CN113394440A - Lamination device and control method thereof - Google Patents
Lamination device and control method thereof Download PDFInfo
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- CN113394440A CN113394440A CN202011606587.2A CN202011606587A CN113394440A CN 113394440 A CN113394440 A CN 113394440A CN 202011606587 A CN202011606587 A CN 202011606587A CN 113394440 A CN113394440 A CN 113394440A
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- mechanical arm
- lamination
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- 238000003475 lamination Methods 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000007599 discharging Methods 0.000 claims abstract description 81
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 15
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 15
- 238000004519 manufacturing process Methods 0.000 claims abstract description 6
- 238000010030 laminating Methods 0.000 claims abstract 6
- 239000000463 material Substances 0.000 claims description 25
- 238000013519 translation Methods 0.000 claims description 5
- 239000007773 negative electrode material Substances 0.000 claims description 3
- 239000007774 positive electrode material Substances 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000036544 posture Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003792 electrolyte Substances 0.000 description 2
- 239000010408 film Substances 0.000 description 2
- 239000003960 organic solvent Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 229920000098 polyolefin Polymers 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/04—Construction or manufacture in general
- H01M10/0404—Machines for assembling batteries
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/05—Accumulators with non-aqueous electrolyte
- H01M10/058—Construction or manufacture
-
- 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
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Secondary Cells (AREA)
Abstract
The invention provides a laminating device and a laminating method for a lithium battery cell pole piece production line. The lamination device includes: the positive electrode feeding manipulator, the positive electrode discharging manipulator and the positive electrode CCD platform are arranged on the base; the device comprises a negative electrode feeding mechanical arm, a negative electrode discharging mechanical arm and a negative electrode CCD platform; and a lamination station. The positive electrode feeding mechanical arm, the positive electrode discharging mechanical arm, the negative electrode feeding mechanical arm and the negative electrode discharging mechanical arm alternately send the pole pieces to the lamination table under servo control. According to the embodiment of the invention, the fixed lamination table is arranged, so that the volume of the equipment can be reduced, and the precision and efficiency of lamination are improved.
Description
Technical Field
The invention relates to the technical field of industrial automation control, in particular to a lamination device in an automatic lithium battery processing assembly line and a control method thereof.
Background
Lithium batteries are widely used for industrial and consumer products represented by mobile phones, electric vehicles, unmanned aerial vehicles, and the like due to their excellent energy storage performance. In the structure of the lithium battery, a diaphragm is one of key inner layer components, and the diaphragm mainly has the functions of separating a positive electrode from a negative electrode of the battery, preventing the two electrodes from contacting and short-circuiting, and enabling electrolyte ions to pass through. The separator material is non-conductive, and the physical and chemical properties of the separator have a great influence on the performance of the battery. The battery is different in kind and the separator used is different. In the lithium battery system, since the electrolyte is an organic solvent system, a separator material resistant to an organic solvent is required, and a polyolefin porous film having a high strength and a thin film is generally used. The performance of the diaphragm determines the interface structure, internal resistance and the like of the battery, directly influences the capacity, circulation, safety performance and other characteristics of the battery, and the diaphragm with excellent performance plays an important role in improving the comprehensive performance of the battery.
In the utility model patent application with the application number of CN201820361810.3, an automatic assembly line prototype for processing lithium batteries and diaphragms is provided, wherein a lamination table circulation line comprises a plurality of lamination tables, and when the lamination table circulation line rotates, the plurality of lamination tables circulate along a fixed direction on the lamination table circulation line; the rotary mechanical arm is arranged on a circulation line of the lamination table, and the bottom diaphragm, the first pole piece, the middle diaphragm and the second pole piece are sequentially placed on the lamination table through rotary operation.
The assembly line of lithium battery processing in the above-mentioned patent can satisfy the general requirement to lithium battery sheet processing, but how to design in the automatic course of working of lithium cell and produce the line to the line adapts to different processing requirements, improves the processing yield of electric core and diaphragm in the lithium cell, and reduce cost, production with higher efficiency, safety still is the subject that industry needs research.
Disclosure of Invention
Based on the research on the technical problems, the invention provides a lamination device for a lithium battery cell pole piece production line, which comprises: the positive electrode feeding manipulator, the positive electrode discharging manipulator and the positive electrode CCD platform are arranged on the base; the device comprises a negative electrode feeding mechanical arm, a negative electrode discharging mechanical arm and a negative electrode CCD platform; and a lamination station; the positive electrode feeding manipulator can translate between a positive electrode material taking station and the positive electrode CCD platform; the positive electrode discharging manipulator can translate between the positive electrode CCD platform and the lamination platform; the negative electrode feeding manipulator can translate between a negative electrode material taking station and the negative electrode CCD platform; the negative electrode discharging manipulator can translate between the negative electrode CCD platform and the lamination platform; the positive electrode feeding mechanical arm, the positive electrode discharging mechanical arm, the negative electrode feeding mechanical arm and the negative electrode discharging mechanical arm alternately send the pole pieces to the lamination table under servo control.
