WO2023115818A1 - 锂电电芯绝缘防护膜的激光除膜装备及其方法 - Google Patents

锂电电芯绝缘防护膜的激光除膜装备及其方法 Download PDF

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Publication number
WO2023115818A1
WO2023115818A1 PCT/CN2022/095471 CN2022095471W WO2023115818A1 WO 2023115818 A1 WO2023115818 A1 WO 2023115818A1 CN 2022095471 W CN2022095471 W CN 2022095471W WO 2023115818 A1 WO2023115818 A1 WO 2023115818A1
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WO
WIPO (PCT)
Prior art keywords
lithium battery
protective film
battery cell
insulating protective
cylinder
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PCT/CN2022/095471
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English (en)
French (fr)
Inventor
赵裕兴
郭宏宇
徐海滨
李焕然
Original Assignee
苏州德龙激光股份有限公司
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Publication of WO2023115818A1 publication Critical patent/WO2023115818A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/04—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by a combination of operations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

Definitions

  • the invention relates to a laser film removal equipment and a method for the insulating protective film of a lithium battery cell.
  • FIG. 1 it is a schematic diagram of the shape of the lithium battery cell.
  • the surface of the lithium battery cell includes the upper A, the front B, the lower C, the rear D, the right E, and the left F.
  • the upper A is opposite to the lower C
  • the front B is opposite to the rear D.
  • the right side E is opposite to the left side F, where the upper side A is equipped with raised tabs 11, the front side B, the lower side C, and the back side D are covered with insulating protective films 12 made of PET and acrylic materials, and the right side E and the left side F are covered with insulating protective films made of structural adhesive 13 covering, but due to the good adhesion of the insulating protective film, it is very difficult to remove it completely and quickly. Direct contact removal methods such as manual or mechanical scraper will lead to problems such as low processing efficiency, more surface residues, and damage to the aluminum surface of the battery cell.
  • the purpose of the present invention is to overcome the deficiencies in the prior art, and provide a laser film removal equipment and method for the insulating protective film of lithium batteries.
  • the laser film removal equipment for the insulating protective film of lithium battery cells is characterized by: including
  • the product entry and exit unit Located on the side of the product entry and exit unit, it is used to emit laser beams according to the set parameters to continuously scan the insulating protective film on the surface of the lithium battery cell to modify the modified manipulator unit;
  • the product entry and exit unit Located on the side of the product entry and exit unit, it is used to stick the tape provided by the tape automatic feeding system to one end of the modified insulating protective film, tear off the insulating protective film by clamping the tape, and rotate the lithium battery cell. manipulator unit;
  • a rolling mechanism used to compact the tape stuck to the modified insulating protective film so that the adhesive tape and the modified insulating protective film are firmly bonded.
  • the above-mentioned laser film removal equipment for the insulating and protective film of lithium batteries further includes: a waste film collection mechanism located on the side of the product entry and exit unit for collecting tapes and tearing off waste films.
  • the above-mentioned laser film removal equipment for the insulating and protective film of lithium batteries also includes: a feeding manipulator unit located on the side of the product entry and exit unit, used for cutting lithium batteries after removing the insulating protective film.
  • the modified manipulator unit includes a robot, a scanning galvanometer and a laser rangefinder, the scanning galvanometer and the laser rangefinder are installed on the tool head, and the tool The head is installed on the robot, the laser rangefinder is located on the side of the scanning galvanometer, and the scanning galvanometer outputs a laser beam to scan the insulating protective film on the surface of the lithium battery cell.
  • the above-mentioned laser film removal equipment for the insulating and protective film of lithium batteries wherein the product entry and exit unit includes a linear motion platform and a jig located on it for positioning and clamping the lithium battery cells, and the linear motion platform can drive The jig moves along the X-axis direction;
  • the jig includes a carrier and the X-direction positioning block 1, the X-direction positioning block 2, and the Y-direction positioning block on it.
  • the middle part of the carrier is provided with a hollow structure for the product pallet to move up and down.
  • the plate is connected to the rotating shaft of the rotary cylinder, and the rotary cylinder is installed on the linear cylinder, which can drive the product pallet to move up and down and rotate;
  • X-direction positioning block 1, X-direction positioning block 2 and Y-direction positioning block are located beside the hollow structure, and the opposite sides of X-direction positioning block 1 and X-direction positioning block 2 are provided with X-direction clamping cylinders for X-direction clamping , The opposite side of the Y-direction positioning block is provided with a Y-direction clamping cylinder for Y-direction clamping, which can perform X-direction and Y-direction positioning and clamping of lithium batteries on the product pallet;
  • the side of the stage is provided with a linear cylinder, and a scraper is installed on the linear cylinder, which can drive the scraper to move along the Z axis.
  • the automatic tape feeding system includes a feeding shaft, a tape turntable, a pressing block, a cutter, and a material shifting block, and the servo motor and the tape turntable drive Connecting, the tape roll is placed on the feeding shaft, there are multiple adsorption claws on the tape turntable, and there is a pressing block next to the tape turntable, and the pressing block is installed on the cylinder, which can drive the pressing block to press against the adsorption claws;
  • a guide rail parallel to its axial direction is arranged beside the tape turntable, the knife rod is placed on the guide rail, the cylinder is connected with the drive of the knife rod, and the cutter is installed on the knife rod;
  • a cylinder is vertically arranged beside the tape turntable, and a material shifting block is installed on the cylinder, which can drive its vertical lifting movement.
  • the above-mentioned laser film removal equipment for the insulating and protective film of lithium battery cells also includes guide shaft one, guide shaft two, guide shaft three, feeding shaft, guide shaft one, guide shaft two, guide shaft three and adhesive tape
  • the turntables are arranged in parallel to form a wheel set for belt conveying.
  • the film tearing manipulator unit includes an industrial robot, a tape suction cup, a clamping claw cylinder one, a clamping claw cylinder two, a clamping claw cylinder and a laser sensor , the tape suction cup, clamping claw cylinder 1, clamping claw cylinder 2, clamping claw cylinder and laser sensor are installed on the tool head, the tool head is mounted on the industrial robot, and clamping claw cylinder 1 and clamping claw cylinder 2 are distributed on the tool At both ends of the head, clamping claw 1 is installed on clamping claw cylinder 1, and clamping claw 2 is installed on clamping claw cylinder 2, which can drive the relative movement of clamping claw 1 and clamping claw 2 to clamp lithium batteries;
  • the gripper cylinder is arranged in the middle of the tool head, and the tape suction cup and the laser sensor are located on the left and right sides.
  • the tape suction cup absorbs a fixed length of tape, and the laser sensor emits laser light to detect whether there is a workpiece.
  • the rolling mechanism includes a bracket, a rolling cylinder, a spring, and a roller
  • the rolling cylinder is fixed on the bracket
  • the supporting frame of the spring is connected by a spring
  • the rolling cylinder controls the up and down movement of the rollers.
  • the waste film collection mechanism includes a linear motion mechanism, a pressure claw, and a pressure plate
  • the linear motion mechanism is placed on the guide rail, and the servo motor is connected to it for driving.
  • the linear motion mechanism is provided with a support plate, and the pressure claws are installed on the support plate through springs.
  • the pressure claws are opposite to the pressure plate, and the linear motion mechanism drives the pressure claws to move relative to the pressure plate to clamp the waste film.
  • the unloading manipulator unit includes a unloading manipulator and a unloading conveyor belt
  • the unloading manipulator is placed on a linear guide rail and can move along it, and the linear guide rail passes through
  • the support is fixed on the frame, and the unloading conveyor belt is located below the motion track of the unloading manipulator.
  • the laser film removal method of the insulating protective film of the lithium battery cell of the present invention comprises the following steps:
  • the lithium battery cell is clamped and transported by the product entry and exit unit, and the laser beam output by the modified manipulator unit continuously scans the insulating protective film on the surface of the lithium battery cell to modify it.
  • the way the laser irradiates the insulating protective film causes the temperature of the insulating protective film to rise and change. properties, making it less viscous and easy to fall off; the energy density is greater than the modification threshold of the insulating protective film, and less than the damage threshold of the aluminum surface of the lithium battery cell, so that the entire surface of the insulating protective film is modified without damaging the surface of the lithium battery cell;
  • the insulating protective film After the modified insulating protective film adheres to the tape, the insulating protective film is peeled off from the lithium battery cell by tearing off.
  • the fixed-length tape is provided by the tape automatic feeding system, and the film tearing manipulator unit supplies the tape with the automatic feeding system.
  • the adhesive tape sticks to one end of the modified insulating protective film, and one end is pasted with tape, leaving a suspended part; the tape sticking to the modified insulating protective film is compacted by the rolling mechanism so that the adhesive tape and the modified insulating protective film are firmly adhered.
  • the overlapping part of the tape and the insulating protective film is rolled by the roller to realize the firm bonding of the tape and the insulating protective film; the insulating protective film is torn off by the tearing film manipulator unit by clamping the tape, and the gripper cylinder clamps Hold the suspended part of the tape and tear it to realize the stripping of the insulating protective film;
  • the laser beam output by the modified manipulator unit continuously scans the insulating protective film on the surface of the lithium battery cell to modify it, and the laser directly irradiates the insulating protective film.
  • the process is the same as removing the front B, lower C, and rear D; Different, the allowable process parameter range adaptive adjustment, the energy density is greater than the modification threshold of the insulating protective film, and less than the damage threshold of the aluminum surface of the lithium battery cell;
  • the insulating protective film is peeled off from the lithium battery cell by means of a mechanical spatula, and the modified insulating protective film is removed by the scraper.
  • the above-mentioned laser film removal method for the insulating protective film of lithium batteries specifically includes the following steps:
  • Step 1 Place the lithium battery cell on the jig of the product entry and exit unit, keep the front B facing upward, the lithium battery cell is located at station 1, and use the X-direction positioning block 1, X-direction positioning block 2, and Y-direction of the jig The positioning block and the X-direction clamping cylinder and Y-direction clamping cylinder position and clamp the lithium battery cell to complete the loading;
  • Step 2 The robot of the modified manipulator unit aligns the laser irradiation direction of the scanning galvanometer with the front B along the Z axis, and the laser rangefinder measures the distance from the scanning galvanometer to the surface of the lithium battery cell to realize the determination of the processing position and automatic focusing; according to Set the parameters to emit a laser beam and irradiate the insulating protective film on the surface of the lithium battery cell to realize the modification of the insulating protective film;
  • Step 3 The product entry and exit unit moves the lithium battery cell to station 2.
