CN216698466U - Lamination equipment - Google Patents
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- CN216698466U CN216698466U CN202220242892.6U CN202220242892U CN216698466U CN 216698466 U CN216698466 U CN 216698466U CN 202220242892 U CN202220242892 U CN 202220242892U CN 216698466 U CN216698466 U CN 216698466U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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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Abstract
The utility model relates to the technical field of battery manufacturing, and discloses lamination equipment which is used for solving the problem that a large number of battery cores are scrapped due to the fact that deviation of the position of a manipulator is not easy to perceive in the prior art. The lamination equipment comprises a first acquisition device and a first detection device; the first acquisition device is arranged towards the surface of the bearing table and used for acquiring a first image containing the pole piece; the sheet taking manipulator is also used for acquiring a second image containing the first marking part when moving to a corresponding position under the driving of the driving device; the first detection device is used for determining the position information of the first reference point according to the first image; and the second image processing unit is also used for determining the position information of the first marking part according to the second image, and determining the offset condition of the sheet taking manipulator according to the position information of the first reference point, the position information of the first marking part and a first position relation calibrated in advance between the first reference point and the first marking part.
Description
Technical Field
The utility model relates to the technical field of battery preparation, in particular to lamination equipment.
Background
In the lamination process, the manipulator needs to snatch the pole piece and remove the pole piece under servo motor's drive, but the manipulator can produce position deviation at the actual in-process that removes to lead to the actual position of manipulator inconsistent with theoretical position, in case the accurate nature of manipulator goes wrong, often do not well perceive, cause scrapping in a large number of electric cores easily.
SUMMERY OF THE UTILITY MODEL
The utility model provides lamination equipment, which is used for solving the problem that a large number of electric cores are scrapped because the position of a manipulator is not easy to perceive after deviation is generated in the prior art.
The utility model provides lamination equipment which comprises a bearing platform, a piece taking mechanical arm, a driving device, a first acquisition device and a first detection device, wherein the bearing platform is arranged on the bearing platform;
the bearing table is used for bearing a pole piece, and the pole piece is provided with a first reference point;
the piece taking manipulator is used for grabbing and transferring the pole pieces and is provided with a first marking part, and the first marking part and the first reference point have a first position relation calibrated in advance;
the driving device is used for driving the film taking manipulator to move to a corresponding position according to the position information of the first reference point;
the first acquisition device is arranged towards the surface of the bearing table and used for acquiring a first image containing the pole piece; the sheet taking manipulator is also used for acquiring a second image containing the first marking part when moving to a corresponding position under the driving of the driving device;
the first detection device is connected with the first acquisition device and the driving device and is used for determining the position information of the first reference point according to the first image; the second image is used for determining the position information of the first marking part according to the second image, and determining the offset condition of the sheet taking manipulator according to the position information of the first reference point, the position information of the first marking part and a first position relation calibrated in advance between the first reference point and the first marking part.
The utility model has the following beneficial effects:
in the lamination equipment, a first acquisition device acquires images at least twice so as to obtain a first image and a second image, wherein the first image is an image which is acquired before the sheet taking mechanical arm moves and contains a pole piece, and the position information of a first reference point on the pole piece can be determined according to the first image so as to provide a basis for the movement of the sheet taking mechanical arm; the second image is an image which is collected after the sheet taking manipulator stops moving and contains the first marking part, the position information of the first marking part can be determined according to the second image, under the condition that the position information of the first reference point and the position information of the first marking part are known, the offset condition of the sheet taking manipulator can be determined according to the position information of the first reference point and the position information of the first marking part, and the first positional relationship which is calibrated in advance between the first reference point and the first marking part, in particular, under the normal condition, the position information of the first reference point and the position information of the first marking part meet the first positional relationship which is calibrated in advance, when the position information of the first reference point and the position information of the first marking part do not meet the first positional relationship which is calibrated in advance, the situation that the sheet taking manipulator does not move in place is indicated, and therefore, whether the sheet taking manipulator moves in place during sheet taking can be detected, the deviation condition of the chip taking manipulator is found in time, so that corrective measures are taken rapidly, and a large amount of scrapping of the battery cells is avoided.
Drawings
Fig. 1 is a schematic structural diagram of a lamination apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another lamination apparatus according to an embodiment of the present invention.
