Motion control system, method, device and storage medium for high-speed battery shelling machine

Abstract

The present invention provides a motion control system, method, device and storage medium of a high-speed battery shell-entering machine. The method is applied to the motion control system of the high-speed battery shell-entering machine. The motion control system of the high-speed battery shell-entering machine includes a control device, a driving mechanism, a shell transport mechanism, a battery cell transport mechanism and a shell-entering mechanism, wherein the shell-entering mechanism includes a push rod for pushing the battery cell, the push rod, the shell transport mechanism and the battery cell transport mechanism are respectively connected to the driving mechanism, and the control device is respectively connected to the driving mechanism, the shell transport mechanism, the battery cell transport mechanism and the shell-entering mechanism; the motion control method includes: controlling the driving mechanism to drive the battery cell transport mechanism to transport the battery cell to the top of the push rod; controlling the driving mechanism to drive the shell transport mechanism to transport the shell to the top of the battery cell; according to a preset stage division rule, segmentally controlling the driving mechanism to drive the push rod to move at different moving speeds so that the push rod pushes the battery cell to stably enter the shell.

Description

Technical Field

[0001] The present invention relates to the technical field of battery manufacturing, and in particular to a motion control system, method, device and storage medium of a high-speed battery shelling machine. Background Art

[0002] With the rapid development of electronic technology, the use of electronic products has become more and more widespread, and the battery industry has also developed rapidly. Among them, lithium-ion cylindrical batteries are a type of battery commonly used in daily life. They are generally composed of a shell, a battery cell in the shell, insulating gaskets at both ends of the battery cell, and a cover plate and conductive terminals sealed at both ends of the shell. The production process of lithium batteries mainly includes the production of battery cells, battery cell shelling, packaging, and battery pack assembly into battery components. In the above production process, battery cell shelling is a very critical link. In the battery cell shelling, the speed at which the battery cell is placed into the battery cell shell determines the efficiency of production. The current battery cell shelling machine has a slow processing efficiency in the battery cell shelling link and the battery cell is prone to collide with the shell, damaging the battery. Summary of the invention

[0003] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0004] The embodiments of the present invention provide a motion control system, method, device and storage medium of a high-speed battery shell-entering machine, which can stably and safely load battery cells into a battery shell without causing damage to the battery cells and the shell, and at the same time, improve the efficiency of battery cell shell-entering.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling a high-speed battery shell entry motion, which is applied to a motion control system of a high-speed battery shell entry machine, wherein the motion control system of the high-speed battery shell entry machine comprises a control device, a driving mechanism, a shell transport mechanism, a cell transport mechanism and a shell entry mechanism, wherein the shell entry mechanism comprises a push rod for pushing the cell, the push rod, the shell transport mechanism and the cell transport mechanism are respectively connected to the driving mechanism, and the control device is respectively connected to the driving mechanism, the shell transport mechanism, the cell transport mechanism and the shell entry mechanism;

[0006] The battery high-speed shell entry motion control method comprises:

[0007] Control the driving mechanism to drive the battery cell transport mechanism to transport the battery cell to just above the push rod; control the driving mechanism to drive the shell transport mechanism to transport the shell to just above the battery cell;

[0008] According to a preset stage division rule, the driving mechanism is controlled in sections to drive the push rod to move at different moving speeds, so that the push rod pushes the battery cell to stably enter the housing.

[0009] The high-speed battery shell entry control method according to the embodiment of the present invention has at least the following beneficial effects: the driving mechanism is used to drive the battery cell transport mechanism and the shell transport mechanism to move the battery cell to the top of the push rod, and the shell is moved to the top of the battery cell, so as to help the push rod to stably push the battery cell into the shell. Through the preset stage division rules, the driving mechanism is controlled to drive the push rod to move at different speeds in different stages, so that the battery cell can stably enter the shell without causing damage to the battery cell and the shell, and at the same time, the efficiency of battery cell entry into the shell is improved.

[0010] In some embodiments of the present invention, the step of controlling the driving mechanism to drive the push rod to move at different moving speeds according to a preset stage division rule, so that the push rod pushes the battery cell to stably enter the housing, includes:

[0011] According to a preset stage division rule, the driving process of the driving mechanism is divided into a preparatory stage, a pushing stage, a stabilization stage and a termination stage;

[0012] When the driving process is in the preparatory stage, controlling the driving mechanism to drive the ejector rod to move at a first moving speed;

[0013] When the driving process is in the pushing stage, controlling the driving mechanism to drive the ejector rod to move at a second moving speed, wherein the second moving speed is greater than the first moving speed;

[0014] When the driving process is in the stable stage, controlling the driving mechanism to drive the push rod to move at a third moving speed, wherein the third moving speed is greater than the second moving speed;

[0015] When the driving process is in the termination stage, the driving mechanism is controlled to drive the push rod to move at a first acceleration to slow down the moving speed of the push rod until the push rod stops.

[0016] In some embodiments of the present invention, the driving process of the driving mechanism is divided into a preparatory stage, a pushing stage, a stabilization stage and a termination stage according to a preset stage division rule, including:

[0017] The driving process in which the driving mechanism drives the push rod to move the battery cell from a preset initial position to a preset preparatory position is divided into a preparatory stage, wherein the initial position is characterized by the position of the battery cell when it first contacts the push rod, and the preparatory position is characterized by the position of the battery cell when the top of the battery cell and the bottom of the shell are at the same horizontal height;

[0018] The driving process in which the driving mechanism drives the push rod to push the battery cell from the preparation position to the preset front position is divided into a pushing stage, and the front position is characterized by the position of the battery cell when the length of the battery cell entering the shell reaches a first length;

[0019] The driving process in which the driving mechanism drives the push rod to push the battery cell from the front section to the preset rear section is divided into a stable stage, and the rear section is characterized by the position of the battery cell when the length of the battery cell entering the shell reaches a second length, and the second length is greater than the first length;

[0020] The driving process of the driving mechanism driving the push rod to push the battery cell from the rear section to the preset final section is divided into a termination stage, and the final section is characterized by the position of the battery cell when the top of the battery cell contacts the top of the shell.

[0021] In some embodiments of the present invention, the driving process is characterized by the driving duration of the driving mechanism, or the displacement of the push rod driven by the driving mechanism.

