WO2024051280A1 - 膜卷传送装置及其控制方法、电子设备和存储介质 - Google Patents

膜卷传送装置及其控制方法、电子设备和存储介质 Download PDF

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Publication number
WO2024051280A1
WO2024051280A1 PCT/CN2023/102427 CN2023102427W WO2024051280A1 WO 2024051280 A1 WO2024051280 A1 WO 2024051280A1 CN 2023102427 W CN2023102427 W CN 2023102427W WO 2024051280 A1 WO2024051280 A1 WO 2024051280A1
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WO
WIPO (PCT)
Prior art keywords
tension
film roll
adjustment roller
threshold
tension adjustment
Prior art date
Application number
PCT/CN2023/102427
Other languages
English (en)
French (fr)
Inventor
罗宇
吴堃
肖秋华
Original Assignee
宁德时代新能源科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 宁德时代新能源科技股份有限公司 filed Critical 宁德时代新能源科技股份有限公司
Publication of WO2024051280A1 publication Critical patent/WO2024051280A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/26—Registering, tensioning, smoothing or guiding webs longitudinally by transverse stationary or adjustable bars or rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H26/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H26/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
    • B65H26/02—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms responsive to presence of irregularities in running webs
    • B65H26/04—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms responsive to presence of irregularities in running webs for variation in tension
    • 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 present application relates to the field of battery technology, and in particular to a film roll conveying device and its control method, electronic equipment and computer-readable storage media.
  • Electric vehicles have become an important part of the sustainable development of the automobile industry due to their advantages in energy conservation and environmental protection.
  • battery technology is an important factor related to their development.
  • Electrode plates are the foundation of power batteries and directly determine the electrochemical performance and safety of the battery.
  • the electrode pole piece consists of a current collector and a coating evenly coated on the current collector.
  • the electrode plate coating process used for preparing battery electrodes is to evenly coat the uniformly stirred slurry on the foil (i.e., current collector), and dry the organic solvent in the slurry.
  • the electrode pieces can be transported in the form of rolls during the preparation process. During transportation, the tension of the film roll needs to be kept stable to ensure uniform coating and thereby ensure the quality of the battery electrodes.
  • This application aims to solve at least one of the technical problems existing in the prior art.
  • one purpose of this application is to propose a film roll transfer placement and transfer method, electronic equipment and storage medium to improve the problem of unstable tension during film roll transfer, which in turn affects production efficiency and battery quality.
  • An embodiment of the first aspect of the present application provides a film roll conveying device, which includes a tension adjustment mechanism and a tension sensor.
  • the tension adjustment mechanism includes a tension adjustment roller and a servo motor.
  • the tension adjustment roller is used to contact the surface of the film roll.
  • the output end of the servo motor is rigidly connected to the tension adjustment roller and is used to drive the tension adjustment roller to move to adjust the tension of the film roll.
  • the tension sensor is used to detect the tension value when the film roll is transported, wherein the servo motor is configured to drive the tension adjustment roller to move based on the tension value.
  • the servo motor has the advantages of fast response speed and high control accuracy.
  • the servo motor is used to drive the tension adjustment roller to move to adjust the tension of the film roll, which can achieve faster response speed and improve the accuracy of tension adjustment.
  • the servo motor drives the movement of the tension adjustment roller with greater controllability, so there is no need to set the high limit and low limit of the movement of the tension adjustment roller.
  • the tension adjustment roller is configured to: in response to the tension value being greater than a first threshold, drive the tension adjustment roller to move in the first direction; in response to the tension value being less than the first threshold and greater than the second threshold, drive the tension adjustment roller Move to a second direction, where the first threshold is greater than the second threshold, and the second direction is different from the first direction.
  • the tension value of the film roll can be detected in real time through the tension sensor, and the servo motor drives the tension adjustment roller to move according to the tension value, which can quickly adjust according to the tension change of the film roll in time, achieving faster Response speed and reduced tension fluctuation range.
  • the tension adjustment roller is configured to stop moving or move in a preset avoidance direction when the film roll breaks.
  • the tension adjustment roller is set to stop moving or move in a preset avoidance direction when the film roll is broken. This can clarify the movement direction of the tension adjustment roller when the film roll is broken, and avoid undesirable situations. Control actions may cause accidents and improve the safety and stability of device operation.
  • the tension adjustment roller is configured to stop moving or move in a preset avoidance direction in response to the tension value being less than or equal to a third threshold, which is less than or equal to the second threshold.
  • a third threshold value less than or equal to the second threshold value is set as a criterion for determining whether an abnormality occurs in the film roll.
  • the tension value of the film roll is less than or equal to the third threshold value, the film roll is determined to be abnormal at this time. If an abnormality occurs in the roll, the tension adjustment roller is controlled to stop moving or move in the preset avoidance direction, which can ensure the safety of the transmission operation and avoid uncontrolled movements.
  • the tension adjustment roller is configured to stop moving or move in a preset avoidance direction in response to the decreasing rate of the tension value being greater than the fourth threshold.
  • the decreasing rate of the tension when the film roll is transported is used as a criterion to determine whether the film roll is abnormal, which can more timely and accurately identify the abnormal state of the film roll and avoid tension caused by other interference factors. Abnormal changes may lead to misjudgment when determining whether the belt is broken, resulting in shutdown and improving the stability of the device.
  • the preset avoidance direction is the same as the first direction.
  • the first direction is the direction in which the tension of the film roll decreases. Setting the preset avoidance direction to be the same as the first direction can ensure that the moving direction of the tension adjustment roller is to avoid unexpected situations or belt breakage. membrane The direction of roll damage can effectively avoid safety risks caused by uncontrolled movements of the tension adjustment roller under unexpected conditions and ensure production safety.
  • the first direction is the unwind direction.
  • the film roll needs to be re-attached, which requires that a part of the film roll be unrolled first, and then the transmission is restarted after the tape is spliced until the film roll tension reaches the preset tension. value.
  • the tension adjustment roller actively moves to the unwinding side after the tape is broken, which can reduce the length of the film roll released for tape splicing.
  • the film roll tension is restored to the required tension value. The time is also shorter, which improves the debugging efficiency of tape breakage and coil change.
  • the tension sensor is configured on the tension adjustment roller.
  • the tension sensor is directly arranged on the tension adjustment roller, which can more accurately measure the tension value of the film roll in contact with the tension adjustment roller, avoid detection errors causing erroneous movement of the tension adjustment roller, and at the same time, It is conducive to the transmission of detection signals, achieves faster tension adjustment response, and reduces the fluctuation range of film roll tension.
  • the film roll conveying device further includes a control unit, the control unit is electrically connected to the tension sensor and the servo motor, and the control unit is configured to control the servo motor in response to the tension value output by the tension sensor.
  • control unit uses PID operation to promptly control the output parameters of the servo motor according to the tension change when the film roll is transported, achieving a rapid response to the tension adjustment, and then directly drives the connecting rod to drive the tension adjustment roller to move, so that The film roll tension always fluctuates around the preset tension value, reducing the tension fluctuation range and improving production efficiency.
  • the embodiment of the second aspect of the present application provides a film roll conveying method, which includes the following steps: obtaining the tension value of the film roll; based on the tension value, driving the tension adjustment roller to move to adjust the tension of the film roll.
  • the tension adjustment mechanism drives the tension adjustment roller to move according to the detected tension value of the film roll to adjust the tension of the film roll, which can achieve faster response speed and improve the accuracy of tension adjustment. It is driven by a servo motor.
  • the settings of the high limit and low limit of the tension adjustment roller can be cancelled, and the adjustment range can be increased, thus eliminating the need for reversing the rewinding process of the unwinding reel, improving fault recovery efficiency, and improving the coating quality and production efficiency of battery pole pieces.
  • driving the tension adjustment roller to move to adjust the tension of the film roll includes: in response to the tension value being greater than a first threshold, driving the tension adjustment roller to move in the first direction; in response to the tension value being less than the first threshold and is greater than the second threshold, the tension adjustment roller is driven to move in the second direction; in response to the tension value being less than or equal to the third threshold, the tension adjustment roller is driven to stop moving or move in the preset avoidance direction; wherein the first threshold is greater than the second threshold , the second threshold is greater than or equal to the third threshold, and the second direction is different from the first direction.
  • a tension sensor is used to monitor the tension value of the film roll in real time during transportation, and control the servo motor to respond in time according to the change in the tension value, and drive the tension respectively according to whether the film roll is in a tight, loose or abnormal state.
  • the adjustment roller moves to adjust the tension.
  • the tension adjustment roller is actively controlled to stop moving or move in a preset avoidance direction to achieve active control of the tension adjustment roller, avoid uncontrolled movements, and improve Safety and reliability of film roll transport.
  • driving the tension adjustment roller to move to adjust the tension of the film roll includes: in response to the tension value being greater than a first threshold, driving the tension adjustment roller to move in the first direction; in response to the tension value being less than the first threshold and is greater than the second threshold, the tension adjustment roller is driven to move in the second direction; in response to the decreasing rate of the tension value being greater than or equal to the fourth threshold, the tension adjustment roller is driven to stop moving or move in the preset avoidance direction, wherein the first threshold is greater than Second threshold, the second direction is different from the first direction.
  • the transmission status of the film roll is judged by the change rate of the film roll tension, thereby more accurately identifying whether the film roll is in an abnormal state and making targeted adjustments to avoid errors caused by misjudgment. movements, while also avoiding accidents caused by uncontrolled movements.
  • the film roll conveying method further includes the step of: in response to the film roll breaking, driving the tension adjustment roller to stop moving or move in a preset avoidance direction.
  • the movement mode of the tension adjustment roller when the film roll is broken avoids uncontrolled movements that still move according to changes in the tension value after the film roll is broken, ensuring the safety of surrounding equipment and personnel. .
  • the preset avoidance direction is the same as the first direction, and the first direction is the unwinding direction.
  • the preset avoidance direction is set to be the same as the first direction of reducing the tension of the film roll, which can ensure that the moving direction of the tension adjustment roller is the direction to avoid damage to the film roll when an unexpected situation occurs or the belt is broken. , which can effectively avoid safety risks caused by uncontrolled movements of the tension adjustment roller under unexpected conditions and ensure production safety.
