A polarity switching system and control method

Abstract

This invention relates to an electrode roll switching system and control method, comprising: an electrode roll switching robot and an electrode roll docking device; the frame of the electrode roll switching robot moves in a horizontal plane; the fork arm moves relative to the frame in the X and Z directions under the drive of the moving part; a safety error prevention device includes a first identification part for identifying the coordinate position range of the electrode roll docking device; the V-shaped docking blocks of the docking components of the electrode roll docking device rise and fall under the drive of the lifting part; the projection of the line connecting the centers of the V-shaped docking blocks of the two docking components onto the axis of the air expansion shaft of the electrode roll take-up and unwinding device on the horizontal plane coincides; the electrode roll switching robot docks with the electrode roll docking device to perform electrode roll transfer, and the electrode roll docking device docks with the electrode roll take-up and unwinding device to perform electrode roll switching. This electrode roll switching system and control method, while ensuring the accuracy of electrode roll switching, reduces the manufacturing cost of the electrode roll switching robot and improves the switching efficiency.

Description

Technical Field

[0001] This invention relates to the field of electrode roll preparation and production technology, and in particular to an electrode roll switching system and control method. Background Technology

[0002] In the lithium battery manufacturing process, electrode rolls need to be handled and loaded / unloaded between different process stages to complete the switching of electrode rolls. However, the properties of electrode rolls vary significantly between the coating, rolling, and slitting processes. These differences are mainly reflected in the following two aspects: 1. Electrode roll size and weight: The length of electrode rolls is generally 400mm to 1800mm, the weight is 300kg to 4000kg, and the diameter is 183mm to 1200mm; 2. Switching operation: The electrode roll docking height is 1400mm to 3000mm. The specific operation process is generally carried out by using a crane, forklift, or manual handling. That is, the processed electrode roll is removed from the electrode roll unloading and rewinding equipment by a switching device, and then a new electrode roll is loaded onto the electrode roll unloading and rewinding equipment. During the switching process, the operating space for the electrode roll unwinding and rewinding equipment to perform switching operations and rotation is relatively small. Switching electrode rolls requires the air shaft of the unwinding and rewinding equipment to be precisely inserted into the center hole of the electrode roll shaft, with a docking accuracy of ±1mm; otherwise, the air shaft is easily damaged, making the requirements extremely stringent. Furthermore, electrode rolls are of high value, and it is crucial to strictly avoid collisions and drops that could damage them during operation. Therefore, how to flexibly, safely, and efficiently complete the switching of electrode rolls during the production process, freeing up manpower, improving work efficiency, and shortening delivery cycles has become a major technical challenge restricting the rapid development of the current lithium battery industry.

[0003] In existing technologies, there are several ways to switch between polarities:

[0004] 1. Using a crane boom for transportation: Because the crane boom needs to be installed on a fixed track to move, it has low flexibility, large size and space occupation, and high equipment investment cost, making it unsuitable for multi-station and long-distance transportation.

[0005] 2. Using manual forklift operation: requires a large amount of manpower, has low work efficiency, high labor costs, and a high probability of errors;

[0006] 3. Use of automatic forklifts: Due to the large size of automatic forklifts, there are strict requirements on the space size of the running aisle and docking area. Unless planned in advance, the existing workshop space size generally cannot meet the operation requirements of automatic forklifts. In addition, the docking accuracy of automatic forklifts is not high, and it is difficult to achieve millimeter-level docking. Therefore, they cannot directly dock with air shafts, which also limits their application. In particular, they cannot meet the needs of automatic loading and unloading of coils in the rapidly developing coating, rolling, and slitting processes.

[0007] 4. Using AGVs as the walking chassis: Due to insufficient walking and positioning accuracy of the AGV itself, the docking and stopping accuracy is poor. To ensure that the positional error between the center of the pole roller and the air expansion shaft is within ±1mm, a mechanism with precise adjustment functions in at least three XYZ directions must be integrated into the upper layer of the AGV. However, it has the following problems: 1. Precise adjustment before each docking requires repeated position identification and correction, resulting in a low success rate of docking and low overall machine operation efficiency; 2. The structural design is complex, and the overall machine weight and cost are high; 3. One robot can only carry one electrode roll bearing station (because fine adjustment is required in the XYZ directions during docking, and if there are two bearing stations, the precision adjustment cannot meet the requirements), while the docking process of lithium battery production requires removing the electrode roll from the equipment and placing a new electrode roll, so this method requires at least two robots or one robot to make two round trips to complete the switching task, resulting in low switching efficiency and high investment costs; 4. The operating space under the electrode roll unwinding and rewinding equipment is small, while the air shaft and the mechanism for precise adjustment in three directions are in relative motion, so how to avoid collisions with the equipment and electrode rolls during the adjustment process is a technical challenge that cannot be ignored and solved.

[0008] It is evident that existing technologies have the following problems when switching electrode rolls: low level of intelligence, low docking accuracy, low switching efficiency, and easy collisions that can damage the electrode rolls during switching. Summary of the Invention

[0009] Therefore, the technical problem to be solved by the present invention is to overcome the problems of low intelligence, low docking accuracy, low switching efficiency, and easy collision and damage to the pole rolls when switching pole rolls in the prior art.