Reference numerals:
100-a film taking station; 200-laminating station; 300-a lamination station; 400-pole piece; 401 — a first reference point; 500-a membrane;
10-a carrier table; 11-a second marker portion; 20-a sheet taking manipulator; 21-a first marker portion;
30-a drive device; 40 a-a first collection device; 40 b-first detection means;
50 a-a second collection device; 50 b-a second detection device;
60-a lamination station; 70-stacking manipulator; 71-a third marker portion;
80 a-a third collection device; 80 b-third detection means.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. 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.
The utility model provides lamination equipment, which is used for solving the problem that a large number of electric cores are scrapped because the position of a manipulator is not easy to perceive after deviation is generated in the prior art.
It should be noted that the lamination device provided by the present invention includes two sheet taking manipulators, which are respectively used for grabbing the positive electrode sheet and the negative electrode sheet, and if not specifically stated, the "sheet taking manipulator" may be either a positive electrode manipulator or a negative electrode manipulator, and only one sheet taking manipulator is exemplified in fig. 1 and fig. 2; moreover, the structures and the arrangement positions of the components in fig. 1 and fig. 2 are only used for understanding the composition and the functions of the lamination device, and the specific structures and the arrangement positions of the components are selected according to actual needs.
As shown in fig. 1 and fig. 2, the present invention provides a lamination apparatus, which includes a carrier 10, a pick-up robot 20, a driving device 30, a first collecting device 40a, and a first detecting device 40 b;
the bearing table 10 is used for bearing a pole piece 400, and the pole piece 400 is provided with a first reference point 401;
the piece taking manipulator 20 is used for grabbing and transferring the pole piece 400, the piece taking manipulator 20 is provided with a first marking part 21, and the first marking part 21 and a first reference point 401 have a first position relation calibrated in advance;
the driving device 30 is used for driving the film taking manipulator 20 to move to a corresponding position according to the position information of the first reference point 401;
the first acquisition device 40a is arranged towards the surface of the bearing table 10 and is used for acquiring a first image containing the pole piece 400; the device is also used for acquiring a second image containing the first marking part 21 when the sheet taking manipulator 20 moves to the corresponding position under the driving of the driving device 30;
the first detection device 40b is connected with the first acquisition device 40a and the driving device 30, and is used for determining the position information of the first reference point 401 according to the first image; and is further configured to determine the position information of the first marking portion 21 according to the second image, and determine the offset of the sheet taking robot 20 according to the position information of the first reference point 401, the position information of the first marking portion 21, and a first positional relationship, which is calibrated in advance, between the first reference point 401 and the first marking portion 21.
Specifically, for the pole piece 400, the first reference point 401 may be a central point of the pole piece 400, or may be another point different from the central point.
The sheet taking robot 20 may be a positive electrode robot or a negative electrode robot, the sheet taking robot 20 may be provided with a first mark part 21, the first mark part 21 may be a groove, a cross-shaped notch, an arrow or the like on the surface of the sheet taking robot 20 to be easily recognized in an image, or the first mark part 21 may be an extension extending outward from the edge of the sheet taking robot 20, when the sheet taking robot 20 moves above the carrier table 10, the first mark part 21 is located within the visual field of the first pickup device 40a, and in the second image, depending on the shape of the first mark part 21, a point on the first mark part 21 to be easily recognized may be taken, and the position of the first mark part 21 may be represented by the position of the point, for example, if the first mark part 21 is an arrow, the point located at the tip of the arrow may be taken, the position of the point in the second image represents the position of the first marker 21, and if the shape of the first marker 21 in the second image is a regular circle, rectangle, or the like, the center point of the first marker 21 may be taken, and the position of the center point in the second image represents the position of the first marker 21, that is, the position information of the first marker 21 is the position information of the determined point.
The first marking part 21 and the first reference point 401 have a first positional relationship which is calibrated in advance, when the pick-up robot 20 moves above the loading platform 10, under a normal condition, that is, when the theoretical position of the pick-up robot 20 is consistent with the actual position, the positional information of the first reference point 401 and the positional information of the first marking part 21 satisfy the first positional relationship which is calibrated in advance, and when the positional information of the first reference point 401 and the positional information of the first marking part 21 do not satisfy the first positional relationship which is calibrated in advance, it is described that the theoretical position and the actual position of the pick-up robot 20 are deviated, and the pick-up robot 20 does not move in place.