  • the tape automatic feeding system starts to work, and the servo motor drives the tape turntable to rotate an angle. Due to the adhesive force between the tape and the adsorption claw on the tape turntable, a certain length The tape is pulled out from the tape roll of the feeding shaft; then the cylinder drives the pressing block and the suction claw on the tape turntable to squeeze, so that the tape adheres to the suction claw; then the cylinder drives the knife rod to move, and the knife rod installed
  • the cutter feeds along the guide rail to cut the tape into pieces; the cylinder pushes up the material block to separate the cut tape from the adsorption claws;
  • Step 4 The film tearing manipulator unit sends a laser to determine whether there is a workpiece at station 2 through the laser sensor. After identifying the workpiece, the working head moves to the top of the tape automatic feeding system, and the peeled tape is absorbed by the tape suction cup, and then moves to the lithium battery. On the top of the battery cell, stick the tape to one end of the lithium battery cell, and leave the floating part at the same time;
  • Step 5 The product entry and exit unit moves the lithium battery cell to station 3, the rolling cylinder of the rolling mechanism drives the roller down, and then the product entry and exit unit controls the lithium battery cell to reciprocate under the roller, and the modified lithium battery will After the insulating protective film on the surface of the core is firmly bonded, the roller rises;
  • Step 6 The product entry and exit unit moves the lithium battery cell to station 2, the film tearing manipulator unit moves the working head to the top of the lithium battery cell, the gripper cylinder grabs the suspended part of the tape and pulls it, and drives the entire front B through the tape Removal of insulating protective film;
  • Step 7 The film tearing manipulator unit moves the adhesive tape and the torn waste film to the waste film collection mechanism.
  • the servo motor drives the linear motion mechanism to move linearly. Guided by the guide rail, the pressure claws and the pressure plate are squeezed to realize the clamping of the waste film. The waste film adheres to the platen;
  • Step 8 The film tearing manipulator unit moves the working head to the position of the lithium battery cell, and drives the clamping claw 1 and the clamping claw 2 to move relative to each other through clamping claw cylinder 1 and clamping claw cylinder 2, grabs the lithium battery cell, and then Rotate the lithium battery cell clockwise 90° around the Y axis and place it on the jig again, at this time, the bottom C of the lithium battery cell faces upward;
  • Step 9 The X-direction positioning block 1 of the fixture, the X-direction positioning block 2, the Y-direction positioning block and the X-direction clamping cylinder, and the Y-direction clamping cylinder position and clamp the lithium battery cell, and the product enters and exits the unit to place the lithium battery
  • the core moves to station 1;
  • Step 10 After the insulating protective film of D is removed, the product entry and exit unit moves the lithium battery cell to station 1 again.
  • the combination of the linear cylinder and the rotary cylinder of the jig will rely on its own gravity to fix the lithium battery cell on the product pallet Move upward along the Z-axis in a straight line and rotate 90° clockwise around the Z-axis, so that the right side E faces the negative direction of the X-axis; the modified manipulator unit moves the working head to the negative direction of the X-axis of the fixture, and sends out a laser beam according to the set parameters. Modification of insulating protective film;
  • Step 11 After the modification is completed, the linear cylinder of the fixture drives the scraper to move vertically upwards, and uses the scraper to remove the modified insulating protective film on the right side E;
  • Step 12 The rotating cylinder of the jig rotates the lithium battery cell 180° counterclockwise around the Z axis, so that the left side F faces the negative direction of the X axis;
  • Step 13 After all the insulating protective film on the surface of the lithium battery is removed, the rotating cylinder of the jig rotates the lithium battery 90° clockwise around the Z axis, the linear cylinder lowers the product pallet, and then the product enters and exits the unit to move the lithium battery Go to station 4; the unloading manipulator of the unloading manipulator unit grabs the lithium battery and places it on the unloading conveyor belt.
  • the above-mentioned laser film removal method for the insulating protective film of lithium battery cells wherein the pulsed laser with a wavelength of 500-1100nm, a laser power greater than 50w, and a pulse width of 300fs-1us is output by a pulsed laser, which is shaped to form a large rectangular spot.
  • the spot size is 1.5 ⁇ 0.5mm, and the energy distribution is uniform during laser scanning; the movement of the spot is controlled by the scanning galvanometer, and the scanning galvanometer can deflect left and right and up and down to control the deflection angle of the laser in left and right and up and down; using a laser rangefinder, Focus on the laser; control the laser power, scanning times, scanning speed and defocusing process parameters, so that the energy density is greater than the modification threshold of the insulating protective film, and less than the damage threshold of the aluminum surface of the lithium battery cell.
  • the present invention has significant advantages and beneficial effects, which are embodied in the following aspects:
  • the present invention cleverly utilizes the transmittance of the insulating protective film to a certain wavelength of laser light, so that the laser light directly acts on the pressure-sensitive adhesive layer, causing the pressure-sensitive adhesive to be heated and modified, and finally the viscosity is reduced, thereby greatly reducing the removal of the insulating protective film Difficulty; by adjusting the process parameters, the laser can modify the insulating protective film without damaging the aluminum shell on the surface of the battery cell; the surface material of the insulating protective film will not be physically damaged by melting, gasification, etc., and the temperature rise of the lithium battery cell surface is less than 70°C. Lithium battery aluminum is not damaged;
  • 2Use adhesive tape to bond the entire modified insulating protective film and bring it up together that is, the tape automatic feeding system provides tape, the robot sticks the tape, the rolling mechanism compacts the tape, the robot tears the tape, and the waste film collection mechanism collects the waste film A complete process to efficiently remove the modified insulating protective film from the surface of the lithium battery cell;
  • the modified manipulator unit can quickly select the processing surface of the lithium battery cell in space, so as to efficiently modify the right side E and left side F of the lithium battery cell;
  • Figure 1 Schematic diagram of the shape of a lithium battery cell
  • FIG. 1 Schematic diagram of the laser film removal equipment of the present invention
  • FIG. 3 Schematic diagram of the station
  • Figure 4 Schematic diagram of the modified manipulator unit
  • Figure 5 Schematic diagram of the structure of the product entry and exit unit
  • Figure 6 An axonometric schematic diagram of the fixture
  • Figure 8 An axonometric schematic diagram of the tape automatic feeding system
  • Figure 9 Another axonometric schematic diagram of the tape automatic feeding system
  • Figure 10 Schematic diagram of the structure of the film tearing manipulator unit
  • FIG. 11 Schematic diagram of the rolling mechanism
  • Figure 12 Schematic diagram of the waste film collection mechanism
  • Figure 13 Schematic diagram of the structure of the unloading manipulator unit
  • Figure 14 Schematic diagram of the laser modification of the front B, the bottom C, and the back D;
  • Figure 15 Schematic diagram of adhesive tape attached to the film tearing manipulator unit
  • FIG. 16 Schematic diagram of rolling
  • Figure 17 Schematic diagram of the film tearing manipulator unit tearing the tape
  • Figure 18 Schematic diagram of the removal of the insulating protective film on the right E and left F.
  • the laser film removal equipment for the insulating protective film of lithium batteries includes:
  • Product entry and exit unit 24 for clamping and transporting lithium battery cells 23 in and out;
  • the modified manipulator unit 25 is used to continuously scan the insulating protective film on the surface of the lithium battery cell according to the set parameters to emit a laser beam;
  • Tear film manipulator unit 26 Located on the side of the product entry and exit unit 24, it is used to stick the tape provided by the tape automatic feeding system 22 to one end of the modified insulating protective film, tear off the insulating protective film by clamping the tape, and rotate the lithium battery cell. Tear film manipulator unit 26;
  • the rolling mechanism 28 is used to compact the tape stuck to the modified insulating protective film so that the adhesive tape and the modified insulating protective film are firmly bonded;
  • a waste film collection mechanism 21 for collecting tapes and tearing off waste films
  • the unloading manipulator unit 27 is used for unloading the lithium battery cell after removing the insulating protective film;
  • the above unit components are all installed on the frame 29, the laser wavelength range is 500-1100nm, the laser power range is greater than 50w, the pulse width range is 300fs-1us, and uses a shaped rectangular spot with a spot size of 1.5 ⁇ 0.5mm.
  • the lithium battery cells mainly operate in four stations, and the station positions are shown in Figure 3.
  • the modified manipulator unit 25 includes a robot 44, a scanning vibrating mirror 41, a laser range finder 42 and a dust collection device 43, and the scanning vibrating mirror 41, the laser range finder 42, and the dust collection device 43 are installed on the tool head Above, the tool head is installed on the robot 44, and the robot realizes the six-degree-of-freedom movement of the tool head in space.
  • the laser rangefinder 42 is located on the side of the scanning galvanometer 41 for positioning and auto-focusing.
  • the laser emits laser light and propagates optically to The scanning galvanometer, the laser beam 411 output by the scanning galvanometer realizes rapid irradiation on the insulating protective film on the surface of the lithium battery cell; the dust collection device 43 is used to collect fine debris generated during the modification process.
  • the product entry and exit unit 24 includes a linear motion platform 51 and a jig 52 located thereon for positioning and clamping the lithium battery cell 23 , and the linear motion platform 51 can drive the jig 52 to move along the X-axis direction;
  • the jig 52 includes a stage and the first X-direction positioning block 64, the second X-direction positioning block 68, and the Y-direction positioning block 67 located on it.
  • the middle part of the stage is provided with a product pallet 65.
  • the hollow structure of the up and down movement, the product pallet 65 is connected to the rotating shaft of the rotary cylinder 71, and the rotary cylinder 71 is installed on the linear cylinder 72, which can drive the product pallet 65 to move up and down and rotate; realize the Z-axis of the lithium battery cell Direction movement and rotation around the Z axis, so that the lithium battery cell does not interfere with the positioning block and other components when rotating;
  • X-direction positioning block 1 64, X-direction positioning block 2 68 and Y-direction positioning block 67 are located on the side of the hollow structure, and the opposite sides of X-direction positioning block 1 64 and X-direction positioning block 2 68 are provided with X-direction clamping
  • the X-direction clamping cylinder 69 and the opposite side of the Y-direction positioning block 67 are provided with a Y-direction clamping cylinder 66 for Y-direction clamping, which can perform X-direction and Y-direction positioning and clamping of the lithium battery on the product pallet 65;
  • a linear cylinder 63 is provided on the side of the stage, and a scraper 62 is installed on the linear cylinder 63, which can drive the scraper 62 to move along the Z axis, and a waste film collection box 61 is arranged beside it.