In another aspect of the invention, a lamination method is provided, which comprises a positive electrode feeding manipulator and a positive electrode discharging manipulator which are synchronously operated in a group; the negative electrode feeding manipulator and the negative electrode discharging manipulator are synchronously operated in a group; the two groups of mechanical arms are alternately translated between the material taking station and the material placing station under servo control so as to alternately take materials and place materials.
The embodiment has the following beneficial effects: by arranging a fixed lamination table, the volume of the equipment can be reduced. The CCD is matched with the mechanical arm to adjust the posture of the pole piece, so that the lamination precision and the lamination efficiency can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a lithium battery processing line according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a lamination station provided in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot provided in an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating operating conditions of a servo control method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating operating conditions of a servo control method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating operating conditions of a servo control method according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a robot provided in an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a robot provided in an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a robot provided in an embodiment of the present invention;
FIG. 10 is a schematic diagram of a pole piece for placement by a robot according to an embodiment of the present invention;
fig. 11 is a use example of a robot according to an embodiment of the present invention.
The reference numerals in this specification are explained as follows:
the device comprises a flow line-1, a lamination table-2, a rotary manipulator-3, a rotary manipulator-4, a glue transfer mechanism-5, a rotary manipulator-6, a rotary manipulator-7 and an adsorption plate-8;
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the 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.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, which is for convenience and simplicity of description, and does not indicate or imply that the referenced device or element 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 "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
The first embodiment is as follows:
as shown in fig. 1, there is shown an automated lamination line comprising: the lamination table circulation line comprises a plurality of lamination tables 2, and when the lamination table circulation line rotates, the plurality of lamination tables 2 circularly rotate along a fixed direction on the lamination table circulation line; the first rotary mechanical hand 6 is arranged on the circulation line of the lamination table and is used for placing a bottom-layer diaphragm on the lamination table through rotary operation; the second rotary mechanical arm 7 is arranged behind the first rotary mechanical arm 6 on the circulation line of the lamination table and is used for stacking a first pole piece on a bottom-layer diaphragm through rotary operation; the third rotary mechanical arm 3 is arranged behind the second rotary mechanical arm 7 on the circulation line of the lamination table and is used for stacking a middle-layer diaphragm on the first pole piece through rotary operation; and the fourth rotary mechanical hand 4 is arranged behind the third rotary mechanical hand 3 on the circulation line of the lamination table and is used for stacking a second pole piece on the middle-layer diaphragm through rotary operation. The lamination table flow line is annular, and the number of the lamination tables 2 is set according to the length of the lamination table flow line. The first pole piece is a positive pole piece, and the second pole piece is a negative pole piece; or, the first pole piece is a negative pole piece, and the second pole piece is a positive pole piece.
The equipment further comprises a rubberizing conveyor, and the rubberizing conveyor conveys the stacked battery cores on the lamination table to be rubberized. The rubberizing conveyer 5 is provided with a rubberizing station, when the rubberizing station is occupied, a lamination table circulation line continues to rotate, and the first rotary mechanical arm 6, the second rotary mechanical arm 7, the third rotary mechanical arm 3 and the fourth rotary mechanical arm 4 stop rotating lamination movement. The first rotary mechanical arm 6, the second rotary mechanical arm 7, the third rotary mechanical arm 3 and the fourth rotary mechanical arm 4 all comprise CCD visual detectors, and whether the current lamination is aligned with the previous lamination or not is judged through the visual detectors.
The first rotary manipulator 6, the second rotary manipulator 7, the third rotary manipulator 3 and the fourth rotary manipulator 4 are also provided with a lifting mechanism for controlling the lifting of the rotary manipulators.
Based on the technical scheme provided by the embodiment one, the lamination precision can be improved, the quality of the lithium battery is effectively improved, meanwhile, the lamination efficiency can be improved in the form of high-speed circulation lamination, and the structure of the multi-lamination platform can enable the system to have great redundancy, so that flexible expansion can be carried out, and the lamination efficiency is further improved.
Example two:
in the technical scheme described in the first embodiment, the lamination table is moved to the position below the manipulator. In the scheme, the device needs to reserve enough space for the lamination table to move, on one hand, the space needs to be larger, the size of the device is increased, and on the other hand, the precision of the lamination can be influenced by the vibration of the lamination table during the moving process of the lamination table. Therefore, the embodiment provides a lamination device with a fixed lamination table and a movable manipulator, which is used for alternately sending the positive pole and negative pole pieces manufactured by the positive pole bag to the middle lamination table through the positive pole manipulator and the negative pole manipulator respectively to form qualified battery cores.