The position of the first collecting device 40a is fixed relative to the carrier 10 by default, if the pole piece 400 is transferred from the carrier 10 to the lamination stage 60 to be recorded as completing one lamination, in the process, the first collecting device 40a collects at least two images and obtains a first image and a second image, the first image is an image which is collected before the taking manipulator 20 moves and contains the pole piece 400, the pole piece 400 can be identified from the first image and the position information of a first reference point 401 on the pole piece 400 is obtained, the second image is an image which is collected after the taking manipulator 20 stops moving and contains a first marking part 21, the first marking part 21 can be identified from the second image and the position information of the first marking part 21 is obtained, and then the actual position relationship between the two can be obtained according to the position information of the first reference point 401 and the position information of the first marking part 21, the offset of the film taking manipulator 20 can be obtained by comparing the actual positional relationship with the first positional relationship calibrated in advance.
The "position information of the first reference point 401" and the "position information of the first marker segment 21" may specifically refer to the abscissa and the ordinate of the first reference point 401 and the first marker segment 21 with respect to the origin of coordinates in the two-dimensional coordinate system.
Specifically, before the film taking manipulator 20 moves, the first acquisition device 40a acquires a first image containing the pole piece 400, the first detection device 40b determines the position information of a first reference point 401 on the pole piece 400 according to the first image, and then provides the position information to the driving device 30, and the driving device 30 drives the film taking manipulator 20 to move towards the pole piece 400 according to the position information of the first reference point 401, so as to enable the film taking manipulator 20 to move to the surface of the bearing table 10 and enable the first marking part 21 and the first reference point 401 to meet a first positional relationship calibrated in advance, but in an actual process, the actual position of the film taking manipulator 20 may have a deviation; after the film taking manipulator 20 stops moving, the first acquisition device 40a acquires a second image including the first mark part 21, the first detection device 40b determines the position information of the first mark part 21 according to the second image, obtains an actual position relationship between the position information of the first reference point 401 and the position information of the first mark part 21, and compares the actual position relationship with a first position relationship calibrated in advance to obtain the offset condition of the film taking manipulator 20.
The lamination equipment can be a Z-shaped lamination machine or a feeding lamination machine, as shown in fig. 1, the Z-shaped lamination machine comprises a sheet taking station 100 and a lamination station 300, wherein a diaphragm 500 is fixedly flattened on a lamination table 60 by a clamp and a clamping roller, and a positive manipulator grabs a positive plate from the sheet taking station 100 and places the positive plate on the lamination table 60; after the diaphragm 500 is folded leftwards and then flattened and fixed, the positive manipulator grabs the negative plate from the other plate taking station 100 and places the negative plate on the lamination table 60, and the steps are repeated, and finally the cell assembly is completed; as shown in fig. 2, the stack feeding type lamination machine includes a sheet taking station 100, a sheet combining station 200, and a lamination station 300, wherein the separator 500 is flattened on the sheet combining station 200, the positive manipulator grabs the positive sheet from the sheet taking station 100 and places the positive sheet on a first surface of the separator 500, the negative manipulator grabs the negative sheet from another sheet taking station 100 and places the negative sheet on a second surface of the separator 500, so that the positive sheet, the separator 500, and the negative sheet are stacked at the sheet combining station 200 to form a cell unit, and the stack feeding manipulator 70 grabs the cell unit and moves to the lamination table 60, and so on, and finally the cell assembly is completed.
The lamination process of the Z-shaped laminating machine is as follows: collecting the image of the pole piece 400 placed on the surface of the deviation rectifying platform, performing primary positioning → the deviation rectifying platform corrects the pole piece 400 → collecting the image of the pole piece 400 for secondary confirmation, determining the position information of the first reference point 401 → moving the piece taking mechanical arm 20 above the deviation rectifying platform → collecting the second image containing the first marking part 21, determining the position information of the first marking part 21 → determining the offset condition of the piece taking mechanical arm 20 according to the position information of the first reference point 401, the position information of the first marking part 21 and the first position relation pre-calibrated between the first reference point 401 and the first marking part 21 → if the piece taking mechanical arm 20 does not offset, the piece taking mechanical arm 20 picks the pole piece 400 and transfers the pole piece 400 to the lamination platform 60 for lamination → detecting the size of the lamination.