  • the tape automatic feeding system 22 includes a feeding shaft 87, a guide shaft 1 84, a guide shaft 2 85, a guide shaft 3 86, a tape turntable 83, a pressing block 92, a cutter 95 and a material shifting block 98, Feeding shaft 87, guide shaft 1 84, guide shaft 2 85, guide shaft 3 86, and tape turntable 83 are arranged in parallel to form a wheel set for tape conveying.
  • the guide shaft is used for guiding and tensioning the tape.
  • the device 82 is driven and connected to the tape turntable 83, the tape roll 88 is placed on the feed shaft 87, and the tape turntable 83 is provided with five adsorption claws 99, and the adsorption claws leave intervals for the cutter to cut off the tape to avoid interference.
  • a briquetting block 92 is arranged beside the 83, and the briquetting block 92 is installed on the cylinder 93, and the cylinder 93 can drive the briquetting block 92 to press against the adsorption claw 99;
  • a guide rail 94 parallel to its axial direction is arranged beside the tape turntable 83, a cutter bar 96 is placed on the guide rail 94, a cylinder 97 is driven and connected with the cutter bar 96, a cutter 95 is installed on the cutter bar 96, and the cylinder controls the cutter to cut the tape;
  • Adhesive tape turntable 83 is vertically arranged with cylinder 91, and material shifting block 98 is installed on the cylinder 91, which can drive its vertical lifting motion, and the cylinder controls the material shifting block to jack up the cut adhesive tape, reducing the adhesive force of adhesive tape and adsorption claw, It is convenient for the film tearing manipulator to remove the tape.
  • film tearing manipulator unit 26 comprises industrial robot 101, adhesive tape sucker 104, clamping jaw cylinder one 103, clamping jaw cylinder two 108, clamping jaw cylinder 106 and laser sensor 107, adhesive tape sucker 104, clamping claw
  • the first cylinder 103, the second clamping jaw cylinder 108, the clamping jaw cylinder 106 and the laser sensor 107 are installed on the tool head, and the tool head is mounted on the industrial robot 101.
  • Claw cylinder one 103 and clamping claw cylinder two 108 are distributed at the two ends of the tool head, clamping claw one 102 is installed on the clamping claw cylinder one 103, and clamping claw two 109 is installed on the clamping claw cylinder two 108, which can drive the clip
  • the first claw 102 and the second claw 109 move relative to each other to pick up the lithium battery cell;
  • Gripper cylinder 106 is arranged in the middle of the tool head, tape suction cup 104 and laser sensor 107 are located on its left and right sides, tape suction cup 104 sucks fixed-length tape 105, and laser sensor 107 emits laser light 1071 to determine whether it is present.
  • rolling mechanism 28 comprises support 111, rolling cylinder 114, spring 113, roller 112, and rolling cylinder 114 is fixed on the support 111, and the supporting frame of spring 113 is connected on the rolling cylinder 114 by spring 113 , the rolling cylinder 114 controls the roller 112 to move up and down in the Z-axis direction, the spring acts as a buffer, and the roller realizes the rolling of the tape.
  • the product entry and exit unit 24 drives the lithium battery cell to reciprocate in the X-axis direction, so that the adhesive tape adheres to the insulating protective film.
  • the waste film collection mechanism 21 includes a linear motion mechanism 128, a pressing jaw 123, a pressing plate 121 and a waste film collection box 126.
  • the linear motion mechanism 128 is placed on the guide rail 125, and the servo motor 129 is connected to drive it.
  • the linear motion mechanism 128 is provided with a supporting plate 127, and the pressing jaw 123 is installed on the supporting plate 127 through a spring 124.
  • the pressing jaw 123 is opposite to the pressing plate 121, and the linear motion mechanism 128 drives the pressing jaw 123 to move relative to the pressing plate 121 to clamp the waste film 122.
  • a waste film collection box 126 is arranged below the pressing claw 123 to collect the fallen waste film.
  • the linear movement of the pressing jaw cooperates with the pressing block to realize the clamping of the waste film, and a spring is set for buffering.
  • the blanking robot unit 27 includes a blanking robot 132 and a blanking conveyor belt 133, the blanking robot 132 is placed on a linear guide rail 134 and can move along it, and the linear guide rail 134 is fixed on the frame 29 by a bracket 131,
  • the unloading conveyor belt 133 is located below the motion track of the unloading manipulator 132, and the unloading conveyor belt 133 sends out the lithium battery cell after film removal.
  • the laser film removal method of the insulating protective film of the lithium battery cell of the present invention first, remove the insulating protective film of the front B, the bottom C, and the back D:
  • the lithium battery cell 23 is clamped and transported by the product entry and exit unit 24, and the modified manipulator unit 25 emits a laser beam to continuously scan the insulating protective film on the surface of the lithium battery cell to modify it.
  • the way the laser irradiates the insulating protective film makes the temperature of the insulating protective film It rises and undergoes modification, making it less viscous and easy to fall off; pulsed laser output wavelength 500-1100nm, laser power greater than 50w, pulse width 300fs-1us pulsed laser, shaped rectangular large spot, the spot size is 1.5 ⁇ 0.5mm , so that the energy distribution of the laser scanning is uniform and the work efficiency is improved, and the working hours are shortened; the movement of the spot is controlled by the scanning galvanometer, and the scanning galvanometer deflects left and right and up and down according to the instruction, thereby controlling the deflection angle of the laser in the left and right and up and down;
  • the distance meter realizes the automatic focusing of the laser; the laser power, scanning times, scanning speed and
  • the insulating protective film After the modified insulating protective film adheres to the tape, the insulating protective film is peeled off from the lithium battery cell in a tear-off manner.
  • the tape automatic feeding system 22 provides a fixed-length tape, and the film tearing manipulator unit 26 automatically feeds the tape
  • the tape provided by the system 22 is glued to one end of the modified insulating protective film, and one end is pasted with adhesive tape, leaving a suspended part; the adhesive tape sticking to the modified insulating protective film is compacted by the rolling mechanism 28 so that the adhesive tape is insulated from the modified insulating film.
  • the protective film is firmly bonded, and the overlapping part of the tape and the insulating protective film is rolled by the roller to realize the firm bonding of the tape and the insulating protective film; the insulating protective film is torn off by the film tearing manipulator unit 26 by clamping the tape , Use the claw cylinder to clamp the suspended part of the tape and tear it to realize the stripping of the insulating protective film, and at the same time collect the waste film after stripping;
  • the laser beam output by the modified manipulator unit 25 continuously scans the insulating protective film on the surface of the lithium battery cell to modify it, and the laser directly irradiates the insulating protective film. Except for the different working positions of the scanning galvanometer, the process is the same as removing the front B and the bottom C , the following D is the same; the material of the insulating protective film is different, and the allowable process parameter range is different, but it meets the criterion that the energy density is greater than the modification threshold of the insulating protective film and smaller than the damage threshold of the aluminum surface of the lithium battery cell;
  • the material is unloaded by the unloading robot.
  • Step 1 Place the lithium battery cell 23 on the jig 52 of the product entry and exit unit 24, keep its front B facing up, the lithium battery cell 23 is located at the station 1, use the X-direction positioning block 164 of the jig 52, and the X-direction Positioning block 2 68, Y-direction positioning block 67 and X-direction clamping cylinder 69, Y-direction clamping cylinder 66 locate and clamp the lithium battery cell 23 to complete the feeding;
  • Step 2 As shown in Figure 14, the robot 44 of the modified manipulator unit 25 aligns the laser irradiation direction of the scanning galvanometer 41 with the front B along the Z axis, and the laser rangefinder 42 measures the scanning galvanometer 41 to the surface of the lithium battery cell 23 distance, to realize the determination of the processing position and automatic focus; according to the set parameters, the laser beam 411 is emitted to irradiate the insulating protective film 12 on the surface of the lithium battery cell, so as to realize the modification of the insulating protective film 12;
  • Step 3 The product entry and exit unit 24 moves the lithium battery cell 23 to the station 2.
  • the tape automatic feeding system 22 starts to work, and the servo motor 81 makes the tape turntable 83 rotate an angle through the coupling 82.
  • the tape and the tape turntable Adsorption claw 99 has cohesive force on 83, and the adhesive tape of certain length is pulled out from the adhesive tape reel 88 of feed shaft 87, and guide shaft three 86, guide shaft two 85 and guide shaft one 84 guide and tension to adhesive tape so that every The part of the adhesive tape that is pulled out for the first time is of fixed length; then the cylinder 93 drives the pressing block 92 to squeeze with the adsorption claw 99 on the tape turntable 83, so that the adhesive tape adheres to the adsorption claw 99; then the cylinder 97 drives the cutter bar 96 to move, The cutter 95 installed on the cutter bar 96 feeds along the guide rail 94, and cuts the adhesive tape into sheets with a length of 85 mm; the cylinder 91 lifts the material shifting block 98
  • Step 4 The film tearing manipulator unit 26 emits laser light 1071 through the laser sensor 107 to determine whether there is a workpiece at station 2, and after identifying the workpiece, moves the working head to the top of the tape automatic feeding system 22, and the tape suction cup 104 absorbs the stripped tape 105, as shown in Figure 15; then move to the top of the lithium battery cell 23, stick the adhesive tape 105 to one end of the lithium battery cell 23, and leave a suspended part not less than 30mm;
  • Step 5 The product entry and exit unit 24 moves the lithium battery cell 23 to the station 3, and the rolling cylinder 114 of the rolling mechanism 28 drives the roller 112 to descend, and then the product entry and exit unit 24 controls the lithium battery cell 23 to reciprocate under the roller 112.