[0022] In some embodiments of the present invention, the battery cell transport mechanism includes a cross turntable for adjusting the direction of the battery cell, the cross turntable is provided with a plurality of limit channels for placing the battery cell, both ends of the limit channels are respectively provided with laser sensors for detecting the position of the battery cell, the cross turntable is connected to the driving mechanism, and all the laser sensors are respectively connected to the control device;

[0023] The controlling the driving mechanism to drive the battery cell transporting mechanism to transport the battery cell to above the shell insertion mechanism includes:

[0024] Obtaining detection conditions of detection signals emitted by all the laser sensors;

[0025] When the detection condition satisfies the safety warning condition, controlling the driving mechanism to stop driving the cross turntable;

[0026] When the detection condition does not meet the safety warning condition, controlling the driving mechanism to drive the cross turntable to rotate, so as to transport the battery cell to the upper part of the shell insertion mechanism;

[0027] The safety warning condition is that only detection signals emitted by some of the laser sensors located in the same limit channel are detected.

[0028] In some embodiments of the present invention, the motion control system of the battery high-speed shell-entering machine includes a reverse material detection device, which includes a front and back detection sensor, a rotating platform, and a lifting component connected to the rotating platform, the front and back detection sensor is located on one side of the rotating platform, and the front and back detection sensor is used to detect the position of the bottom plate of the shell within a preset range, the lifting component and the rotating platform are respectively connected to the driving mechanism, and the front and back detection sensor is connected to the control device;

[0029] Before the driving mechanism is controlled to drive the shell transport mechanism to transport the shell to above the shell insertion mechanism, the method includes:

[0030] Acquire the positive and negative signals detected by the positive and negative detection sensor;

[0031] When the positive and negative signals meet the preset steering conditions, the driving mechanism is controlled to drive the lifting component to raise the rotating platform, the driving mechanism is controlled to drive the rotating platform to drive the shell to rotate horizontally 180°, and the driving mechanism is controlled to drive the lifting component to lower the height of the rotating platform.

[0032] In some embodiments of the present invention, the motion control system of the battery high-speed shelling machine includes a battery core diameter detection mechanism, a conveyor belt and a waste collection mechanism, the diameter detection mechanism includes a movable lifting block and a diameter detection module for detecting the lifting displacement of the movable lifting block, the outlet end of the diameter detection mechanism is connected to the conveyor belt, one end of the conveyor belt is connected to the waste collection mechanism, and the other end is connected to the battery core transportation mechanism, the diameter detection module is connected to the control device, and the conveyor belt and the movable lifting block are respectively connected to the driving mechanism;

[0033] Before the controlling the driving mechanism to drive the battery cell transporting mechanism to transport the battery cell to above the shell insertion mechanism, the method includes:

[0034] Controlling the driving mechanism to drive the movable lifting block to perform lifting motion, so that the movable lifting block abuts against the battery cell directly below;

[0035] Obtaining the lifting displacement detected by the diameter detection module;

[0036] When the lifting displacement meets the diameter qualification condition, controlling the conveyor belt to move the battery cell toward the battery cell transport mechanism;

[0037] When the lifting displacement does not meet the diameter qualification condition, controlling the conveyor belt to move the battery cell toward the waste collection mechanism;

[0038] The diameter qualification condition is that the lifting displacement is within a preset diameter value range.

[0039] In a second aspect, an embodiment of the present invention provides a motion control system for a high-speed battery shell-entering machine, characterized in that it includes: a control device, a driving mechanism, a shell transport mechanism, a battery cell transport mechanism and a shell-entering mechanism, wherein the shell-entering mechanism includes a push rod for pushing the battery cell, the push rod, the shell transport mechanism and the battery cell transport mechanism are respectively connected to the driving mechanism, and the control device is respectively connected to the driving mechanism, the shell transport mechanism, the battery cell transport mechanism and the shell-entering mechanism;

[0040] Wherein, the control device is used for:

[0041] Control the driving mechanism to drive the battery cell transport mechanism to transport the battery cell to just above the push rod; control the driving mechanism to drive the shell transport mechanism to transport the shell to just above the battery cell;

[0042] According to a preset stage division rule, the driving mechanism is controlled in sections to drive the push rod to move at different moving speeds, so that the push rod pushes the battery cell to stably enter the housing.

[0043] In a third aspect, an embodiment of the present invention provides an operation control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the battery high-speed shell entry motion control method as described in any one of claims 1 to 7 when executing the computer program.

[0044] In a third aspect, an embodiment of the present invention provides an operation control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the battery high-speed shell entry motion control method as described in the first aspect above is implemented.

[0045] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the battery high-speed shell entry motion control method as described in the first aspect above.

[0046] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0048] Figure 1 It is a structural schematic diagram of a motion control system of a high-speed battery shell-entering machine provided by an embodiment of the present invention;

[0049] Figure 2 It is a structural schematic diagram of a shell insertion mechanism provided by an embodiment of the present invention;

[0050] Figure 3a It is a partial structural schematic diagram of a motion control system of a high-speed battery shell-entering machine provided by an embodiment of the present invention;

[0051] Figure 3b is a schematic diagram of the structure of a cross turntable provided by an embodiment of the present invention;

[0052] Figure 4 is a schematic structural diagram of a material backflow detection device provided in an embodiment of the present invention;

[0053] Figure 5 is a flow chart of a method for controlling a battery's high-speed shell-entering motion provided by an embodiment of the present invention;

[0054] Figure 6 yes Figure 5 Schematic diagram of the specific implementation process of step S200;

[0055] Figure 7 yes Figure 6 Schematic diagram of the specific implementation process of step S210;

[0056] Figure 8 yes Figure 5 Schematic diagram of the specific implementation process of step S100;

[0057] Fig. 9 yes Figure 5 Schematic diagram of the specific implementation process of step S100;

[0058] Fig.10 yes Figure 5 Schematic diagram of the specific implementation process before step S100;

[0059] Fig.11 It is a schematic diagram of the division of different stages provided by an embodiment of the present invention;

[0060] Fig.12 It is a structural schematic diagram of the operation control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0062] It should be noted that although the functional modules are divided in the module diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in a different order than the module division in the module or the order in the flowchart.