Of course, the film taking manipulator 20 may also have a large offset, or the film taking manipulator 20 may have an offset, but the offset is small, and if the film taking manipulator 20 has a large offset, the current film taking may be cancelled, the film taking manipulator 20 resets and prepares to grab the next pole piece 400, and if the film taking manipulator 20 has an offset, but the offset is small, the offset may be recorded, and the film taking manipulator 20 is allowed to grab the pole piece 400, so as to compensate the offset during the movement of the film taking manipulator 20 to the lamination stage 60.
The lamination process of the feeding and stacking type lamination machine is as follows: acquiring a first image including a pole piece 400, determining position information of a first reference point 401, moving the sheet taking manipulator 20 above a belt according to the position information of the first reference point 401 → acquiring a second image including a first mark point, determining position information of a first mark part 21, determining deviation of the sheet taking manipulator 20 according to the position information of the first reference point 401, the position information of the first mark part 21 and a first positional relationship preliminarily calibrated between the first reference point 401 and the first mark part 21 → if the sheet taking manipulator 20 is not deviated, transferring positive and negative pole pieces to the sheet combining station 200 to be combined with the diaphragm 500 → confirming relative positions of the positive and negative pole pieces → clamping and conveying the combined pole piece 400 to a laminated position → detecting positions of the diaphragms 500 and 400.
Similarly, the sheet taking manipulator 20 may also have a large offset, or the sheet taking manipulator 20 may have an offset, but the offset is small, if the sheet taking manipulator 20 may also have a large offset, the sheet taking at this time may be cancelled, the sheet taking manipulator 20 resets and prepares to grab the next pole piece 400, if the sheet taking manipulator 20 has an offset, but the offset is small, the offset may be recorded, and the sheet taking manipulator 20 is allowed to grab the pole piece 400, and the offset is compensated in the moving process of the sheet taking manipulator 20 to the sheet combining station 200.
In the Z-type lamination machine, the bearing table 10 is a deviation rectifying platform, and in the folding lamination machine, the bearing table 10 is a frame outside the belt, and the pole piece 400 is located on the belt.
In addition to detecting the deviation of the robot at the pick-up station 100, the deviation of the robot may also be detected at the laminating station 200 and the stacking station 300, which will be described in detail below.
With continued reference to fig. 1 and 2, the carrier 10 is provided with a second marker 11, and the first image and the second image each include the second marker 11;
the first detecting device 40b is further configured to determine position information of the second mark 11 in the first image and the second image, and determine a relative movement between the carrier 10 and the first capturing device 40a according to a change in the position of the second mark 11.
The carrier 10 and the first capturing device 40a are fixed by default, the position information of the second marking portion 11 is fixed in the first image and the second image captured by the first capturing device 40a, but in the actual operation process of the apparatus, the carrier 10 and the first capturing device 40a may move relatively under the influence of moving parts or other factors, if the relative position relationship between the carrier 10 and the first capturing device 40a changes before and after the first capturing device 40a captures images twice, the determination of the actual position relationship between the first reference point 401 and the first marking portion 21 may be affected, so as to affect the determination of the offset condition of the pick-up manipulator 20, therefore, the second marking portion 11 may be disposed on the carrier 10, if the position information of the second marking portion 11 in the first image is inconsistent with the position information of the second marking portion 11 in the second image, if the position information of the second mark part 11 in the first image is consistent with the position information of the second mark part 11 in the second image, the relative movement between the first acquisition device 40a and the carrying table 10 is not performed, and at this time, the actual position relationship between the first reference point 401 and the first mark part 21 is compared with the first position relationship calibrated in advance, so as to detect the deviation of the pick-up manipulator 20, thereby improving the detection accuracy.
In addition, in the case that the carrier 10 is provided with the second mark 11 and the first image includes the second mark 11, the first detecting device 40b can be further used for determining the position change of the pole piece 400 on the carrier 10 according to the position information of the first reference point 401, the position information of the second mark 11 and the second positional relationship between the first reference point 401 and the second mark 11, which is calibrated in advance.