[0010] To address the aforementioned technical problems, this invention provides a pole-roll switching system, comprising: a pole-roll switching robot and a pole-roll docking device;

[0011] The pole roll switching robot includes a frame, two sets of adjustment devices, a safety error prevention device, and a robot control module. The frame moves in the horizontal planes along the X and Y directions and identifies obstacles. The two sets of adjustment devices are symmetrically arranged on the frame along the X direction. Each adjustment device includes a moving part and two fork arms for supporting the pole rolls. The fork arms move relative to the frame in the X and Z directions under the drive of the moving part. The safety error prevention device includes a first identification part for identifying the coordinate position range of the pole roll docking equipment. The frame, adjustment devices, and safety error prevention device are electrically connected to the robot control module.

[0012] The electrode roll docking device includes two docking components symmetrically arranged along the X-direction, which are fixed on both sides of the electrode roll take-up and unwinding device. Each docking component includes a V-shaped docking block, a lifting section, and a docking device control section. The V-shaped docking block is connected to the lifting section and moves up and down under the drive of the lifting section. The line connecting the centers of the V-shaped docking blocks of the two docking components coincides with the projection of the axis of the air expansion shaft of the electrode roll take-up and unwinding device onto the horizontal plane. The lifting section is electrically connected to the docking device control section.

[0013] The docking equipment control unit is electrically connected to the robot control module; the first identification unit of the safety error prevention device transmits the coordinate position range of the docking equipment to the pole roll switching robot, the pole roll switching robot docks with the pole roll docking equipment to perform pole roll transfer; the pole roll docking equipment docks with the pole roll take-up and unwinding equipment to perform pole roll switching.

[0014] In one embodiment of the present invention, the docking assembly is provided with a limiting block located outside the V-shaped docking block. The limiting block includes a horizontal plate connected to the outer wall of the V-shaped docking block and an inclined plate connected to the top of the horizontal plate. The inner surface of the inclined plate and the upper surface of the horizontal plate form an obtuse angle.

[0015] In one embodiment of the present invention, the top of the fork arm is provided with two V-shaped support slots, which are arranged in the Y direction; the two V-shaped support slots are a first V-shaped support slot and a second V-shaped support slot, the first V-shaped support slot is used to support the first electrode roll to be replaced, and the second V-shaped support slot is used to support the second electrode roll to be replaced.

[0016] The distance between the first V-shaped support groove and the center of the pole fork arm is greater than the distance between the second V-shaped support groove and the center of the pole fork arm.

[0017] In one embodiment of the present invention, the lifting part includes a push rod, a reducer, and a push rod motor, and the docking assembly also includes a lifting frame. The lifting part is disposed inside the lifting frame. The bottom end of the push rod is connected to the lifting frame, and the top end is connected to the V-shaped docking block. The push rod is connected to the reducer, and the reducer is connected to the push rod motor. The push rod motor is electrically connected to the pole roll take-up and unwinding equipment.

[0018] In one embodiment of the present invention, the first identification unit includes a camera element and a coordinate QR code. The camera element is disposed on two opposite sides in the Y direction in the polar roll switching robot, and the camera element is electrically connected to the robot control module. The coordinate QR code is disposed on the ground at the center position between the two docking components, and is arranged along the Y direction.

[0019] In one embodiment of the present invention, the second identification unit includes a first sensing switch, a second sensing switch, and a visual recognition and detection device;

[0020] The first inductive switch is located on opposite sides of the fork arm in the Y direction; the second inductive switch is located on the top of the pole roll switching robot; the detection device is located around the pole roll switching robot; the first inductive switch, the second inductive switch, and the visual recognition and detection device are electrically connected to the robot control module. In one embodiment of the present invention, the safety error prevention device further includes: a wire encoder for accurately monitoring the relative position of the two sets of adjustment devices in the X direction; the wire encoder is located between the two sets of adjustment devices and is electrically connected to the robot control module.

[0021] In one embodiment of the present invention, the moving part includes a translation module and a lifting module;

[0022] The translation module includes a translation base, a translation screw, a screw nut, and a translation motor; the translation base is fixed on the frame, the two ends of the translation screw are rotatably connected to the translation base, one end of the translation screw is connected to the translation motor, and the translation screw and the screw nut form a threaded pair.

[0023] The lifting module includes a lifting base, a lifting cylinder, and a lifting motor; the lifting base is fixedly connected to a lead screw nut, the lifting cylinder is fixed on the lifting base, the lifting motor is connected to the lifting cylinder, and the telescopic end of the lifting cylinder is connected to the fork arm.

[0024] In one embodiment of the present invention, the polar roll switching robot further includes a navigation and walking device disposed at the bottom of the frame, the navigation and walking device including two navigation detection units, four auxiliary wheels and two omnidirectional drive modules;

[0025] Two navigation detection units are arranged diagonally at the bottom of the vehicle frame. Each navigation detection unit includes a positioning sensing element and a distance sensing element.

[0026] The four auxiliary wheels are located at the four corners of the bottom of the frame;

[0027] Two omnidirectional drive modules are diagonally positioned at the bottom of the chassis, with the omnidirectional drive modules located beside the navigation detection unit. Each omnidirectional drive module includes a shock absorption module and a steering wheel, with the shock absorption module positioned between the steering wheel and the chassis.

[0028] In one embodiment of the present invention, the safety error prevention device further includes a torque sensor for monitoring the lifting weight of the adjustment device. The torque sensor is disposed on the moving part of the adjustment device and is electrically connected to the robot control module.

[0029] In one embodiment of the present invention, the safety error prevention device further includes two third inductive switches, which are respectively disposed at the center of the top of the two V-shaped support slots, and the third inductive switches are electrically connected to the robot control module.

[0030] In one embodiment of the present invention, the safety error prevention device further includes a fourth inductive switch for detecting the synchronous lifting of the fork arms of the two adjustment devices. The fourth inductive switch is disposed on the inner side of the fork arms and is electrically connected to the robot control module.

