CN116605646A - Battery cell transfer control system - Google Patents
Battery cell transfer control system Download PDFInfo
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- CN116605646A CN116605646A CN202310656323.5A CN202310656323A CN116605646A CN 116605646 A CN116605646 A CN 116605646A CN 202310656323 A CN202310656323 A CN 202310656323A CN 116605646 A CN116605646 A CN 116605646A
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- 238000012546 transfer Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 238000004458 analytical method Methods 0.000 claims abstract description 20
- 230000001960 triggered effect Effects 0.000 claims abstract description 4
- 230000008093 supporting effect Effects 0.000 claims description 76
- 239000000523 sample Substances 0.000 claims description 39
- 230000007246 mechanism Effects 0.000 claims description 35
- 230000001681 protective effect Effects 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 13
- 230000006698 induction Effects 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 10
- 230000003068 static effect Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 5
- 238000013500 data storage Methods 0.000 claims description 3
- 230000009916 joint effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 14
- 230000001976 improved effect Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003475 lamination Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011255 nonaqueous electrolyte Substances 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
Classifications
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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
- H01M10/0587—Construction or manufacture of accumulators having only wound construction elements, i.e. wound positive electrodes, wound negative electrodes and wound separators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0225—Orientation of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
-
- 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)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Battery Mounting, Suspending (AREA)
Abstract
The invention provides a battery core transfer control system which comprises a posture adjustment module, a positioning module, a position adjustment module and a battery core clamping module, wherein the battery core clamping module is used for clamping a battery core, the posture adjustment module is used for adjusting the posture of the battery core clamping module, the position adjustment module is used for adjusting the position of the posture adjustment module, the positioning module is used for positioning a placing station, positioning data are transmitted to the position adjustment module and the posture adjustment module, and the battery core clamping module is triggered to place the battery core. According to the invention, the pressure detection unit is matched with the clamping unit, so that the clamping force of the battery cell can be dynamically adjusted by the clamping unit according to the evaluation result of the clamping force by the analysis unit, and the battery cell is prevented from being damaged when being clamped.
Description
Technical Field
The invention relates to the field of manufacturing of nonaqueous electrolyte storage batteries, in particular to a battery core transfer control system.
Background
In the conventional cell processing apparatus, a cell transfer mechanism for removing the rolled cell is generally provided.
As disclosed in the prior art CN112811160a, in order to adapt to the thickness variation of the battery cell, the existing battery cell transfer device needs to adjust the relative position between the clamping jaw and the battery cell along the thickness direction of the battery cell, so that the clamping jaw can clamp the battery cell, and the battery cell is changed once, so that the position of the clamping jaw needs to be adjusted once, which is troublesome and time-consuming; moreover, the lamination platforms between the stations are required to be coplanar, the clamping jaws of the battery cell transferring device can clamp the battery cells on different stations, and the design and assembly requirements on the lamination platforms between the stations are strict.
Another typical prior art publication, such as CN113991165a, requires that the non-folded cells in a soft pack lithium battery be transferred during the production of the soft pack lithium battery. The traditional mode is carried out through the manual work, namely the manual work is got the material to every soft packet of electric core that the conveyer belt was transmitted and is placed in corresponding processing position, and after the processing was accomplished, the manual work was taken out one by one again and is selected, finally carries away through the conveyer belt. However, the mode not only makes workman's intensity of labour big, and it is extremely low to go up, unloading moreover, is unfavorable for production efficiency's improvement.
Looking at a soft package battery cell sucking mechanism disclosed in the prior art of CN211495981U, a sucker is used to suck a main body part of the battery cell, and an anti-falling clamping jaw is designed, but this way can leave a sucker print on the main body of the soft package battery cell, so that the soft package battery cell is wrinkled, resulting in poor appearance of the battery. In addition, the performance of the battery with the soft-package battery core folds can be influenced, potential safety hazards exist, and therefore the yield of the battery is reduced and the cost is increased.
The invention is designed for solving the problems that the positioning effect is poor, the clamping force is too large, the battery core is easily damaged, the working efficiency is low, the clamping force cannot be accurately controlled, the intelligent degree is low and the like in the prior art.
Disclosure of Invention
The invention aims to provide a battery cell transfer control system aiming at the defects existing at present.