  • setting the first direction to point toward the unwinding direction can reduce the length of the film roll that is reversed and unrolled during roll change or tape breakage, which in turn causes the tape splicing to take too long and affects production efficiency.
  • the film roll conveying method further includes: in response to the tension value of the film roll meeting the preset condition, obtaining the current position of the tension adjustment roller; determining whether the current position deviates from the preset position; responding to the current position deviating from the preset position. Set the position, control the servo motor to drive the tension adjustment roller to move to the preset position at the preset speed, and adjust the first speed of the film roll on the unwinding side of the tension adjustment roller and the first speed on the winding side of the tension adjustment roller according to the preset moving speed. At least one of the second speeds is such that the tension value of the film roll meets the preset condition during the movement of the tension adjustment roller.
  • the servo motor actively controls the tension adjustment roller to actively return to the preset position, which can ensure that the tension adjustment roller is always at the preset position when the tension is balanced, and avoids wind caused by uncontrolled movement. Risk, adjusting the unwinding speed of the first conveyor roller and the second conveyor roller at the same time can ensure stable tension and allow the tension adjustment roller to return to the preset position faster, effectively controlling tension fluctuations.
  • a third embodiment of the present application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are At least one processor executes, so that at least one processor can execute the method described in any of the preceding embodiments.
  • the fourth aspect of the embodiment of the present application provides a computer-readable storage medium storing a computer program.
  • the computer program is executed by a processor, the method described in any of the foregoing embodiments is implemented.
  • Figure 1 is a schematic structural diagram of a film roll conveying device according to some embodiments of the present application.
  • Figure 2 is a schematic structural diagram of a film roll conveying device according to other embodiments of the present application.
  • Figure 3 is a schematic structural diagram of a film roll conveying device according to other embodiments of the present application.
  • FIG. 4 is a schematic diagram of the operation of the control unit in the film roll conveying device according to other embodiments of the present application.
  • Figure 5 is a schematic structural diagram of the tension adjustment roller returning to the preset position in some embodiments of the present application.
  • Film roll transfer device 100 tension adjustment mechanism 101, servo motor 102, tension adjustment roller 103, connecting rod 104, tension sensor 105, control unit 106, film roll 200, first transfer roller 201, second transfer roller 202, first Driving unit 2011, second driving unit 2021, first direction F1, second direction F2, first position A1, second position A2, third position A3, fourth position A4, current position P1, projection points P2, P3, Winding points B and C, traveling direction X.
  • an embodiment means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application.
  • the appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.
  • multiple refers to more than two (including two).
  • multiple groups refers to two or more groups (including two groups), and “multiple pieces” refers to It is more than two pieces (including two pieces).
  • connection In the description of the embodiments of this application, unless otherwise clearly stated and limited, technical terms such as “installation”, “connection”, “connection” and “fixing” should be understood in a broad sense. For example, it can be a fixed connection or a removable connection. Disassembly and connection, or integration; it can also be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium Connection can be the internal connection between two elements or the interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of this application can be understood according to specific circumstances.
  • Power batteries are not only used in energy storage power systems such as hydropower, thermal power, wind power and solar power stations, but are also widely used in electric vehicles such as electric bicycles, electric motorcycles and electric cars, as well as in many fields such as military equipment and aerospace. . As the application fields of power batteries continue to expand, their market demand is also constantly expanding.
  • Power batteries include battery cells.
  • the electrode plate is the main component of the single battery, which directly determines the electrochemical performance and safety of the battery.
  • the battery pole piece consists of a metal current collector and a coating evenly coated on the metal current collector.
  • the coating process is the process of applying coating on the current collector film roll. It is an indispensable and important link in the battery manufacturing process.
  • the quality of the coating process has a very important impact on the quality of the battery; therefore, In order to ensure the production quality of the battery, the tension balance of the foil roll must be maintained at all times during the transportation of the foil roll. Otherwise, the uniformity and consistency of the coating will be affected, thereby affecting the quality of the battery.
  • a tension adjustment mechanism is arranged between the two transmission rollers to adjust the tension when the film roll is transported.
  • the tension adjustment mechanism may include a swing bar, located at There is a tension adjustment roller at one end of the swing bar, and a float roller cylinder that drives the swing bar.
  • the float roller cylinder controls the output of the proportional valve according to the tension change of the film roll.
  • a potentiometer can also be set to detect the swing position of the swing bar. In order to limit the swing of the swing bar Activity range, set high limit and low limit.
  • the proportional valve control response speed of the dancer roller cylinder is slow and the accuracy of the pneumatic control is not high, resulting in a large tension fluctuation range.
  • the high limit and low limit settings control the swing amplitude of the swing rod, It also limits the adjustment range of the tension adjustment roller and reduces the buffer margin for tension adjustment. When some unexpected situations occur, the adjustment needs cannot be met, making fault recovery more time-consuming and thus affecting the production schedule.
  • the applicant designed a film roll conveying device and film roll conveying method, electronic equipment and computer-readable storage media.
  • the technical solution of this application is to set up a tension adjustment roller, and use a servo motor to drive the tension adjustment roller to move to respond to and adjust the tension fluctuation in a timely manner, thereby reducing the fluctuation range of the film roll tension and improving production safety and production efficiency.
  • the battery cells disclosed in the embodiments of the present application can be used in, but are not limited to, electrical devices such as vehicles, ships, or aircrafts.
  • the power supply system of the electrical device can be composed of the battery cells and batteries disclosed in this application. In this way, it is helpful to alleviate and automatically adjust the deterioration of the expansion force of the battery core, supplement the electrolyte consumption, and improve the stability of battery performance and battery life. .
  • Embodiments of the present application provide an electrical device that uses a battery as a power source.
  • the electrical device may be, but is not limited to, a mobile phone, a tablet, a laptop, an electric toy, an electric tool, a battery car, an electric vehicle, a ship, a spacecraft, etc.
  • electric toys can include fixed or mobile electric toys, such as game consoles, electric car toys, electric ship toys, electric airplane toys, etc.
  • spacecraft can include airplanes, rockets, space shuttles, spaceships, etc.
  • the battery cell is the basic unit that constitutes the battery.
  • the battery cell includes a casing, an electrode assembly and an electrolyte.
  • the electrode assembly consists of a positive electrode plate, a negative electrode plate and a separator. Battery cells mainly rely on the movement of metal ions between the positive and negative electrodes to work.
  • the positive electrode sheet includes a positive electrode current collector and a positive electrode active material layer.
  • the positive electrode active material layer is coated on the surface of the positive electrode current collector.
  • the positive electrode current collector that is not coated with the positive electrode active material layer protrudes from the positive electrode collector that is coated with the positive electrode active material layer. Fluid, the positive electrode current collector without the positive electrode active material layer is used as the positive electrode tab.
  • the material of the positive electrode current collector can be aluminum, and the positive electrode active material can be lithium cobalt oxide, lithium iron phosphate, ternary lithium or lithium manganate, etc.
  • the negative electrode sheet includes a negative electrode current collector and a negative electrode active material layer.
  • the negative electrode active material layer is coated on the surface of the negative electrode current collector.
  • the negative electrode current collector that is not coated with the negative electrode active material layer protrudes from the negative electrode collector that is coated with the negative electrode active material layer.
  • Fluid, the negative electrode current collector that is not coated with the negative electrode active material layer serves as the negative electrode tab.
  • the material of the negative electrode current collector can be copper, and the negative electrode active material can be carbon or silicon.
  • the coating process obtained by the coating process has The coated current collector roll is called a film roll.
  • the film roll conveying device 100 includes: a tension adjustment mechanism 101 and a tension sensor 105.
  • the tension adjustment mechanism 101 includes a servo motor 102 and a tension adjustment device.
  • Roller 103 the tension adjustment roller 103 is in contact with the surface of the film roll 200
  • the output end of the servo motor 102 is rigidly connected to the tension adjustment roller 103
  • the tension sensor 105 is used to detect the tension value when the film roll 200 is transported
  • the servo motor 102 can adjust the tension according to the tension
  • the tension value detected by the sensor 105 drives the tension adjustment roller 103 to move accordingly, thereby adjusting the tension of the film roll 200 .
  • the first conveying roller 201 can be either a unwinding roller or an intermediate conveying roller; the second conveying roller 202 can be a winding roller, an intermediate conveying roller, or a driving roller.
  • the first conveying roller 201 is an unwinding roller, and the second conveying roller 202 is an intermediate conveying roller.
  • the servo motor 102 may be a rotary servo motor or a linear servo motor. The servo motor 102 is drivingly connected to the tension adjustment roller 103 through the connecting rod 104 .
  • the servo motor has the advantages of fast response speed and high control accuracy.
  • the servo motor is used to drive the tension adjustment roller to move to adjust the tension of the film roll, which can achieve faster response speed and improve the accuracy of tension adjustment.
  • the movement of the tension adjustment roller driven by the servo motor is more controllable, so there is no need to set a high limit and a low limit, and the adjustment range is increased, which eliminates the need for reversing the rewinding process of the unwinding reel and improves fault recovery efficiency.
  • the servo motor can be equipped with an encoder, which can accurately obtain the torque output by the servo motor.
  • the output torque of the servo motor can be used to automatically calibrate the tension sensor to save money. The time required for the calibration of the tension sensor during subsequent use improves the coating quality and production efficiency of the battery pole pieces.
  • the tension adjustment roller 103 is configured to: in response to the tension value detected by the tension sensor 105 when the film roll is transported being greater than the first threshold, drive the tension adjustment roller 103 to move in the first direction F1; in response to the tension The tension value detected by the sensor 105 when the film roll is transported is less than the first threshold and greater than the second threshold, and the tension adjustment roller 103 is driven to move in the second direction F2; the first threshold is greater than the second threshold, and the second direction F2 is consistent with the first direction F1. different.
  • the first threshold is the preset tension value that needs to be maintained when the film roll is conveyed.