[0031] On the other hand, the present invention provides a control method for a pole roll switching system, which uses a pole roll switching robot and a pole roll docking device;

[0032] The electrode roll docking equipment is raised to the target height and positioned. The electrode roll unwinding and rewinding equipment releases the air shaft and transfers the first electrode roll to be replaced to the electrode roll docking equipment for support.

[0033] The pole roll switching robot carries the second pole roll to be replaced to the target location range, and the pole roll docking device hands over the first pole roll to be replaced to the pole roll switching robot.

[0034] After the pole roll switching robot retreats, it rotates 180° and moves back to the target location area. The pole roll switching robot then hands over the second pole roll to be replaced to the pole roll docking device.

[0035] The electrode roll docking equipment rises, and the electrode roll unwinding equipment extends its air shaft to support both ends of the second electrode roll to be replaced.

[0036] The electrode roll docking equipment and electrode roll switching robot are reset.

[0037] The technical solution of the present invention has the following advantages compared with the prior art:

[0038] The present invention discloses a polar roll switching system. During the polar roll switching process, its robot control module handles the polar roll transfer from the polar roll switching robot to the polar roll docking device, and then the polar roll docking device transfers the polar roll to the polar roll take-up and undoing device. In this embodiment, the lifting accuracy of the lifting section of the polar roll docking device to the target height is at the millimeter level, with a deviation of less than 1 mm. This ensures that the deviation in the Z direction during polar roll switching to the polar roll take-up and undoing device is within 1 mm. Furthermore, the installation level of the polar roll docking device and the polar roll take-up and undoing device is at the millimeter level. When the polar roll docking device is installed on the polar roll take-up and undoing device, it ensures that the deviation in the X and Y directions is within 1 mm. The relative deviation in direction is within 1 mm; thus, the accuracy of the polar roll switching robot in the X, Y, and Z directions can be at the centimeter level. When the polar roll switching robot and the polar roll docking device dock, the polar roll switching robot moves to the target position range with the assistance of the second and first identification units. This target position range (i.e., the movement range in the X and Y directions) is sufficient to ensure that the V-shaped support groove of the fork arm on the polar roll switching robot is aligned with the V-shaped docking block of the polar roll docking device (i.e., the fork arm can place the polar roll onto the V-shaped docking block). The accuracy level of the polar roll switching robot is at the centimeter level. Therefore, in this embodiment, by cooperating with the polar roll docking device, the manufacturing cost of the polar roll switching robot is reduced while ensuring the accuracy requirements for switching polar rolls are met. In addition, the docking accuracy of the pole roll switching robot and the pole roll docking device is at the centimeter level. With the assistance of the second identification unit and the first identification unit, this embodiment can enable the pole roll switching robot to travel between the two docking components in one go without having to adjust the positional deviation of the pole roll switching robot relative to the pole roll unwinding device multiple times. This avoids collisions that could damage the pole roll during multiple adjustments and also improves docking efficiency. Attached Figure Description

[0039] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein...

[0040] Figure 1 This is a structural diagram of a pole roll switching robot according to the present invention;

[0041] Figure 2 for Figure 1 Internal structure diagram of a pole roll switching robot for a pole roll switching system according to the present invention;

[0042] Figure 3 This is a structural diagram of the adjustment device of the pole roll switching robot of the pole roll switching system of the present invention;

[0043] Figure 4 This is a structural diagram of the pole roll docking device of the pole roll switching system of the present invention;

[0044] Figure 5 This is an internal structural diagram of the docking assembly of the pole roll docking device in the pole roll switching system of the present invention;

[0045] Figure 6 This is a structural diagram of a navigation and walking device for a polarity switching system according to the present invention;

[0046] Figure 7 This is a structural diagram of the shock absorption module and steering wheel of the pole-winding switching system of the present invention;

[0047] Figure 8 This is a schematic diagram of the assembly of the pole roll docking device and the pole roll take-up and unwinding device in a pole roll switching system according to the present invention.

[0048] Figure 9 This is a flowchart illustrating a polarity switching control method according to the present invention.

[0049] Figure 10 for Figure 9 This invention provides an alternative flowchart of a polarity switching control method.

[0050] Explanation of reference numerals in the accompanying drawings: 100, Pole-roller switching robot; 110, Frame; 120, Navigation and walking device; 121, Navigation detection unit; 122, Auxiliary wheel; 123, Omnidirectional drive module; 130, Adjustment device; 131, Moving part; 1311, Translation base; 1312, Translation screw; 1313, Screw nut; 1314, Lifting base; 1315, Lifting electric cylinder; 1316, Translation guide rail; 1317, Lifting guide rail; 1318, Lifting bracket; 132, Fork arm; 1321, V-shaped support groove; 1322, Fork arm mounting plate; 1323, Pad; 140, Safety error prevention device; 141, First inductive switch; 142, Second inductive switch; 143, Visual recognition and detection device; 1 44. Camera element; 145. Coordinate QR code; 146. Wire encoder; 147. Torque sensor; 148. Third inductive switch; 149. Fourth inductive switch; 150. Robot control module; 200. Electrode roll docking equipment; 210. Lifting frame; 220. V-shaped docking block; 230. Detection switch; 240. Docking equipment control unit; 250. Limit block; 251. Horizontal plate; 252. Inclined plate; 260. Push rod; 270. Reducer; 280. Push rod motor; 300. Vibration damping module; 310. Vibration damping chassis; 311. Waist-shaped hole; 320. Vibration damping spring; 330. Sliding sleeve; 340. Guide post; 400. Steering wheel; 500. Electrode roll; 600. Electrode roll unwinding and rewinding equipment; 610. Air shaft. Detailed Implementation