[0063] The embodiment of the present invention provides a motion control system, method, device and storage medium of a high-speed battery shell-entering machine. The high-speed battery shell-entering motion control method uses a driving mechanism to drive a battery cell transport mechanism and a shell transport mechanism to move the battery cell to the top of a push rod, and move the shell to the top of the battery cell, thereby helping the push rod to stably push the battery cell into the shell. Through a preset stage division rule, the driving mechanism is controlled to drive the push rod to move at different speeds in different stages, so that the battery cell can stably enter the shell without causing damage to the battery cell and the shell, and at the same time, the efficiency of battery cell shell entry is improved.

[0064] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0065] refer to Figure 1 , a schematic structural diagram of a motion control system of a high-speed battery shelling machine provided by an embodiment of the present invention.

[0066] exist Figure 1 In the example, the motion control system 100 of the high-speed battery shell-entering machine of the embodiment of the present invention includes a control device, a driving mechanism, a shell transport mechanism 110, a battery cell transport mechanism 120 and a shell-entering mechanism 130, wherein the shell-entering mechanism 130 includes a push rod 131 for pushing the battery cell, the push rod 131, the shell transport mechanism 110 and the battery cell transport mechanism 120 are respectively connected to the driving mechanism, and the control device is respectively connected to the driving mechanism, the shell transport mechanism 110, the battery cell transport mechanism 120 and the shell-entering mechanism 130.

[0067] It can be understood that the motion control system 100 of the battery high-speed shelling machine includes a control device, a driving mechanism, a shell transport mechanism 110, a battery cell transport mechanism 120 and a shelling mechanism 130, wherein the shelling mechanism 130 includes a push rod 131 for pushing the battery cell, the push rod 131, the shell transport mechanism 110 and the battery cell transport mechanism 120 are respectively connected to the driving mechanism, and the control device is respectively connected to the driving mechanism, the shell transport mechanism 110, the battery cell transport mechanism 120 and the shelling mechanism 130; in addition, the control device can control the driving mechanism to drive the battery cell transport mechanism 120 to transport the battery cell to the top of the push rod 131; control the driving mechanism to drive the shell transport mechanism 110 to transport the shell to the top of the battery cell; and the control device can control the driving mechanism in sections according to the preset stage division rules to drive the push rod 131 to move at different moving speeds, so that the push rod 131 pushes the battery cell to stably enter the shell.

[0068] It should be noted that the control device includes a control display screen, and the display interface in the control display screen is provided with a menu bar fixed on the side, that is, no matter in which functional interface, the user can switch the functional interface through the menu bar on the side of the display interface. In addition, in the event of an abnormality in the operation of the motion control system 100 of the high-speed battery shelling machine, an alarm is automatically issued to remind the user to check. The control device is also provided with an abnormal reset button. When the abnormal reset button is triggered, the control device can control all mechanisms in the motion control system 100 of the high-speed battery shelling machine to reset, so as to facilitate the restart of the motion control system 100 of the high-speed battery shelling machine and user maintenance.

[0069] Reference Figure 2 , Figure 2 1 is a schematic diagram of the structure of the shell insertion mechanism 130. It can be understood that the battery cell transport mechanism 120 transports the battery cell to the top of the push rod 131, and the shell transport mechanism 110 can be transported to the top of the battery cell, so that when the driving mechanism drives the push rod 131, the battery cell is pushed into the shell under the action of the push rod 131, completing the operation of the battery cell entering the shell.

[0070] Reference Figure 3a and Figure 3b , Figure 3a It is a partial structural diagram of a motion control system 100 of a high-speed battery shelling machine. Figure 3b It is a schematic structural diagram of the cross turntable 121.

[0071] It can be understood that the battery cell transport mechanism 120 includes a cross turntable 121, and the cross turntable 121 is provided with a plurality of limit channels 122, wherein the battery cell can be placed in the limit channel 122, so that the battery cell adjusts its direction as the cross turntable 121 rotates, thereby facilitating the subsequent shelling operation of the battery cell. In addition, the motion control system 100 of the battery high-speed shelling machine includes a battery cell diameter detection mechanism 140, a conveyor belt 150 and a waste collection mechanism 160. Among them, the battery cell diameter detection mechanism 140 includes a movable lifting block 141 and a diameter detection module, and the movable lifting block 141 can be driven by the driving mechanism to perform lifting and lowering movements, so that the movable lifting block 141 is in contact with the battery cell directly below, and the diameter detection module can be a displacement sensor, and the displacement sensor is arranged on the movable lifting block 141, therefore, the displacement of the movable lifting block 141 can be detected by the displacement sensor to calculate the diameter length of the battery cell. The outlet of the cell diameter detection module is connected to the conveyor belt 150. Therefore, after the cell with qualified diameter length passes through the diameter detection module, the conveyor belt 150 can be used to move the cell transport mechanism 120 for loading. The cell with unqualified diameter length can be used to move the conveyor belt 150 to the waste collection mechanism 160 for recycling.

[0072] Reference Figure 4 , Figure 4 1 is a schematic diagram of the structure of the reverse material detection device 170. It can be understood that the reverse material detection device 170 includes a positive and negative detection sensor 171, a rotating platform 172, and a lifting component 173 connected to the rotating platform 172. The positive and negative detection sensor 171 is located on one side of the rotating platform 172. The positive and negative detection sensor 171 is used to detect the position of the bottom plate of the shell within a preset range, so as to determine the opening direction of the shell, and the lifting component 173 can lift the shell with the wrong opening direction, and adjust the opening direction of the shell by rotating the rotating platform 172 180°. Then, the height of the rotating platform 172 is lowered by the lifting component 173, and the shell after the opening direction is adjusted is lowered to the position before lifting.

[0073] The motion control system 100 of the high-speed battery shell-entering machine described in the embodiment of the present invention is intended to more clearly illustrate the technical solution of the embodiment of the present invention, and does not constitute a limitation on the technical solution provided by the embodiment of the present invention. Those skilled in the art will appreciate that with the evolution of the motion control system 100 of the high-speed battery shell-entering machine and the emergence of new application scenarios, the technical solution provided by the embodiment of the present invention is equally applicable to similar technical problems.