In order to overcome the defects in the prior art, the invention adopts the following technical scheme:
a battery core transferring control system comprises a posture adjusting module, a positioning module, a position adjusting module and a battery core clamping module,
the battery cell clamping module is used for clamping the battery cell;
the gesture adjusting module is used for adjusting the gesture of the battery cell clamping module;
the position adjustment module is used for adjusting the position of the gesture adjustment module to align to a target placement station;
the positioning module is used for determining positioning data of a battery cell release position on the target placement station, the positioning module transmits the positioning data to the position adjustment module and the gesture adjustment module, and the battery cell clamping module can place the battery cell on the battery cell release position on the target placement station;
the electric core clamping module is arranged on the gesture adjusting module, and the clamping gesture of the electric core clamping module is adjusted through the gesture adjusting module;
the battery cell clamping module comprises a clamping unit, a pressure detection unit and an analysis unit, wherein the clamping unit is used for clamping the battery cell, and the pressure detection unit is used for detecting the clamping force of the clamping unit on the battery cell; the analysis unit analyzes the clamping force of the clamping unit according to the data of the pressure detection unit to form an analysis result;
the pressure detection unit is arranged on the contact end surface of the clamping unit and the battery cell so as to detect the clamping force exerted on the battery cell by the clamping unit;
the clamping unit comprises a clamping seat, a clamping driving mechanism and a group of clamping heads, wherein the clamping seat is used for supporting the group of clamping heads, the group of clamping heads are used for clamping the battery cell, and the clamping driving mechanism is used for driving and connecting the group of clamping heads so as to drive the group of clamping heads to clamp the battery cell;
the pressure detection unit comprises a piezoelectric bimorph strain gauge and a protection pad, wherein the piezoelectric bimorph strain gauge is used for detecting strain deformation between the clamping head and the electric core; the protective pad is used for supporting the piezoelectric bimorph strain gauge; the piezoelectric bimorph strain gauge is embedded on the protective pad and extends along the length direction of the protective pad;
the analysis unit acquires a stress value measurement corresponding to the real-time electric signal measured by the piezoelectric bimorph strain gauge, and calculates a battery cell clamping index Clamp:
wherein E is the elastic modulus of the protective pad, d is the thickness of the protective pad, L is the length of the strain gauge, L 0 E is the contact arc length of the battery core and the protection pad 0 For clamping error adjustment base value, gamma (f) is stress data change value fed back by the piezoelectric bimorph strain gauge, and the value of the stress data change value is related to the maximum friction force between a group of clamping heads and the battery cell, and the conditions are satisfied:
wherein F is Bullet And f is the maximum static friction force for the elastic force of the protective pad, and meets the following conditions: f=f Bullet Mu, wherein mu is the static friction coefficient of the battery cell and the protective pad, L 0 The contact arc length of the battery cell and the protective pad is the maximum deformation distance allowed by the battery cell;
adjusting the base value e for clamping errors 0 The method meets the following conditions:
wherein alpha is the maximum deformation distance allowed by the battery cell; m is m m Mu is the static friction coefficient of the battery core and the protective pad, s is the clamping safety coefficient, K c As a result of the stress compensation coefficient,wherein MAX is the maximum stress value which can be born by the battery cell, and Measure is the stress value corresponding to the real-time electric signal measured by the piezoelectric bimorph strain gauge;
the analysis unit transmits the clamping index to the battery cell clamping module, and the clamping force of the battery cell is adjusted through the clamping unit.
Optionally, the gesture adjusting module comprises a manipulator and a gesture adjusting unit, wherein the manipulator is used for supporting the battery cell clamping module; the gesture adjusting unit is used for adjusting the joint action of the manipulator;
the gesture adjusting unit comprises a control panel and a plurality of gesture driving mechanisms, wherein the control panel is used for setting parameters of the gesture driving mechanisms; each posture driving mechanism is provided at each of the joints of the manipulator to drive each joint of the manipulator.
Optionally, the position adjustment module includes a sliding unit and a supporting unit, where the supporting unit is used to support the posture adjustment module, the cell clamping module, and the clamped cell;
the sliding unit is used for adjusting the position of the supporting unit;
the supporting unit comprises a supporting seat and a position sensing component, the position sensing component is used for sensing a placing station, and the supporting seat is used for supporting the posture adjusting die, the battery cell clamping module and the clamped battery cell;
the position sensing component is arranged on the supporting seat and towards one side of the placing station;
the position sensing component comprises a sensing probe and a data memory, wherein the sensing probe is used for sensing each sensing mark of each placing station to determine a target placing station; the data storage is used for storing the data sensed by the sensing probe;
the induction marks are used for marking the positions of the placing stations and are arranged towards one side of the sliding unit.
Optionally, the positioning module includes a positioning unit and a distance detection unit, where the positioning unit is used to position the release position of the battery cell on the target placement station;
the distance detection unit is used for detecting the distance between the battery cell clamping unit and the target placement station;
the distance detection unit comprises a detection radar, a storage cavity and a supporting belt, wherein the storage cavity is used for storing the supporting belt and the detection radar, the detection radar is used for detecting the distance between the current position of the battery cell clamping unit and the placing station, and the supporting belt is used for supporting the detection radar;
wherein, the detection radar sets up on the supporting belt forms detection portion, detection portion sets up in the storage chamber.