[0051] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0052] Reference Figures 1 to 7 As shown, the present invention provides a control method for a pole-roll switching system, comprising: a pole-roll switching robot 100 and a pole-roll docking device 200;

[0053] The pole-roll switching robot 100 includes a frame 110, a navigation and walking device 120, two sets of adjustment devices 130, a safety and error-proofing device 140, and a robot control module 150. The navigation and walking device 120 is located at the bottom of the frame 110 and is used to move the frame 110 in the horizontal planes in the X and Y directions and to identify obstacles. The navigation and walking device 120 can detect and move in any direction in the XY horizontal plane. The two sets of adjustment devices 130 are symmetrically arranged on the frame 110 along the X direction.

[0054] The adjustment device 130 includes a moving part 131 and two fork arms 132 for supporting the pole roll 500. The fork arms 132 are connected to the moving part 131. Driven by the moving part 131, the fork arms 132 move relative to the frame 110 in the X and Z directions. The Z direction establishes a three-dimensional rectangular coordinate system with the X and Y directions. The safety error prevention device 140 includes a first identification part for identifying the coordinate position range of the pole roll docking device 200. The navigation walking device 120, the adjustment device 130, and the first identification part of the safety error prevention device 140 are electrically connected to the robot control module 150.

[0055] The electrode roll docking device 200 includes two docking components symmetrically arranged along the X-direction, which are respectively fixed on both sides of the electrode roll take-up and unwinding device 600. Each docking component includes a lifting frame 210, a V-shaped docking block 220, a detection switch 230, a millimeter-precision lifting section, and a docking device control unit 240. The lifting section is located inside the lifting frame 210, and the V-shaped docking block 220 is located on the top of the lifting frame 210 and connected to the top of the lifting section. The V-shaped docking block 220 is raised and lowered under the drive of the lifting section and is used to support the electrode roll 500. The line connecting the centers of the V-shaped docking blocks 220 of the two docking components coincides with the projection of the axis of the air shaft 610 of the electrode roll take-up and unwinding device 600 onto the horizontal plane. The detection switch 230 is located on the V-shaped docking block 220 and is electrically connected to the docking device control unit 240. The lifting section is electrically connected to the docking device control unit 240.

[0056] Among them, the docking equipment control unit 240 is electrically connected to the robot control module 150; the first identification unit of the safety error prevention device transmits the coordinate position range of the docking equipment to the pole roll switching robot, the pole roll switching robot 100 docks with the pole roll docking equipment 200 to transfer the pole roll 500, and the pole roll docking equipment 200 docks with the pole roll take-up and unwinding equipment 600 to switch the pole roll 500.

[0057] Specifically, during the switching process of the polar roll 500, the robot control module 150 in this embodiment transfers the polar roll 500 to the polar roll docking device 200 after the polar roll switching robot 100 transfers it to the polar roll take-up and unwinding device 600. Furthermore, the lifting accuracy of the lifting section of the polar roll docking device 200 to the target height is at the millimeter level, with a deviation of less than 1 mm. This ensures that the deviation in the Z direction when switching from the polar roll 500 to the polar roll take-up and unwinding device 600 is within 1 mm. Additionally, the installation level of the polar roll docking device 200 and the polar roll take-up and unwinding device 600 is at the millimeter level. When the polar roll docking device 200 is installed on the polar roll take-up and unwinding device 600, it ensures that the deviation in the X direction is within 1 mm. The relative deviation in the Y direction is within 1 mm; thus, the accuracy of the polar roll switching robot 100 in the X, Y, and Z directions can be at the centimeter level. When the polar roll switching robot 100 docks with the polar roll docking device 200, the polar roll switching robot 100 moves to the target position range with the assistance of the first identification unit. This target position range (i.e., the movement range in the X and Y directions) can ensure that the V-shaped support slot 1321 of the fork arm 132 on the polar roll switching robot 100 is relatively aligned with the V-shaped docking block 220 of the polar roll docking device 200 (i.e., the fork arm 132 can place the polar roll 500 onto the V-shaped docking block 220). The accuracy level of the polar roll switching robot 100 is at the centimeter level. Therefore, in this embodiment, by cooperating with the polar roll switching robot 100 and the polar roll docking device 200, the manufacturing cost of the polar roll switching robot 100 is reduced while ensuring the accuracy requirements for switching the polar roll 500. In addition, the docking accuracy of the pole roll switching robot 100 and the pole roll docking device 200 is at the centimeter level. With the assistance of the first identification unit, this embodiment can enable the pole roll switching robot 100 to move between the two docking components in one go without having to adjust the positional deviation of the pole roll switching robot 100 relative to the pole roll take-up and unwinding device 600 multiple times. This avoids collision damage to the pole roll 500 during multiple adjustments and also improves docking efficiency.

[0058] The pole roll switching robot 100 in this embodiment does not require direct docking with the air shaft 610, and the docking accuracy requirement is not high. It only needs to be equipped with an adjustment device 130 with two degrees of freedom. This reduces the processing accuracy and difficulty of the pole roll switching robot 100, greatly reducing the complexity of the pole roll switching robot 100 mechanism, and thus the unit cost is low. Moreover, the pole roll switching robot 100 of this invention has the advantages of small size and weight, compact structural design, safe and reliable switching process under heavy load, omnidirectional operation, normal use in narrow spaces, and greater practicality.