  • the rolling position is shown in Figure 16; after the adhesive tape 105 is firmly bonded to the insulating protective film 12 on the surface of the modified lithium battery cell, the roller 112 rises;
  • Step 6 The product entry and exit unit 24 moves the lithium battery cell 23 to the station 2, and the film tearing manipulator unit 26 moves the working head to the top of the lithium battery cell 23, as shown in Figure 17; part and pull it, and drive the removal of the insulating protective film on the entire front B through the tape;
  • Step 7 The film tearing manipulator unit 26 moves the adhesive tape and the torn waste film to the waste film collection mechanism 21, the servo motor 129 drives the linear motion mechanism 128 to move linearly, guided by the guide rail 125, and the pressure claw 123 and the pressure plate 121 are squeezed, Realize the clamping of the waste film 122, the waste film 122 either adheres to the platen 121, or falls into the waste film collection box 126;
  • Step 8 The film tearing manipulator unit 26 moves the working head to the position of the lithium battery cell 23, and drives the first clamping claw 102 and the second clamping claw 109 to move relative to each other through clamping jaw cylinder one 103 and clamping claw cylinder two 108, and grabs Lithium battery cell 23, then rotate the lithium battery cell 23 clockwise 90° around the Y axis and place it on the jig 52 again, at this time, the bottom C of the lithium battery cell 23 faces upward;
  • Step 9 The X-direction positioning block 1 64, the X-direction positioning block 2 68, the Y-direction positioning block 67, the X-direction clamping cylinder 69, and the Y-direction clamping cylinder 66 of the jig 52 locate and clamp the lithium battery cell 23,
  • the product product entry and exit unit 24 moves the lithium battery cell 23 to the station 1;
  • Step 10 After the insulating protective film of D is removed, the product entry and exit unit 24 moves the lithium battery cell 23 to the station 1 again, and the combination of the linear cylinder 72 and the rotary cylinder 71 of the jig 52 will be fixed on the product pallet by its own gravity
  • the lithium battery cell 23 on 65 moves upward along the Z-axis in a straight line and rotates 90° clockwise around the Z-axis, so that the right side E faces the negative direction of the X-axis; as shown in Figure 18, the modified manipulator unit 25 moves the working head to the jig In the negative direction of the X axis of 52, a laser beam 411 is emitted according to the set parameters to modify the insulating protective film 13;
  • Step 11 After the modification is completed, the linear cylinder 63 of the jig 52 drives the scraper 62 to move vertically upwards, and uses the scraper to remove the modified insulating protective film 13 on the right side E;
  • Step 12 The rotating cylinder 71 of the jig 52 rotates the lithium battery cell 23 counterclockwise 180° around the Z axis, so that the left side F faces the negative direction of the X axis;
  • step ten to step eleven to complete the removal of the insulating protective film 12 on the left side F of the lithium battery cell 23;
  • Step 13 After all the insulating protective film on the surface of the lithium battery cell is removed, the rotary cylinder 71 of the jig 52 rotates the lithium battery cell 23 clockwise 90° around the Z axis, and the linear cylinder 72 lowers the product pallet 65, and then the product enters and exits the unit 24 Move the lithium battery cell 23 to the station 4; the unloading manipulator 132 of the unloading manipulator unit 27 grabs the lithium battery cell 23 and places it on the unloading conveyor belt 133 .
  • the present invention cleverly utilizes the transmittance of the insulating protective film to a certain wavelength of laser light, so that the laser light directly acts on the pressure-sensitive adhesive layer, so that the pressure-sensitive adhesive is heated and modified, and finally the viscosity is reduced, thereby greatly reducing the insulation performance. It is difficult to remove the protective film; by adjusting the process parameters, the laser can modify the insulating protective film without damaging the aluminum shell on the surface of the battery; the surface material of the insulating protective film will not be physically damaged by melting, gasification, etc. If the temperature is less than 70°C, the aluminum material of the lithium battery cell will not be damaged;