Optionally, the positioning unit includes a positioning probe and a fixing seat, the fixing seat is used for supporting the positioning probe, and the positioning probe is used for positioning a release position of the battery cell on the target placement station;
the positioning probe is arranged on the fixing seat, and the positioning probe faces one side of the placing station.
Optionally, the sliding unit includes a sliding rail, an identification member, a sliding driving mechanism, and a plurality of position locators, where the sliding rail is slidably connected with the supporting seat, and the sliding driving mechanism is disposed on the supporting seat, so that the supporting seat slides along a rail direction of the sliding rail under the driving of the sliding driving mechanism;
the position locating pieces are distributed at equal intervals along the length direction of the sliding track;
the identification member is used for identifying each position locating piece, is arranged on the supporting plate and extends towards one side of each position locating piece.
The beneficial effects obtained by the invention are as follows:
1. the pressure detection unit is matched with the clamping unit, so that the clamping unit can dynamically adjust the clamping force of the battery cell according to the evaluation result of the clamping force by the analysis unit, and the battery cell is prevented from being damaged when being clamped;
2. through the matching of the position adjusting module, the gesture adjusting module and the battery core clamping module, the battery core can be adaptively adjusted according to different placing stations in the moving process, the intelligent degree of the whole system is improved, and the processing requirements of different positions are also considered;
3. the gesture adjusting unit is matched with the clamping unit, so that in the process that the clamping unit places the clamped battery core piece at the battery core release position on the placing station, the battery core release position on the placing station is required to be positioned in an auxiliary way through the positioning module, and the accuracy and the reliability of the battery core placing station are improved;
4. through the mutual matching of the positioning module and the clamping module, the battery cell transferred by the clamping module can be positioned, and the accurate placement of the battery cell is executed according to the positioned data, so that the whole system has the advantages of high positioning precision, high intelligent degree and controllable clamping force;
5. through the cooperation between positioning module and horizontal offset unit, vertical offset unit for positioning unit is more quick to the speed of placing the position of station and carries out the speed that whole system carried the electric core, has also promoted the production efficiency of whole production line and has obtained the promotion.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic block diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of an application scenario in which a battery cell of the present invention is transferred to a placement platform.
Fig. 3 is a schematic structural view of the clamping module, the posture adjustment module and the station adjustment module according to the present invention.
Fig. 4 is a schematic view of a part of the structure of the manipulator and the clamping unit of the present invention.
Fig. 5 is an enlarged schematic view at a in fig. 4.
Fig. 6 is a schematic top view of the clamping module, the station adjusting module and the posture adjusting module of the present invention.
Reference numerals illustrate: 1-an electric core; 2-a manipulator; 3-a supporting seat; 4-sliding tracks; 5-material plates; 6-a lateral offset unit; 7-a longitudinal offset unit; 8-clamping seats; 9-clamping heads; 10-a protective pad; 11-piezoelectric bimorph strain gage; 12-laterally adjusting the track; 13-longitudinally adjusting the track; 14-sensing the mark; 15-an inductive probe; 16-a sliding track; 17-calibration sensing element.
Detailed Description
The following embodiments of the present invention are described in terms of specific examples, and those skilled in the art will appreciate the advantages and effects of the present invention from the disclosure herein. The invention is capable of other and different embodiments and its several details are capable of modification and variation in various respects, all without departing from the spirit of the present invention. The drawings of the present invention are merely schematic illustrations, and are not intended to be drawn to actual dimensions. The following embodiments will further illustrate the related art content of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
Embodiment one.