[0074] It can be understood by those skilled in the art that Figure 1 The structure of the motion control system 100 of the battery high-speed shell-entering machine shown in the figure does not constitute a limitation on the embodiment of the present invention, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0075] Based on the structure of the motion control system 100 of the high-speed battery shell-entering machine described above, various embodiments of the operation control method of the motion control system 100 of the high-speed battery shell-entering machine of the present invention are proposed.

[0076] refer to Figure 5 , Figure 5 is a flow chart of an operation control method of a motion control system of a high-speed battery shell-entering machine provided by an embodiment of the present invention. The operation control method of the motion control system of the high-speed battery shell-entering machine can be applied to Figure 1 The motion control system 100 of the high-speed battery shell-entering machine shown in the figure, and the operation control method of the motion control system of the high-speed battery shell-entering machine include but are not limited to the following steps:

[0077] Step S100, controlling the driving mechanism to drive the battery cell transport mechanism to transport the battery cell to just above the top rod; controlling the driving mechanism to drive the shell transport mechanism to transport the shell to just above the battery cell;

[0078] Step S200, according to a preset stage division rule, the driving mechanism is controlled in sections to drive the ejector to move at different moving speeds, so that the ejector pushes the battery cell to stably enter the housing.

[0079] It can be understood that the control device controls the driving mechanism to drive the battery cell transport mechanism and the shell transport mechanism respectively, so that the battery cell transport mechanism transports the battery cell to the top of the ejector pin in the shell entry mechanism, and at the same time, the shell transport mechanism, under the driving action of the driving mechanism, transports the shell to the top of the ejector pin in the shell entry mechanism and is located above the battery cell. Using the pre-set stage division rules, the process of the driving mechanism driving the ejector pin to move is divided into multiple stages. In different stages, the driving mechanism drives the ejector pin to move at different moving speeds, so that the battery cell can stably and quickly enter the shell without colliding with the shell, and at the same time, the efficiency of the battery cell entering the shell is improved.

[0080] It should be noted that the control device includes a first controller and a second controller, and the driving mechanism also includes a first driver and a second driver accordingly. The first driver is connected to the first controller, the second driver is connected to the second controller, and the first controller and the second controller are connected to each other. The first controller and the second controller can perform data transmission. The first controller and the second controller can control different operations respectively. For example, the first controller can be responsible for driving and controlling the battery cell transport mechanism and the shell insertion mechanism. The first controller drives the battery cell transport mechanism and the shell insertion mechanism respectively by controlling the first driver to realize the operations of battery cell transport and battery cell shell insertion. The second controller can be responsible for driving and controlling the shell transport mechanism. The second controller drives the shell transport mechanism by controlling the second driver to complete the shell transport operation.

[0081] Reference Figure 6 , Figure 5 Step S200 in the illustrated embodiment includes but is not limited to the following steps:

[0082] Step S210, dividing the driving process of the driving mechanism into a preparation stage, a pushing stage, a stabilization stage and a termination stage according to a preset stage division rule;

[0083] Step S220, when the driving process is in the preparatory stage, controlling the driving mechanism to drive the ejector to move at a first moving speed;

[0084] Step S230, when the driving process is in the pushing stage, controlling the driving mechanism to drive the ejector to move at a second moving speed, wherein the second moving speed is greater than the first moving speed;

[0085] Step S240, when the driving process is in a stable stage, controlling the driving mechanism to drive the ejector to move at a third moving speed, wherein the third moving speed is greater than the second moving speed;

[0086] Step S250, when the driving process is in the termination stage, controlling the driving mechanism to drive the ejector to move at a first acceleration to slow down the moving speed of the ejector until the ejector stops.

[0087] It is understandable that the driving mechanism can divide the driving process of the push rod into the preparatory stage, the push-in stage, the stabilization stage and the termination stage by using the preset stage division rule. In the preparatory stage, the push rod is driven to move at the first moving speed, that is, a slow speed and a slow acceleration, which helps the position of the battery cell and the shell to correspond so as to push the battery cell into the shell, and can avoid the top of the battery cell and the bottom of the shell from scratching. The high-speed movement increases the scratching area and the scratching depth, damages the battery cell and the shell, and produces waste.

[0088] During the pushing stage, the push rod is driven to move at a second moving speed that is faster than the first moving speed, that is, a medium speed and a medium acceleration, so that the battery cell can be stably pushed into the shell, which can prevent the battery cell from shaking and colliding with the shell during high-speed movement.

[0089] In the stable stage, it can be considered that the battery cell has been able to stably enter the shell. In order to improve the efficiency of the battery cell entering the shell, the push rod is driven to move at a third moving speed that is faster than the second moving speed. Since some battery cells have been in the shell after the preparatory stage and the pushing stage, the push rod is pushed by a fast speed and a large acceleration, so that the battery cell is quickly pushed into the shell, shortening the shell entry time.

[0090] In the termination stage, it can be considered that the battery cell is about to complete the shell insertion operation. In order to avoid the collision between the top of the battery cell and the bottom shell of the shell, the push rod is driven to move by the first acceleration, that is, the push rod and the battery cell are rapidly decelerated, so that the battery cell moving at high speed reduces its speed and contacts the bottom shell of the shell at a slow speed to complete the shell insertion operation, thereby achieving a stable, safe and fast battery cell shell insertion operation.

[0091] Reference Figure 7 , Figure 6 Step S210 in the illustrated embodiment includes but is not limited to the following steps:

[0092] Step S211, the driving process of the driving mechanism driving the push rod to move the battery cell from a preset initial position to a preset preparatory position is divided into a preparatory stage, the initial position is characterized by the position of the battery cell when the push rod first contacts the battery cell, and the preparatory position is characterized by the position of the battery cell when the top of the battery cell and the bottom of the shell are at the same horizontal height;

[0093] Step S212, the driving process of the driving mechanism driving the push rod to push the battery cell from the preparation position to the preset front position is divided into a pushing stage, and the front position is characterized by the position of the battery cell when the length of the battery cell entering the shell reaches a first length;

[0094] Step S213, dividing the driving process of the driving mechanism driving the push rod to push the battery cell from the front section to the preset rear section into a stable stage, the rear section being characterized by the position of the battery cell when the length of the battery cell entering the shell reaches a second length, and the second length is greater than the first length;

[0095] Step S214, the driving process of the driving mechanism driving the push rod to push the battery cell from the rear position to the preset final position is divided into a termination stage, and the final position is characterized by the position of the battery cell when the top of the battery cell contacts the top of the shell.