  • the tension value when the film roll is conveyed is less than the first threshold, it indicates that the film roll becomes loose at this time, and the corresponding film roll conveyance status is The film roll is in a loose belt state; and when the tension value of the film roll is greater than the first threshold, it indicates that the film roll has become tight, which corresponds to the film roll conveying state being a tight belt state.
  • the tension adjustment roller is driven to move in different directions to keep the tension stable when the film roll is conveyed.
  • the tension sensor detects the tension value of the film roll in real time, and the servo motor drives the tension adjustment roller to move according to the tension value. It can quickly adjust according to the tension change of the film roll in time, achieve faster response speed and reduce the tension fluctuation range.
  • the tension adjustment roller 103 is configured to stop moving or move in a preset avoidance direction when the film roll 200 breaks.
  • the preset avoidance direction is a direction that is preset to avoid the position of other objects or people based on the conveying direction and the position of the conveying roller.
  • the tension adjustment roller is set to stop moving or move in a preset avoidance direction when the film roll is broken. This can clarify the movement direction of the tension adjustment roller when the film roll is broken, and avoid uncontrolled movements that may cause Improve the safety and stability of device operation in case of accidents.
  • the tension adjustment roller 103 is configured to stop moving or move in a preset avoidance direction in response to the tension value when the film roll 200 is conveyed being less than or equal to a third threshold, and the third threshold is less than or equal to the second threshold.
  • a third threshold value less than or equal to the second threshold value is set as a criterion for determining whether the film roll is abnormal.
  • the tension adjustment roller is controlled to stop moving or move in a preset avoidance direction, which can ensure the safety of the conveying operation and avoid uncontrolled movements.
  • the tension adjustment roller 103 is configured to stop moving or move in a preset avoidance direction in response to the decreasing rate of the tension value when the film roll 200 is conveyed being greater than the fourth threshold.
  • the decreasing rate of the tension when the film roll is transported is used as a criterion to determine whether the film roll is abnormal, which can enable more timely and accurate identification.
  • the abnormal state of the film roll can avoid tension changes caused by other interference factors, which may lead to shutdown due to misjudgment when judging whether it is abnormal, and improve the stability of the device.
  • the preset avoidance direction is the same as the first direction F1.
  • the first direction is the direction in which the tension of the film roll decreases. Setting the preset avoidance direction to be the same as the first direction can ensure that the tension adjustment roller moves in a direction to avoid damage to the film roll when an unexpected situation occurs or the belt is broken. direction, which can effectively avoid safety risks caused by uncontrolled movements of the tension adjustment roller under unexpected conditions and ensure production safety.
  • the first direction F1 is the unwinding direction.
  • the film roll is conveyed in the direction from the unwinding roller to the receiving roller.
  • the unwinding direction refers to the direction of the side of the film roll that is closer to the unwinding roller relative to the tension transmission roller when the film roll is conveyed.
  • the film roll needs to be re-spliced after the strip is broken, which requires that a part of the film roll be unrolled first, and then the transmission is restarted after the strip is spliced until the film roll tension reaches the preset tension value.
  • the tension adjustment roller actively moves to the unwinding side after the tape is broken, which can reduce the length of the film roll released for tape splicing.
  • the film roll tension is restored to the required tension value. The time is also shorter, which improves the debugging efficiency of tape breakage and coil change.
  • the tension sensor 105 is configured on the tension adjustment roller 103 .
  • the tension sensor is directly arranged on the tension adjustment roller, which can more accurately measure the tension value of the film roll in contact with the tension adjustment roller, avoid detection errors causing erroneous movement of the tension adjustment roller, and at the same time facilitate the detection of signals. transmission to achieve faster tension adjustment response and reduce the fluctuation range of film roll tension.
  • the film roll conveying device 100 further includes a control unit 106 , which is electrically connected to the tension sensor 105 and the servo motor 102 .
  • the control unit 106 can drive the tension adjustment roller 103 to move to adjust the tension of the film roll 200 according to the tension value of the film roll 200 detected by the tension sensor 105 when it is transported.
  • control unit can perform a PID operation on the detected tension value and the preset tension value, and control the output torque and rotation speed of the servo motor 106 according to the operation result to drive the movement of the tension adjustment roller.
  • the control unit uses PID operation to promptly control the output parameters of the servo motor according to the tension changes during film roll transportation, achieving rapid response to tension adjustment, and then directly drives the connecting rod to drive the tension adjustment roller to move, so that the film roll tension always surrounds the preset tension value. Fluctuation, reducing the tension fluctuation range and improving production efficiency.
  • the embodiment of the second aspect of the present application provides a control method for a film roll conveyor, which includes: obtaining the tension value of the film roll 200 , and driving the tension adjustment roller 103 to move based on the tension value of the film roll 200 to adjust the tension of the film roll 200 . tension.
  • the film roll 200 is wound around the first conveyor roller 201, the tension adjustment roller 103 and the second conveyor roller 202 in sequence.
  • the tension sensor 105 is used to detect the tension value of the film roll 200 when it is conveyed. It can be
  • the servo motor 102 drives the tension adjustment roller 103 to move toward or away from the surface of the film roll 200 to maintain the tension value within an ideal fluctuation range when the film roll 200 is transported.
  • the tension adjustment mechanism drives the tension adjustment roller to move according to the detected tension value of the film roll to adjust the tension of the film roll, which can achieve faster response and improve the accuracy of tension adjustment.
  • the use of servo motor drive can eliminate the high tension near the tension adjustment roller.
  • the setting of limit and low limit increases the adjustment range, thereby eliminating the need for reversing the rewinding process of the unwinding reel, improving fault recovery efficiency, and improving the coating quality and production efficiency of battery pole pieces.
  • driving the tension adjustment roller to move to adjust the tension of the film roll includes: in response to the detected tension value being greater than The first threshold value drives the tension adjustment roller 103 to move in the first direction F1; in response to the detected tension value being less than the second threshold value and greater than the third threshold value, the tension adjustment roller 103 is driven to move in the second direction F2; in response to the detected tension value Less than or equal to the third threshold, the tension adjustment roller 103 is driven to stop moving or move in the preset avoidance direction; where the first threshold is greater than the second threshold, the second threshold is greater than or equal to the third threshold, and the second direction is different from the first direction.
  • the first threshold is a preset tension value that needs to be maintained when the film roll is transported.
  • the tension value is greater than the first threshold, the film roll will be considered to be in a tight belt state.
  • the film roll tension is less than the first threshold and greater than the second At the threshold, the film roll is in a loose state.
  • the second threshold and the third threshold are artificially set tension values. If it is greater than the second threshold, it can be considered that the tension change of the film roll is still within the normal fluctuation range, and it can be adjusted by normal moving tension. roller way to adjust, the third threshold
  • the value is the threshold for judging whether the film roll is broken.
  • the second threshold is a set tension value greater than or equal to the third threshold
  • the servo motor 102 drives the tension adjustment roller 103 to move from the first position A1 to the third position A3, so that the tension value of the film roll 200 Re-adjust to the preset tension value.
  • the detected tension value of the film roll 200 is less than the third threshold, it is determined that the film roll 200 is in an abnormal state.
  • the servo motor 102 controls the tension adjustment roller 103 to stop or move to the fourth position. Move in the A4 direction.
  • the tension sensor monitors the tension value when the film roll is transported in real time, and controls the servo motor to respond promptly according to the change in tension value. According to whether the film roll is in a tight, loose or abnormal state, it drives the tension adjustment roller to move to adjust the tension, especially In response to abnormal conditions where the tension becomes significantly smaller, the tension adjustment roller is actively controlled to stop moving or move in a preset avoidance direction to achieve active control of the tension adjustment roller, avoid uncontrolled movements, and improve the safety and reliability of film roll transportation. .
  • driving the tension adjustment roller 103 to move to adjust the tension of the film roll 200 includes: in response to the detected tension value being greater than or equal to the first threshold , the tension adjustment roller 103 is driven to move in the first direction F1; in response to the detected tension value being less than the first threshold and greater than the second threshold, the tension adjustment roller 103 is driven to move in the second direction F2; in response to the detected decreasing rate of the tension value Greater than or equal to the fourth threshold, the driving tension adjustment roller 103 stops moving or moves in a preset avoidance direction, wherein the first threshold is greater than the second threshold, and the second direction F2 is different from the first direction F1.
  • the rising rate of the tension value refers to the increase value of the tension value in unit time
  • the falling rate refers to the decreasing value of the tension value in unit time.
  • the greater the rising rate or falling rate the greater the increase or decrease. decreases faster.
  • the tension will quickly reach 0 in a short period of time. During this process, the film roll tension will decrease at a large rate.
  • the fourth threshold is an artificially selected threshold based on the rate of change of tension when the belt is broken.
  • the change rate of the film roll tension is used to determine whether the conveying state of the film roll is abnormal, so as to more accurately identify the abnormal state of the film roll and make targeted adjustments to avoid erroneous actions caused by misjudgment. At the same time, It can also avoid accidents caused by uncontrolled movements.
  • the tension adjustment roller 103 in response to the film roll 200 breaking, is driven to stop moving or move in a preset avoidance direction.
  • the servo motor actively controls the movement of the tension adjustment roller to stop or move in the preset avoidance direction.
  • the broken status of the film roll can be judged from the tension value detected by the tension sensor or other detection results, such as CCD camera detection.
  • the movement mode of the tension adjustment roller when the film roll is broken avoids uncontrolled movements that still move according to changes in the tension value after the film roll is broken, ensuring the safety of surrounding equipment and personnel.
  • the preset avoidance direction is the same as the first direction, and the first direction is the unwinding direction.
  • the preset avoidance direction is set to be the same as the first direction of reducing the tension of the film roll, which can ensure that the moving direction of the tension adjustment roller is the direction to avoid damage to the film roll when an unexpected situation occurs or the belt is broken, which can effectively avoid
  • the safety risks caused by the uncontrolled movement of the tension adjustment roller under unexpected conditions must be ensured to ensure production safety.