The embodiment shown in fig. 3 provides a lamination device comprising: the positive electrode charging manipulator 11A, the positive electrode discharging manipulator 12A and the positive electrode CCD platform 12B; a negative electrode feeding manipulator 14A, a negative electrode discharging manipulator 13A and a negative electrode CCD platform 13B; and a lamination station 15. The positive electrode feeding manipulator 11A can translate between a positive electrode material taking station 11B and the positive electrode CCD platform 12B; the positive discharging manipulator 12A can translate between the positive CCD platform 12B and the lamination table 15; the negative electrode feeding manipulator 14A can translate between a negative electrode material taking station 14B and the negative electrode CCD platform 13B; the negative discharging manipulator 13A can translate between the negative CCD platform 13B and the lamination stage 15; the positive electrode feeding manipulator 11A, the positive electrode discharging manipulator 12A, the negative electrode feeding manipulator 14A and the negative electrode discharging manipulator 13A alternately send the pole pieces to the lamination table 15 under servo control.
At least one of the positive electrode loading manipulator 11A, the positive electrode discharging manipulator 12A, the negative electrode loading manipulator 14A, and the negative electrode discharging manipulator 13A may have the same or different manipulator structures, and as an example, the manipulator may have a structure as shown in fig. 4:
the Z-axis servo motor 111 is used for driving the manipulator to move up and down along the vertical direction; specifically, the servo motor converts the rotational driving force into a driving force in the vertical direction through the ball screw, and then drives the entire robot to slide up and down along the rail sliders 111a and 111 b. The Z axis is defined herein as the vertical direction.
The X-axis motor is used for driving the manipulator to translate along the guide rail in the horizontal direction; the X-axis motor may be a linear motor, where X-axis is defined as a direction horizontally along the guide rail 112 along which the respective robot arm can translate to switch between different stations. Without loss of generality, in addition to the slide rail shown in fig. 4, a top-to-bottom rail or the like may be used to fix the robot, which has been restricted from moving in the horizontal direction.
And the Y-axis motor is used for driving the manipulator to translate along the Y-axis direction which is vertical to the Z-axis vertical direction and the X-axis horizontal direction. The Y-axis direction is a direction perpendicular to the paper surface in the figure, and the pole piece sucked by the mechanical arm can be adjusted in the Y-axis direction based on the driving of the Y-axis motor.
As shown in fig. 3, the Y-axis motor is used for driving the chassis 113 to translate, and the chassis is provided with two independent first suction cup plates 114a and second suction cup plates 114 b. Similarly, in fig. 4, the positive material taking station 11B, the positive CCD platform 12B, the negative material taking station 14B, the negative CCD platform 13B and the lamination table 15 are respectively provided with two stations, and the first chuck plate 114a and the second chuck plate 114B are used for cooperating with the positive material taking station 11B, the positive CCD platform 12B, the negative material taking station 14B, the negative CCD platform 13B and the stations of the lamination table 15 to perform material taking and lamination operations.
At least one of the first and second chuck plates (114a, 114b) comprises the following structure: and the deviation rectifying structure is used for adjusting the deviation angle of the pole piece relative to the lamination station. Because the positive plate and the negative plate which are wrapped by the diaphragm need to be overlapped with each other in the lamination process, the positions and postures of the pole pieces have different differences due to various reasons in the pole piece conveying process, particularly the included angles between each pole piece and the Y axis are possibly different, and if a manipulator only moves on the three X, Y and Z axes, the posture difference between the pole pieces cannot be corrected. Therefore, a deviation correcting mechanism is added on the manipulator, the deviation correcting mechanism can drive the sucker plate to rotate by a small angle in the XY direction (horizontal plane), the posture of the pole piece can be corrected, and the deviation correcting mechanism can be matched with a Y-axis motor to realize the position adjustment of the pole piece on an XY screen. During lamination, the pole pieces are parallel to the XY plane, and their projection on the XY plane is the position of the pole pieces. Therefore, at the CCD station, the projection attitude of the pole piece can be obtained by means of a CCD camera, and the correction value required by the deviation correcting mechanism and the Y-axis motor can be calculated by means of the projection attitude and the standard attitude required by the lamination.
In fig. 4, a first suction cup plate (114a) and a second suction cup plate (114b) are respectively provided with a first suction cup and a second suction cup; the two sucker plates can respectively suck the pole pieces at the moment, and lamination operation is respectively carried out at the CCD station and the lamination station. I.e. as two separate lamination robots.
In addition, due to the production requirement, a pole piece with a larger size sometimes needs to be processed, at this time, a suction cup with a larger size can be replaced, and the material taking box for the pole piece with the larger size can be discharged by the first suction cup plate 114a and the second suction cup plate 114b carrying the third suction cup with the larger size. When a large-size sucker is used, only one of 2 CCD stations can be used for deviation correction.
Based on the scheme provided by the embodiment, the volume of the equipment can be reduced by arranging the fixed lamination table. The CCD is matched with the mechanical arm to adjust the posture of the pole piece, so that the lamination precision and the lamination efficiency can be improved.