[0059] The adjustment device 130 in this embodiment can move in the X direction, thus adapting to the switching of pole rolls 500 with different width specifications, and has a wide range of applications.

[0060] The safety error prevention device 140 in this embodiment can effectively monitor abnormal situations such as off-center loading, jamming, material dropping, and no response that occur during the process of switching the robot to dock with the pole roll 500.

[0061] Therefore, this invention has the advantages of simple structure, flexible operation, high expandability, strong compatibility with the 500 specification of the polar roll, and outstanding safety and error prevention performance.

[0062] In some embodiments, both the docking device control unit 240 and the robot control module 150 are equipped with communication modules, which enable wireless communication between the two. The technologies used in the communication modules include, but are not limited to, optical transmission technology (infrared optical communication) and / or near-field communication technology (such as NFC, RFID, WIFI, ZigBee, etc.) to exchange task information and confirm task completion with the docking device, ensuring that the task switching preparation is correct.

[0063] In some embodiments, the robot control module 150 integrates a controller, a wireless communication module, and a human-machine interface. The controller is used to process various instructions, such as controlling the speed, acceleration, deceleration, and displacement of the navigation walking device 120 in any direction in the horizontal plane, controlling the robot to travel precisely to the desired position, controlling the adjustment device 130 to translate, lift, and lower to achieve high coupling with the pole roll docking device 200, and controlling the information interaction between the safety error prevention device 140 and the pole roll docking device 200. The wireless communication module enables the robot control module 150 to wirelessly connect with the scheduling system (the control system of the production workshop). The human-machine interface is used to visually display the current system status and provide selection and cancellation operations for commonly used commands, such as switching pole rolls 500, transferring pole rolls 500, storing pole rolls 500, and canceling the current task.

[0064] In some embodiments, the polar roll switching robot 100 can interact with the polar roll take-up and untake-up device 600 to confirm the task requirements and completion status before and after docking, ensuring the safety and reliability of the switching process.

[0065] In some embodiments, the pole-roll switching robot 100 includes a robot scheduling system, which can be connected to the production management system to achieve automated production in the workshop.

[0066] Furthermore, the docking assembly includes a limiting block 250 located outside the V-shaped docking block 220. The limiting block 250 includes a horizontal plate 251 connected to the outer wall of the V-shaped docking block 220 and an inclined plate 252 connected to the top of the horizontal plate 251. The inner surface of the inclined plate 252 and the upper surface of the horizontal plate 251 form an obtuse angle (called the guide angle). It should be noted that, under the relative force of gravity and the V-shaped docking block 220, the pole roll 500 eventually slides down onto the top of the V-shaped docking block 220. The minimum distance between the two limiting blocks 250 is greater than the width of the pole roll 500 and the deviation is less than 1 mm. When the end face of the pole roll 500 contacts the limiting block 250, it slides downward along the guide angle under its own gravity. With the combined action of the two limiting blocks 250, the deviation of the pole roll 500 in the X direction is limited to less than 1mm. This ensures that when the pole roll docking device 200 docks with the pole roll unwinding device 600, the deviation of the pole roll 500 in the X direction relative to the air shaft 610 is less than 1mm, thus guaranteeing the accuracy of pole roll 500 switching. Specifically, the limiting block 250 further facilitates the pole roll 500 falling into the V-shaped docking block 220.

[0067] In some embodiments, the docking assembly further includes a detection switch 230, which is disposed in the V-shaped docking block 220 and electrically connected to the docking equipment control unit 240. Specifically, the detection switch 230 is used to detect whether the V-shaped docking block 220 has raised its fork to the pole roll 500 and transmits the signal to the docking equipment control unit 240. The docking equipment control unit 240 interacts with the control unit of the pole roll unwinding and rewinding device 600 to control the extension or retraction of the air shaft 610.

[0068] Furthermore, the top of the fork arm portion 132 is provided with two V-shaped support slots 1321, which are arranged in the Y direction. The two V-shaped support slots 1321 are a first V-shaped support slot 1321 and a second V-shaped support slot 1321. The first V-shaped support slot 1321 is used to support the first pole roll 500 to be replaced (i.e., the used old pole roll 500, the empty pole roll 500, which is lightweight), and the second V-shaped support slot 1321 is used to support the second pole roll 500 to be replaced (i.e., the new pole roll 500 to be replaced, the full pole roll 500, which is heavy). The distance between the first V-shaped support slot 1321 and the center of the pole roll 500 fork arm portion 132 is greater than the distance between the second V-shaped support slot 1321 and the center of the pole roll 500 fork arm portion 132.

[0069] Specifically, in this embodiment, there are two V-shaped support slots 1321. These two slots support the first and second replacement pole rolls 500, respectively. During the pole roll switching process, the pole roll switching robot 100 first lifts its fork to the second replacement pole roll 500, then moves to the pole roll docking device 200 to dock the first replacement pole roll 500. It then retreats to the front of the pole roll unwinding device 600, rotates 180° in place, and moves back to the pole roll docking device 200 to dock the second replacement pole roll 500. This eliminates the need to first lift the first replacement pole roll 500 to a storage location, then lift the second replacement pole roll 500 and move to the pole roll docking device 200 for docking. Therefore, this embodiment significantly improves the docking efficiency of the pole rolls 500 and reduces production costs.

[0070] Continue to see Figures 2-3 Furthermore, the first identification unit includes a camera element 144 and a coordinate QR code 145. The camera element 144 is disposed on opposite sides in the Y direction in the polar roll switching robot 100, and the camera element 144 is electrically connected to the robot control module 150. The coordinate QR code 145 is disposed on the ground at the center position between the two docking components, and is arranged along the Y direction.