  • setting the first direction to point toward the unwinding direction can reduce the length of the film roll that is reversed and unrolled during roll change or tape breakage, which in turn causes the tape splicing to take too long and affects production efficiency.
  • the control method of the film roll conveyor also includes: in response to the tension value of the film roll 200 meeting the preset condition, obtaining the current position of the tension adjustment roller 103, and determining Whether the current position of the tension adjustment roller 103 deviates from the preset position; in response to the current position of the tension adjustment roller 103 deviating from the preset position, control the servo motor 102 to drive the tension adjustment roller 103 to move to the preset position at a preset speed; At least one of the first speed of the film roll 200 on the unwinding side of the tension adjustment roller 103 and the second speed on the winding side of the tension adjustment roller 103 is adjusted based on the preset moving speed, so that on the tension adjustment roller 103 During the movement process, the tension value of the film roll 200 meets the preset conditions.
  • the tension value of the film roll satisfying the preset condition means that the detected tension value of the film roll is equal to the first threshold, or the difference from the first threshold is very small.
  • the film roll can be considered to be at constant tension or approximately constant tension.
  • the tension adjustment roller has completed one tension adjustment at this time.
  • the film roll is transferred from the unwinding roller to the receiving roller.
  • the unwinding side refers to the side of the film roll close to the unwinding roller relative to the tension adjustment roller
  • the rewinding side refers to the side of the film roll close to the receiving roller relative to the tension adjustment roller.
  • the preset position is an intermediate position for the movement of the tension adjustment roller. According to the preset transmission state, the film roll is under the first threshold tension and the position of the tension adjustment roller. When the tension of the subsequent film roll fluctuates, the tension adjustment roller will move relative to the position. The preset position moves to maintain film roll tension.
  • the first speed on the unwinding side is the unwinding speed of the first transmission roller located on the unwinding side
  • the second speed on the rewinding side is the unwinding speed on the rewinding side.
  • the return of the tension adjustment roller to the preset position includes passive return and active return. Passive return is achieved by adjusting the rotation speed of the first conveyor roller or the second conveyor roller, and by adjusting the conveyor speed at both ends of the film roll, so that the tension of the film roll changes. , and then the servo motor drives the tension adjustment roller to move to the preset position according to the change in tension. Active return means that the servo motor actively applies power to the tension adjustment roller to return it to the preset position at a preset speed. At this time, in order to keep the tension of the film roll stable,
  • the rotation speed of the first transfer roller or the second transfer roller so that the length change of the film roll between the first transfer roller and the second transfer roller adapts to the moving speed of the tension transfer roller so that the tension of the film roll remains stable.
  • active return has a faster adjustment speed.
  • the position of the tension adjustment roller can be changed under the constant tension state of the film roll, and the fluctuation range of the film roll tension will be smaller. For example, when the tension adjustment roller 103 moves to the second position A2, the tension value of the film roll 200 returns to the preset tension value, and the servo motor 102 is controlled to drive the tension adjustment roller 103 to return to the first position A1 at a preset speed.
  • the servo motor actively controls the tension adjustment roller to actively return to the preset position, which can ensure that the tension adjustment roller is always at the preset position when the tension is balanced, avoiding risks caused by uncontrolled movement, and at the same time adjusting the first transmission roller
  • the unwinding speed of the second conveyor roller can ensure stable tension and allow the tension adjustment roller to return to the preset position faster, effectively controlling tension fluctuations.
  • a third embodiment of the present application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are The at least one processor executes, so that the at least one processor can execute the film roll transport method as described in any of the preceding embodiments.
  • Various implementations of the systems and techniques described above may be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip implemented in a system (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or a combination thereof.
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • ASSPs application specific standard products
  • SOC system
  • CPLD load programmable logic device
  • computer hardware firmware, software, and/or a combination thereof.
  • Various embodiments may include implementation in one or more computer programs executable and/or interpreted on a programmable system including at least one programmable processor, the programmable processor Can be a dedicated or general-purpose programmable processor that can be retrieved from a storage system, at least one An input device, and at least one output device receive data and instructions, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.
  • the fourth aspect of the present application provides a computer-readable storage medium that stores a computer program.
  • the computer program is executed by a processor, the film roll transport method described in any of the foregoing embodiments is implemented.
  • Computer-readable media may be tangible media that may contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.
  • the machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, laptop disks, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • the film roll conveying device 100 includes a tension adjustment mechanism 101 , a tension sensor 105 and a control unit 106 .
  • the tension adjustment mechanism 101 includes a servo motor 102, a tension adjustment roller 103 and a connecting rod 104.
  • the connecting rod 104 is drivingly connected to the servo motor 102 and the tension adjustment roller 103.
  • the first conveying roller 201 is an unwinding roller
  • the second conveying roller 202 is a driving roller.
  • the film roll 200 bypasses the first conveying roller 201 and the second conveying roller 202 in sequence, so that between the first conveying roller 201 and the second conveying roller 202 With coordinated rotation, the film roll 200 can be transported in the traveling direction
  • the servo motor 102 is a linear servo motor.
  • the output end of the servo motor 102 is connected to the tension adjustment roller 103 through the connecting rod 104 to drive the tension adjustment roller 103 to reciprocate linearly.
  • the tension sensor 105 detects the tension value of the film roll 200 and transmits the tension value data to the control unit 106.
  • the control unit 106 performs a PID calculation based on the detected tension value and the preset tension value, and performs a PID calculation based on the calculation.
  • the output parameters of the servo motor 102 are controlled as a result, and the servo motor 102 drives the tension adjustment roller 103 through the connecting rod 104 to move according to the preset working conditions until the detected tension value is equal to the preset tension value, which may include: responding to the tension detected by the tension sensor 105 If the value is greater than or equal to the first threshold, the control unit 106 controls the servo motor 102 to drive the tension adjustment roller 103 to move in the first direction F1; in response to the tension value detected by the tension sensor 105 being less than the first threshold and greater than the second threshold, the control unit 106 controls The servo motor 102 drives the tension adjustment roller 103 to move in the second direction F2; in response to the tension value detected by the tension sensor 105 being less than or equal to the third threshold, the control unit 106 controls the servo motor 102 to drive the tension adjustment roller 103 to move in the first direction F1; In response to the tension value detected by the tension sensor 105 The falling rate is greater than or equal to the fourth threshold,
  • the deviation distance of the position of the tension adjustment roller 103 relative to the first position A1 can be calculated based on the output data of the servo motor 102.
  • the control unit 106 controls the servo motor 102 to drive the tension adjustment roller 103 to return to the first position A1.
  • the servo motor 102 is a linear servo motor, and the connecting rod 104 is a transmission screw arranged along the horizontal position.
  • the current position P1 of the tension adjustment roller 103 is calculated based on the data collected by the rotary encoder of the servo motor.
  • the servo motor 102 will drive the tension adjustment roller 103 to return to the first position A1 at the linear speed V.
  • the projection points P3 and P2 as well as the distance D2 between the winding point B and the projection point P3 and the distance D4 between the winding point C and the projection point P2, since the first position A1 is the set position, so the first position A1 to the projection point
  • the distance between P2 and projection point P3 can be determined. After obtaining the distance between the current position P1 and the first position A1, the distance D3 between the current position P1 and the projection point P2, and the distance between the current position P1 and the projection point P3 can be obtained. The distance between them is D1.
  • control unit 106 can control the rotational speeds of the first driving unit 2011 and the second driving unit 2021 so that the angular velocity difference between the two can ensure that the tension of the film roll 200 remains stable when the tension adjustment roller 103 returns.
  • the specific calculation formula is as follows:
  • ⁇ 1 is the rotation angular speed of the first transfer roller
  • r 1 is the distance from the film roll on the first transfer roller to the center of the roller shaft
  • ⁇ 2 is the rotation angular speed of the second transfer roller
  • r 2 is the film on the second transfer roller
  • v is the moving speed of the tension adjustment roller
  • t is the moving time.
  • the above formula can calculate the relationship between the angular velocity of the first transfer roller and the second transfer roller in real time based on the moving speed and moving time of the tension adjustment roller, so that the film roll tension can always maintain the preset tension value when the tension adjustment roller moves, reducing the Small tension fluctuation range.
  • the control unit 106 can also combine the real-time detection data of the tension sensor 105 to continuously correct the speed of the first transfer roller and the second transfer roller to achieve dynamic fine control and meet the accuracy requirements of film roll transfer. Ensure the stability of production and improve production efficiency.