Example three:
in the second embodiment, a lamination device is provided, and this embodiment will discuss a lamination control method that can be implemented based on the patch device. In the method, the pole pieces and the negative pole pieces which are manufactured by the positive pole bag are alternately conveyed to a middle lamination table through a positive pole mechanical arm and a negative pole mechanical arm respectively to be laminated into a qualified battery cell. The required pole pieces are conveyed to the lamination table through the movement of the manipulator, and the size of the manipulator sucker is adjusted according to the size of the pole pieces, so that 2 electric cores are simultaneously laminated. The main core method is the synchronous control of the servo.
The method comprises the following specific concepts:
the positive electrode feeding manipulator 11A, the positive electrode discharging manipulator 12A, the negative electrode feeding manipulator 14A and the negative electrode discharging manipulator 13A alternately translate on the material taking station and the material discharging station under servo control so as to take materials and discharge materials. As shown in fig. 4 to 6, the method includes the following steps:
the positive electrode feeding manipulator 11A moves to the position above the positive electrode belt 11B, and the positive electrode discharging manipulator 12A moves to the position above the positive electrode CCD platform 12B; the negative electrode feeding manipulator 14A moves to the position above the negative electrode belt 14B, and the negative electrode discharging manipulator 13A moves to the position above the negative electrode CCD platform 13B;
the positive electrode feeding manipulator 11A, the positive electrode discharging manipulator 12A, the negative electrode feeding manipulator 14A and the negative electrode discharging manipulator 13A descend, and respectively absorb pole pieces on the positive electrode belt 11B, the positive electrode CCD platform (12B), the negative electrode belt 14B and the negative electrode CCD platform 13B, and the manipulators ascend respectively after the pole pieces are absorbed;
keeping the negative electrode feeding manipulator 14A and the negative electrode discharging manipulator 13A still; controlling the positive electrode feeding manipulator 11A and the positive electrode discharging manipulator 12A, and synchronously translating to the positive electrode CCD platform 12B and the lamination platform 15;
controlling the lifting motor of the positive electrode feeding manipulator 11A and the positive electrode discharging manipulator 12A to descend to place the adsorbed pole pieces on the positive electrode CCD platform 12B and the lamination table 15 respectively, and controlling the positive electrode feeding manipulator 11A and the positive electrode discharging manipulator 12A to ascend after the placement is finished;
synchronously controlling a positive electrode feeding manipulator 11A, a positive electrode discharging manipulator 12A, a negative electrode feeding manipulator 14A and a negative electrode discharging manipulator 13A to simultaneously translate so that the positive electrode feeding manipulator 12 and the positive electrode discharging manipulator respectively move to a positive electrode belt 11B and a positive electrode CCD platform 12B, and the negative electrode feeding manipulator (14A) and the negative electrode discharging manipulator 13A move to a negative electrode CCD platform 13B and a lamination table 15;
synchronously controlling a positive electrode feeding manipulator 11A, descending a positive electrode discharging manipulator 12A to respectively absorb the pole pieces of a positive electrode belt 11B and a positive electrode CCD platform 12B, and respectively ascending the manipulators after the pole pieces are absorbed; the negative electrode feeding manipulator 14A and the negative electrode discharging manipulator 13A descend to place the adsorbed pole pieces on the negative electrode CCD platform 13B and the lamination platform 15 respectively, and the manipulators ascend respectively after the placement is finished;
synchronously controlling the anode feeding manipulator 11A, the anode discharging manipulator 12A, the cathode feeding manipulator 14A and the cathode discharging manipulator 13A to translate so that the anode feeding manipulator 11A and the cathode discharging manipulator 12A move to the anode CCD platform 12B and the lamination table 15, and the cathode feeding manipulator 14A and the cathode discharging manipulator 13A move to the cathode CCD platform 13B and the cathode belt 14B;
the positive electrode feeding mechanical arm 11A and the positive electrode discharging mechanical arm 12A descend, the adsorbed pole pieces are respectively placed on the positive electrode CCD platform 12B and the lamination table 15, and the mechanical arms ascend respectively after the placement is finished; the negative electrode feeding manipulator 14A and the negative electrode discharging manipulator 13A descend and respectively absorb the pole pieces of the negative electrode belt 14B and the negative electrode CCD platform 13B, and the negative electrode feeding manipulator 14A and the negative electrode discharging manipulator 13A respectively ascend after the pole pieces are absorbed.
In the above steps, only the translation and basic actions of the manipulator between the stations are described, and in fact, the manipulator can perform other operations according to instructions at each station, for example, the correction operation can be performed at both the CCD station and the lamination station. Namely, when the positive electrode feeding manipulator 11A, the positive electrode discharging manipulator 12A, the negative electrode feeding manipulator 14A and the negative electrode discharging manipulator 13A discharge under servo control, the deviation of the pole piece is corrected.