[0096] Combination Fig.11 , Fig.11 The schematic diagram of the division of each stage in the driving process of the driving mechanism is shown. It can be understood that when the push rod and the battery cell are in initial contact, the current position of the battery cell is recorded as the initial position, that is, the initial position indicates that the battery cell is about to be pushed into the shell by the push rod. When the height of the top of the battery cell is equal to the height of the bottom of the shell, the position of the battery cell is the preparation position, that is, it indicates that the battery cell begins to enter the shell. Therefore, the battery cell moves from the initial position to the preparation position, and the distance between the battery cell and the shell is gradually shortened. The battery cell has not yet entered the shell, and thus, the process of moving the battery cell from the initial position to the preparation position is divided into the preparation stage. In order to prevent the battery cell from shaking and failing to align with the shell, resulting in a collision between the battery cell and the shell, in the process of moving the battery cell from the initial position to the preparation position, the battery cell is driven to move at a slow speed to improve the stability and safety of the battery cell entering the shell.

[0097] When the top of the battery cell and the bottom of the shell are at the same horizontal height, that is, the preset preparation position, it means that the battery cell is about to enter the shell. When the portion of the battery cell that exceeds the set proportion enters the shell, it can be considered that the battery cell can stably and safely enter the shell, that is, the front section of the battery cell. The front section is characterized by the length of the battery cell entering the shell reaching a first length. The first length can be one-third of the total length of the battery cell or one-half of the total length of the battery cell. Therefore, the process of moving the battery cell from the preparation position to the front section is recorded as the pushing stage. During the pushing stage, a medium moving speed is required to drive the battery cell to move to avoid shaking of the battery cell and improve the stability of the battery cell entering the shell.

[0098] The preset rear section is characterized by the length of the battery cell entering the shell reaching a second length. For example, the second length can be three quarters of the total length of the battery cell. When three quarters of the total length of the battery cell has entered the shell, the battery cell has reached the rear section. When the battery cell reaches the rear section, it can be considered that the battery cell has been able to stably enter the shell and the battery cell is about to reach the top of the shell. In the process of the battery cell moving from the front section to the rear section, the stability of the battery cell movement is higher and the probability of the battery cell colliding with the shell is lower, thereby dividing the process of the battery cell moving from the front section to the rear section into a stable stage. In the stable stage, the control device can use a higher movement speed to quickly push the battery cell into the shell, thereby improving the efficiency of the battery cell entering the shell.

[0099] The preset final position is represented by the position of the battery cell when the top of the battery cell contacts the top of the shell, that is, the end position of the battery cell in the battery cell shell insertion operation. When the battery cell is in the final position, it means that the battery cell shell insertion operation is completed. The process of the battery cell from the rear position to the final position is divided into a termination stage. In order to prevent the battery cell from moving at a high speed and causing the top of the battery cell to collide with the top of the shell, causing damage to the battery cell or the shell, the movement speed of the battery cell needs to be reduced in the termination stage, such as using a control device to control the drive mechanism to drive at a first acceleration, that is, to perform a rapid deceleration operation on the top rod, so that the battery cell stays steadily in the final position, thereby improving the safety of the battery cell shell insertion.

[0100] It should be noted that the driving mechanism includes a battery cell pushing mechanism, which adopts a stepper motor. The stepper motor can adjust the speed of the driving push rod, that is, adjust the speed of the battery cell movement, so that the battery cell can stably enter the shell without causing damage to the battery cell and the shell. At the same time, the efficiency of the battery cell entering the shell is improved.

[0101] It should be noted that a positioning sensor can be provided on the shell insertion mechanism, and the positioning sensor is connected to the control device. The positioning sensor is used to record the displacement of the push rod, and the position of the battery cell is determined by measuring the displacement of the push rod, so that the control device can control the movement of the battery cell at different speeds in different stages.

[0102] In addition, a time recording module connected to the control device may be provided, and the time recording module is used to record the duration of each stage respectively. Therefore, the battery cell is driven to move at different speeds at different times according to the duration of the control device driving the battery cell to move and the duration of each stage recorded in advance.

[0103] In addition, the positioning sensor can record the displacement of the mandrel, and when the displacement of the mandrel reaches the limit threshold, that is, when the mandrel reaches the final position, stop the movement of the mandrel to prevent the mandrel from overshooting and damaging the battery cell and the shell. Among them, a limit sensor can be set at the horizontal position of the mandrel at the final position, and when the mandrel reaches the limit height of the limit sensor, the drive mechanism stops driving the mandrel to prevent the mandrel from overshooting and damaging the battery cell and the shell.

[0104] It should be noted that in order to improve the accuracy of the battery cell entering the shell, a reset detector is also provided in the shell entry mechanism. The reset detector can detect whether the push rod is reset. After each time the battery cell is pushed into the shell, the push rod is reset under the drive of the driving mechanism until the position of the push rod reaches the reset point detected by the reset detector.

[0105] Reference Figure 8 , Figure 5 Step S100 in the illustrated embodiment includes but is not limited to the following steps:

[0106] Step S110, obtaining detection conditions of detection signals emitted by all laser sensors;

[0107] Step S120, when the detection condition meets the safety warning condition, the driving mechanism is controlled to stop driving the cross turntable;

[0108] Step S121, when the detection situation does not meet the safety warning condition, controlling the driving mechanism to drive the cross turntable to rotate, so as to transport the battery cell to the top of the shell insertion mechanism;

[0109] It is understandable that the battery cell transport mechanism includes a cross turntable, and the cross turntable is provided with a plurality of limiting channels for placing the battery cells. Therefore, the battery cell transport mechanism can adjust the direction of the battery cell through the cross turntable to facilitate the subsequent battery cell shelling operation. Laser sensors are provided at both ends of the limiting channel, and the laser sensors can detect the position of the battery cell. The laser sensors are connected to the control device, so that the control device can obtain the detection situation according to the detection signals emitted by each laser sensor, and judge the position of the battery cell in the limiting channel through the detection signals of each laser sensor, and judge whether the bottom of the battery cell is in contact with the bottom of the limiting channel. Since the bottom of the battery cell is not in contact with the bottom of the limiting channel and the cross turntable rotates, the battery cell is easy to fall off from the limiting channel during the process of adjusting the direction. By detecting the detection signal emitted by the laser sensor in the same limiting channel, when only the detection signal emitted by some laser sensors in the same limiting channel can be detected, it means that the position of the battery cell is abnormal. For example, the bottom of the battery cell is not in contact with the bottom of the limiting channel, so the laser sensor set at the bottom of the limiting channel cannot detect the battery cell. Therefore, the safety warning condition is set to detect only the detection signals emitted by some laser sensors located in the same limit channel.