Specifically, the relative positional relationship between the first reference point 401 and the second mark 11 on the pole piece 400 reflects the position of the pole piece 400 placed on the stage 10, and if the actual positional relationship between the two satisfies the second positional relationship calibrated in advance, the pole piece 400 is placed at the position set on the stage 10, and if the stage 10 and the first collecting device 40a are both fixed, the driving device 30 can drive the pick-up robot 20 to move according to the movement path calibrated in advance, so that the calculation amount can be reduced, and if the actual positional relationship between the two does not satisfy the second positional relationship calibrated in advance, the movement path of the pick-up robot 20 is re-determined according to the actual positional information of the first reference point 401, so that the driving device 30 drives the pick-up robot 20 to move according to the re-determined movement path.
In some embodiments, the first detecting device 40b is further configured to determine, if the sheet taking manipulator 20 deviates, a deviation amount of the sheet taking manipulator 20, which is denoted as a first deviation amount;
the driving device 30 is specifically configured to drive the pick-up robot 20 to reset according to the initial position of the pick-up robot 20 and the first offset.
For example, in the case of a Z-type lamination machine, the pick-up robot 20 reciprocates between the pick-up station 100 and the lamination station 300, and if the specific position at which the pick-up robot 20 stays at the lamination station 300 is referred to as an initial position, the offset amount may be recorded when the pick-up robot 20 is offset at the pick-up station 100, and the pick-up robot 20 may be reset according to the initial position of the pick-up robot 20 and the offset amount of the pick-up robot 20 while the pick-up robot 20 is driven to move to the lamination station 300.
In addition, the lamination device can further comprise an alarm device, wherein the alarm device is connected with the first detection device 40b and used for giving an alarm when the continuous deviation occurrence frequency of the sheet taking mechanical arm 20 is not less than a set threshold value, and at the moment, a worker can overhaul, replace and the like related components.
With continued reference to fig. 1 and 2, the lamination device further includes a second collecting device 50a and a second detecting device 50b, wherein:
the second acquisition device 50a is used for acquiring a third image containing the first mark part 21 after the sheet taking manipulator 20 moves the pole piece 400 to the surface of the diaphragm 500;
the second detecting device 50b is connected to the second collecting device 50a, and is used for determining the position information of the first marking part 21 according to the third image, and determining the offset condition of the sheet taking manipulator 20 according to the position change of the first marking part 21.
If the lamination device is a Z-type lamination machine, the sheet taking manipulator 20 reciprocates between the sheet taking station 100 and the lamination station 300, and the sheet taking manipulator 20 may be a positive manipulator or a negative manipulator. The purpose of the second collecting device 50a and the second detecting device 50b is to detect whether the sheet taking manipulator 20 is shifted when the sheet taking manipulator 20 picks up the pole piece 400 from the sheet taking station 100 and returns to the lamination station 300, the position of the second collecting device 50a is fixed by default, that is, the visual field of the second collecting device 50a is not changed, a two-dimensional coordinate system is established in the third image collected by the second collecting device 50a, and the coordinate of the first mark part 21 is determined, and if the coordinate of the first mark part 21 is changed relative to the coordinate of the first mark part 21 calibrated under normal conditions, the sheet taking manipulator 20 is shifted at the lamination station 300.
Of course, if the sheet taking manipulator 20 deviates at the lamination station 300, the deviation amount of the sheet taking manipulator 20 may be recorded and recorded as a second deviation amount, and in the next sheet taking process, the sheet taking manipulator 20 is driven to move according to the determined position information of the first reference point 401 on the pole piece 400 and the second deviation amount.
In order to avoid the physical short circuit between the positive plate and the negative plate and improve the safety performance of the battery, the second collecting device 50a is further used for collecting images of the pole piece 400 and the diaphragm 500, and the second detecting device 50b is used for detecting the size of the diaphragm 500 exceeding the pole piece 400 according to the images of the pole piece 400 and the diaphragm 500, so that the diaphragm 500 can be well physically isolated between the positive plate and the negative plate.