Based on the servo control method of the embodiment, the lamination device structure of the second embodiment is combined, so that the precision of the lamination can be improved, and the efficiency of the lamination can be greatly improved.
Example three:
in the present embodiment, a robot arm proposed in the foregoing embodiment will be described, as shown in fig. 7 to 11, the robot arm is integrally disposed on a long guide rail and can slide along the guide rail in a horizontal direction, for the sake of clarity, a direction in which the robot arm slides horizontally along the guide rail is defined as an 'X' direction, and a motor driving the robot arm to move in the X direction is an X-axis motor, and the motor may be a linear motor. The motor body may be mounted on a back plate, connected by a back plate guide rail, and at the same time, the motor body may slide up and down in a vertical direction with respect to the back plate, the vertical direction being defined as a 'Z' direction, and a direction perpendicular to the 'X' and 'Z' directions being a 'Y' direction. The motor can slide along the X direction under the drive of the linear motor, and can also move up and down along the Z direction under the drive of the Z-axis servo motor.
In the case of a smaller pole piece, the suction cups carried by the first and second suction cup plates 114a, 114b are smaller, and work independently for two separate sets of lamination stations, respectively, and only when a larger pole piece needs to be carried, can both suction cups be used together or the larger suction cup be replaced. Based on this, the present embodiment proposes an alternative example of the manipulator. As shown in fig. 4, the moving motor body in the Z direction includes a main frame plate 1111 having an 'L' shape, i.e., a horizontal plate 11111 and a vertical plate 11112 perpendicular to each other. Vertical board 11112 is driven by the Z-axis servo motor, specifically, the Z-axis servo motor is connected with a vertical ball screw 1104, and the vertical board 11112 of the 'L' -shaped main frame board is connected with the ball screw 1104, and when the Z-axis servo motor generates driving force, it is a rotating torque force, and this torque force is converted into the driving force of the vertical direction through the ball screw 1104, so that when the Z-axis servo motor is driven, the ball screw can be driven, and the ball screw moves the main frame board up and down in the Z direction through its connection with the vertical board 11112.
The main frame plate 1111 also has a horizontal plate 11111 part, which moves in the X direction and the Z direction along with the movement of the main frame plate, and the horizontal chassis plate is loaded with the deviation rectifying device, on one hand, the deviation rectifying device 1112 is installed on the horizontal plate 11111 through a Y-axis electric cylinder 1107 and a Y-direction slide rail, and when the Y-axis electric cylinder generates driving force, the deviation rectifying device is driven to move in the Y direction along the Y-direction slide rail; on the other hand, the deviation correcting device is connected with a sucker plate 1108 arranged below the main frame plate 1111 through a rotating shaft 11121, and the sucker plate 1108 can rotate by taking the rotating shaft as the center; on the side of the suction plate remote from the axis of rotation there is a cam shaft 1106, the centre of the suction plate 1108 being parallel to the Y-axis when the cam shaft is in a rest position, and the cam structure causing the suction plate to deviate from being parallel to the Y-axis when the cam shaft is rotated, which deviation is defined as the angle of the theta-axis. The angle through which the suction plate rotates with respect to the Y axis is called an angle θ due to the driving of the cam structure, and the posture of the suction plate can be controlled by controlling the cam shaft by a servo motor 1105 of the axis θ to control the angle.
For example, in one example, the deflection of the sucker plate swinging on the X axis is 15mm by setting the diameter difference between the long side and the short side of the cam shaft, the rotation radius from the cam shaft 1106 to the rotation center 11121 is 270mm, and the angle θ can be obtained by the deflection distance and the rotation radius.
This angle is typically between-2 ° and 2 °, but values within 2 ° or slightly larger, for example no larger than 5 °, may also be used depending on the operating conditions.
Therefore, after the sucker plate sucks up one pole piece, the sucker plate can be controlled to rotate through the theta-axis servo motor 1105 so as to adjust the angle of the pole piece, and the Y-axis electric cylinder drives the deviation correcting part to move on the Y axis so as to adjust the position of the pole piece in the Y direction; the position of the pole piece in the X-axis direction is adjusted through the driving of an X-axis motor, and the position of the pole piece in the Z direction is adjusted through a Z-axis servo motor and a ball screw.
In the working process, the standard posture and the spacing of the pole pieces are set through an industrial personal computer. After the sucker plate absorbs one pole piece, the (X, Y, theta) parameters of the absorbed pole piece can be calculated through the shooting of the CCD (not shown in the figure, the CCD is used for obtaining the attitude projection of the pole piece on the XY plane along the Z axis) and the pattern recognition function, and the Z parameters can be fed back through a motor shaft sensor. Since the pole piece is finally placed on the diaphragm, the Z-axis height of the pole piece does not affect the posture of the pole piece, and the X-axis only affects the position of the pole piece, the posture of the pole piece can be adjusted through the (Y, theta) parameters. For example, if the standard posture of the pole piece is (Y1, θ 1), the posture can be adjusted by controlling the θ -axis servo motor 1105 to rotate by an angle (θ 1 — θ) and translating to Y1 by the Y-axis cylinder. Of course, the distance from the pole piece attitude to the standard attitude can also be calculated through a trigonometric function, and the (Y, theta) parameters are adjusted to carry out translation and rotation.