  • the modified manipulator unit can quickly select the processing surface of the lithium battery cell in space, so as to efficiently modify the right side E and left side F of the lithium battery cell;
  • the multi-functional fixture realizes the clamping, positioning and rotation of the lithium battery cell and the mechanical scraper, the film tearing and unloading manipulator realizes the adsorption of the tape, the tearing off of the insulating protective film, the transfer of the waste film, the rotation of the lithium battery cell, etc. Function, one machine with multiple functions, saving cost;

Abstract

一种锂电电芯绝缘防护膜的激光除膜装备及方法。该装备包含：用于夹持和传送锂电电芯（23）进出的产品进出单元（24）；位于产品进出单元（24）一侧，用于按照设定参数发出激光光束连续扫描锂电电芯表面绝缘防护膜对其改性的改性机械手单元（25）；位于产品进出单元（24）一侧，用于提供固定长度胶带的胶带自动供料系统（22）；位于产品进出单元（24）一侧，用于将胶带自动供料系统（22）提供的胶带粘至改性后绝缘防护膜一端，通过夹取胶带的方式将绝缘防护膜撕除，以及将锂电电芯旋转的撕膜机械手单元（26）；位于产品进出单元（24）一侧，用于将粘在改性后绝缘防护膜上胶带压实使胶带与改性后绝缘防护膜牢固粘结的滚压机构（28）。该装备利用激光对绝缘防护膜改性，改性后的绝缘防护膜粘附胶带后以撕除的方式将绝缘防护膜从锂电电芯上剥除。

Description

锂电电芯绝缘防护膜的激光除膜装备及其方法 技术领域
本发明涉及一种锂电电芯绝缘防护膜的激光除膜装备及其方法。
背景技术
随着科学技术的进步和用户环保意识的觉醒，新能源汽车的占有量逐渐提升，锂电池作为新能源汽车的动力源，产量也越来越大。为保证锂电电芯的安全性，会在生产制作过程中包裹一层绝缘防护膜，避免电芯与金属铝壳直接接触造成短路。如图1所示，为锂电电芯外形示意图，锂电电芯表面包含上面A、前面B、下面C、后面D、右面E、左面F，上面A与下面C相对，前面B与后面D相对，右面E与左面F相对，其中上面A安装有凸起的极耳11，前面B、下面C、后面D被PET与丙烯酸材质绝缘防护膜12覆盖，右面E、左面F被结构胶材质绝缘防护膜13覆盖，但由于绝缘防护膜粘性好，其完整快速去除十分困难。直接采用人工或机械刮铲等直接接触去除方式会导致加工效率低、表面残留物多、损伤电芯表面铝材等问题。
鉴于目前的除膜方法无法满足生产需要，急需研发锂电池电芯绝缘防护膜的高效除膜设备及其工艺。
发明内容
本发明的目的是克服现有技术存在的不足，提供一种锂电电芯绝缘防护膜的激光除膜装备及其方法。
本发明的目的通过以下技术方案来实现：
锂电电芯绝缘防护膜的激光除膜装备，特点是：包含
用于夹持和传送锂电电芯进出的产品进出单元；
位于产品进出单元一侧，用于按照设定参数发出激光光束连续扫描锂电电芯表面绝缘防护膜对其改性的改性机械手单元；
位于产品进出单元一侧，用于提供固定长度胶带的胶带自动供料系统；
位于产品进出单元一侧，用于将胶带自动供料系统提供的胶带粘至改性后绝缘防护膜一端，通过夹取胶带的方式将绝缘防护膜撕除，以及将锂电电芯旋转的撕膜机械手单元；
位于产品进出单元一侧，用于将粘在改性后绝缘防护膜上胶带压实使胶带与改性后绝缘防护膜牢固粘结的滚压机构。
进一步地，上述的锂电电芯绝缘防护膜的激光除膜装备，其中，还包含：位于产品进出单元一侧，用于收集胶带及撕下废膜的废膜收集机构。
进一步地，上述的锂电电芯绝缘防护膜的激光除膜装备，其中，还包含：位于产品进出单元一侧，用于除完绝缘防护膜的锂电电芯下料的下料机械手单元。
进一步地，上述的锂电电芯绝缘防护膜的激光除膜装备，其中，改性机械手单元包括机器人、扫描振镜以及激光测距仪，扫描振镜和激光测距仪安装于工具头上，工具头安装于机器人上，激光测距仪位于扫描振镜侧边，扫描振镜输出激光束扫描锂电电芯表面绝缘防护膜。
进一步地，上述的锂电电芯绝缘防护膜的激光除膜装备，其中，所述产品进出单元包括直线运动平台以及位于其上用于对锂电电芯定位夹紧的治具，直线运动平台可驱动治具沿X轴方向移动；
所述治具包含载台以及位于其上的X向定位块一、X向定位块二、Y 向定位块，载台的中间部位设有可供产品托板上下升降运动的镂空结构，产品托板连接于旋转气缸的转轴上，旋转气缸安装于直线气缸上，可驱动产品托板上下升降运动和旋转运动；
X向定位块一、X向定位块二和Y向定位块位于镂空结构的旁侧，X向定位块一和X向定位块二的相对侧设有用于X向夹紧的X向夹紧气缸，Y向定位块的相对侧设有用于Y向夹紧的Y向夹紧气缸，可对产品托板上锂电电芯进行X向和Y向定位夹紧；
载台的侧部设有直线气缸，直线气缸上安装有刮刀，可驱动刮刀沿Z轴向运动。
进一步地，上述的锂电电芯绝缘防护膜的激光除膜装备，其中，所述胶带自动供料系统包括供料轴、胶带转盘、压块、切刀以及拨料块，伺服电机与胶带转盘驱动连接，胶带卷置于供料轴上，胶带转盘上设有多个吸附爪，胶带转盘旁布置有压块，压块安装气缸上，气缸可驱动压块压向吸附爪；
胶带转盘旁布置有与其轴向相平行的导轨，刀杆置于导轨上，气缸与刀杆驱动连接，刀杆上安装切刀；
胶带转盘旁竖直布置有气缸，气缸上安装拨料块，可驱动其竖直升降运动。
进一步地，上述的锂电电芯绝缘防护膜的激光除膜装备，其中，还包含导向轴一、导向轴二、导向轴三，供料轴、导向轴一、导向轴二、导向轴三与胶带转盘平行设置，构成胶带输送的轮组。
进一步地，上述的锂电电芯绝缘防护膜的激光除膜装备，其中，所述撕膜机械手单元包括工业机器人、胶带吸盘、夹料爪气缸一、夹料爪气缸二、夹爪气缸和激光传感器，胶带吸盘、夹料爪气缸一、夹料爪气缸二、夹爪气缸和激光传感器安装于工具头上，工具头搭载在工业机器人上，夹 料爪气缸一和夹料爪气缸二分布在工具头的两端，夹料爪气缸一上安装夹料爪一，夹料爪气缸二上安装夹料爪二，可驱动夹料爪一与夹料爪二相对运动将锂电电芯夹取；
夹爪气缸布置于工具头中间，胶带吸盘与激光传感器位于其左右两侧，胶带吸盘吸取固定长度胶带，激光传感器发射激光用于检测判定有无工件。
进一步地，上述的锂电电芯绝缘防护膜的激光除膜装备，其中，所述滚压机构包括支架、滚压气缸、弹簧、滚轮，滚压气缸固定于支架上，弹簧的支撑架通过弹簧连接于滚压气缸上，滚压气缸控制滚轮上下运动。
进一步地，上述的锂电电芯绝缘防护膜的激光除膜装备，其中，所述废膜收集机构包括直线运动机构、压爪、以及压板，直线运动机构置于导轨上，伺服电机与其驱动连接，直线运动机构上设有支撑板，压爪通过弹簧安装于支撑板上，压爪与压板相对，直线运动机构带动压爪与压板相对运动用以夹取废膜。
进一步地，上述的锂电电芯绝缘防护膜的激光除膜装备，其中，压爪下方设置有废膜收集盒。
进一步地，上述的锂电电芯绝缘防护膜的激光除膜装备，其中，所述下料机械手单元包括下料机械手和下料传送带，下料机械手置于直线导轨上可沿其运动，直线导轨通过支架固定在机架上，下料传送带位于下料机械手运动轨迹的下方。
本发明锂电电芯绝缘防护膜的激光除膜方法，包括以下步骤：
去除前面B、下面C、后面D的绝缘防护膜：
由产品进出单元夹持传送锂电电芯，改性机械手单元输出激光光束连续扫描锂电电芯表面绝缘防护膜对其改性，激光对绝缘防护膜照射的方式使绝缘防护膜的温度上升而发生改性，使其粘性降低而便于脱落；能量密 度大于绝缘防护膜的改性阈值，小于锂电电芯的表面铝材的损伤阈值，使整面的绝缘防护膜改性而未损伤锂电电芯表面；
改性后的绝缘防护膜粘附胶带后以撕除的方式将绝缘防护膜从锂电电芯上剥除，由胶带自动供料系统提供固定长度胶带，撕膜机械手单元将胶带自动供料系统提供的胶带粘至改性后绝缘防护膜一端，一端粘贴上胶带，留有一悬空部分；由滚压机构将粘在改性后绝缘防护膜上胶带压实使胶带与改性后绝缘防护膜牢固粘结，由滚轮对胶带与绝缘防护膜重合的部分进行滚压，实现胶带与绝缘防护膜的牢固粘结；由撕膜机械手单元通过夹取胶带的方式将绝缘防护膜撕除，夹爪气缸夹住胶带的悬空部分并进行撕扯，实现绝缘防护膜的剥除；
去除右面E、左面F的绝缘防护膜：
由改性机械手单元输出激光光束连续扫描锂电电芯表面绝缘防护膜对其改性，激光对绝缘防护膜直接照射，其工艺与去除前面B、下面C、后面D相同；绝缘防护膜材质有所不同，其允许的工艺参数区间适应性调整，能量密度大于绝缘防护膜的改性阈值，小于锂电电芯的表面铝材的损伤阈值；
利用机械刮铲的方式将绝缘防护膜从锂电电芯上剥除，由刮刀对改性后的绝缘防护膜进行铲除。
更进一步地，上述的锂电电芯绝缘防护膜的激光除膜方法，具体包括以下步骤：
步骤一：将锂电电芯放置于产品进出单元的治具上，保持其前面B朝上，锂电电芯位于工位1，利用治具的X向定位块一、X向定位块二、Y向定位块与X向夹紧气缸、Y向夹紧气缸对锂电电芯定位与夹紧，完成上料；
步骤二：改性机械手单元的机器人将扫描振镜的激光照射方向沿Z轴对准前面B，激光测距仪测定扫描振镜至锂电电芯表面距离，实现加工位 置的确定与自动对焦；按照设定参数发出激光束，照射至锂电电芯表面绝缘防护膜，实现绝缘防护膜的改性；
步骤三：产品进出单元将锂电电芯移动至工位2，此时胶带自动供料系统开始工作，伺服电机驱使胶带转盘转动一角度，由于胶带与胶带转盘上吸附爪有粘结力，一定长度的胶带从供料轴的胶带卷上拉出；随后通过气缸带动压块与胶带转盘上吸附爪挤压，使得胶带粘附在吸附爪上；接着通过气缸驱动刀杆运动，刀杆上安装的切刀沿导轨进给，将胶带切割成片状；气缸将拨料块向上顶起，使切下的胶带与吸附爪分离；
步骤四：撕膜机械手单元通过激光传感器发出激光判定工位2处有无工件，识别出工件后将工作头移动至胶带自动供料系统上方，由胶带吸盘吸附剥离好的胶带，随后移动至锂电电芯上方，将胶带粘至锂电电芯的一端，同时留出悬空部分；
步骤五：产品进出单元将锂电电芯移动至工位3，滚压机构的滚压气缸驱动滚轮下降，随后产品进出单元控制锂电电芯在滚轮下往复运动，待胶带与改性后的锂电电芯表面绝缘防护膜牢固粘结后，滚轮上升；
步骤六：产品进出单元将锂电电芯移动至工位2，撕膜机械手单元将工作头运动至锂电电芯上方，夹爪气缸夹取胶带的悬空部分并进行拉扯，通过胶带带动整个前面B上绝缘防护膜的去除；