If the lamination equipment is a feeding lamination type lamination machine, the sheet taking mechanical arm 20 moves back and forth between the sheet taking station 100 and the sheet combining station 200, the positive plate and the negative plate are laminated with the diaphragm 500 at the sheet combining station 200, the second collecting device 50a and the second detecting device 50b aim to ensure that when the sheet taking mechanical arm 20 grabs the pole piece 400 from the sheet taking station 100 and returns to the sheet combining station 200, detecting whether the sheet taking manipulator 20 deviates or not, the position of the second acquisition device 50a is fixed by default, i.e., the field of view of the second acquisition device 50a is unchanged, a two-dimensional coordinate system is established in the third image acquired by the second acquisition device 50a, and the coordinates of the first marking part 21 are determined, and if the coordinates of the first marking part 21 are changed relative to the coordinates of the first marking part 21 calibrated under normal conditions, the sheet taking manipulator 20 is deviated at the sheet combining station 200.
Of course, if the sheet taking manipulator 20 deviates at the sheet combining station 200, the deviation amount of the sheet taking manipulator 20 may be recorded and recorded as the second deviation amount, and in the next sheet taking process, the sheet taking manipulator 20 is driven to move according to the position information of the first reference point 401 on the pole piece 400 and the deviation amount.
Specifically, in the lamination device, the number of the sheet taking manipulators 20 is two, and the two sheet taking manipulators are respectively a first sheet taking manipulator and a second sheet taking manipulator, and the first sheet taking manipulator is used for grabbing the positive plate and moving the positive plate to the first surface of the diaphragm 500; the second piece taking manipulator is used for grabbing the negative pole piece and moving the negative pole piece to a second surface of the diaphragm 500, and the second surface is arranged opposite to the first surface;
the second collecting device 50a is further configured to collect images of the positive plate and the negative plate after the first plate taking manipulator moves the positive plate to the first surface and the second plate taking manipulator moves the negative plate to the second surface;
the second detection device 50b is also used for determining the size of the negative plate exceeding the positive plate (overlap size of the negative plate) according to the images of the positive plate and the negative plate.
The negative plate needs to meet the set size requirement at the part, which is more than the positive plate, in the length direction and the width direction, so that the negative plate can completely receive lithium ions provided by the positive plate at each side, and the lithium precipitation phenomenon is prevented.
At the laminating station 200, after the second collecting device 50a collects the images of the positive plate and the negative plate, the second detecting device 50b can determine the size of the negative plate exceeding the positive plate according to the obtained images, so as to detect whether the part of the negative plate beyond the positive plate in the length direction and the width direction meets the set size requirement, if so, the next link is entered, and if not, the laminating process is stopped.
In the case of a fold-and-feed lamination machine, there are generally several situations at the laminating station 200:
(1) if the positions of the first piece taking manipulator and the second piece taking manipulator are normal and the overlap size of the negative piece is normal, entering the next link;
(2) if the positions of the first sheet taking manipulator and/or the second sheet taking manipulator are abnormal and the overlap size of the negative sheet is abnormal, the lamination process is stopped;
(3) if the positions of the first piece taking manipulator and/or the second piece taking manipulator are abnormal and the overlap size of the negative piece is normal, entering the next link, determining the offset of the piece taking manipulator 20 with the offset, and compensating the offset when the piece taking manipulator 20 takes the piece;
(4) and if the positions of the first sheet taking manipulator and the second sheet taking manipulator are normal and the overlap size of the negative sheet is abnormal, alarming is carried out to prompt that the overlap size is influenced possibly due to the light problem.
In general, the distance between the boundary line of the negative plate and the boundary line of the positive plate is determined as the overlap size of the negative plate, and under the influence of light, the boundary line of the negative plate or the positive plate may have a recognition error, which results in inaccurate judgment.
As shown in fig. 2, the lamination apparatus further includes a stacking robot 70 and a lamination station 60, wherein the stacking robot 70 is used for clamping the cell unit formed by stacking the negative electrode sheets, the separator 500 and the positive electrode sheets, and moving to the lamination station 60;
the stack feeding robot 70 is provided with a third marking portion 71;
the stacking machine further comprises a third acquisition device 80a and a third detection device 80b, wherein the third acquisition device 80a is used for acquiring a fourth image containing the third mark part 71 after the stacking manipulator 70 places the cell unit on the stacking table 60;
the third detecting device 80b is connected to the third acquiring device 80a, and is configured to determine the position information of the third mark portion 71 according to the fourth image, and determine the offset condition of the stacking robot 70 according to the position change of the third mark portion 71.