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Abstract

一种膜卷传送装置（100），包括张力调节机构（101）和张力传感器（105），张力调节机构（101）包括伺服电机（102）和张力调节辊（103），张力调节辊（103）用于抵接膜卷（200）的表面，伺服电机（102）的输出端与张力调节辊（103）刚性连接，用于驱动张力调节辊（103）移动以调节膜卷（200）的张力，张力传感器（105）用于检测膜卷（200）传送时的张力值，实现更快的响应速度，提高张力调节的精度，增大调节范围，提高电池极片的涂布质量和生产效率。还涉及一种膜卷传送装置的控制方法、一种电子设备及一种计算机可读存储介质。

Description

膜卷传送装置及其控制方法、电子设备和存储介质
交叉引用
本申请引用于2022年9月8日递交的名称为“膜卷传送装置及其控制方法、电子设备和存储介质”的第202211098059.X号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及电池技术领域，尤其涉及一种膜卷传送装置及其控制方法、电子设备和计算机可读存储介质。
背景技术
节能减排是汽车产业可持续发展的关键，电动车辆由于其节能环保的优势成为汽车产业可持续发展的重要组成部分。对于电动车辆而言，电池技术又是关乎其发展的一项重要因素。
电极极片是动力电池的基础，直接决定电池的电化学性能以及安全性。电极极片由集流体和均匀的涂敷在集流体上的涂层组成。目前制备电池极片采用的是将搅拌均匀的浆料均匀地涂覆在箔材(即集流体)上，并将浆料中的有机溶剂进行烘干的极片涂布工艺。电极极片在制备过程中可以卷材的形式进行传送，在传送时需要保持膜卷张力稳定才能保证涂布均匀，进而保证电池极片的质量。
发明内容
本申请旨在至少解决现有技术中存在的技术问题之一。为此，本申请的一个目的在于提出一种膜卷传送放置和传送方法、电子设备和存储介质，以改善膜卷传送时的张力不稳定，进而影响生产效率和电池质量的问题。
本申请第一方面的实施例提供一种膜卷传送装置，其包括张力调节机构和张力传感器。张力调节机构包括张力调节辊和伺服电机，张力调节辊用于抵接膜卷的表面，伺服电机的输出端与张力调节辊刚性连接，用于驱动张力调节辊移动以调节膜卷的张力。张力传感器用于检测膜卷传送时的张力值，其中，伺服电机被配置为基于张力值驱动张力调节辊移动。
本申请实施例的技术方案中，伺服电机具有反应速度快、控制精度高的优点，采用伺服电机驱动张力调节辊移动来调节膜卷的张力，能够实现更快的响应速度，提高张力调节的精度，伺服电机驱动张力调节辊移动的可控性更强，因此无需设置张力调节辊移动的高限位和低限位，增大调节范围，可以省去放卷轴反转收料流程，提高故障恢复效率。
在一些实施例中，张力调节辊被配置为：响应于张力值大于第一阈值，驱动张力调节辊向第一方向移动；响应于张力值小于第一阈值且大于第二阈值，驱动张力调节辊向第二方向移动，其中，第一阈值大于第二阈值，第二方向与第一方向不同。
本申请实施例的技术方案中，通过张力传感器能够实时检测膜卷的张力值，并由伺服电机根据张力值驱动张力调节辊移动，能够及时根据膜卷的张力变化进行快速调节，实现更快的响应速度，减小张力波动范围。
在一些实施例中，张力调节辊被配置为在膜卷断带的情况下，停止移动或者向预设规避方向移动。
本申请实施例的技术方案中，将张力调节辊设置为在膜卷断带的情况下停止移动或者向预设规避方向移动，可以明确张力调节辊在断带时的运动方向，避免出现非受控动作而导致意外发生，提高装置运行的安全性和稳定性。
在一些实施例中，张力调节辊被配置为响应于张力值小于或等于第三阈值，停止移动或者向预设规避方向移动，第三阈值小于或等于第二阈值。
本申请实施例的技术方案中，设定小于或等于第二阈值的第三阈值作为判断膜卷是否发生异常的认定标准，当膜卷张力值小于或等于第三阈值时，此时就认定膜卷发生异常，控制张力调节辊停止移动或者向预设规避方向移动，能够保证传送作业的安全，避免出现非受控动作。
在一些实施例中，张力调节辊被配置为响应于张力值的下降速率大于第四阈值，停止移动或者向预设规避方向移动。
本申请实施例的技术方案中，将膜卷传送时的张力的下降速率作为判断膜卷与否异常的标准，能够更及时、准确的识别出膜卷的异常状态，避免其他干扰因素导致的张力异变而在判断是否断带时发生错判而导致停机，提高装置的稳定性。
在一些实施例中，预设规避方向与第一方向相同。
本申请实施例的技术方案中，第一方向是膜卷张力减小的方向，将预设规避方向设置为与第一方向相同能够保证出现意外状况或者断带时张力调节辊的移动方向为避免膜 卷破坏的方向，能够有效避免张力调节辊在意外状况下的非受控动作带来的安全风险，保障生产安全。
在一些实施例中，第一方向是放卷方向。
本申请实施例的技术方案中，考虑断带后需要对膜卷完成重新接带，这就需要先将膜卷放出一部分，在完成接带后再重新启动传送，直至膜卷张力达到预设张力值。本实施例中，张力调节辊在断带后主动向放卷侧移动，就可以减少为了接带而释放的膜卷长度，同时接带完成后，将膜卷张力恢复至所需的张力值需要的时间也更短，提高断带换卷的调试效率。
在一些实施例中，张力传感器被配置在张力调节辊上。
本申请实施例的技术方案中，将张力传感器直接布置在张力调节辊上，能够更准确的测定与张力调节辊接触的膜卷的张力值，避免检测误差导致张力调节辊的错误移动，同时有利于检测信号的传送，实现更快的张力调节响应，减小膜卷张力的波动范围。
在一些实施例中，膜卷传送装置还包括控制单元，控制单元电连接张力传感器和伺服电机，控制单元被配置用于响应于张力传感器输出的张力值来控制伺服电机。
本申请实施例的技术方案中，控制单元采用PID运算能够及时根据膜卷传送时的张力变化控制伺服电机的输出参数，实现张力调节的快速响应，进而直接驱动连接杆带动张力调节辊移动，使得膜卷张力始终围绕预设张力值波动，减小张力波动范围，提高生产效率。
本申请第二方面的实施例提供一种膜卷传送方法，其包括以下步骤：获取膜卷的张力值；基于张力值，驱动张力调节辊移动以调节膜卷的张力。
本申请实施例的技术方案中，张力调节机构根据检测的膜卷的张力值驱动张力调节辊移动来调节膜卷的张力，能够实现更快的响应速度，提高张力调节的精度，采用伺服电机驱动可以取消了张力调节辊高限位和低限位的设置，增大调节范围，从而省去放卷轴反转收料流程，提高故障恢复效率，提高电池极片的涂布质量和生产效率。
在一些实施例中，基于张力值，驱动张力调节辊移动以调节膜卷的张力包括：响应于张力值大于第一阈值，驱动张力调节辊向第一方向移动；响应于张力值小于第一阈值且大于第二阈值，驱动张力调节辊向第二方向移动；响应于张力值小于或等于第三阈值，驱动张力调节辊停止移动或向预设规避方向移动；其中，第一阈值大于第二阈值，第二阈值大于或等于第三阈值，第二方向与第一方向不同。
本申请实施例的技术方案中，通过张力传感器实时监测膜卷传送时的张力值，并控制伺服电机根据张力值的变化及时响应，根据膜卷处于紧带、松带或异常状态，分别驱动张力调节辊移动以调整张力，特别是针对张力显著变小时的异常状态，主动控制张力调节辊停止移动或向预设规避方向移动，实现对张力调节辊的主动控制，避免非受控动作出现，提高膜卷传送的安全性和可靠性。
在一些实施例中，基于张力值，驱动张力调节辊移动以调节膜卷的张力包括：响应于张力值大于第一阈值，驱动张力调节辊向第一方向移动；响应于张力值小于第一阈值且大于第二阈值，驱动张力调节辊向第二方向移动；响应于张力值的下降速率大于或等于第四阈值，驱动张力调节辊停止移动或向预设规避方向移动，其中，第一阈值大于第二阈值，第二方向与第一方向不同。
本申请实施例的技术方案中，通过对膜卷张力的变化速率来判断膜卷的传送状态，从而更准确的识别出膜卷是否出现异常状态并针对性的进行调节，避免误判导致的错误动作，同时也能避免出现非受控动作导致意外发生。
在一些实施例中，膜卷传送方法还包括步骤：响应于膜卷断带，驱动张力调节辊停止移动或者向预设规避方向移动。
本申请实施例的技术方案中，针对膜卷断带时的张力调节辊的运动方式，避免出现断带后仍然依据张力值的变化而移动的非受控动作出现，保证周围设备和人员的安全。
在一些实施例中，预设规避方向与第一方向相同，第一方向是放卷方向。
本申请实施例的技术方案中，将预设规避方向设置为使膜卷张力减小的第一方向相同，能够保证出现意外状况或者断带时张力调节辊的移动方向为避免膜卷破坏的方向，能够有效避免张力调节辊在意外状况下的非受控动作带来的安全风险，保障生产安全。同时，将第一方向设为指向放卷方向能够减小换卷或断带接带时反转放出的膜卷过长，进而导致接带耗时太长影响生产效率。
在一些实施例中，膜卷传送方法还包括：响应于膜卷的张力值满足预设条件，获取张力调节辊所处的当前位置；判断当前位置是否偏离预设位置；响应于当前位置偏离预设位置，控制伺服电机驱动张力调节辊以预设速度移动至预设位置，根据预设移动速度调节膜卷在张力调节辊的放卷侧的第一速度和在张力调节辊的收卷侧的第二速度中的至少一者，以使得在张力调节辊的移动过程中膜卷的张力值满足预设条件。
本申请实施例的技术方案中，通过伺服电机主动控制张力调节辊主动返回预设位置，能够保证张力平衡状态时张力调节辊始终位于预设位置，避免不受控运动带来的风 险，同时调整第一传送辊和第二传送辊的放卷速度能够保证张力平稳的同时实现张力调节辊更快的返回预设位置，有效控制张力的波动。
本申请第三方面的实施例提供一种电子设备，其包括：至少一个处理器；以及与至少一个处理器通信连接的存储器，其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行如前述任一实施例所述的方法。
本申请第四方面的实施例提供一种计算机可读存储介质，存储有计算机程序，计算机程序被处理器执行时实现前述任一实施例所述的方法。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
附图说明
在附图中，除非另外规定，否则贯穿多个附图相同的附图标记表示相同或相似的部件或元素。这些附图不一定是按照比例绘制的。应该理解，这些附图仅描绘了根据本申请公开的一些实施方式，而不应将其视为是对本申请范围的限制。为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本申请的一些实施例，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，还可以根据附图获得其他的附图。