[0110] When the detection situation meets the safety warning conditions, that is, only the detection signals emitted by some laser sensors in the same limit channel are detected, it means that the position of the battery cell is abnormal. The control device controls the drive mechanism to stop driving the cross turntable to prevent the battery cell from falling off or bumping, causing damage to the battery cell or equipment.

[0111] When the detection situation does not meet the safety warning conditions, that is, the detection signals emitted by the laser sensors at both ends of the same limit channel are detected, indicating that the position of the battery cell is normal, the controller device controls the drive mechanism to drive the cross turntable to rotate and adjust the direction of the battery cell to transport the battery cell to the top of the shell insertion mechanism, so as to facilitate the subsequent battery cell shell insertion operation.

[0112] Reference Fig. 9 , Figure 5 Step S100 in the illustrated embodiment includes but is not limited to the following steps:

[0113] Step S130, obtaining a positive and negative signal detected by a positive and negative detection sensor;

[0114] Step S140, when the positive and negative signals meet the preset turning conditions, the driving mechanism is controlled to drive the lifting component to raise the rotating platform, the driving mechanism is controlled to drive the rotating platform to drive the shell to rotate horizontally 180°, and the driving mechanism is controlled to drive the lifting component to lower the height of the rotating platform.

[0115] It is understandable that, since the shell is open at the top, the battery cell enters from the top of the shell, that is, the bottom surface of the shell is provided with a metal bottom plate, and the direction of the shell can be determined by detecting the position of the metal bottom plate. The motion control system of the high-speed battery shell-entering machine includes a reverse material detection device for detecting the direction of the shell, and the reverse material detection device includes a front and back detection sensor, a rotating platform and a lifting component, wherein the lifting component is connected to the rotating platform, and the front and back detection sensor is arranged on one side of the rotating platform. Since the direction of the shell is wrong during the feeding process, it will affect the subsequent battery cell shelling operation, causing the battery cell to collide with the shell, so it is necessary to detect whether the direction of the shell is correct. The front and back detection sensor can detect metal materials placed opposite to itself within a certain range. Therefore, when the opening of the shell faces the front and back detection sensor, and the metal bottom plate exceeds the detection range of the front and back detection sensor, the front and back detection sensor cannot detect the metal material, and it can be considered that the direction of the shell is wrong, and the first front and back signal is sent. When the bottom of the shell faces the front and back detection sensor, that is, the metal bottom plate is close to one side of the front and back detection sensor, the metal bottom plate enters the detection range of the front and back detection sensor, so that the front and back detection sensor can detect that metal material has passed, and it can be considered that the direction of the shell is correct, and a second front and back signal is sent. Therefore, the control device is connected to the front and back detection sensor, and the control device can obtain the front and back signals detected by the front and back detection sensor to determine whether the direction of the shell is correct.

[0116] The preset turning condition is that the positive and negative signals are the first positive and negative signals, that is, the reverse detection sensor cannot detect the metal material, the direction of the shell is wrong, and the direction of the shell needs to be adjusted. Therefore, the control device controls the drive mechanism to drive the lifting component to perform an upward movement, so the rotating platform and the shell on the rotating platform with the wrong direction are also driven by the lifting component to rise. When the rotating platform is lifted to a preset height, the control device controls the drive mechanism to drive the rotating platform to rotate 180° horizontally relative to the lifting component, so that the shell on the rotating platform rotates with the rotation of the rotating platform, the direction of the shell changes, and the direction of the shell is adjusted to the correct direction. After the horizontal rotation operation of the rotating platform is completed, the control device controls the drive mechanism to drive the lifting component to descend, and the height of the rotating platform and the shell is lowered until the rotating platform and the shell are lowered to the height before the turn.

[0117] In addition, the front and back detection sensor can also detect the distance between itself and the bottom plate, and determine the direction of the shell by judging whether the distance is within the preset forward distance range. For example, when the distance is within the preset forward distance range, it can be considered that the direction of the shell is correct. When the distance exceeds the preset forward range, it can be considered that the direction of the shell is wrong and the direction of the shell needs to be adjusted.

[0118] It should be noted that the driving mechanism includes a cylinder and a stepper motor, and the cylinder is used to drive the lifting component to perform lifting movement, which can increase the moving speed of the lifting component. The stepper motor is used to drive the rotating platform to perform horizontal rotation, which can improve the stability of the housing turning.

[0119] Reference Fig.10 , Figure 5 In the illustrated embodiment, step S100 includes but is not limited to the following steps:

[0120] Step S150, controlling the driving mechanism to drive the movable lifting block to perform lifting motion, so that the movable lifting block abuts against the battery cell directly below;

[0121] Step S160, obtaining the lifting displacement detected by the diameter detection module;

[0122] Step S170, when the lifting displacement meets the diameter qualification condition, controlling the conveyor belt to move the battery cell to the battery cell transport mechanism;

[0123] Step S171, when the lifting displacement does not meet the diameter qualification condition, control the conveyor belt to move the battery cell to the waste collection mechanism.

[0124] It can be understood that the motion control system of the battery high-speed shelling machine includes a battery cell diameter detection mechanism, a conveyor belt and a waste collection mechanism. The diameter detection mechanism includes a movable lifting block and a diameter detection module for detecting the lifting displacement of the movable lifting block. The outlet end of the diameter detection mechanism is connected to the conveyor belt, one end of the conveyor belt is connected to the waste collection mechanism, and the other end is connected to the battery cell transportation mechanism. The diameter detection module is connected to the control device, and the conveyor belt and the movable lifting block are respectively connected to the driving mechanism; and the diameter qualification condition is that the lifting displacement is within the preset diameter value range.