The third mark portion 71 may be a groove, a cross notch, an arrow, or the like on the surface of the stacking robot 70 for easy recognition in the image, or the third mark portion 71 may be an extension protruding outward from the edge of the stacking robot 70, and when the stacking robot 70 moves above the carrier table 10, the third mark portion 71 is located in the visual field of the third capturing device 80 a.
As with the first marker portion 21, depending on the shape of the third marker portion 71, a certain point on the third marker portion 71 that is easy to recognize may be taken, and the position of the third marker portion 71 may be represented by the position of the point, or if the shape of the third marker portion 71 is a regular circle, rectangle, or the like, the center point of the third marker portion 71 may be taken, and the position of the third marker portion 71 may be represented by the position of the center point, that is, the position information of the third marker portion 71 is the position information of the point thus specified.
The position of the third capturing device 80a is fixed relative to the lamination table 60 by default, that is, the field of view of the third capturing device 80a is unchanged, a two-dimensional coordinate system is established in the fourth image captured by the third capturing device 80a, the horizontal and vertical coordinates of the third marking portion 71 are determined, and if the horizontal and vertical coordinates of the third marking portion 71 are changed relative to the horizontal and vertical coordinates of the third marking portion 71 calibrated under normal conditions, the position of the third marking portion 71 is changed, and the stacking manipulator 70 is shifted at the lamination station 300.
In order to avoid the physical short circuit between the positive plate and the negative plate and improve the safety performance of the battery, the third collecting device 80a is further used for collecting images of the negative plate and the diaphragm 500, and the third detecting device 80b is used for detecting the size of the diaphragm 500 exceeding the negative electrode according to the images of the negative plate and the diaphragm 500, so that the diaphragm 500 can be ensured to have good physical isolation between the positive plate and the negative plate.
There are generally several situations at the lamination station 300:
(1) if the position of the stacking manipulator 70 is normal and the overlap size of the diaphragm is normal, entering the next link;
(2) if the position of the stacking manipulator 70 is abnormal and the overhand size of the diaphragm is abnormal, the stacking process is stopped;
(3) if the position of the stacking manipulator 70 is abnormal and the overlap size of the diaphragm is normal, entering the next link, determining the offset of the stacking manipulator 70, and compensating the offset when the stacking manipulator 70 is reset;
(4) if the position of the stacking manipulator 70 is normal and the overlap size of the diaphragm is abnormal, an alarm is given to prompt that the overlap size is influenced by the light problem.
In general, the distance between the boundary line of the negative electrode sheet and the boundary line of the separator 500 is determined as the overlap size of the separator, and under the influence of light, the boundary line of the negative electrode sheet or the separator 500 may be erroneously recognized, which may result in inaccurate determination.
As can be seen from the above description, in the lamination device provided in the embodiment of the present invention, the mark part is disposed on each mechanical arm, and when the mechanical arm moves to the sheet taking station, the sheet combining station, and the lamination station, an image including the mark part is acquired, and position information of the mark part is obtained through processing of the image, so that a deviation condition of each mechanical arm when moving to the corresponding station is obtained according to a position change of the mark part, and meanwhile, it can be determined that an override size of the negative electrode sheet and an override size of the separator are normal enough, so that in the lamination process, a cause causing the battery core to be unqualified can be located to each link, thereby realizing self-detection of the lamination device, and improving intelligence of the lamination device.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the utility model. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A lamination device is characterized by comprising a bearing table, a piece taking manipulator, a driving device, a first acquisition device and a first detection device;
the bearing table is used for bearing a pole piece, and the pole piece is provided with a first reference point;
the piece taking manipulator is used for grabbing and transferring the pole pieces and is provided with a first marking part, and the first marking part and the first reference point have a first position relation calibrated in advance;
the driving device is used for driving the film taking manipulator to move to a corresponding position according to the position information of the first reference point;
the first acquisition device is used for acquiring a first image containing the pole piece; the sheet taking manipulator is also used for acquiring a second image containing the first marking part when moving to a corresponding position under the driving of the driving device;
the first detection device is connected with the first acquisition device and the driving device and is used for determining the position information of the first reference point according to the first image; the second image is used for determining the position information of the first marking part according to the second image, and determining the offset condition of the sheet taking manipulator according to the position information of the first reference point, the position information of the first marking part and a first position relation calibrated in advance between the first reference point and the first marking part.
