture related to the characteristic size into a horizontal state, namely performing rotation correction on the whole image to obtain a horizontal correction image; calculating the data of the detected distance, calculating the data of the welding distance, and calculating the verticality of the lug and the edge of the pole piece.
The third step: the controller performs statistical analysis on the detection results sequentially as follows.
1) Firstly, the controller judges whether the verticality is within a preset verticality threshold range of a process standard according to the detected verticality of the edges of the lug and the pole piece, if so, the controller judges that the picture is qualified, marks the lug welding state characteristic image as a lug welding state characteristic image for statistics and is used for statistical analysis on the next step, and if not, the controller judges that the picture is unqualified, prompts an operator to perform manual intervention, and adjusts the verticality of lug welding.
2) The controller continuously calculates the detection distance data of a plurality of tab welding state characteristic images meeting the verticality requirement, and performs statistical analysis: firstly, normally distributing and counting the detected distance data in the characteristic images of the welding state of the lugs for counting in advance to know the discrete degree of the detected distance data in the characteristic images of the welding state of the lugs for counting; when the discrete degree meets the requirement, calculating a standard deviation (SIGMA) value of the detected distance data by using a standard deviation calculation method in a statistical calculation method so as to analyze the consistency of the detected distance data; and finally, calculating one or more of a weighted average value, a harmonic average value, a geometric average value, a trimming average value and a median of the detected distance by using other statistical calculation methods such as a weighted average value calculation method, a harmonic average value calculation method, a geometric average value calculation method, a trimming average value calculation method and a median calculation method, comparing the result calculated by using the statistical calculation method with a corresponding set data consistency threshold, if the consistency meets the requirement, entering the next step to continue statistical calculation, and if the consistency does not meet the requirement, reminding an operator that the current production state is in an unstable state and waiting for the operator to check the reason.
It should be noted that the determination of the consistency of the detected distance data includes, but is not limited to, the statistical calculation method described above.
3) When the controller judges that the state of the detected distance data is in a state that the consistency meets the requirement, any one value of a weighted average value, a harmonic average value, a geometric average value, a trimming average value, a median value and other statistical calculation methods is calculated and obtained, the numerical value is compared with a corresponding reference value specified by the process, and the adjustment value of the detected distance is calculated by subtracting.
4) The controller continuously calculates the welding distance data of a plurality of tab welding state characteristic images meeting the verticality requirement, and performs statistical analysis: firstly, performing normal distribution statistics on welding distance data in a plurality of tab welding state characteristic images for statistics in advance to know the discrete degree of the welding distance data in the tab welding state characteristic images for statistics; when the discrete degree meets the requirement, calculating a standard deviation (SIGMA) value of the welding distance data by using a standard deviation calculation method in a statistical calculation method so as to analyze the consistency of the welding distance data; and finally, calculating one or more of a weighted average value, a harmonic average value, a geometric average value, a trimming average value and a median of the welding distance by using other statistical calculation methods such as a weighted average value calculation method, a harmonic average value calculation method, a geometric average value calculation method, a trimming average value calculation method and a median calculation method, comparing the result calculated by using the statistical calculation method with a corresponding set data consistency threshold, if the consistency meets the requirement, entering the next step to continue statistical calculation, and if the consistency does not meet the requirement, reminding an operator that the current production state is in an unstable state and waiting for the operator to check the reason.
Likewise, the determination of the consistency of the weld distance data includes, but is not limited to, using the statistical calculation methods described above.
5) When the controller judges that the welding distance data state is in a state that the consistency meets the requirement, any one value of a weighted average value, a harmonic average value, a geometric average value, a trimming average value, a median value and other statistical calculation methods is calculated by utilizing a weighted average value calculation method, a harmonic average value calculation method, a geometric average value calculation method, a median value calculation method and the like, and is compared with a reference value specified by the process, and a welding distance adjusting value is calculated by subtracting.
The fourth step: and the controller automatically adjusts the pole piece transferring distance of the welding transferring motor and the pole lug transferring distance of the pole lug transferring motor according to the detected distance adjusting value and the welding distance adjusting value calculated in the third step, so that the purpose of automatically adjusting the subsequent pole lug welding position is realized.
The fifth step: the controller continuously detects and corrects the follow-up tabs to realize a closed-loop detection and correction system.
It should be noted that, the above two processes are both automatically completed under the control of the controller, that is, the whole process is processed automatically without human intervention. Through the system, abnormal conditions can be found most timely, corresponding treatment is carried out, the poor production of batch is avoided, the yield is improved, the welding consistency of the tab sealant is enhanced, and the quality is improved.
The operation principle of adjusting the welding position by the welding transfer motor and the tab transfer motor will be described below with reference to fig. 6:
the welding transfer motor 41 is located on the front side of a welding station 81 of the welding mechanism and is controlled by a controller to control the transverse transfer distance of the pole piece relative to the welding position of the welding station, the pole lug transfer motor 42 is located on one side of the pole piece and is used for controlling the pole lug to be fed into the pole piece along the longitudinal direction and then to be placed on the top side of the pole piece, and a welding assembly (comprising a welding head 82 and a welding head support 83) is arranged on the top side of the pole lug and welds the pole lug on the top side of the pole piece at the welding station.
The welding and transferring motor controls the relative position of the welding reference line and the welding position on the pole piece by controlling the transferring distance of the pole piece relative to the welding position, thereby realizing the adjustment of the relative position between the pole lug and the pole lug welding reference line, namely realizing the adjustment of the welding distance.