步骤七：撕膜机械手单元将胶带及撕下的废膜移动至废膜收集机构，伺服电机驱使直线运动机构直线运动，由导轨导向，压爪与压板进行挤压，实现废膜的夹取，废膜粘附在压板上；
步骤八：撕膜机械手单元将工作头运动至锂电电芯位置，通过夹料爪气缸一、夹料爪气缸二带动夹料爪一、夹料爪二相对运动，抓取锂电电芯，随后将锂电电芯绕Y轴顺时针旋转90°并再次放置到治具上，此时锂电电芯的下面C朝上；
步骤九：治具的X向定位块一、X向定位块二、Y向定位块与X向夹 紧气缸、Y向夹紧气缸对锂电电芯定位与夹紧，产品产品进出单元将锂电电芯移动至工位1；
重复步骤一～步骤九，完成锂电电芯的下面C、后面D的绝缘防护膜的去除；
步骤十：后面D的绝缘防护膜去除后，产品进出单元再次将锂电电芯移动至工位1，治具的直线气缸与旋转气缸的组合将依靠自身重力固定在产品托板上的锂电电芯随Z轴直线向上运动并绕Z轴顺时针旋转90°，使右面E朝向X轴负方向；改性机械手单元将工作头移动至治具的X轴负方向，按照设定参数发出激光束对绝缘防护膜进行改性；
步骤十一：改性结束后，治具的直线气缸带动刮刀竖直向上运动，利用刮刀将右面E改性后的绝缘防护膜铲除；
步骤十二：治具的旋转气缸将锂电电芯绕Z轴逆时针旋转180°，使左面F朝向X轴负方向；
重复步骤十～步骤十一，完成锂电电芯的左面F绝缘防护膜的去除；
步骤十三：锂电电芯表面绝缘防护膜全部去除之后，治具的旋转气缸将锂电电芯绕Z轴顺时针旋转90°，直线气缸将产品托板降下，随后产品进出单元将锂电电芯移动至工位4；下料机械手单元的下料机械手抓取锂电电芯，放置于下料传送带上。
再进一步地，上述的锂电电芯绝缘防护膜的激光除膜方法，其中，由脉冲激光器输出波长500～1100nm、激光功率大于50w、脉冲宽度300fs～1us的脉冲激光，经整形形成矩形大光斑，光斑大小为1.5×0.5mm，激光扫描时能量分布均匀；由扫描振镜控制光斑的移动，扫描振镜可左右和上下偏转，控制激光在左右和上下的偏转角度变化；采用激光测距仪，对激光对焦；控制激光器的功率、扫描次数、扫描速度和离焦量工艺参数，使能量密度大于绝缘防护膜的改性阈值，小于锂电电芯的表面铝材的损伤阈值。
本发明与现有技术相比具有显著的优点和有益效果，具体体现在以下方面：
①本发明巧妙利用绝缘防护膜对一定波长激光的透射性，使激光直接作用至压敏胶层，使压敏胶升温而发生改性，最终粘性降低，从而极大降低了绝缘防护膜的去除难度；通过调控工艺参数使激光对绝缘防护膜进行改性而不伤及电芯表面铝壳；绝缘防护膜表层材料不被熔化、气化等物理损伤，锂电电芯表面温升小于70℃，锂电电芯铝材不受损伤；
②利用胶带粘结整面改性后绝缘防护膜将其一起带起，即胶带自动供料系统提供胶带，机械手贴胶带，滚压机构压实胶带，机械手撕胶带，废膜收集机构收集废膜的完整流程，将改性后绝缘防护膜高效地从锂电电芯表面剥除；
③改性机械手单元可快速地在空间上选择锂电电芯的加工面，从而高效地对锂电电芯右面E、左面F进行改性；
④多功能治具实现锂电电芯装夹、定位与旋转及机械刮铲，撕膜及下料机械手实现胶带的吸附、绝缘防护膜的撕除、废膜的转移、锂电电芯的旋转等多种功能，一机多用，节约成本；
⑤除上料工序为人工外，其余工序全部为自动化操作，相比于传统人工刮除方式，极大节省人力资源和生产成本，经济效益显著。
本发明的其他特征和优点将在随后的说明书阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明具体实施方式了解。本发明的目的和其他优点可通过在所写的说明书以及附图中所特别指出的结构来实现和获得。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些 实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1：锂电电芯外形示意图；
图2：本发明激光除膜装备的结构示意图；
图3：工位示意图；
图4：改性机械手单元的结构示意图；
图5：产品进出单元的结构示意图；
图6：治具的一轴测示意图；
图7：治具的另一轴测示意图；
图8：胶带自动供料系统的一轴测示意图；
图9：胶带自动供料系统的另一轴测示意图；
图10：撕膜机械手单元的结构示意图；
图11：滚压机构的结构示意图；
图12：废膜收集机构的结构示意图；
图13：下料机械手单元的结构示意图；
图14：前面B、下面C、后面D的激光改性的示意图；
图15：撕膜机械手单元贴胶带的示意图；
图16：滚压的示意图；
图17：撕膜机械手单元撕胶带的示意图；
图18：右面E、左面F的绝缘防护膜去除的示意图。
具体实施方式
下面将结合本发明实施例中附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本发明实施例的组 件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本发明的实施例的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施例。基于本发明的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本发明的描述中，方位术语和次序术语等仅用于区分描述，而不能理解为指示或暗示相对重要性。
如图2～3所示，锂电电芯绝缘防护膜的激光除膜装备，包含：
用于夹持和传送锂电电芯23进出的产品进出单元24；
位于产品进出单元24一侧，用于按照设定参数发出激光光束连续扫描锂电电芯表面绝缘防护膜对其改性的改性机械手单元25；
位于产品进出单元24一侧，用于提供固定长度胶带的胶带自动供料系统22；
位于产品进出单元24一侧，用于将胶带自动供料系统22提供的胶带粘至改性后绝缘防护膜一端，通过夹取胶带的方式将绝缘防护膜撕除，以及将锂电电芯旋转的撕膜机械手单元26；
位于产品进出单元24一侧，用于将粘在改性后绝缘防护膜上胶带压实使胶带与改性后绝缘防护膜牢固粘结的滚压机构28；
位于产品进出单元24一侧，用于收集胶带及撕下废膜的废膜收集机构21；
位于产品进出单元24一侧，用于除完绝缘防护膜的锂电电芯下料的下料机械手单元27；
以及激光器和控制系统，上述单元部件均安装于机架29上，激光波长范围500～1100nm、激光功率范围大于50w、脉冲宽度范围300fs～1us， 并使用经过整形的矩形光斑，光斑大小为1.5×0.5mm。
除膜过程中，锂电电芯主要运行于四个工位中，工位位置如图3。
为提高加工效率，可设置两套产品进出单元同时运转。
如图4所示，改性机械手单元25包括机器人44、扫描振镜41、激光测距仪42以及集尘装置43，扫描振镜41、激光测距仪42、集尘装置43安装于工具头上，工具头安装于机器人44上，机器人实现工具头在空间内的六自由度运动，激光测距仪42位于扫描振镜41侧边，用于定位及自动对焦，激光器发出激光经光学传播至扫描振镜，由扫描振镜输出的激光束411实现对锂电电芯表面绝缘防护膜的快速照射；集尘装置43用于收集改性过程中产生的细小碎屑。
如图5所示，产品进出单元24包括直线运动平台51以及位于其上用于对锂电电芯23定位夹紧的治具52，直线运动平台51可驱动治具52沿X轴方向移动；
如图6～7，治具52包含载台以及位于其上的X向定位块一64、X向定位块二68、Y向定位块67，载台的中间部位设有可供产品托板65上下升降运动的镂空结构，产品托板65连接于旋转气缸71的转轴上，旋转气缸71安装于直线气缸72上，可驱动产品托板65上下升降运动和旋转运动；实现锂电电芯的Z轴方向运动与绕Z轴的转动，使锂电电芯在旋转时不与定位块等部件干涉；
X向定位块一64、X向定位块二68和Y向定位块67位于镂空结构的旁侧，X向定位块一64和X向定位块二68的相对侧设有用于X向夹紧的X向夹紧气缸69，Y向定位块67的相对侧设有用于Y向夹紧的Y向夹紧气缸66，可对产品托板65上锂电电芯进行X向和Y向定位夹紧；
载台的侧部设有直线气缸63，直线气缸63上安装有刮刀62，可驱动刮刀62沿Z轴向运动，并在其旁侧设置有废膜收集盒61。
如图8～9，胶带自动供料系统22包括供料轴87、导向轴一84、导向 轴二85、导向轴三86、胶带转盘83、压块92、切刀95以及拨料块98，供料轴87、导向轴一84、导向轴二85、导向轴三86、胶带转盘83平行设置，构成胶带输送的轮组，导向轴用于胶带的导向及张紧，伺服电机81通过联轴器82与胶带转盘83驱动连接，胶带卷88置于供料轴87上，胶带转盘83上设有五个吸附爪99，吸附爪留有间隔供切刀将胶带切下，避免干涉，胶带转盘83旁布置有压块92，压块92安装气缸93上，气缸93可驱动压块92压向吸附爪99；
胶带转盘83旁布置有与其轴向相平行的导轨94，刀杆96置于导轨94上，气缸97与刀杆96驱动连接，刀杆96上安装切刀95，气缸控制切刀将胶带切割；
胶带转盘83旁竖直布置有气缸91，气缸91上安装拨料块98，可驱动其竖直升降运动，气缸控制拨料块将切好的胶带顶起，减少胶带与吸附爪的粘着力，便于撕膜机械手将胶带取走。
如图10所示，撕膜机械手单元26包括工业机器人101、胶带吸盘104、夹料爪气缸一103、夹料爪气缸二108、夹爪气缸106和激光传感器107，胶带吸盘104、夹料爪气缸一103、夹料爪气缸二108、夹爪气缸106和激光传感器107安装于工具头上，工具头搭载在工业机器人101上，工业机器人实现工具头在空间内的六自由度移动，夹料爪气缸一103和夹料爪气缸二108分布在工具头的两端，夹料爪气缸一103上安装夹料爪一102，夹料爪气缸二108上安装夹料爪二109，可驱动夹料爪一102与夹料爪二109相对运动将锂电电芯夹取；
夹爪气缸106布置于工具头中间，胶带吸盘104与激光传感器107位于其左右两侧，胶带吸盘104吸取固定长度胶带105，激光传感器107发射激光1071判定有无。
如图11所示，滚压机构28包括支架111、滚压气缸114、弹簧113、滚轮112，滚压气缸114固定于支架111上，弹簧113的支撑架通过弹簧 113连接于滚压气缸114上，滚压气缸114控制滚轮112Z轴方向上下运动，弹簧起缓冲作用，滚轮实现对胶带的滚压。在滚压过程中由产品进出单元24带动锂电电芯在X轴方向往复运动，使胶带粘附在绝缘防护膜上。
如图12所示，废膜收集机构21包括直线运动机构128、压爪123、压板121与废膜收集盒126，直线运动机构128置于导轨125上，伺服电机129与其驱动连接，直线运动机构128上设有支撑板127，压爪123通过弹簧124安装于支撑板127上，压爪123与压板121相对，直线运动机构128带动压爪123与压板121相对运动用以夹取废膜122，压爪123下方设置废膜收集盒126，收集掉落的废膜。压爪的直线运动与压块配合实现废膜的夹取，并设置弹簧进行缓冲。