According to the embodiments shown in fig. 1, 2, 3, 4 and 5, the present embodiment provides a battery cell transferring control system, which includes a posture adjustment module, a positioning module, a position adjustment module and a battery cell clamping module,
the battery cell clamping module is used for clamping the battery cell;
the gesture adjusting module is used for adjusting the gesture of the battery cell clamping module;
the position adjustment module is used for adjusting the position of the gesture adjustment module to align to a target placement station;
the positioning module is used for determining positioning data of a battery cell release position on the target placement station, the positioning module transmits the positioning data to the position adjustment module and the gesture adjustment module, and the battery cell clamping module can place the battery cell on the battery cell release position on the target placement station;
the electric core clamping module is arranged on the gesture adjusting module, and the clamping gesture of the electric core clamping module is adjusted through the gesture adjusting module;
the transfer control system also comprises a processor, wherein the processor is respectively connected with the gesture adjusting module, the positioning module, the position adjusting module and the battery core clamping module in a control way, and the gesture adjusting module, the positioning module, the position adjusting module and the battery core clamping module are controlled in a centralized way based on the processor;
the electric core clamping module is matched with the posture adjusting module, so that the electric core clamping module can adjust the position of transferring, carrying and placing in the process of clamping the electric core, and the efficiency and the precision of transferring or placing the electric core are ensured;
meanwhile, the positioning module is matched with the gesture adjusting module, so that the placement accuracy of the battery cell is improved;
the position adjusting module is matched with the gesture adjusting module and the battery core clamping module, so that the battery core can determine a target placing station in a plurality of placing stations in the moving process, and the intelligent degree of the whole system is improved according to the position of the target placing station;
the electric core clamping module is arranged on the posture adjustment module, and the shifting position and shifting posture of the electric core clamping module are adjusted through the posture adjustment module so as to improve the moving or placing accuracy of the electric core;
optionally, the gesture adjusting module comprises a manipulator and a gesture adjusting unit, wherein the manipulator is used for supporting the battery cell clamping module; the gesture adjusting unit is used for adjusting the joint action of the manipulator;
the gesture adjusting unit comprises a control panel and a plurality of gesture driving mechanisms, wherein the control panel is used for setting parameters of the gesture driving mechanisms; each gesture driving mechanism is arranged at each manipulator joint to drive each joint of the manipulator;
the gesture adjusting unit is used for adjusting the gesture of the battery cell clamping module according to the placing station in the process of clamping the battery cell clamping unit so as to adapt to the placing requirements of different scenes;
if the battery core clamping module is applied to a scene of battery assembly, the battery core can be placed in a battery assembly position through the cooperation of the battery core clamping module and the posture adjustment unit so as to be carried by a cooperation worker;
in this embodiment, the manipulator preferably adopts a mechanical arm with 5 degrees of freedom, so as to facilitate posture adjustment of the battery cell clamping module, so that when the battery cell clamping module places the battery cell, an optimal placing posture can be obtained;
it should be noted that, a person skilled in the art may replace the manipulator with other degrees of freedom to meet the needs of different application scenarios;
in addition, the operator can set the placing posture and the angle of the manipulator through the control panel;
it should be noted that, the control of the placement posture and the placement angle of the manipulator is a technical means well known to those skilled in the art, and those skilled in the art can query the related technical manual to obtain the technology, so that the description is omitted in this embodiment;
the battery cell clamping module comprises a clamping unit, a pressure detection unit and an analysis unit, wherein the clamping unit is used for clamping the battery cell, and the pressure detection unit is used for detecting the clamping force of the clamping unit on the battery cell; the analysis unit analyzes the clamping force of the clamping unit according to the data of the pressure detection unit to form an analysis result;
the pressure detection unit is arranged on the contact end surface of the clamping unit and the battery cell so as to detect the clamping force exerted on the battery cell by the clamping unit;
the clamping unit comprises a clamping seat, a clamping driving mechanism and a group of clamping heads, wherein the clamping seat is used for supporting the group of clamping heads, the group of clamping heads are used for clamping the battery cell, and the clamping driving mechanism is used for driving and connecting the group of clamping heads so as to drive the group of clamping heads to clamp the battery cell;
the clamping seat is connected with the free end of the manipulator so as to clamp the battery cell;
the pressure detection unit comprises a piezoelectric bimorph strain gauge and a protection pad, wherein the piezoelectric bimorph strain gauge is used for detecting strain deformation between the clamping head and the electric core; the protective pad is used for supporting the piezoelectric bimorph strain gauge; the piezoelectric bimorph strain gauge is embedded on the protective pad and extends along the length direction of the protective pad;
the analysis unit acquires a stress value measurement corresponding to the real-time electric signal measured by the piezoelectric bimorph strain gauge, and calculates a battery cell clamping index Clamp:
wherein E is the elastic modulus of the protective pad, d is the thickness of the protective pad, L is the length of the strain gauge, L 0 E is the contact arc length of the battery core and the protection pad 0 For clamping error adjustment base value, gamma (f) is stress data change value fed back by the piezoelectric bimorph strain gauge, and the value of the stress data change value is related to the maximum friction force between a group of clamping heads and the battery cell, and the conditions are satisfied:
wherein F is Bullet And f is the maximum static friction force for the elastic force of the protective pad, and meets the following conditions: f=f Bullet Mu, wherein mu is static friction between the battery cell and the protective padCoefficient of friction L 0 The contact arc length of the battery cell and the protective pad is the maximum deformation distance allowed by the battery cell;
adjusting the base value e for clamping errors 0 The method meets the following conditions:
wherein alpha is the maximum deformation distance allowed by the battery cell; m is m m Mu is the static friction coefficient of the battery core and the protective pad, s is the clamping safety coefficient, K c As a result of the stress compensation coefficient,wherein MAX is the maximum stress value which can be born by the battery cell, and Measure is the stress value corresponding to the real-time electric signal measured by the piezoelectric bimorph strain gauge;
the analysis unit transmits the clamping index to the battery cell clamping module, and the clamping force of the battery cell is adjusted through the clamping unit;
the pressure detection unit is matched with the clamping unit, so that the clamping unit can dynamically adjust the clamping force of the battery cell according to the evaluation result of the clamping force by the analysis unit, and the battery cell is prevented from being damaged when being clamped;
the clamping unit, the pressure detection unit and the analysis unit form a closed loop, so that the clamping force of the clamping unit on the battery core can be detected and evaluated in the process of clamping the battery by the clamping unit, the clamping force of the battery core can be dynamically adjusted according to an analysis result, and the safety and reliability of the battery core transferring process are improved;
the position adjusting module is used for adjusting the positions of the gesture adjusting module and the battery core clamping module arranged on the gesture adjusting module so as to adapt to the transfer requirements of battery cores at different positions;
optionally, the position adjustment module includes a sliding unit and a supporting unit, where the supporting unit is used to support the posture adjustment module, the cell clamping module, and the clamped cell; the sliding unit is used for adjusting the position of the supporting unit;
the supporting unit comprises a supporting seat and a position sensing component, the position sensing component is used for sensing a placing station, and the supporting seat is used for supporting the posture adjusting die, the battery cell clamping module and the clamped battery cell; the position sensing component is arranged on the supporting seat and towards one side of the placing station;
the manipulator of the gesture adjusting unit is arranged on the supporting seat, and the clamping angle of the battery cell clamping unit is adjusted through the manipulator;
simultaneously, the positions of the supporting unit, the posture adjusting module and the battery core clamping module which are arranged on the supporting unit are adjusted through the sliding unit;
in this embodiment, the placement station is configured to place the electrical core to store a transferred electrical core;
when the sliding unit drives the supporting unit to slide, the position sensing component senses the sensing mark of the placing station so as to further place the battery cell clamped by the clamping unit in the placing station;
the position sensing component comprises a sensing probe and a data memory, wherein the sensing probe is used for sensing each sensing mark of each placing station to determine a target placing station; the data storage is used for storing the data sensed by the sensing probe;
the induction marks are used for marking the positions of the placing stations and are arranged towards one side of the sliding unit.
The induction probe senses the induction mark, transmits position mark data corresponding to the current induction mark to the processor, and judges whether the current position is a position where the battery cell is to be placed or not through screening of the processor, if the current position is the position where the battery cell is to be placed, the coordination of the gesture adjusting unit and the clamping unit is triggered, and the battery cell is placed on the placing station;
the sliding unit comprises a sliding rail, an identification member, a sliding driving mechanism and a plurality of position locating pieces, wherein the sliding rail is in sliding connection with the supporting seat, and the sliding driving mechanism is arranged on the supporting seat so that the supporting seat slides along the rail direction of the sliding rail under the driving of the sliding driving mechanism; the position locating pieces are distributed at equal intervals along the length direction of the sliding track;
the identification component is used for identifying each position positioning piece, is arranged on the supporting plate and extends towards one side of each position positioning piece;
the identifying component comprises an identifying probe and an accommodating cavity, the accommodating cavity is arranged on the supporting plate and is used for placing the identifying probe, and the identifying probe is used for identifying each position locating piece so as to obtain the current position of the supporting plate;
in addition, in the process that the sliding driving mechanism drives the supporting seat to slide along the adjusting track, the identification probe identifies a position marker on the sliding track so as to feed back the current position of the supporting seat to the processor, and if the current position is a position where the battery cell needs to be placed, the processor controls the sliding driving mechanism to stop driving the supporting seat, so that the supporting seat stays at the current position, and the held battery cell is placed through the gesture adjusting unit and the holding unit;
the clamping unit is matched with the gesture adjusting unit, so that the clamping unit is required to position the placing station in the process of placing the clamped battery core piece in the placing station, and the accuracy and reliability of the battery core placing station are improved;
in addition, the battery cell is clamped by the clamping module at the movable end of the manipulator, and one joint of the manipulator close to one end of the supporting plate rotates along the axis of the battery cell so as to realize that the manipulator is moved from the position for supplying the battery cell to the placing station; as shown in fig. 2, the supply cell position is arranged at the left side of the figure, and the placement station is arranged at the right side of the figure;
optionally, the positioning module includes a positioning unit and a distance detection unit, where the positioning unit is used to position the release position of the battery cell on the target placement station;