After the posture of the pole pieces is adjusted, the distance between the pole pieces can be controlled by controlling the translation of the X-axis motor, and the pole pieces can be arranged at equal intervals or arranged at unequal intervals.
The embodiment has the following beneficial effects: the posture of the pole pieces can be flexibly adjusted and corrected, and the space between the pole pieces can be flexibly controlled.
Example eight:
in order to describe the present embodiment clearly, the direction in which the robot arm slides horizontally along the guide rail is defined as the 'X' direction, and the motor driving the robot arm to move in the X direction is an X-axis motor, which may be a linear motor. The motor body may be mounted on a back plate, connected by a back plate guide rail, and at the same time, the motor body may slide up and down in a vertical direction with respect to the back plate, the vertical direction being defined as a 'Z' direction, and a direction perpendicular to the 'X' and 'Z' directions being a 'Y' direction. The entire motor may be driven by a linear motor to slide in the X direction, or may be driven by a Z-axis servo motor 1101 to move up and down in the Z direction.
The main frame plate 1111 has a horizontal plate 11111 and a vertical plate 11112 perpendicular to each other. The deviation rectifying part 1112 is slidably disposed on the horizontal plate 11111 through a slide rail, and the deviation rectifying part 1112 is connected to the suction cup plate 1108 through a rotating shaft 11121. The deviation rectifying part 1112 drives the suction cup plate 1108 to slide along the slide rail relative to the horizontal plate 11111 under the electric drive; a cam shaft 1106 connected to the suction plate 1108, wherein the cam shaft 1106 rotates to drive the suction plate 1108 to rotate at an angle relative to the horizontal plate 11111 about the rotation center of the rotation shaft 11121.
The system may further comprise an image capturing device for obtaining the projection pose of the pole piece absorbed by the suction plate 1108. The projection attitude can be the attitude projection of the sucked pole piece on an XY screen, and the projection can reflect the attitude of the pole piece. By the control device, the angular difference and the positional difference between the projection attitude and the standard attitude of the pole piece can be calculated, and the distance from the projection attitude to the standard attitude, which the deviation rectifying part 1112 needs to rotate and/or move linearly, is calculated.
The manipulator further comprises a theta-axis servo motor 1105, wherein the theta-axis servo motor 1105 drives a cam shaft 1106 to rotate so as to drive the suction cup plate 1108 to deflect by an angle theta relative to the horizontal plate 11111 by taking the rotating shaft 11121 as a rotating center. The angle θ satisfies: -15 ° ≦ θ ≦ 15, θ angle 0 ° indicating that the suction plate 1108 is not deflected; when the angle theta is positive, the camshaft 1106 drives the sucker plate 1108 to deflect to one side of the horizontal plate 11111; an angle θ of negative indicates that the cam shaft 1106 drives the suction plate 1108 to deflect to the other side of the horizontal plate 11111. The deviation rectifying part 1112 comprises a Y-axis electric cylinder 1107, and is used for driving the deviation rectifying part 1112 to drive the suction cup plate 1108 to slide along the slide rail together relative to the horizontal plate 11111.
The manipulator further includes: and a Z-axis servo motor 1101 for driving the main frame plate 1111 to slide in a vertical direction with respect to the back plate. The ball screw 1104 is disposed between the vertical plate 11112 and the back plate, and is configured to convert a rotation torque provided by the Z-axis servo motor into a linear driving force to drive the vertical plate 11112 and the rail blocks along the back plate to slide in a vertical direction. And the X-axis linear motor 1102 is used for controlling the manipulator to slide along the horizontal sliding rail 1103.
The mechanical arm is controlled to carry out lamination deviation correction and transfer by: an absorption step, in which the sucker plate 1108 is controlled to absorb the pole pieces; an attitude acquisition step, wherein a shooting device is controlled to acquire the attitude of the pole piece; a deviation rectifying step, namely controlling a theta-axis servo motor 1105 and a Y-axis electric cylinder 1107 to translate and/or rotate a sucker plate 1108 to a standard posture according to the posture of the pole piece obtained in the posture acquisition step; a translation step, namely controlling the X-axis linear motor 1102 to enable the sucker plate 1108 to translate to a preset position along the slide rail; and a placing step, namely controlling a Z-axis servo motor 1101 to lift the manipulator to place the pole piece.