图1为本申请一些实施例的膜卷传送装置结构示意图；
图2为本申请另一些实施例的膜卷传送装置的结构示意图；
图3为本申请另一些实施例的膜卷传送装置的结构示意图；
图4为本申请另一些实施例的膜卷传送装置中控制单元的工作示意图；
图5为本申请一些实施例中的张力调节辊返回预设位置的结构示意图。
附图标记说明：
膜卷传送装置100，张力调节机构101，伺服电机102，张力调节辊103，连接杆104，张力传感器105，控制单元106，膜卷200，第一传送辊201，第二传送辊202，第一驱动单元2011，第二驱动单元2021，第一方向F1、第二方向F2，第一位置A1，第二位置A2、第三位置A3，第四位置A4，当前位置P1，投影点P2、P3，绕卷点B、C，行进方向X。
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具体实施方式
下面将结合附图对本申请技术方案的实施例进行详细的描述。以下实施例仅用于更加清楚地说明本申请的技术方案，因此只作为示例，而不能以此来限制本申请的保护范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同；本文中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请；本申请的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。
在本申请实施例的描述中，技术术语“第一”“第二”等仅用于区别不同对象，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量、特定顺序或主次关系。在本申请实施例的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
在本申请实施例的描述中，术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
在本申请实施例的描述中，术语“多个”指的是两个以上(包括两个)，同理，“多组”指的是两组以上(包括两组)，“多片”指的是两片以上(包括两片)。
在本申请实施例的描述中，技术术语“中心”“纵向”“横向”“长度”“宽度”“厚度”“上”“下”“前”“后”“左”“右”“竖直”“水平”“顶”“底”“内”“外”“顺时针”“逆时针”“轴向”“径向”“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请实施例的限制。
在本申请实施例的描述中，除非另有明确的规定和限定，技术术语“安装”“相连”“连接”“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；也可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相 连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请实施例中的具体含义。
目前，从市场形势的发展来看，动力电池的应用越加广泛。动力电池不仅被应用于水力、火力、风力和太阳能电站等储能电源系统，而且还被广泛应用于电动自行车、电动摩托车、电动汽车等电动交通工具，以及军事装备和航空航天等多个领域。随着动力电池应用领域的不断扩大，其市场的需求量也在不断地扩增。
动力电池中包括电池单体。电极极片是单体电池的主要组成部分，直接决定电池的电化学性能以及安全性。电池极片由金属集流体和均匀的涂覆在金属集流体上的涂层组成。涂布工艺即是在集流体膜卷上涂覆涂层的工艺过程，是电池生产制造过程中不可缺少的一个重要环节，涂布工艺的好坏对于电池的质量有着十分重要的影响；因此，为保障电池的生产质量，在箔材膜卷的传送过程中要时刻保持膜卷的张力平衡，否则就会影响到涂布的均匀性和一致性，进而影响到电池的质量。
本申请人注意到，膜卷通过传送辊的转动进行传送，在一些情形中，张力调节机构布置在两个传送辊之间以调节膜卷传送时的张力，张力调节机构可以包括摆杆、位于摆杆一端的张力调节辊，以及驱动摆杆的浮辊气缸，浮辊气缸根据膜卷的张力变化控制比例阀输出，同时还可以设置电位计去检测摆杆的摆动位置，为了限制摆杆的活动范围，设置高限位和低限位。申请人经过研究发现，浮辊气缸的比例阀控制响应速度较慢，气动控制的精度不高，使得张力波动范围较大，高限位和低限位的设置虽然控制摆杆的摆动幅度，但是也限制了张力调节辊的调节范围，减小了张力调节的缓冲余量，当出现一些意外情况时无法满足调节的需要，使得故障恢复需要耗费更多的时间，进而影响生产进度。
基于以上考虑，为了解决膜卷传送的张力稳定问题，保障生产的安全性，缩短故障恢复时间，提高生产效率。申请人经过深入研究，设计了一种膜卷传送装置和膜卷传送方法、电子设备和计算机可读存储介质。本申请的技术方案，设置张力调节辊，采用伺服电机驱动张力调节辊移动以及时响应张力波动并进行调节，减小膜卷张力的波动范围，提高生产的安全性和生产效率。
本申请实施例公开的电池单体可以但不限用于车辆、船舶或飞行器等用电装置中。可以使用具备本申请公开的电池单体、电池等组成该用电装置的电源系统，这样，有利于缓解并自动调节电芯膨胀力恶化，补充电解液消耗，提升电池性能的稳定性和电池寿命。
本申请实施例提供一种使用电池作为电源的用电装置，用电装置可以为但不限于手机、平板、笔记本电脑、电动玩具、电动工具、电瓶车、电动汽车、轮船、航天器等等。其中，电动玩具可以包括固定式或移动式的电动玩具，例如，游戏机、电动汽车玩具、电动轮船玩具和电动飞机玩具等等，航天器可以包括飞机、火箭、航天飞机和宇宙飞船等等。
电池单体为构成电池的基本单元，电池单体包括外壳、电极组件和电解液，电极组件由正极极片、负极极片和隔离膜组成。电池单体主要依靠金属离子在正极极片和负极极片之间移动来工作。正极极片包括正极集流体和正极活性物质层，正极活性物质层涂覆于正极集流体的表面，未涂敷正极活性物质层的正极集流体凸出于已涂覆正极活性物质层的正极集流体，未涂敷正极活性物质层的正极集流体作为正极极耳。以锂离子电池为例，正极集流体的材料可以为铝，正极活性物质可以为钴酸锂、磷酸铁锂、三元锂或锰酸锂等。负极极片包括负极集流体和负极活性物质层，负极活性物质层涂覆于负极集流体的表面，未涂敷负极活性物质层的负极集流体凸出于已涂覆负极活性物质层的负极集流体，未涂敷负极活性物质层的负极集流体作为负极极耳。负极集流体的材料可以为铜，负极活性物质可以为碳或硅等。在电池单体的制造过程中，在正极集流体上涂覆正极活性物质层以及在负极集流体上涂覆负极活性物质层的过程即称为涂布工艺过程，利用涂布工艺所得到的具有涂覆层的集流体卷材称为膜卷。
本申请第一方面的实施例提供一种膜卷传送装置100，如图1所示，膜卷传送装置100包括：张力调节机构101和张力传感器105，张力调节机构101包括伺服电机102和张力调节辊103，张力调节辊103抵接膜卷200的表面，伺服电机102的输出端与张力调节辊103刚性连接，张力传感器105用于检测膜卷200传送时的张力值，伺服电机102可以根据张力传感器105检测到的张力值相对应的驱动张力调节辊103移动，从而实现对膜卷200的张力进行调节。
示例性的，膜卷200在第一传送辊201和第二传送辊202的作用下沿行进方向X传送，依次经过第一传送辊201、张力调节辊103、第二传送辊202，其中，第一传送辊201既可以是放卷辊，也可以是中间传送辊；第二传送辊202既可以是收卷辊，也可以是中间传送辊，还可以是驱动辊。示例性的，如图1所示，第一传送辊201为放卷辊，第二传送辊202为中间传送辊。可以理解是，张力传感器105的数量可以是一个，也可以是多个。伺服电机102可以是旋转伺服电机，也可以是直线伺服电机，伺服电机102通过连接杆104与张力调节辊103传动连接。
本申请实施例的技术方案中，伺服电机具有反应速度快、控制精度高的优点，采用伺服电机驱动张力调节辊移动来调节膜卷的张力，能够实现更快的响应速度，提高张力调节的精度，伺服电机驱动张力调节辊移动的可控性更强，因此无需设置高限位和低限位，增大调节范围，可以省去放卷轴反转收料流程，提高故障恢复效率。
另一方面，伺服电机可以设置编码器，能够精准的获取伺服电机输出的扭矩，在采用伺服电机与张力传感器相配合的方案中，可以利用伺服电机的输出扭矩对张力传感器进行自动标定，以节省后续使用过程中张力传感器的标定所需花费的时间，提高电池极片的涂布质量和生产效率。
根据本申请的一些实施例，张力调节辊103被配置为：响应于张力传感器105检测的膜卷传送时的张力值大于第一阈值，驱动张力调节辊103向第一方向F1移动；响应于张力传感器105检测的膜卷传送时的张力值小于第一阈值且大于第二阈值，驱动张力调节辊103向第二方向F2移动；第一阈值大于第二阈值，第二方向F2与第一方向F1不同。
在示例中，第一阈值为膜卷传送时需要保持的预设张力值，膜卷传送时的张力值小于第一阈值时，表明此时膜卷变得松弛，对应的是膜卷传送状态为松带状态；而当膜卷传送时的张力值大于第一阈值时，表明膜卷变得紧绷，对应的是膜卷传送状态为紧带状态。对应于不同的传送状态，驱动张力调节辊向不同的方向移动，以保持膜卷传送时张力保持稳定。
通过张力传感器实时检测膜卷的张力值，并由伺服电机根据张力值驱动张力调节辊移动，能够及时根据膜卷的张力变化进行快速调节，实现更快的响应速度，减小张力波动范围。
根据本申请的一些实施例，张力调节辊103被配置为在膜卷200断带的情况下，停止移动或者向预设规避方向移动。
在示例中，预设规避方向为根据传送方向和传送辊的位置预先设定的避开其他物体或人员位置的方向。
本实施例中，将张力调节辊设置为在膜卷断带的情况下停止移动或者向预设规避方向移动，可以明确张力调节辊在断带时的运动方向，避免出现非受控动作而导致意外发生，提高装置运行的安全性和稳定性。
根据本申请的一些实施例，张力调节辊103被配置为响应于膜卷200传送时的张力值小于或等于第三阈值，停止移动或者向预设规避方向移动，第三阈值小于或等于第二阈值。