the distance detection unit is used for detecting the distance between the battery cell clamping unit and the target placement station;
the distance detection unit comprises a detection radar, a storage cavity and a supporting belt, wherein the storage cavity is used for storing the supporting belt and the detection radar, the detection radar is used for detecting the distance between the current position of the battery cell clamping unit and the placing station, and the supporting belt is used for supporting the detection radar;
the detection radar is arranged on the supporting belt to form a detection part, and the detection part is arranged in the storage cavity;
the distance detection unit is arranged on the clamping seat and is used for detecting the distance between the clamping seat and the placing station so as to improve the accuracy of placing the battery cell by the clamping unit;
optionally, the positioning unit includes a positioning probe and a fixing seat, the fixing seat is used for supporting the positioning probe, and the positioning probe is used for positioning a release position of the battery cell on the target placement station; the positioning probe is arranged on the fixed seat, and is arranged towards one side of the placing station and is connected with the clamping seat;
the positioning unit is arranged on the clamping seat and is used for positioning the release position of the battery cell on the target placement station, and simultaneously, according to the positioning result of the positioning unit, the release of the battery cell by the clamping unit is triggered to realize the fixed-point placement of the battery cell;
in the process of placing the battery cell at the battery cell release position of the target placement station, the battery cell release position of the target placement station is positioned through the positioning probe, so that the manipulator drives the clamping unit to move to the position above the battery cell release position of the placement station and to move up and down in the vertical direction after aligning with the calibration sensing piece arranged on the placement station, the manipulator controls the clamping unit to move up and down in the vertical direction, so that the clamping unit gradually approaches the battery cell release position of the placement station, and the distance between the clamping unit and the placement station is detected through the distance detection unit, so that damage caused by falling of the battery cell due to too high distance is prevented;
when the height distance between the clamping unit and the placing station is smaller than or equal to the safety distance, the processor controls the clamping driving mechanism to drive a group of clamping heads to release the battery cell, so that the battery cell falls on a battery cell releasing position of the placing station;
as shown in fig. 2 and 3, the calibration sensing piece in the placement station is arranged on the upper end surface of the placement station, so as to sense with the positioning probe conveniently, and improve the positioning and calibration speed;
in this embodiment, the positioning probe and the calibration sensing element are mutually matched to calibrate the position of the clamping unit for releasing the battery cell, so that the clamping unit can align to the target placing station above the target placing station, and the placing precision of the battery cell is improved;
through the mutual matching of the positioning module and the clamping module, the clamping module can position the release position of the battery core on the target placement station so as to accurately release the transferred battery core, and the whole system is promoted to have the advantages of high positioning precision, high intelligent degree and controllable clamping force;
meanwhile, the clamping force of the clamping unit is controlled to protect the surface quality of the battery cell and ensure that the surface is not damaged.
Embodiment two.
This embodiment should be understood to include at least all of the features of any one of the foregoing embodiments, and be further modified in accordance with the teachings of fig. 1, 2, 3, 4, 5, and also in that
The placing station is configured into an adjustable structure, wherein the placing station comprises a material plate, a transverse shifting unit and a longitudinal shifting unit, the material plate is used for placing a transferred battery cell, the transverse shifting unit is used for adjusting the transverse direction of the material plate, and the longitudinal shifting unit is used for adjusting the transverse shifting unit and the longitudinal direction of the material plate;
notably, the transverse direction and the longitudinal direction are perpendicular to each other, and the transverse direction is parallel to the sliding direction of the sliding track;
meanwhile, the upper end face of the material plate is provided with the calibration induction piece so as to be matched with the positioning probe to accurately position the battery core release position of the material plate on the placing station;
the longitudinal offset unit comprises a longitudinal adjustment track, a longitudinal sliding seat, a longitudinal driving mechanism, a first acquisition probe and a plurality of first positioning pieces,
the longitudinal sliding seat is used for supporting the transverse shifting unit and the material plate so as to realize adjustment of the material plate and the transverse shifting unit in the longitudinal direction;
each first positioning piece is arranged along the length direction of the longitudinal adjustment rail, and the longitudinal adjustment rail is in sliding connection with the longitudinal sliding seat;
the longitudinal driving mechanism is arranged on the longitudinal sliding seat and drives the longitudinal sliding seat to slide along the direction of the longitudinal sliding rail;
the first acquisition probe is arranged on the longitudinal sliding seat and extends towards one side of the first positioning piece so as to acquire the first positioning piece, feed back the current position of the longitudinal sliding seat to the processor, and control the longitudinal driving mechanism to drive the longitudinal sliding seat through the processor;
the transverse offset unit comprises a transverse adjustment track, a transverse sliding seat, a transverse driving mechanism, a second acquisition probe and a plurality of second positioning pieces,
the transverse adjusting rail is arranged on the longitudinal sliding seat, and the directions of the transverse adjusting rail and the longitudinal adjusting rail are mutually perpendicular;
the transverse sliding seat is used for supporting the material plate so as to realize adjustment of the transverse direction of the material plate;
each second positioning piece is arranged along the length direction of the transverse adjusting rail, and the transverse rail is connected with the transverse adjusting rail in a sliding manner;