Fig. 10-11 show a schematic of a system with opposing robots that can be separately controlled to simultaneously suck and place a double pick without substantially increasing the system volume. In addition to the structure shown in the figure, a plurality of groups of mechanical arms can be oppositely arranged, and the mechanical arms can be arranged at different heights to avoid the interference of taking the film between the mechanical arms. Especially for the positive and negative pole piece scenes, the two or four opposite manipulators can further reduce the volume of the system.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a lamination device for lithium cell electricity core pole piece production line, the device includes:
the positive electrode charging manipulator (11A), the positive electrode discharging manipulator (12A) and the positive electrode CCD platform (12B);
a negative electrode feeding mechanical arm (14A), a negative electrode discharging mechanical arm (13A) and a negative electrode CCD platform (13B); and a lamination station (15);
the positive electrode feeding mechanical arm (11A) can translate between a positive electrode material taking station (11B) and the positive electrode CCD platform (12B);
the positive electrode discharging manipulator (12A) can translate between the positive electrode CCD platform (12B) and the lamination table (15);
the negative electrode feeding manipulator (14A) can translate between a negative electrode material taking station (14B) and the negative electrode CCD platform (13B);
the negative electrode discharging mechanical arm (13A) can translate between the negative electrode CCD platform (13B) and the lamination table (15);
the positive pole feeding manipulator (11A), the positive pole discharging manipulator (12A), the negative pole feeding manipulator (14A) and the negative pole discharging manipulator (13A) alternately send the pole pieces to the lamination table (15) under servo control.
2. The lamination device according to claim 1, wherein at least one of the positive electrode feeding manipulator (11A), the positive electrode discharging manipulator (12A), the negative electrode feeding manipulator (14A) and the negative electrode discharging manipulator (13A) comprises the following structure:
the Z-axis servo motor is used for driving the manipulator to move up and down along the vertical direction;
the X-axis motor is used for driving the manipulator to horizontally move;
and the Y-axis motor is used for driving the manipulator to translate along the Y-axis direction which is vertical to the Z-axis vertical direction and the X-axis horizontal direction.
3. The lamination device according to claim 1, wherein the Y-axis motor is configured to drive a chassis (113) in translation, and two independent first suction cup plates (114a) and second suction cup plates (114b) are disposed on the chassis;
at least one of the first and second chuck plates (114a, 114b) comprises the following structure:
and the deviation rectifying structure is used for adjusting the deviation angle of the pole piece relative to the lamination station.
4. The laminating device according to claim 3, wherein the positive material taking station (11B), the positive CCD platform (12B), the negative material taking station (14B), the negative CCD platform (13B) and the laminating table (15) are provided with two stations, and the first sucker plate (114a) and the second sucker plate (114B) are used for matching with the positive material taking station (11B), the positive CCD platform (12B), the negative material taking station (14B) and the negative CCD platform (13B) to carry out material taking and laminating operations with the stations of the laminating table (15).
5. The lamination device according to claim 1, wherein at least one of the positive electrode feeding manipulator (11A), the positive electrode discharging manipulator (12A), the negative electrode feeding manipulator (14A) and the negative electrode discharging manipulator (13A) comprises the following structure:
a main frame plate (1111) including a horizontal plate (11111) and a vertical plate (11112) perpendicular to each other;
the deviation rectifying part (1112) is arranged on the horizontal plate (11111) in a sliding manner through a sliding rail, and the deviation rectifying part (1112) is connected with the sucker plate (1108) through a rotating shaft (11121); the correcting part (1112) drives the sucker plate (1108) to slide together along the slide rail relative to the horizontal plate (11111) under the electric drive;
a cam shaft (1106) connected to the suction plate (1108), the cam shaft (1106) rotating to drive the suction plate (1108) to deflect at an angle relative to the horizontal plate (11111) about the rotation center of the rotation shaft (11121).
6. The lamination device according to claim 5, wherein the robot structure further comprises a theta axis servo motor (1105), the theta axis servo motor (1105) driving a cam shaft (1106) to rotate to drive the suction cup plate (1108) to deflect relative to the horizontal plate (11111) by an angle theta at a rotation center of the rotation shaft (11121).
7. A lamination arrangement according to claim 3, wherein the first and second suction cup plates (114a, 114b) have mounted thereon a first and second suction cup, respectively;
alternatively, the first and second electrodes may be,
the first sucker plate (114a) and the second sucker plate (114b) are provided with a third sucker plate.
8. A lamination method is used for a production line of pole pieces of a lithium battery cell, and comprises the following steps:
the positive electrode feeding manipulator (11A) and the positive electrode discharging manipulator (12A) are synchronously operated in a group;
the negative electrode feeding manipulator (14A) and the negative electrode discharging manipulator (13A) are synchronously operated in a group;
the two groups of mechanical arms are alternately translated between the material taking station and the material placing station under servo control so as to alternately take materials and place materials.