如图13所示，下料机械手单元27包括下料机械手132和下料传送带133，下料机械手132置于直线导轨134上可沿其运动，直线导轨134通过支架131固定在机架29上，下料传送带133位于下料机械手132运动轨迹的下方，下料传送带133将除膜结束的锂电电芯送出。
本发明锂电电芯绝缘防护膜的激光除膜方法，首先，去除前面B、下面C、后面D的绝缘防护膜：
由产品进出单元24夹持和传送锂电电芯23，改性机械手单元25发出激光光束连续扫描锂电电芯表面绝缘防护膜对其改性，激光对绝缘防护膜照射的方式使绝缘防护膜的温度上升而发生改性，使其粘性降低而便于脱落；脉冲激光器输出波长500～1100nm、激光功率大于50w、脉冲宽度300fs～1us的脉冲激光，经过整形的矩形大光斑，光斑大小为1.5×0.5mm，使激光扫描时能量分布均匀且提高工作效率，缩短工时；由扫描振镜控制光斑的移动，扫描振镜根据指令左右和上下偏转，从而控制激光在左右和上下的偏转角度变化；采用激光测距仪，实现激光的自动对焦；控制激光器的功率、扫描次数、扫描速度和离焦量工艺参数，使能量密度大于绝缘防护膜的改性阈值，小于锂电电芯的表面铝材的损伤阈值，最终使整面的 绝缘防护膜改性而未损伤锂电电芯表面；
改性后的绝缘防护膜粘附胶带后以撕除的方式将绝缘防护膜从锂电电芯上剥除，由胶带自动供料系统22提供固定长度胶带，撕膜机械手单元26将胶带自动供料系统22提供的胶带粘至改性后绝缘防护膜一端，一端贴上胶带，留有一悬空部分；由滚压机构28将粘在改性后绝缘防护膜上胶带压实使胶带与改性后绝缘防护膜牢固粘结，由滚轮对胶带与绝缘防护膜重合的部分进行滚压，实现胶带与绝缘防护膜的牢固粘结；由撕膜机械手单元26通过夹取胶带的方式将绝缘防护膜撕除，使用夹爪气缸夹住胶带的悬空部分并进行撕扯，实现绝缘防护膜的剥除，同时剥除后收集废膜；
然后，去除右面E、左面F的绝缘防护膜：
由改性机械手单元25输出激光光束连续扫描锂电电芯表面绝缘防护膜对其改性，激光对绝缘防护膜直接照射，除扫描振镜的工作位置不同外，其工艺与去除前面B、下面C、后面D相同；绝缘防护膜材质有所不同，其允许的工艺参数区间有所区别，但符合能量密度大于绝缘防护膜的改性阈值，小于锂电电芯的表面铝材的损伤阈值的准则；
采用机械刮铲的方式将绝缘防护膜从锂电电芯上剥除，采用直线气缸控制刮刀，直接对改性后的绝缘防护膜进行铲除；同时设置废膜收集盒，收集掉落的废膜；
所有绝缘防护膜去除后通过下料机械手下料。
具体工艺步骤如下：
步骤一：将锂电电芯23放置于产品进出单元24的治具52上，保持其前面B朝上，锂电电芯23位于工位1，利用治具52的X向定位块一64、X向定位块二68、Y向定位块67与X向夹紧气缸69、Y向夹紧气缸66对锂电电芯23定位与夹紧，完成上料；
步骤二：如图14所示，改性机械手单元25的机器人44将扫描振镜 41的激光照射方向沿Z轴对准前面B，激光测距仪42测定扫描振镜41至锂电电芯23表面距离，实现加工位置的确定与自动对焦；按照设定参数发出激光束411，照射至锂电电芯表面绝缘防护膜12，实现绝缘防护膜12的改性；
步骤三：产品进出单元24将锂电电芯23移动至工位2，此时胶带自动供料系统22开始工作，伺服电机81通过联轴器82使胶带转盘83转动一角度，由于胶带与胶带转盘83上吸附爪99有粘结力，一定长度的胶带从供料轴87的胶带卷88上拉出，导向轴三86、导向轴二85及导向轴一84对胶带的导向及张紧使每次拉出的部分胶带均为固定长度；随后通过气缸93带动压块92与胶带转盘83上吸附爪99挤压，使得胶带粘附在吸附爪99上；接着通过气缸97驱动刀杆96运动，刀杆96上安装的切刀95沿导轨94进给，将胶带切割成85mm长度的片状；气缸91将拨料块98向上顶起，使切下的胶带与吸附爪99分离；
步骤四：撕膜机械手单元26通过激光传感器107发出激光1071判定工位2处有无工件，识别出工件后将工作头移动至胶带自动供料系统22上方，由胶带吸盘104吸附剥离好的胶带105，如图15所示；随后移动至锂电电芯23上方，将胶带105粘至锂电电芯23的一端，同时留出不小于30mm的悬空部分；
步骤五：产品进出单元24将锂电电芯23移动至工位3，滚压机构28的滚压气缸114驱动滚轮112下降，随后产品进出单元24控制锂电电芯23在滚轮112下往复运动，其滚压位置如图16所示；待胶带105与改性后的锂电电芯表面绝缘防护膜12牢固粘结后，滚轮112上升；
步骤六：产品进出单元24将锂电电芯23移动至工位2，撕膜机械手单元26将工作头运动至锂电电芯23上方，如图17所示；夹爪气缸106夹取胶带105的悬空部分并进行拉扯，通过胶带带动整个前面B上绝缘防护膜的去除；
步骤七：撕膜机械手单元26将胶带及撕下的废膜移动至废膜收集机构21，伺服电机129驱使直线运动机构128直线运动，由导轨125导向，压爪123与压板121进行挤压，实现废膜122的夹取，废膜122或粘附在压板121上，或落入至废膜收集盒126内；
步骤八：撕膜机械手单元26将工作头运动至锂电电芯23位置，通过夹料爪气缸一103、夹料爪气缸二108带动夹料爪一102、夹料爪二109相对运动，抓取锂电电芯23，随后将锂电电芯23绕Y轴顺时针旋转90°并再次放置到治具52上，此时锂电电芯23的下面C朝上；
步骤九：治具52的X向定位块一64、X向定位块二68、Y向定位块67与X向夹紧气缸69、Y向夹紧气缸66对锂电电芯23定位与夹紧，产品产品进出单元24将锂电电芯23移动至工位1；
重复步骤一～步骤九，完成锂电电芯23的下面C、后面D的绝缘防护膜的去除；
步骤十：后面D的绝缘防护膜去除后，产品进出单元24再次将锂电电芯23移动至工位1，治具52的直线气缸72与旋转气缸71的组合将依靠自身重力固定在产品托板65上的锂电电芯23随Z轴直线向上运动并绕Z轴顺时针旋转90°，使右面E朝向X轴负方向；如图18所示，改性机械手单元25将工作头移动至治具52的X轴负方向，按照设定参数发出激光束411对绝缘防护膜13进行改性；
步骤十一：改性结束后，治具52的直线气缸63带动刮刀62竖直向上运动，利用刮刀将右面E改性后的绝缘防护膜13铲除；
步骤十二：治具52的旋转气缸71将锂电电芯23绕Z轴逆时针旋转180°，使左面F朝向X轴负方向；
重复步骤十～步骤十一，完成锂电电芯23的左面F绝缘防护膜12的去除；
步骤十三：锂电电芯表面绝缘防护膜全部去除之后，治具52的旋转 气缸71将锂电电芯23绕Z轴顺时针旋转90°，直线气缸72将产品托板65降下，随后产品进出单元24将锂电电芯23移动至工位4；下料机械手单元27的下料机械手132抓取锂电电芯23，放置于下料传送带133上。
综上所述，本发明巧妙利用绝缘防护膜对一定波长激光的透射性，使激光直接作用至压敏胶层，使压敏胶升温而发生改性，最终粘性降低，从而极大降低了绝缘防护膜的去除难度；通过调控工艺参数使激光对绝缘防护膜进行改性而不伤及电芯表面铝壳；绝缘防护膜表层材料不被熔化、气化等物理损伤，锂电电芯表面温升小于70℃，锂电电芯铝材不受损伤；
利用胶带粘结整面改性后绝缘防护膜将其一起带起，即胶带自动供料系统提供胶带，机械手贴胶带，滚压机构压实胶带，机械手撕胶带，废膜收集机构收集废膜的完整流程，将改性后绝缘防护膜高效地从锂电电芯表面剥除；
改性机械手单元可快速地在空间上选择锂电电芯的加工面，从而高效地对锂电电芯右面E、左面F进行改性；
多功能治具实现锂电电芯装夹、定位与旋转及机械刮铲，撕膜及下料机械手实现胶带的吸附、绝缘防护膜的撕除、废膜的转移、锂电电芯的旋转等多种功能，一机多用，节约成本；
除上料工序为人工外，其余工序全部为自动化操作，相比于传统人工刮除方式，极大节省人力资源和生产成本，经济效益显著。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
上述仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。

Claims (15)

  1. 锂电电芯绝缘防护膜的激光除膜装备，其特征在于：包含
    用于夹持和传送锂电电芯(23)进出的产品进出单元(24)；
    位于产品进出单元(24)一侧，用于按照设定参数发出激光光束连续扫描锂电电芯表面绝缘防护膜对其改性的改性机械手单元(25)；
    位于产品进出单元(24)一侧，用于提供固定长度胶带的胶带自动供料系统(22)；
    位于产品进出单元(24)一侧，用于将胶带自动供料系统(22)提供的胶带粘至改性后绝缘防护膜一端，通过夹取胶带的方式将绝缘防护膜撕除，以及将锂电电芯旋转的撕膜机械手单元(26)；
    位于产品进出单元(24)一侧，用于将粘在改性后绝缘防护膜上胶带压实使胶带与改性后绝缘防护膜牢固粘结的滚压机构(28)。
  2. 根据权利要求1所述的锂电电芯绝缘防护膜的激光除膜装备，其特征在于：还包含：位于产品进出单元(24)一侧，用于收集胶带及撕下废膜的废膜收集机构(21)。
  3. 根据权利要求1所述的锂电电芯绝缘防护膜的激光除膜装备，其特征在于：还包含：位于产品进出单元(24)一侧，用于除完绝缘防护膜的锂电电芯下料的下料机械手单元(27)。
  4. 根据权利要求1所述的锂电电芯绝缘防护膜的激光除膜装备，其特征在于：改性机械手单元(25)包括机器人(44)、扫描振镜(41)以及激光测距仪(42)，扫描振镜(41)和激光测距仪(42)安装于工具头上，工具头安装于机器人(44)上，激光测距仪(42)位于扫描振镜(41)侧边，扫描振镜输出激光束(411)扫描锂电电芯表面绝缘防护膜。
  5. 根据权利要求1所述的锂电电芯绝缘防护膜的激光除膜装备，其 特征在于：所述产品进出单元(24)包括直线运动平台(51)以及位于其上用于对锂电电芯(23)定位夹紧的治具(52)，直线运动平台(51)可驱动治具(52)沿X轴方向移动；
    所述治具(52)包含载台以及位于其上的X向定位块一(64)、X向定位块二(68)、Y向定位块(67)，载台的中间部位设有可供产品托板(65)上下升降运动的镂空结构，产品托板(65)连接于旋转气缸(71)的转轴上，旋转气缸(71)安装于直线气缸(72)上，可驱动产品托板(65)上下升降运动和旋转运动；
    X向定位块一(64)、X向定位块二(68)和Y向定位块(67)位于镂空结构的旁侧，X向定位块一(64)和X向定位块二(68)的相对侧设有用于X向夹紧的X向夹紧气缸(69)，Y向定位块(67)的相对侧设有用于Y向夹紧的Y向夹紧气缸(66)，可对产品托板(65)上锂电电芯进行X向和Y向定位夹紧；
    载台的侧部设有直线气缸(63)，直线气缸(63)上安装有刮刀(62)，可驱动刮刀(62)沿Z轴向运动。