[0125] The control device controls the driving mechanism to drive the movable lifting block to perform lifting movement until the movable lifting block abuts against the battery cell directly below. The lifting displacement of the movable lifting block during the lifting movement is measured by the diameter detection module, so that the diameter length of the battery cell can be calculated by the lifting displacement and the original height of the movable lifting block. Therefore, the control device can determine whether the diameter length of the battery cell is qualified based on the lifting displacement. When the lifting displacement is within the preset diameter value range, that is, the lifting displacement meets the diameter qualification condition, indicating that the diameter length of the battery cell is qualified, the driving mechanism is controlled to drive the conveyor belt to move the battery cell to the battery cell transportation mechanism for subsequent battery cell shelling operations.

[0126] When the lifting displacement is outside the preset diameter value range, that is, the lifting displacement does not meet the diameter qualification condition, it means that the diameter length of the battery cell is unqualified and the battery cell cannot be used for subsequent battery cell shelling operations. Then the driving mechanism is controlled to drive the conveyor belt to move in the opposite direction to move the battery cell to the waste collection mechanism for unloading.

[0127] The battery cell shelling machine in the related art uses laser to test the diameter of the battery cell, but the cleanliness and glossiness of the test board surface will affect the accuracy of the diameter detection result, and the reaction speed of laser detection is slow. When the machine is running at a fast speed, it is easy to make misdetection or missed detection. Therefore, the contact detection using the movable lifting block is not affected by the surface cleanliness and glossiness, and can improve the reaction speed of the detection and reduce the occurrence of errors.

[0128] Reference Fig.12 , Fig.12 The operation control device 1200 provided in an embodiment of the present invention is shown. The operation control device 1200 includes a memory 1210, a processor 1220, and a computer program stored in the memory 1210 and executable on the processor 1220. When the processor 1220 executes the computer program, the high-speed battery shell entry motion control method in the above embodiment is implemented.

[0129] The memory 1210 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs and non-transitory computer executable programs, such as the battery high-speed shell entry motion control method in the above embodiment of the present invention. The processor 1220 implements the battery high-speed shell entry motion control method in the above embodiment of the present invention by running the non-transitory software programs and instructions stored in the memory 1210.

[0130] The memory 1210 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data required to execute the battery high-speed shell movement control method in the above embodiment, etc. In addition, the memory 1210 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. It should be noted that the memory 1210 may optionally include a memory remotely arranged relative to the processor 1220, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0131] The non-transient software program and instructions required to implement the battery high-speed shell movement control method in the above embodiment are stored in the memory. When executed by one or more processors, the battery high-speed shell movement control method in the above embodiment is executed, for example, the above described Figure 5 Steps S100 to S200 of the method, Figure 6 Steps S210 to S250 of the method, Figure 7 Steps S211 to S214 of the method, Figure 8 Steps S110 to S121 of the method, Fig. 9 Steps S130 to S140 of the method, Fig.10 Method steps S150 to S171.

[0132] The present invention also provides a computer-readable storage medium, which stores computer-executable instructions, which are used to enable a computer to execute the battery high-speed shell movement control method in the above embodiment, for example, to execute the above described Figure 5 Steps S100 to S200 of the method, Figure 6 Steps S210 to S250 of the method, Figure 7 Steps S211 to S214 of the method, Figure 8 Steps S110 to S121 of the method, Fig. 9 Steps S130 to S140 of the method, Fig.10 Method steps S150 to S171.

[0133] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0134] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0135] It should be noted that the server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), as well as big data and artificial intelligence platforms.

[0136] It should be noted that all or some of the steps in the method disclosed above can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0137] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A method for controlling the high-speed movement of batteries into shells, characterized in that: A motion control system applied to a high-speed battery shell-entering machine, the motion control system of the high-speed battery shell-entering machine comprising a control device, a driving mechanism, a shell transport mechanism, a battery cell transport mechanism and a shell-entering mechanism, wherein the shell-entering mechanism comprises a push rod for pushing the battery cell, the push rod, the shell transport mechanism and the battery cell transport mechanism are respectively connected to the driving mechanism, and the control device is respectively connected to the driving mechanism, the shell transport mechanism, the battery cell transport mechanism and the shell-entering mechanism; The battery high-speed shell entry motion control method comprises: Control the driving mechanism to drive the battery cell transport mechanism to transport the battery cell to just above the push rod; control the driving mechanism to drive the shell transport mechanism to transport the shell to just above the battery cell; According to a preset stage division rule, the driving process of the driving mechanism is divided into a preparatory stage, a pushing stage, a stabilization stage and a termination stage; When the driving process is in the preparatory stage, controlling the driving mechanism to drive the ejector rod to move at a first moving speed; When the driving process is in the pushing stage, controlling the driving mechanism to drive the ejector rod to move at a second moving speed, wherein the second moving speed is greater than the first moving speed; When the driving process is in the stable stage, controlling the driving mechanism to drive the push rod to move at a third moving speed, wherein the third moving speed is greater than the second moving speed; When the driving process is in the termination stage, controlling the driving mechanism to drive the push rod to move at a first acceleration to slow down the moving speed of the push rod until the push rod stops; The driving process of the driving mechanism driving the push rod to move the battery cell from a preset initial position to a preset preparatory position is divided into a preparatory stage, wherein the initial position is characterized by the position of the battery cell when it first contacts the push rod, and the preparatory position is characterized by the position of the battery cell when the top of the battery cell and the bottom of the shell are at the same horizontal height; The driving process of the driving mechanism driving the push rod to push the battery cell from the preparation position to the preset front position is divided into a pushing stage, and the front position is characterized by the position of the battery cell when the length of the battery cell entering the shell reaches a first length; The driving process of the driving mechanism driving the push rod to push the battery cell from the front section to the preset rear section is divided into a stable stage, and the rear section is characterized by the position of the battery cell when the length of the battery cell entering the shell reaches a second length, and the second length is greater than the first length; The driving process of the driving mechanism driving the push rod to push the battery cell from the rear position to the preset final position is divided into a termination stage, and the final position is characterized by the position of the battery cell when the top of the battery cell contacts the top of the shell.