[0071] Specifically, in this embodiment, the camera element 144 scans the coordinate QR code 145, thereby feeding back the coordinate parameters to the robot control module 150. The robot control module 150 controls the direction and distance traveled by the pole roll switching robot 100 based on the feedback information, until it stops at the target location. The camera element 144 has a centimeter-level accuracy in scanning the coordinate QR code 145, which only needs to ensure that the pole roll 500 on the fork arm 132 of the pole roll switching robot 100 is transferred to the V-shaped docking block 220 of the pole roll docking device 200.

[0072] See Figures 2-3Furthermore, the safety error-proofing device also includes a second identification unit, which includes a first inductive switch 141, a second inductive switch 142, and a visual recognition and detection device 143. The first inductive switch 141 is disposed on opposite sides in the Y direction of the fork arm portion 132; the second inductive switch 142 is disposed on the top of the pole-winding switching robot 100; the detection device is disposed around the pole-winding switching robot 100; the first inductive switch 141, the second inductive switch 142, and the visual recognition and detection device 143 are electrically connected to the robot control module 150. The first inductive switch 141 includes, but is not limited to, a distance sensing sensor and / or a photoelectric sensor.

[0073] Specifically, during docking, the first sensor switch 141 is triggered when the fork arm 132 approaches the pole roll 500 or other device to a set safe distance, to prevent the fork arm 132 from colliding with the pole roll 500 or the machine platform when the system moves in the X, Y, and Z directions. The visual recognition and detection device 143 is used to roughly monitor the obstacles around the pole roll switching robot 100, and to exchange task information with the pole roll docking device 200 and confirm task completion, ensuring that the switching task is prepared correctly. The second sensor switch 142 is used to detect obstacles around the pole roll switching robot 100 for precise monitoring, thereby avoiding collisions during the pole roll switching robot 100's movement.

[0074] Continue to see Figures 2-3 Furthermore, the safety error-proofing device 140 also includes:

[0075] A draw-wire encoder 146 is used to accurately monitor the relative position of the fork arms 132 in the X direction of the two sets of adjustment devices 130. The draw-wire encoder 146 is located between the two sets of adjustment devices 130 and is electrically connected to the robot control module 150. The draw-wire encoder 146 sends the relative position information of the two fork arms 132 to the robot control module 150. The robot control module 150 will only issue a switching operation command when the relative distance between the two fork arms 132 is greater than the width of the pole roll 500 by 20-30mm (which is sufficient to accept the pole roll 500); otherwise, a warning prompt will be given.

[0076] A torque sensor 147 is used to monitor the lifting weight of the adjustment device 130. The torque sensor 147 is installed on the moving part 131 of the adjustment device 130 and is electrically connected to the robot control module 150. The torque sensor 147 can detect whether the fork arm 132 has lifted the pole roll 500. When the lifting weight is the same as the weight of the pole roll 500, the robot control module 150 can determine that the fork arm 132 has lifted the pole roll 500. When the lifting weight is greater than the weight of the pole roll 500, an abnormal situation may occur, such as the fork arm 132 colliding with the machine during the lifting process. The robot control module 150 makes a judgment and gives an alarm prompt.

[0077] Two third sensor switches 148 are respectively positioned at the center of the top of the two V-shaped support slots 1321, and are electrically connected to the robot control module 150. The third sensor switches 148 are, but are not limited to, proximity switches and / or photoelectric sensors. They are triggered only when the pole roll 500 falls above the V-shaped support slot 1321 and approaches the third sensor switch 148 within a set distance, thereby detecting whether the fork has been raised to the pole roll 500.

[0078] A fourth inductive switch 149 is provided for detecting the synchronous lifting of the fork arm portion 132 of the two adjustment devices 130. The fourth inductive switch 149 is located on the inner side of the fork arm portion 132 and is electrically connected to the robot control module 150. Specifically, in this embodiment, the fourth inductive switch 149 can monitor whether the lifting of the two adjustment devices 130 in the Z direction is synchronized. If they are not synchronized, an alarm is issued to prevent the pole roll 500 from tilting during lifting due to asynchrony. This would cause one of the two adjustment devices 130 to lift the fork onto the pole roll 500 while the other lifts the fork onto the pole roll 500, resulting in the pole roll 500 failing to lift and falling, causing economic losses.

[0079] Continue to see Figures 2-3 Furthermore, the moving part 131 includes a translation module that moves along the X direction and a lifting module that moves along the Z direction;

[0080] The translation module includes a translation base 1311, a translation screw 1312, a screw nut 1313, and a translation motor. The translation base 1311 is fixed on the frame 110. The two ends of the translation screw 1312 are rotatably connected to the translation base 1311 through bearings. One end of the translation screw 1312 is connected to the translation motor through a synchronous belt. The translation screw 1312 and the screw nut 1313 form a threaded pair.

[0081] The lifting module includes a lifting base 1314, a lifting cylinder 1315, and a lifting motor. The lifting base 1314 is fixedly connected to a lead screw nut 1313. The lifting cylinder 1315 is fixed on the lifting base 1314. The lifting motor is connected to the lifting cylinder 1315 via a reducer. The telescopic end of the lifting cylinder 1315 is connected to the fork arm 132. The lifting cylinder 1315 extends and retracts along the Z-axis under the drive of the lifting motor. Specifically, the fork arm 132 moves in both the X and Z directions under the combined drive of the translation module and the lifting module.