the transverse driving mechanism is arranged on the transverse sliding seat and drives the transverse sliding seat to slide along the direction of the transverse sliding track;
the second acquisition probe is arranged on the transverse sliding seat and extends towards one side of the second positioning piece so as to acquire the second positioning piece, feed back the current position of the transverse sliding seat to the processor, and control the transverse driving mechanism to drive the transverse sliding seat through the processor;
in addition, a box body or a battery shell for storing the battery cells is arranged on the material plate;
as shown in fig. 6, a plurality of placing stations may be disposed on one side of the supporting table, and each placing station is provided with a material plate for placing each electrical core;
if the battery shell is placed in the placing station, the battery core is directly placed in the battery shell to be processed through the clamping module and the posture adjusting module, so that the labor intensity of workers in carrying is reduced;
meanwhile, the battery cell is directly placed in the battery shell, so that the production efficiency is improved, and the production efficiency of the whole battery is greatly improved;
when the positioning unit needs to position the placing station, the clamping unit is kept motionless, and the position of the calibration induction piece is adjusted through the cooperation between the transverse offset unit and the longitudinal offset unit, so that the positioning probe can be aligned with the calibration induction piece quickly, and the alignment efficiency between the positioning probe and the calibration induction piece is improved;
through cooperation between the positioning module and the transverse offset unit and the longitudinal offset unit, the speed of the positioning unit for positioning the position of the placing station is higher, the speed of the whole system for transferring the battery cells is further improved, and the production efficiency of the whole production line is improved.
The foregoing disclosure is only a preferred embodiment of the present invention and is not intended to limit the scope of the invention, so that all equivalent technical changes made by applying the description of the present invention and the accompanying drawings are included in the scope of the present invention, and in addition, elements in the present invention can be updated as the technology develops.
Claims (6)
1. A battery core transfer control system is characterized in that the transfer control system comprises a posture adjustment module, a positioning module, a position adjustment module and a battery core clamping module,
the battery cell clamping module is used for clamping the battery cell;
the gesture adjusting module is used for adjusting the gesture of the battery cell clamping module;
the position adjustment module is used for adjusting the position of the gesture adjustment module to align to a target placement station;
the positioning module is used for determining positioning data of a battery cell release position on the target placement station, the positioning module transmits the positioning data to the position adjustment module and the gesture adjustment module, and the battery cell clamping module is triggered to place the battery cell on the battery cell release position on the target placement station;
the electric core clamping module is arranged on the gesture adjusting module, and the clamping gesture of the electric core clamping module is adjusted through the gesture adjusting module;
the battery cell clamping module comprises a clamping unit, a pressure detection unit and an analysis unit, wherein the clamping unit is used for clamping the battery cell, and the pressure detection unit is used for detecting the clamping force of the clamping unit on the battery cell; the analysis unit analyzes the clamping force of the clamping unit according to the data of the pressure detection unit to form an analysis result;
the pressure detection unit is arranged on the contact end surface of the clamping unit and the battery cell so as to detect the clamping force exerted on the battery cell by the clamping unit;
the clamping unit comprises a clamping seat, a clamping driving mechanism and a group of clamping heads, wherein the clamping seat is used for supporting the group of clamping heads, the group of clamping heads are used for clamping the battery cell, and the clamping driving mechanism is used for driving and connecting the group of clamping heads so as to drive the group of clamping heads to clamp the battery cell;
the pressure detection unit comprises a piezoelectric bimorph strain gauge and a protection pad, wherein the piezoelectric bimorph strain gauge is used for detecting strain deformation between the clamping head and the electric core; the protective pad is used for supporting the piezoelectric bimorph strain gauge; the piezoelectric bimorph strain gauge is embedded on the protective pad and extends along the length direction of the protective pad;
the analysis unit acquires a stress value measurement corresponding to the real-time electric signal measured by the piezoelectric bimorph strain gauge, and calculates a battery cell clamping index Clamp:
wherein E is the elastic modulus of the protective pad, d is the thickness of the protective pad, L is the length of the strain gauge, L 0 E is the contact arc length of the battery core and the protection pad 0 For clamping error, the base value is adjusted, and gamma (f) is piezoelectric bimorph strainThe stress data change value of the sheet feedback is related to the maximum friction force between a group of clamping heads and the battery cell, and the values are as follows:
wherein F is Bullet And f is the maximum static friction force for the elastic force of the protective pad, and meets the following conditions: f=f Bullet Mu, wherein mu is the static friction coefficient of the battery cell and the protective pad, L 0 The contact arc length of the battery cell and the protective pad is the maximum deformation distance allowed by the battery cell;
adjusting the base value e for clamping errors 0 The method meets the following conditions:
wherein alpha is the maximum deformation distance allowed by the battery cell; m is m m Mu is the static friction coefficient of the battery core and the protective pad, s is the clamping safety coefficient, K c As a result of the stress compensation coefficient,wherein MAX is the maximum stress value which can be born by the battery cell, and Measure is the stress value corresponding to the real-time electric signal measured by the piezoelectric bimorph strain gauge;
the analysis unit transmits the clamping index to the battery cell clamping module, and the clamping force of the battery cell is adjusted through the clamping unit.