2. The method for controlling high-speed battery shell entry motion according to claim 1, characterized in that: The driving process is characterized by the driving duration of the driving mechanism, or the displacement of the push rod driven by the driving mechanism.

3. The method for controlling high-speed battery shell entry motion according to claim 1, characterized in that: The battery cell transport mechanism comprises a cross turntable for adjusting the direction of the battery cells, the cross turntable is provided with a plurality of limit channels for placing the battery cells, both ends of the limit channels are respectively provided with laser sensors for detecting the positions of the battery cells, the cross turntable is connected to the driving mechanism, and all the laser sensors are respectively connected to the control device; The controlling the driving mechanism to drive the battery cell transporting mechanism to transport the battery cell to above the shell insertion mechanism includes: Obtaining detection conditions of detection signals emitted by all the laser sensors; When the detection condition satisfies the safety warning condition, controlling the driving mechanism to stop driving the cross turntable; When the detection condition does not meet the safety warning condition, controlling the driving mechanism to drive the cross turntable to rotate, so as to transport the battery cell to the upper part of the shell insertion mechanism; The safety warning condition is that only detection signals emitted by some of the laser sensors located in the same limit channel are detected.

4. The method for controlling high-speed battery shell entry motion according to claim 1, characterized in that: The motion control system of the battery high-speed shell-entering machine includes a reverse material detection device, which includes a front and back detection sensor, a rotating platform and a lifting component connected to the rotating platform, the front and back detection sensor is located on one side of the rotating platform, and the front and back detection sensor is used to detect the position of the bottom plate of the shell within a preset range. The lifting component and the rotating platform are respectively connected to the driving mechanism, and the front and back detection sensor is connected to the control device; Before the driving mechanism is controlled to drive the shell transport mechanism to transport the shell to above the shell insertion mechanism, the method includes: Acquire the positive and negative signals detected by the positive and negative detection sensor; When the positive and negative signals meet the preset steering conditions, the driving mechanism is controlled to drive the lifting component to raise the rotating platform, the driving mechanism is controlled to drive the rotating platform to drive the shell to rotate horizontally 180°, and the driving mechanism is controlled to drive the lifting component to lower the height of the rotating platform.

5. The method for controlling high-speed battery shell entry motion according to claim 1, characterized in that: The motion control system of the battery high-speed shelling machine includes a battery core diameter detection mechanism, a conveyor belt and a waste collection mechanism. The diameter detection mechanism includes a movable lifting block and a diameter detection module for detecting the lifting displacement of the movable lifting block. The outlet end of the diameter detection mechanism is connected to the conveyor belt, one end of the conveyor belt is connected to the waste collection mechanism, and the other end is connected to the battery core transportation mechanism. The diameter detection module is connected to the control device, and the conveyor belt and the movable lifting block are respectively connected to the driving mechanism. Before the controlling the driving mechanism to drive the battery cell transporting mechanism to transport the battery cell to above the shell insertion mechanism, the method includes: Controlling the driving mechanism to drive the movable lifting block to perform lifting motion, so that the movable lifting block abuts against the battery cell directly below; Obtaining the lifting displacement detected by the diameter detection module; When the lifting displacement meets the diameter qualification condition, controlling the conveyor belt to move the battery cell toward the battery cell transport mechanism; When the lifting displacement does not meet the diameter qualification condition, controlling the conveyor belt to move the battery cell toward the waste collection mechanism; The diameter qualification condition is that the lifting displacement is within a preset diameter value range.

6. A motion control system for a high-speed battery shelling machine, characterized in that: include: A control device, a driving mechanism, a shell transport mechanism, a cell transport mechanism and a shell insertion mechanism, wherein the shell insertion mechanism includes a push rod for pushing the cell, the push rod, the shell transport mechanism and the cell transport mechanism are respectively connected to the driving mechanism, and the control device is respectively connected to the driving mechanism, the shell transport mechanism, the cell transport mechanism and the shell insertion mechanism; Wherein, the control device is used for: Control the driving mechanism to drive the battery cell transport mechanism to transport the battery cell to just above the push rod; control the driving mechanism to drive the shell transport mechanism to transport the shell to just above the battery cell; According to a preset stage division rule, the driving process of the driving mechanism is divided into a preparatory stage, a pushing stage, a stabilization stage and a termination stage; When the driving process is in the preparatory stage, controlling the driving mechanism to drive the ejector rod to move at a first moving speed; When the driving process is in the pushing stage, controlling the driving mechanism to drive the ejector rod to move at a second moving speed, wherein the second moving speed is greater than the first moving speed; When the driving process is in the stable stage, controlling the driving mechanism to drive the push rod to move at a third moving speed, wherein the third moving speed is greater than the second moving speed; When the driving process is in the termination stage, controlling the driving mechanism to drive the push rod to move at a first acceleration to slow down the moving speed of the push rod until the push rod stops; The driving process of the driving mechanism driving the push rod to move the battery cell from a preset initial position to a preset preparatory position is divided into a preparatory stage, wherein the initial position is characterized by the position of the battery cell when it first contacts the push rod, and the preparatory position is characterized by the position of the battery cell when the top of the battery cell and the bottom of the shell are at the same horizontal height; The driving process of the driving mechanism driving the push rod to push the battery cell from the preparation position to the preset front position is divided into a pushing stage, and the front position is characterized by the position of the battery cell when the length of the battery cell entering the shell reaches a first length; The driving process of the driving mechanism driving the push rod to push the battery cell from the front section to the preset rear section is divided into a stable stage, and the rear section is characterized by the position of the battery cell when the length of the battery cell entering the shell reaches a second length, and the second length is greater than the first length; The driving process of the driving mechanism driving the push rod to push the battery cell from the rear position to the preset final position is divided into a termination stage, and the final position is characterized by the position of the battery cell when the top of the battery cell contacts the top of the shell.

7. An operation control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for controlling the high-speed shell-entry movement of a battery as described in any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the battery high-speed shell entry motion control method as described in any one of claims 1 to 5 is implemented.

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