The lug transferring motor adjusts the longitudinal feeding distance of the lug relative to the pole piece, and then the extending distance of the lug sealant is controlled.
The tab welding equipment provided by the embodiment of the invention has the same technical characteristics as the tab welding control system provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The implementation principle and the generated technical effect of the tab welding equipment provided by the embodiment of the invention are the same as those of the tab welding control system embodiment, and for brief description, the corresponding contents in the system embodiment can be referred to where the equipment embodiment is not mentioned.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A tab weld control system, comprising: the welding device comprises a tab detection sensor, a controller and a welding position detection device, wherein the tab detection sensor and the welding position detection device are connected with the controller;
the tab detection sensor is used for detecting a tab on a pole piece to be detected, generating and sending a tab detection signal to the controller;
the controller is used for generating and sending a trigger instruction to the welding position detection device according to the tab detection signal;
the welding position detection device is used for detecting the welding position of the lug on the pole piece to be detected according to the trigger command, generating and sending welding position data to the controller;
the controller is used for generating a welding position adjusting value according to the welding position data;
the controller is used for acquiring the characteristic size in the welding position data; wherein the feature size comprises a probing distance data and/or a welding distance data;
the controller is used for calculating the verticality of the edges of the pole lugs and the pole pieces according to the characteristic size; judging whether the perpendicularity is within a preset perpendicularity threshold range or not; if the verticality is judged to be within the preset verticality threshold range, marking the characteristic size as a characteristic size for statistics;
wherein the controller is further configured to obtain a plurality of the statistical feature sizes; obtaining a first statistical parameter based on a plurality of the statistical feature sizes; judging whether the plurality of feature sizes for statistics meet the requirement of consistency or not based on the first statistical parameter; if the consistency requirement is met, obtaining a second statistical parameter based on a plurality of characteristic sizes for statistics; calculating a characteristic size adjustment value based on the second statistical parameter; wherein the feature size adjustment value comprises a seek distance adjustment value and/or a weld distance adjustment value.
2. The tab welding control system according to claim 1, wherein the welding position detecting device is a sensor group;
the sensor group comprises a first sensor and/or a second sensor, and the first sensor is used for acquiring the data of the extending distance of the lug; the second sensor is used for acquiring welding distance data of the pole lug.
3. The tab weld control system of claim 2, wherein the first sensor is a correlation sensor and the second sensor is a vision sensor or a baseline sensor.
4. The tab welding control system of claim 1 wherein the tab detection sensor is a correlation sensor.
5. The tab welding control system according to claim 1, wherein the welding position detection device is a visual detection device;
the visual detection device is used for photographing according to the trigger instruction to generate a tab welding state characteristic image and sending the tab welding state characteristic image to the controller.
6. The tab welding control system according to claim 1, wherein the controller is further configured to calculate the first statistical parameter based on a plurality of statistical feature sizes by calling a statistical calculation method, wherein the statistical calculation method comprises a standard deviation value calculation method, a variance value calculation method or a CPK value calculation method; accordingly, the first statistical parameter comprises a standard deviation value, a variance value or a CPK value.
7. The tab welding control system according to claim 1, wherein the controller is configured to calculate the second statistical parameter based on a plurality of statistical feature sizes, and the statistical calculation method includes any one of a weighted average calculation method, a harmonic average calculation method, a geometric average calculation method, a trimming average calculation method, and a median calculation method; correspondingly, the second statistical parameter includes any one of a weighted average, a harmonic average, a geometric average, a pruning average, and a median.
8. A tab welding apparatus, comprising: a tab welding mechanism and a tab welding control system as claimed in any one of claims 1 to 7.
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| CN110653525A (en) * | 2019-08-23 | 2020-01-07 | 江苏理工学院 | Battery pole piece pre-welding positioning detection system and method |
| CN114311254B (en) * | 2020-09-29 | 2023-08-01 | 广东博智林机器人有限公司 | Detection mechanism and wallboard cutting device |
| CN112775548B (en) * | 2021-01-28 | 2022-10-21 | 广东兴捷瑞智能科技有限公司 | Laser welding block machine |
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| CN205771783U (en) * | 2016-06-11 | 2016-12-07 | 惠州市成泰自动化科技有限公司 | A kind of lug correcting unit |
| CN106141414A (en) * | 2016-06-27 | 2016-11-23 | 浙江金开来新能源科技有限公司 | A kind of lug automatic welding device |
| CN206561986U (en) * | 2017-03-07 | 2017-10-17 | 东莞市兰宇机械有限公司 | A tab positioning and conveying device for a lithium-ion battery soft pack tablet making machine |
| CN106825958B (en) * | 2017-03-16 | 2018-09-28 | 深圳市光大激光科技股份有限公司 | Battery core automatic welding detection device and method |
| CN207009540U (en) * | 2017-07-13 | 2018-02-13 | 深圳市策维科技有限公司 | A kind of battery pole ear apparatus for shaping |
| CN207954082U (en) * | 2018-03-15 | 2018-10-12 | 宁德时代新能源科技股份有限公司 | Pole piece die-cutting device |
| KR101908627B1 (en) * | 2018-04-02 | 2018-10-16 | (주)하나기술 | An welding apparatus for tap for used for secondary battery |
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