2. The battery cell transfer control system according to claim 1, wherein the posture adjustment module comprises a manipulator and a posture adjustment unit, the manipulator being configured to support the battery cell clamping module; the gesture adjusting unit is used for adjusting the joint action of the manipulator;
the gesture adjusting unit comprises a control panel and a plurality of gesture driving mechanisms, wherein the control panel is used for setting parameters of the gesture driving mechanisms; each posture driving mechanism is provided at each of the joints of the manipulator to drive each joint of the manipulator.
3. The battery cell transfer control system according to claim 2, wherein the position adjustment module comprises a slide unit and a support unit for supporting the posture adjustment module, the battery cell clamping module, and the clamped battery cell;
the sliding unit is used for adjusting the position of the supporting unit;
the supporting unit comprises a supporting seat and a position sensing component, the position sensing component is used for sensing a placing station, and the supporting seat is used for supporting the posture adjusting die, the battery cell clamping module and the clamped battery cell;
the position sensing component is arranged on the supporting seat and towards one side of the placing station;
the position sensing component comprises a sensing probe and a data memory, wherein the sensing probe is used for sensing each sensing mark of each placing station to determine a target placing station; the data storage is used for storing the data sensed by the sensing probe;
the induction marks are used for marking the positions of the placing stations and are arranged towards one side of the sliding unit.
4. A cell transfer control system according to claim 3, wherein the positioning module comprises a positioning unit and a distance detection unit, the positioning unit being configured to position a cell release position on the target placement station;
the distance detection unit is used for detecting the distance between the battery cell clamping unit and the target placement station;
the distance detection unit comprises a detection radar, a storage cavity and a supporting belt, wherein the storage cavity is used for storing the supporting belt and the detection radar, the detection radar is used for detecting the distance between the current position of the battery cell clamping unit and the placing station, and the supporting belt is used for supporting the detection radar;
wherein, the detection radar sets up on the supporting belt forms detection portion, detection portion sets up in the storage chamber.
5. The system of claim 4, wherein the positioning unit comprises a positioning probe and a fixing base, the fixing base is used for supporting the positioning probe, and the positioning probe is used for positioning the release position of the battery cell on the target placement station;
the positioning probe is arranged on the fixing seat, and the positioning probe faces one side of the placing station.
6. The battery cell transfer control system according to claim 5, wherein the sliding unit comprises a sliding rail, an identification member, a sliding driving mechanism and a plurality of position locators, the sliding rail is in sliding connection with the supporting seat, and the sliding driving mechanism is arranged on the supporting seat, so that the supporting seat slides along the rail direction of the sliding rail under the driving of the sliding driving mechanism;
the position locating pieces are distributed at equal intervals along the length direction of the sliding track;
the identification member is used for identifying each position locating piece, is arranged on the supporting plate and extends towards one side of each position locating piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310656323.5A CN116605646A (en) | 2023-06-05 | 2023-06-05 | Battery cell transfer control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310656323.5A CN116605646A (en) | 2023-06-05 | 2023-06-05 | Battery cell transfer control system |
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| CN116605646A true CN116605646A (en) | 2023-08-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117554838A (en) * | 2024-01-11 | 2024-02-13 | 深圳市百耐信科技有限公司 | Industrial and commercial liquid cooling energy storage battery equipment and control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117554838A (en) * | 2024-01-11 | 2024-02-13 | 深圳市百耐信科技有限公司 | Industrial and commercial liquid cooling energy storage battery equipment and control system |
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Application publication date: 20230818 |