[0082] Continue to see Figures 2-3 Furthermore, the translation module also includes a translation guide rail 1316, which is fixed on the translation base 1311. The translation guide rail 1316 is slidably connected to a translation slider, which is fixedly connected to the lifting base 1314.

[0083] The lifting module also includes a lifting guide rail 1317 and a lifting bracket 1318. The lifting bracket 1318 is fixed on the lifting base 1314. The lifting guide rail 1317 is fixed in the lifting bracket 1318 on the side near the lifting cylinder 1315. The lifting guide rail 1317 is slidably connected to a lifting slider, which is connected to the fork arm 132.

[0084] Specifically, in this embodiment, the translation guide rail 1316 guides the movement of the translation module, ensuring smooth movement. Similarly, the lifting guide rail 1317 serves the same purpose for the lifting module.

[0085] Continue to see Figures 2-3 Furthermore, the fork arm portion 132 includes a fork arm mounting plate 1322 and a pad 1323; the fork arm mounting plate 1322 is connected to the moving portion 131, and the fork arm mounting plate 1322 is connected to the lifting slider and the telescopic end of the lifting electric cylinder 1315. A V-shaped support slot 1321 is provided on the top of the fork arm mounting plate 1322, and a pad 1323 is provided on the V-shaped support slot 1321. Specifically, in this embodiment, a pad 1323 is provided on the fork arm portion 132. The pad 1323 protects the electrode roll 500 and prevents the electrode roll 500 from directly contacting the fork arm portion 132 and causing damage due to impact.

[0086] See Figures 4-5Furthermore, the lifting unit includes a push rod 260, a reducer 270, and a push rod motor 280. The bottom end of the push rod 260 is connected to the lifting frame 210, and the top end is connected to the V-shaped docking block 220. The push rod 260 is connected to the reducer 270, and the reducer 270 is connected to the push rod motor 280. The push rod motor 280 is electrically connected to the pole roll unwinding and rewinding equipment 600. The lifting frame 210 is box-shaped, and the outer shell is covered by sheet metal. The bottom of the lifting frame 210 has mounting holes and is fixed to the ground by bolts. Specifically, when the output end of the push rod 260 moves up and down along the Z direction, it drives the V-shaped docking block 220 to move up and down, and the pole roll 500 is raised to the same height as the axis of the air expansion shaft 610 (i.e., the target height). The stopping position accuracy of the push rod 260 is designed to be less than 1mm, which can ensure that the accuracy of the V-shaped docking block 220 in moving to the target height is less than 1mm, thereby ensuring the docking accuracy of the pole roll docking device 200 and the pole roll unwinding device 600.

[0087] See Figure 6 Furthermore, the navigation and walking device 120 includes two navigation detection units 121, four auxiliary wheels 122, and two omnidirectional drive modules 123. The two navigation detection units 121 are diagonally arranged at the bottom of the frame 110, and each navigation detection unit 121 includes a positioning sensing element and a distance sensing element. The navigation detection units 121 include, but are not limited to, lidar and vision sensors. The four auxiliary wheels 122 are located at the four corners of the bottom of the frame 110; the auxiliary wheels 122 are rigidly connected to the frame 110. The two omnidirectional drive modules 123 are diagonally arranged at the bottom of the frame 110, and the omnidirectional drive modules 123 are located beside the navigation detection units 121. Each omnidirectional drive module 123 includes a shock absorption module 300 and a steering wheel 400, with the shock absorption module 300 disposed between the steering wheel 400 and the frame 110. The navigation and walking device 120 can move omnidirectionally in the horizontal plane, meeting the requirements for operation in narrow workshop aisles.

[0088] Specifically, in this embodiment, the navigation walking device 120 uses the navigation detection unit 121 for positioning, distance sensing, and obstacle detection, and provides real-time feedback on the status of the navigation walking device 120 to the robot control module 150. The auxiliary wheels 122 support the weight of the entire vehicle body and drive the pole-roll switching robot 100 to move. This allows the navigation walking device 120 to automatically control its movement while detecting surrounding obstacles to prevent the pole-roll switching robot 100 from colliding with other equipment and causing damage.

[0089] See Figure 7Furthermore, the shock absorption module 300 includes a shock absorption chassis 310, a shock absorber spring 320, a sliding sleeve 330, and a guide post 340. One end of the shock absorption chassis 310 is hinged to the frame 110 (via an L-shaped connector and a pivot to the side of the frame 110), and the other end is provided with a waist-shaped hole 311. The sliding sleeve 330 passes through the waist-shaped hole 311 and forms a sliding pair with the waist-shaped hole 311. The portion of the sliding sleeve 330 located at the top of the shock absorption chassis 310 is fitted with the shock absorber spring 320. The top end of the shock absorber spring 320 is fixed to the top end of the sliding sleeve 330, and the bottom end of the sliding sleeve 330 is fixed to the frame 110. The bottom end of the sliding sleeve 330 is connected to the side of the frame 110 via an L-shaped connector. The steering wheel 400 is fixed to the bottom of the shock absorption chassis 310 and is located in the middle of the shock absorption chassis 310.

[0090] Specifically, the omnidirectional drive module 123 in this embodiment has a simple structure. Through the hinge, guide column 340, and shock-absorbing spring 320, a linkage lifting structure is formed for shock absorption. This prevents the weight of the vehicle body from directly acting on the steering wheel 400, effectively reducing the stress on the omnidirectional drive module 123. Simultaneously, it ensures that the steering wheel 400 maintains contact with the ground during rotation and lateral movement, preventing slippage when traversing uneven surfaces or steps. Therefore, the navigation and walking device 120 can operate in any ground environment within a lithium battery workshop, and is particularly suitable for lateral movement and turning in narrow passages.