本实施例中，膜卷发生断带时，膜卷的张力值会迅速减小至0。本实施例中，设定小于或等于第二阈值的第三阈值作为判断膜卷是否发生异常的认定标准，当膜卷张力值小于或等于第三阈值时，此时就认定膜卷处于异常状态，例如发生断带，控制张力调节辊停止移动或者向预设规避方向移动，能够保证传送作业的安全，避免出现非受控动作。
根据本申请的一些实施例，张力调节辊103被配置为响应于膜卷200传送时的张力值的下降速率大于第四阈值，停止移动或者向预设规避方向移动。
本实施例中，由于断带时膜卷的张力会在短时间内迅速降至0，将膜卷传送时的张力的下降速率作为判断膜卷与否异常的标准，能够更及时、准确的识别出膜卷的异常状态，避免其他干扰因素导致的张力异变而在判断是否异常时发生错判而导致停机，提高装置的稳定性。
根据本申请的一些实施例，预设规避方向与第一方向F1相同。
本实施例中，第一方向是膜卷张力减小的方向，将预设规避方向设置为与第一方向相同能够保证出现意外状况或者断带时张力调节辊的移动方向为避免膜卷破坏的方向，能够有效避免张力调节辊在意外状况下的非受控动作带来的安全风险，保障生产安全。
根据本申请的一些实施例，如图2和图3所示，第一方向F1是放卷方向。
示例中，膜卷的传送是从放卷辊出发向接收辊的方向行进，放卷方向是指膜卷传送时相对张力传送辊靠近放卷辊所在的一侧的方向。
本实施例中，考虑断带后需要对膜卷完成重新接带，这就需要先将膜卷放出一部分，在完成接带后再重新启动传送，直至膜卷张力达到预设张力值。本实施例中，张力调节辊在断带后主动向放卷侧移动，就可以减少为了接带而释放的膜卷长度，同时接带完成后，将膜卷张力恢复至所需的张力值需要的时间也更短，提高断带换卷的调试效率。
根据本申请的一些实施例，如图1所示，张力传感器105被配置在张力调节辊103上。
本实施例中，将张力传感器直接布置在张力调节辊上，能够更准确的测定与张力调节辊接触的膜卷的张力值，避免检测误差导致张力调节辊的错误移动，同时有利于检测信号的传送，实现更快的张力调节响应，减小膜卷张力的波动范围。
根据本申请的一些实施例，如图4所示，膜卷传送装置100还包括控制单元106，控制单元与张力传感器105、伺服电机102电连接。
控制单元106可以根据张力传感器105检测到的膜卷200传送时的张力值从而驱动张力调节辊103移动对膜卷200的张力进行调节。
在示例中，控制单元可以将检测到的张力值与预设张力值进行PID运算，并根据运算结果控制伺服电机106的输出扭矩和转速，实现驱动张力调节辊的移动。
控制单元采用PID运算能够及时根据膜卷传送时的张力变化控制伺服电机的输出参数，实现张力调节的快速响应，进而直接驱动连接杆带动张力调节辊移动，使得膜卷张力始终围绕预设张力值波动，减小张力波动范围，提高生产效率。
本申请第二方面的实施例提供一种膜卷传送装置的控制方法，其包括：获取膜卷200的张力值，基于膜卷200的张力值，驱动张力调节辊103移动以调节膜卷200的张力。
示例性的，如图1所示，膜卷200依次卷绕第一传送辊201、张力调节辊103以及第二传送辊202，张力传感器105用于检测膜卷200传送时的张力值，可以采用伺服电机102驱动张力调节辊103向着靠近或远离膜卷200的表面的方向移动，以将膜卷200传送时的张力值维持在理想的波动范围内。
张力调节机构根据检测的膜卷的张力值驱动张力调节辊移动来调节膜卷的张力，能够实现更快的响应速度，提高张力调节的精度，采用伺服电机驱动可以取消了张力调节辊附近的高限位和低限位的设置，增大调节范围，从而省去放卷轴反转收料流程，提高故障恢复效率，提高电池极片的涂布质量和生产效率。
根据本申请的一些实施例，如图2和图3所示，基于张力传感器检测的膜卷传送时的张力值，驱动张力调节辊移动以调节膜卷的张力包括：响应于检测的张力值大于第一阈值，驱动张力调节辊103向第一方向F1移动；响应于检测的张力值小于第二阈值且大于第三阈值，驱动张力调节辊103向第二方向F2移动；响应于检测的张力值小于或等于第三阈值，驱动张力调节辊103停止移动或向预设规避方向移动；其中，第一阈值大于第二阈值，第二阈值大于或等于第三阈值，第二方向与第一方向不同。
示例性的，第一阈值为膜卷传送时需要保持的预设张力值，当张力值大于第一阈值时膜卷会被认定为紧带状态，当膜卷张力小于第一阈值而大于第二阈值时膜卷是处于松带状态，第二阈值和第三阈值是人为设定的张力值，大于第二阈值可以认定为膜卷的张力变化仍处于正常波动范围，可以通过正常的移动张力调节辊的方式进行调节，第三阈 值是判断膜卷是否断带的判断阈值，由于膜卷断带时张力会迅速下降到0，因此，当检测到的张力值小于或等于第三阈值，才会认为膜卷发生了异常，例如发生断带。可以理解的是，第二阈值是大于或等于第三阈值的一个设定张力值，
如图2和图3所示，当检测到的膜卷200的张力值小于第一阈值时而大于第二阈值时，判断膜卷200处于松带状态，伺服电机102驱动张力调节辊103从第一位置A1移动至第二位置A2，此时张力调节辊103将膜卷200的张力值重新调整至预设张力值的大小。当检测到膜卷200的张力大于第一阈值时，判断膜卷200处于紧带状态，伺服电机102驱动张力调节辊103从第一位置A1移动至第三位置A3，使得膜卷200的张力值重新调整至预设张力值的大小，当检测到的膜卷200的张力值小于第三阈值时，判断膜卷200处于异常状态，伺服电机102控制张力调节辊103停止以后，或向第四位置A4方向移动。
通过张力传感器实时监测膜卷传送时的张力值，并控制伺服电机根据张力值的变化及时响应，根据膜卷处于紧带、松带或异常状态，分别驱动张力调节辊移动以调整张力，特别是针对张力显著变小时的异常状态，主动控制张力调节辊停止移动或向预设规避方向移动，实现对张力调节辊的主动控制，避免非受控动作出现，提高膜卷传送的安全性和可靠性。
根据本申请的一些实施例，基于张力传感器105检测的膜卷200传送时的张力值，驱动张力调节辊103移动以调节膜卷200的张力包括：响应于检测的张力值大于或等于第一阈值，驱动张力调节辊103向第一方向F1移动；响应于检测的张力值小于第一阈值且大于第二阈值，驱动张力调节辊103向第二方向F2移动；响应于检测的张力值的下降速率大于或等于第四阈值，驱动张力调节辊103停止移动或向预设规避方向移动，其中，第一阈值大于第二阈值，第二方向F2与第一方向F1不同。
可以理解的是，张力值的上升速率是指张力值在单位时间内的增大值，下降速率则是张力值在单位时间内的减小值，上升速率或下降速率越大，表明增大或减小得越快。膜卷发生断带时张力会在短时间内迅速将为0，这个过程中膜卷张力的下降速率较大，通过检测这一变化可以很好的提前识别膜卷是否有断带风险，进而主动控制张力调节辊的运动。可以理解的是，第四阈值是人为根据断带时张力的变化速率选定的一个阈值。
本实施例中，通过对膜卷张力的变化速率来判断膜卷的传送状态是否异常，从而更准确的识别出膜卷的异常状态并针对性的进行调节，避免误判导致的错误动作，同时也能避免出现非受控动作导致意外发生。
根据本申请的一些实施例，响应于膜卷200断带，驱动张力调节辊103停止移动或者向预设规避方向移动。
在示例中，当膜卷发生断带后，由伺服电机主动控制张力调节辊的运动，使其停止或向预设规避方向移动。膜卷断带状态可以从张力传感器检测的张力值来判断，也可以通过其他检测结果判断，例如CCD相机检测。
本实施例中，针对膜卷断带时的张力调节辊的运动方式，避免出现断带后仍然依据张力值的变化而移动的非受控动作出现，保证周围设备和人员的安全。
根据本申请的一些实施例，预设规避方向与第一方向相同，第一方向是放卷方向。
本实施例中，将预设规避方向设置为使膜卷张力减小的第一方向相同，能够保证出现意外状况或者断带时张力调节辊的移动方向为避免膜卷破坏的方向，能够有效避免张力调节辊在意外状况下的非受控动作带来的安全风险，保障生产安全。同时，将第一方向设为指向放卷方向能够减小换卷或断带接带时反转放出的膜卷过长，进而导致接带耗时太长影响生产效率。
根据本申请的一些实施例，如图2和图3所示，膜卷传送装置的控制方法还包括：响应于膜卷200的张力值满足预设条件，获取张力调节辊103的当前位置，判断张力调节辊103的当前位置相对预设位置是否发生偏离；响应于张力调节辊103的当前位置相对预设位置发生偏离，控制伺服电机102驱动张力调节辊103以预设速度移动至预设位置；基于预设移动速度调节膜卷200在张力调节辊103的放卷侧的第一速度和在张力调节辊103的收卷侧的第二速度中的至少一者，以使得在张力调节辊103的移动过程中膜卷200的张力值满足预设条件。
示例性的，膜卷的张力值满足预设条件是指检测的膜卷的张力值等于第一阈值，或与第一阈值的差值很小，此时可以认为膜卷处于恒张力或近似恒张力状态下，此时张力调节辊已经完成了一次张力调节。膜卷传送都是从放卷辊传出直至接收辊收卷。放卷侧是指膜卷相对张力调节辊靠近放卷辊的一侧，收卷侧是膜卷相对张力调节辊靠近接收辊的一侧。可以理解的是，膜卷张力的波动主要就是来自于放卷侧和收卷侧的速度不一致，使得膜卷变得松弛或紧张而导致的。预设位置是张力调节辊移动的一个中间位置，按照预设传送状态下，膜卷处于第一阈值的张力下，张力调节辊所在的位置，后续膜卷张力发生波动时张力调节辊就会相对预设位置移动以维持膜卷张力。可以理解的是，放卷侧的第一速度就是位于放卷侧的第一传送辊的放卷速度，收卷侧的第二速度就是位于收卷 处的第二传送辊的收卷速度；张力调节辊的移动过程中膜卷的张力值满足预设条件是指膜卷的张力维持恒定或近似恒定，以满足膜卷恒张力传动的要求。
张力调节辊返回预设位置包括被动返回和主动返回，被动返回是通过调整第一传送辊或第二传送辊的旋转速度，通过对膜卷两端的传送速度进行调节，使得膜卷的张力发生变化，再由伺服电机根据张力变化驱动张力调节辊移动至预设位置。主动返回是由伺服电机主动给张力调节辊施加动力，使其以预设的速度返回至预设位置，此时为了保持膜卷的张力稳定，
需要控制第一传送辊或第二传送辊的旋转速度，使得第一传送辊和第二传送辊之间的膜卷长度变化适应张力传送辊的移动速度，使得膜卷的张力始终保持稳定。主动返回相对于被动返回，其调整速度更快，基于程序控制能够实现膜卷恒张力状态下的张力调节辊位置变化，膜卷张力的波动范围会更小。示例性的，当张力调节辊103移动至第二位置A2时，膜卷200的张力值恢复至预设张力值，控制伺服电机102驱动张力调节辊103以预设速度返回第一位置A1，为了保持返回过程中膜卷的张力不再波动，此时需要根据张力调节辊的位置和预设速度调整第一传送辊201或第二传送辊202的旋转速度，以适应张力调节辊103在保持膜卷200恒张力的情况下返回。