9. Method according to claim 9, characterized in that it comprises the following steps:
the positive electrode feeding manipulator (11A) moves to the position above the positive electrode belt (11B), and the positive electrode discharging manipulator (12A) moves to the position above the positive electrode CCD platform (12B); the negative electrode feeding manipulator (14A) moves to the position above the negative electrode belt (14B), and the negative electrode discharging manipulator (13A) moves to the position above the negative electrode CCD platform (13B);
the positive electrode feeding mechanical arm (11A), the positive electrode discharging mechanical arm (12A), the negative electrode feeding mechanical arm (14A) and the negative electrode discharging mechanical arm (13A) descend and respectively suck pole pieces on the positive electrode belt (11B), the positive electrode CCD platform (12B), the negative electrode belt (14B) and the negative electrode CCD platform (13B), and the mechanical arms respectively ascend after the pole pieces are sucked;
keeping the negative electrode feeding manipulator (14A) and the negative electrode discharging manipulator (13A) still; controlling a positive electrode feeding manipulator (11A) and a positive electrode discharging manipulator (12A) and synchronously translating to a positive electrode CCD platform (12B) and a lamination platform (15);
controlling a lifting motor of the positive electrode feeding manipulator (11A) and the positive electrode discharging manipulator (12A) to descend, respectively placing the adsorbed pole pieces on the positive electrode CCD platform (12B) and the lamination platform (15), and controlling the positive electrode feeding manipulator (11A) and the positive electrode discharging manipulator (12A) to ascend after the placement is finished;
synchronously controlling a positive electrode feeding mechanical arm (11A), a positive electrode discharging mechanical arm (12A) and a negative electrode feeding mechanical arm (14A), and simultaneously translating the negative electrode discharging mechanical arm (13A) to enable the positive electrode feeding mechanical arm (12) and the positive electrode discharging mechanical arm to move to a positive electrode belt (11B) and a positive electrode CCD platform (12B) respectively, and enabling the negative electrode feeding mechanical arm (14A) and the negative electrode discharging mechanical arm (13A) to move to a negative electrode CCD platform (13B) and a lamination table (15);
the positive electrode feeding mechanical arm (11A) is synchronously controlled, the positive electrode discharging mechanical arm (12A) descends to respectively absorb the positive electrode belt (11B) and the positive electrode CCD platform (12B), and the mechanical arms respectively ascend after the absorption of the positive electrode belt and the positive electrode CCD platform is finished; the negative electrode feeding mechanical arm (14A) and the negative electrode discharging mechanical arm (13A) descend, the adsorbed pole pieces are respectively placed on the negative electrode CCD platform (13B) and the lamination platform (15), and the mechanical arms respectively ascend after the placement is finished;
synchronously controlling the positive electrode feeding manipulator (11A), the positive electrode discharging manipulator (12A), the negative electrode feeding manipulator (14A) and the negative electrode discharging manipulator (13A) to translate so that the positive electrode feeding manipulator (11A) and the positive electrode discharging manipulator (12A) move to a positive electrode CCD platform (12B) and a lamination table (15), and the negative electrode feeding manipulator (14A) and the negative electrode discharging manipulator (13A) move to a negative electrode CCD platform (13B) and a negative electrode belt (14B);
the positive electrode feeding manipulator (11A) and the positive electrode discharging manipulator (12A) descend, the adsorbed pole pieces are respectively placed on the positive electrode CCD platform (12B) and the lamination platform (15), and the manipulators respectively ascend after the placement is finished; the negative pole feeding mechanical arm (14A) and the negative pole discharging mechanical arm (13A) descend and respectively absorb pole pieces of the negative pole belt (14B) and the negative pole CCD platform (13B), and the negative pole feeding mechanical arm (14A) and the negative pole discharging mechanical arm (13A) respectively ascend after the pole pieces are absorbed.
10. The lamination method according to claim 9, wherein the deviation of the pole pieces is corrected when the positive electrode feeding manipulator (11A), the positive electrode discharging manipulator (12A), the negative electrode feeding manipulator (14A) and the negative electrode discharging manipulator (13A) discharge under servo control.
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| CN202011606587.2A CN113394440A (en) | 2020-12-28 | 2020-12-28 | Lamination device and control method thereof |
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| WO2023103155A1 (en) * | 2021-12-08 | 2023-06-15 | 蜂巢能源科技股份有限公司 | Bag-making type stacking apparatus and stacked product |
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Address after: 518000 Room 101, building 1013, building 2, No. 5, Aowei Road, Zhangge community, Fucheng street, Longhua District, Shenzhen, Guangdong Applicant after: Shenzhen Greensheng Technology Co.,Ltd. Address before: 518110 Room 101, building 1013, building 2, No. 5, Aowei Road, Zhangge community, Fucheng street, Longhua District, Shenzhen, Guangdong Applicant before: SHENZHEN GREENSUN TECHNOLOGY Co.,Ltd. |