  6. 根据权利要求1所述的锂电电芯绝缘防护膜的激光除膜装备，其特征在于：所述胶带自动供料系统(22)包括供料轴(87)、胶带转盘(83)、压块(92)、切刀(95)以及拨料块(98)，伺服电机(81)与胶带转盘(83)驱动连接，胶带卷(88)置于供料轴(87)上，胶带转盘(83)上设有多个吸附爪(99)，胶带转盘(83)旁布置有压块(92)，压块(92)安装气缸(93)上，气缸(93)可驱动压块(92)压向吸附爪(99)；
    胶带转盘(83)旁布置有与其轴向相平行的导轨(94)，刀杆(96)置于导轨(94)上，气缸(97)与刀杆(96)驱动连接，刀杆(96)上安装切刀(95)；
    胶带转盘(83)旁竖直布置有气缸(91)，气缸(91)上安装拨料块(98)，可驱动其竖直升降运动。
  7. 根据权利要求6所述的锂电电芯绝缘防护膜的激光除膜装备，其特征在于：还包含导向轴一(84)、导向轴二(85)、导向轴三(86)，供料轴(87)、导向轴一(84)、导向轴二(85)、导向轴三(86)与胶带转盘(83)平行设置，构成胶带输送的轮组。
  8. 根据权利要求1所述的锂电电芯绝缘防护膜的激光除膜装备，其特征在于：所述撕膜机械手单元(26)包括工业机器人(101)、胶带吸盘(104)、夹料爪气缸一(103)、夹料爪气缸二(108)、夹爪气缸(106)和激光传感器(107)，胶带吸盘(104)、夹料爪气缸一(103)、夹料爪气缸二(108)、夹爪气缸(106)和激光传感器(107)安装于工具头上，工具头搭载在工业机器人(101)上，夹料爪气缸一(103)和夹料爪气缸二(108)分布在工具头的两端，夹料爪气缸一(103)上安装夹料爪一(102)，夹料爪气缸二(108)上安装夹料爪二(109)，可驱动夹料爪一(102)与夹料爪二(109)相对运动将锂电电芯夹取；
    夹爪气缸(106)布置于工具头中间，胶带吸盘(104)与激光传感器(107)位于其左右两侧，胶带吸盘(104)吸取固定长度胶带(105)，激光传感器(107)发射激光(1071)用于检测判定有无工件。
  9. 根据权利要求1所述的锂电电芯绝缘防护膜的激光除膜装备，其特征在于：所述滚压机构(28)包括支架(111)、滚压气缸(114)、弹簧(113)、滚轮(112)，滚压气缸(114)固定于支架(111)上，弹簧(113)的支撑架通过弹簧(113)连接于滚压气缸(114)上，滚压气缸(114)控制滚轮(112)上下运动。
  10. 根据权利要求2所述的锂电电芯绝缘防护膜的激光除膜装备，其特征在于：所述废膜收集机构(21)包括直线运动机构(128)、压爪(123)、以及压板(121)，直线运动机构(128)置于导轨(125)上，伺服电机(129)与其驱动连接，直线运动机构(128)上设有支撑板(127)，压爪(123) 通过弹簧(124)安装于支撑板(127)上，压爪(123)与压板(121)相对，直线运动机构(128)带动压爪(123)与压板(121)相对运动用以夹取废膜(122)。
  11. 根据权利要求10所述的锂电电芯绝缘防护膜的激光除膜装备，其特征在于：压爪(123)下方设置有废膜收集盒(126)。
  12. 根据权利要求3所述的锂电电芯绝缘防护膜的激光除膜装备，其特征在于：所述下料机械手单元(27)包括下料机械手(132)和下料传送带(133)，下料机械手(132)置于直线导轨(134)上可沿其运动，直线导轨(134)通过支架(131)固定在机架(29)上，下料传送带(133)位于下料机械手(132)运动轨迹的下方。
  13. 利用权利要求1所述的装备实现锂电电芯绝缘防护膜的激光除膜方法，其特征在于：包括以下步骤：
    去除前面B、下面C、后面D的绝缘防护膜：
    由产品进出单元(24)夹持传送锂电电芯(23)，改性机械手单元(25)输出激光光束连续扫描锂电电芯表面绝缘防护膜对其改性，激光对绝缘防护膜照射的方式使绝缘防护膜的温度上升而发生改性，使其粘性降低而便于脱落；能量密度大于绝缘防护膜的改性阈值，小于锂电电芯的表面铝材的损伤阈值，使整面的绝缘防护膜改性而未损伤锂电电芯表面；
    改性后的绝缘防护膜粘附胶带后以撕除的方式将绝缘防护膜从锂电电芯上剥除，由胶带自动供料系统(22)提供固定长度胶带，撕膜机械手单元(26)将胶带自动供料系统(22)提供的胶带粘至改性后绝缘防护膜一端，一端粘贴上胶带，留有一悬空部分；由滚压机构(28)将粘在改性后绝缘防护膜上胶带压实使胶带与改性后绝缘防护膜牢固粘结，由滚轮对胶带与绝缘防护膜重合的部分进行滚压，实现胶带与绝缘防护膜的牢固粘结；由撕膜机械手单元(26)通过夹取胶带的方式将绝缘防护膜撕除，夹 爪气缸夹住胶带的悬空部分并进行撕扯，实现绝缘防护膜的剥除；
    去除右面E、左面F的绝缘防护膜：
    由改性机械手单元(25)输出激光光束连续扫描锂电电芯表面绝缘防护膜对其改性，激光对绝缘防护膜直接照射，其工艺与去除前面B、下面C、后面D相同；绝缘防护膜材质有所不同，其允许的工艺参数区间适应性调整，能量密度大于绝缘防护膜的改性阈值，小于锂电电芯的表面铝材的损伤阈值；
    利用机械刮铲的方式将绝缘防护膜从锂电电芯上剥除，由刮刀对改性后的绝缘防护膜进行铲除。
  14. 根据权利要求13所述的锂电电芯绝缘防护膜的激光除膜方法，其特征在于：具体包括以下步骤：
    步骤一：将锂电电芯(23)放置于产品进出单元(24)的治具(52)上，保持其前面B朝上，锂电电芯(23)位于工位1，利用治具(52)的X向定位块一(64)、X向定位块二(68)、Y向定位块(67)与X向夹紧气缸(69)、Y向夹紧气缸(66)对锂电电芯(23)定位与夹紧，完成上料；
    步骤二：改性机械手单元(25)的机器人(44)将扫描振镜(41)的激光照射方向沿Z轴对准前面B，激光测距仪(42)测定扫描振镜(41)至锂电电芯(23)表面距离，实现加工位置的确定与自动对焦；按照设定参数发出激光束(411)，照射至锂电电芯表面绝缘防护膜(12)，实现绝缘防护膜(12)的改性；
    步骤三：产品进出单元(24)将锂电电芯(23)移动至工位2，此时胶带自动供料系统(22)开始工作，伺服电机(81)驱使胶带转盘(83)转动一角度，由于胶带与胶带转盘(83)上吸附爪(99)有粘结力，一定长度的胶带从供料轴(87)的胶带卷(88)上拉出；随后通过气缸(93)带动压块(92)与胶带转盘(83)上吸附爪(99)挤压，使得胶带粘附在吸附爪(99)上；接着通过气缸(97)驱动刀杆(96)运动，刀杆(96) 上安装的切刀(95)沿导轨(94)进给，将胶带切割成片状；气缸(91)将拨料块(98)向上顶起，使切下的胶带与吸附爪(99)分离；
    步骤四：撕膜机械手单元(26)通过激光传感器(107)发出激光(1071)判定工位2处有无工件，识别出工件后将工作头移动至胶带自动供料系统(22)上方，由胶带吸盘(104)吸附剥离好的胶带(105)，随后移动至锂电电芯(23)上方，将胶带(105)粘至锂电电芯(23)的一端，同时留出悬空部分；
    步骤五：产品进出单元(24)将锂电电芯(23)移动至工位3，滚压机构(28)的滚压气缸(114)驱动滚轮(112)下降，随后产品进出单元(24)控制锂电电芯(23)在滚轮(112)下往复运动，待胶带(105)与改性后的锂电电芯表面绝缘防护膜(12)牢固粘结后，滚轮(112)上升；
    步骤六：产品进出单元(24)将锂电电芯(23)移动至工位2，撕膜机械手单元(26)将工作头运动至锂电电芯(23)上方，夹爪气缸(106)夹取胶带(105)的悬空部分并进行拉扯，通过胶带带动整个前面B上绝缘防护膜的去除；
    步骤七：撕膜机械手单元(26)将胶带及撕下的废膜移动至废膜收集机构(21)，伺服电机(129)驱使直线运动机构(128)直线运动，由导轨(125)导向，压爪(123)与压板(121)进行挤压，实现废膜(122)的夹取，废膜(122)粘附在压板(121)上；
    步骤八：撕膜机械手单元(26)将工作头运动至锂电电芯(23)位置，通过夹料爪气缸一(103)、夹料爪气缸二(108)带动夹料爪一(102)、夹料爪二(109)相对运动，抓取锂电电芯(23)，随后将锂电电芯(23)绕Y轴顺时针旋转90°并再次放置到治具(52)上，此时锂电电芯(23)的下面C朝上；
    步骤九：治具(52)的X向定位块一(64)、X向定位块二(68)、Y向定位块(67)与X向夹紧气缸(69)、Y向夹紧气缸(66)对锂电电芯 (23)定位与夹紧，产品产品进出单元(24)将锂电电芯(23)移动至工位1；
    重复步骤一～步骤九，完成锂电电芯(23)的下面C、后面D的绝缘防护膜的去除；
    步骤十：后面D的绝缘防护膜去除后，产品进出单元(24)再次将锂电电芯(23)移动至工位1，治具(52)的直线气缸(72)与旋转气缸(71)的组合将依靠自身重力固定在产品托板(65)上的锂电电芯(23)随Z轴直线向上运动并绕Z轴顺时针旋转90°，使右面E朝向X轴负方向；改性机械手单元(25)将工作头移动至治具(52)的X轴负方向，按照设定参数发出激光束(411)对绝缘防护膜(13)进行改性；
    步骤十一：改性结束后，治具(52)的直线气缸(63)带动刮刀(62)竖直向上运动，利用刮刀将右面E改性后的绝缘防护膜(13)铲除；
    步骤十二：治具(52)的旋转气缸(71)将锂电电芯(23)绕Z轴逆时针旋转180°，使左面F朝向X轴负方向；
    重复步骤十～步骤十一，完成锂电电芯(23)的左面F绝缘防护膜(12)的去除；
    步骤十三：锂电电芯表面绝缘防护膜全部去除之后，治具(52)的旋转气缸(71)将锂电电芯(23)绕Z轴顺时针旋转90°，直线气缸(72)将产品托板(65)降下，随后产品进出单元(24)将锂电电芯(23)移动至工位4；下料机械手单元(27)的下料机械手(132)抓取锂电电芯(23)，放置于下料传送带(133)上。
  15. 根据权利要求13或14所述的锂电电芯绝缘防护膜的激光除膜方法，其特征在于：由脉冲激光器输出波长500～1100nm、激光功率大于50w、脉冲宽度300fs～1us的脉冲激光，经整形形成矩形大光斑，光斑大小为1.5×0.5mm，激光扫描时能量分布均匀；由扫描振镜控制光斑的移动，扫描振镜可左右和上下偏转，控制激光在左右和上下的偏转角度变化；采用 激光测距仪，对激光对焦；控制激光器的功率、扫描次数、扫描速度和离焦量工艺参数，使能量密度大于绝缘防护膜的改性阈值，小于锂电电芯的表面铝材的损伤阈值。
PCT/CN2022/095471 2021-12-22 2022-05-27 锂电电芯绝缘防护膜的激光除膜装备及其方法 WO2023115818A1 (zh)

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