本实施例中，通过伺服电机主动控制张力调节辊主动返回预设位置，能够保证张力平衡状态时张力调节辊始终位于预设位置，避免不受控运动带来的风险，同时调整第一传送辊和第二传送辊的放卷速度能够保证张力平稳的同时实现张力调节辊更快的返回预设位置，有效控制张力的波动。
本申请第三方面的实施例提供一种电子设备，其包括：至少一个处理器；以及与至少一个处理器通信连接的存储器，其中，存储器存储有可被至少一个处理器执行的指令，指令被所述至少一个处理器执行，以使至少一个处理器能够执行如前述任一实施例所述的膜卷传送方法。
本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SOC)、负载可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一 个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置和该至少一个输出装置。
本申请第四方面的实施例提供一种计算机可读存储介质，存储有计算机程序，计算机程序被处理器执行时实现前述任一实施例所述的膜卷传送方法。
计算机可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
如图3-图5所示，膜卷传送装置100包括张力调节机构101、张力传感器105和控制单元106。张力调节机构101包括伺服电机102、张力调节辊103和连接杆104，连接杆104传动连接伺服电机102和张力调节辊103。
第一传送辊201为放卷辊，第二传送辊202为驱动辊，膜卷200依次绕过第一传送辊201和第二传送辊202，使得在第一传送辊201和第二传送辊202配合转动下，膜卷200能够实现向行进方向X传送，张力调节机构101包括张力调节辊103和伺服电机102，其中张力调节辊103布置在第一传送辊201和第二传送辊202之间并抵接膜卷200的表面，伺服电机102为直线伺服电机，伺服电机102的输出端通过连接杆104与张力调节辊103连接，以驱动张力调节辊103直线往复运动。
在膜卷200传送时，张力传感器105检测膜卷200的张力值，并将张力值数据传输到控制单元106，控制单元106根据检测到的张力值与预设张力值做PID运算，并根据运算结果控制伺服电机102的输出参数，由伺服电机102通过连接杆104驱动张力调节辊103按照预设工况移动直至检测的张力值等于预设张力值，可以包括：响应于张力传感器105检测的张力值大于或等于第一阈值，控制单元106控制伺服电机102驱动张力调节辊103向第一方向F1移动；响应于张力传感器105检测的张力值小于第一阈值且大于第二阈值，控制单元106控制伺服电机102驱动张力调节辊103向第二方向F2移动；响应于张力传感器105检测的张力值小于或等于第三阈值，控制单元106控制伺服电机102驱动张力调节辊103向第一方向F1移动；响应于张力传感器105检测的张力值 的下降速率大于或等于第四阈值，控制单元106控制伺服电机102驱动张力调节辊103向第一方向F1移动；响应于膜卷200断带，控制单元106控制伺服电机102驱动张力调节辊103向第一方向F1移动。
当张力调节至第一阈值后，根据伺服电机102的输出数据，可以计算出张力调节辊103的位置相对第一位置A1的偏离距离，控制单元106控制伺服电机102驱动张力调节辊103返回至第一位置A1。
如图5所示，伺服电机102为直线伺服电机，连接杆104为沿水平位置布置的传动丝杆，根据伺服电机的旋转编码器采集的数据计算出张力调节辊103的当前位置P1，伺服电机102将驱动张力调节辊103以线速度V返回至第一位置A1，根据第一传送辊201和张力传感器105的绕卷点B、C可以确定在连接杆104的中心线上的投影点P3和P2，以及卷绕点B与投影点P3之间的距离D2和卷绕点C与投影点P2之间的距离D4，由于第一位置A1是设定的位置，这样第一位置A1到投影点P2和投影点P3的距离就是可以确定的，当获取到当前位置P1相对第一位置A1的距离后，即可得到当前位置P1与投影点P2之间的距离D3、当前位置P1与投影点P3之间的距离D1。
根据以上参数，控制单元106可以对第一驱动单元2011和第二驱动单元2021的转速进行控制，使得二者的角速度差能够保证张力调节辊103返回时膜卷200的张力维持稳定。具体计算公式如下：
其中，ω1为第一传送辊的旋转角速度，r1为第一传送辊上膜卷到辊轴中心的距离，ω2为第二传送辊的旋转角速度，r2为第二传送辊上膜卷到辊轴中心的距离，v为张力调节辊的移动速度，t为移动时间。
上述公式可以根据张力调节辊的移动速度和移动时间实时的计算出第一传送辊和第二传送辊的角速度的关系，进而使得张力调节辊移动时膜卷张力能够始终保持预设张力值，减小张力波动范围，同时，控制单元106还能结合张力传感器105的实时检测数据进行不断的修正第一传送辊和第二传送辊的速度，实现动态精细化控制，满足膜卷传送的精度要求，保证生产的稳定性，提高生产效率。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特 征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围，其均应涵盖在本申请的权利要求和说明书的范围当中。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (17)

  1. 一种膜卷传送装置，包括：
    张力调节机构，包括张力调节辊和伺服电机，所述张力调节辊用于抵接所述膜卷的表面，所述伺服电机的输出端与所述张力调节辊刚性连接，用于驱动所述张力调节辊移动以调节所述膜卷的张力；
    张力传感器，用于检测所述膜卷传送时的张力值；
    其中，所述伺服电机被配置为基于所述张力值驱动所述张力调节辊。
  2. 根据权利要求1所述的装置，其中，所述张力调节辊被配置为：
    响应于所述张力值大于第一阈值，驱动所述张力调节辊向第一方向移动；
    响应于所述张力值小于第一阈值且大于第二阈值，驱动所述张力调节辊向第二方向移动，
    其中，所述第一阈值大于所述第二阈值，所述第二方向与所述第一方向不同。
  3. 根据权利要求1或2所述的装置，其中，所述张力调节辊被配置为在所述膜卷断带的情况下，停止移动或者向预设规避方向移动。
  4. 根据权利要求2所述的装置，其中，所述张力调节辊被配置为响应于所述张力值小于或等于第三阈值，停止移动或者向预设规避方向移动，所述第三阈值小于或等于所述第二阈值。
  5. 根据权利要求2或4所述的装置，其中，所述张力调节辊被配置为响应于所述张力值的下降速率大于第四阈值，停止移动或者向预设规避方向移动。
  6. 根据权利要求3至5中任一项所述的装置，其中，所述预设规避方向与所述第一方向相同。
  7. 根据权利要求6所述的装置，其中，所述第一方向是放卷方向。
  8. 根据权利要求1至7中任一项所述的装置，其中，所述张力传感器被配置在所述张力调节辊上。
  9. 根据权利要求1至8中任一项所述的装置，其中，还包括控制单元，所述控制单元电连接所述张力传感器和所述伺服电机，所述控制单元被配置用于响应于所述张力传感器输出的所述张力值来控制所述伺服电机。
  10. 一种膜卷传送装置的控制方法，其中，包括以下步骤：
    获取膜卷的张力值，
    基于所述张力值，驱动张力调节辊移动以调节所述膜卷的张力。
  11. 根据权利要求10所述的控制方法，其中，所述基于所述张力值，驱动所述张力调节辊移动以调节所述膜卷的张力包括：
    响应于所述张力值大于第一阈值，驱动所述张力调节辊向第一方向移动；
    响应于所述张力值小于第一阈值且大于第二阈值，驱动所述张力调节辊向第二方向移动；
    响应于所述张力值小于或等于第三阈值，驱动所述张力调节辊停止移动或向预设规避方向移动；
    其中，所述第一阈值大于所述第二阈值，所述第二阈值大于或等于所述第三阈值，所述第二方向与所述第一方向不同。
  12. 根据权利要求10或11所述的控制方法，其中，所述基于所述张力值，驱动张力调节辊移动以调节所述膜卷的张力包括：
    响应于所述张力值大于第一阈值，驱动所述张力调节辊向第一方向移动；
    响应于所述张力值小于第一阈值且大于第二阈值，驱动所述张力调节辊向第二方向移动；
    响应于所述张力值的下降速率大于或等于第四阈值，驱动所述张力调节辊停止移动或向预设规避方向移动，
    其中，所述第一阈值大于所述第二阈值，所述第二方向与所述第一方向不同。
  13. 根据权利要求10至12中任一项所述的控制方法，其中，还包括步骤：响应于所述膜卷断带，驱动所述张力调节辊停止移动或者向预设规避方向移动。
  14. 根据权利要求11至13中任一项所述的控制方法，其中，所述预设规避方向与所述第一方向相同，所述第一方向是放卷方向。
  15. 根据权利要求10至14中任一项所述的控制方法，其中，还包括：
    响应于所述膜卷的张力值满足预设条件，获取所述张力调节辊所处的当前位置；
    判断所述当前位置是否偏离预设位置；
    响应于所述当前位置偏离所述预设位置，控制伺服电机驱动所述张力调节辊以预设速度移动至所述预设位置；
    根据所述预设移动速度调节所述膜卷在所述张力调节辊的放卷侧的第一速度和在所述张力调节辊的收卷侧的第二速度中的至少一者，以使得在所述张力调节辊的移动过程中所述膜卷的张力值满足预设条件。
  16. 一种电子设备，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器，其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求10-15中任一项所述的方法。
  17. 一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时实现权利要求10-15中任一所述的方法。
PCT/CN2023/102427 2022-09-08 2023-06-26 膜卷传送装置及其控制方法、电子设备和存储介质 WO2024051280A1 (zh)

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