2. The laminating apparatus of claim 1, wherein the carrier is provided with a second marking, the first image and the second image each containing the second marking;
the first detection device is further used for determining the position information of the second marking part in the first image and the second image, and determining the relative movement condition of the plummer and the first acquisition device according to the position change of the second marking part.
3. A lamination device according to claim 1 or 2, wherein the carrier is provided with a second marking, the first image containing the second marking;
the first detection device is further configured to determine a position change of the pole piece on the plummer according to the position information of the first reference point, the position information of the second mark portion, and a second positional relationship calibrated in advance between the first reference point and the second mark portion.
4. A lamination device according to claim 1 or claim 2, wherein a belt is provided on the carrier table, the pole pieces being located on the belt.
5. The laminating device according to claim 1 or 2, wherein the first detecting device is further configured to determine an offset of the pick-up robot if the pick-up robot is offset, and the offset is recorded as a first offset;
the driving device is specifically used for driving the sheet taking manipulator to reset according to the initial position of the sheet taking manipulator and the first offset.
6. The laminating apparatus according to claim 5, further comprising an alarm device connected to the first detecting device for alarming when the number of times the sheet taking robot continuously shifts is not less than a set threshold value.
7. The lamination apparatus according to claim 1 or 2, further comprising a second acquisition device, a second detection device;
the second acquisition device is used for acquiring a third image containing the first marking part after the sheet taking manipulator moves the sheet to the surface of the diaphragm;
the second detection device is connected with the second acquisition device and used for determining the position information of the first marking part according to the third image and determining the offset condition of the sheet taking manipulator according to the position change of the first marking part.
8. The laminating apparatus of claim 7, wherein the second detecting device is further configured to determine an offset of the pick-up robot if the pick-up robot is offset, and record the offset as a second offset;
the driving device is specifically configured to drive the sheet taking manipulator to move to a corresponding position according to the position information of the first reference point and the second offset.
9. The lamination apparatus according to claim 7, wherein the tab picking robot comprises a first tab picking robot and a second tab picking robot, the first tab picking robot being configured to pick a positive tab and move the positive tab to the first surface of the separator; the second piece taking manipulator is used for grabbing a negative piece and moving the negative piece to a second surface of the diaphragm, and the second surface is opposite to the first surface;
the second acquisition device is also used for acquiring images of the positive plate and the negative plate after the first plate taking manipulator moves the positive plate to the first surface and the second plate taking manipulator moves the negative plate to the second surface;
the second detection device is also used for determining the size of the negative pole piece exceeding the positive pole piece according to the images of the positive pole piece and the negative pole piece.
10. The lamination apparatus according to claim 7, wherein the tab picking robot comprises a first tab picking robot and a second tab picking robot, the first tab picking robot being configured to pick a positive tab and move the positive tab to the first surface of the separator; the second piece taking manipulator is used for grabbing a negative piece and moving the negative piece to a second surface of the diaphragm, and the second surface is opposite to the first surface;
the lamination equipment further comprises a stacking manipulator, a lamination table, a third acquisition device and a third detection device, wherein the stacking manipulator is used for clamping a battery cell unit formed by stacking the negative plate, the diaphragm and the positive plate and moving the battery cell unit to the lamination table, and the stacking manipulator is provided with a third marking part;
the third acquisition device is used for acquiring a fourth image containing the third marking part after the cell unit is placed on the lamination table by the stacking manipulator;
and the third detection device is connected with the third acquisition device and is used for determining the position information of the third marking part according to the fourth image and determining the offset condition of the stacking manipulator according to the position change of the third marking part.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116609493A (en) * | 2023-07-21 | 2023-08-18 | 宁德时代新能源科技股份有限公司 | Indentation detection method, laminated cell manufacturing method and device and electronic equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116609493A (en) * | 2023-07-21 | 2023-08-18 | 宁德时代新能源科技股份有限公司 | Indentation detection method, laminated cell manufacturing method and device and electronic equipment |
| CN116609493B (en) * | 2023-07-21 | 2023-09-22 | 宁德时代新能源科技股份有限公司 | Indentation detection method, laminated cell manufacturing method and device and electronic equipment |
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