[0091] See Figure 9 This invention provides a polarity switching control method, comprising:

[0092] Step S110: The production management system (such as MES, ERP, WMS, etc.) sends the production line pole roll 500 switching requirement information to the pole roll switching robot 100 and the pole roll docking device 200;

[0093] In step S120, the polar roll switching robot 100 receives the corresponding demand information and issues a task instruction;

[0094] In steps S130 to S160, the pole roll switching robot 100 processes the switching task information and sends the response task to the execution units: the pole roll switching robot 100 and the pole roll docking device 200. Each execution unit judges the task and determines whether the switching conditions are met. For example, if each execution unit is currently in an idle standby state, then step S160 is performed to complete the preparation for pole roll 500 switching; if not, the process returns to step S130 to continue monitoring.

[0095] In step S170, the polar roll switching robot 100 moves to the vicinity of the polar roll take-up and unwinding device 600 and the polar roll docking device 200, confirms the task information with the polar roll docking device 200, and executes the polar roll 500 switching task.

[0096] At step S180, the pole-roll switching robot 100 sends the switching completion information to the production management system.

[0097] At step S190, the polar roll switching robot 100 ends its task and returns to the robot waiting area.

[0098] Step S170 in the above embodiments includes:

[0099] Step S171: The pole roll docking device 200 docks with the pole roll take-up and unwinding device 600 to switch the first pole roll 500 to be replaced; after receiving the execution command, the pole roll docking device 200 rises to the target height and is in place, and the pole roll take-up and unwinding device 600 releases the air shaft 610 and the air shaft 610 hands over the first pole roll 500 to be replaced to the pole roll docking device 200 for carrying.

[0100] Step S172: The pole roll docking device 200 docks with the pole roll switching robot 100 to switch the second pole roll 500 to be replaced; the pole roll switching robot 100 carries the second pole roll 500 to be replaced and moves to the target position range, and the pole roll docking device 200 hands over the first pole roll 500 to be replaced to the pole roll switching robot 100; after the pole roll switching robot 100 retracts, it rotates 180° and moves to the target position range again, and the pole roll switching robot 100 hands over the second pole roll 500 to be replaced to the pole roll docking device 200; the pole roll docking device 200 rises to the target height, and the pole roll unwinding device 600 extends the air expansion shaft 610, which supports both ends of the second pole roll 500 to be replaced;

[0101] Step S173: The pole roll docking device 200 and the pole roll switching robot 100 are reset.

[0102] Specifically, in this embodiment, the docking accuracy requirement for the electrode switching robot 100 during the electrode roll 500 switching process is not high. The electrode switching robot 100 does not need to directly dock with the air shaft, thus eliminating the need for a complex multi-axis adjustment mechanism. Simply raise the fork arm 132 to the docking height and transfer the electrode roll 500 to the electrode roll docking device 200 to execute the next task. Then, the electrode roll docking device 200 docks the electrode roll 500 to the electrode roll take-up / unwinding device 600. Therefore, this embodiment completes the replacement of the first and second electrode rolls 500 in one go through the cooperation of the electrode switching robot 100 and the electrode roll docking device 200. The docking process does not require repeated adjustments to the position of the fork arm 132 of the electrode switching robot 100 relative to the air shaft 610. Therefore, the docking process is extremely simple, featuring high docking efficiency and strong versatility. Furthermore, this embodiment automates the entire electrode roll 500 handling and switching process in the workshop, reducing implementation costs and improving production efficiency and quality.

[0103] Further, in step S171: the pole roll take-up and unwinding device 600 and the pole roll docking device 200 perform the switching task preparation. The pole roll docking device 200 is raised to the target height and positioned. The V-shaped docking block 220 contacts the first pole roll to be replaced 500 and transmits the signal to the pole roll take-up and unwinding device 600. The pole roll take-up and unwinding device 600 releases the air expansion shaft 610 and the air expansion shaft 610 hands over the first pole roll to be replaced 500 to the pole roll docking device 200 for carrying. At this time, the pole roll 500 is directly carried by the V-shaped docking block 220, thus completing the switching task of the first pole roll to be replaced 500.

[0104] Step S172: The electrode roll docking device 200 transmits the signal carrying the first electrode roll to be replaced 500 to the electrode roll switching robot 100; during the docking of the electrode roll take-up and undo device 600 and the electrode roll docking device 200 in step S171, the electrode roll switching robot 100 has completed the work of moving the second electrode roll to be replaced 500 from the electrode roll 500 storage position to the front of the electrode roll take-up and undo device 600 to prepare for switching. After the electrode roll switching robot 100 carrying the second electrode roll to be replaced 500 walks to the front of the electrode roll take-up and undo device 600, the robot control module 150 instructs the omnidirectional drive module 123 to move to the target position in front of the electrode roll docking device 200 according to the real-time measurement of the specific position of the electrode roll docking device 200 by the navigation walking device 120. In addition, during the movement, the second and first identification units of the safety error prevention device 140 perform detection to confirm that there is no interference in front of the docking surface, the left and right sides, and the front of the two fork wall modules of the pole roll switching robot 100 before proceeding to the next operation; otherwise, an alarm is issued. This ensures that the pole roll switching robot 100 can move to the target position range without obstacles in one go. The robot control module 150 is electrically connected to exchange information with the docking equipment control unit 240 of the pole roll docking equipment 200 by sending the start switching signal. The adjustment device 130 of the pole roll switching robot 100 raises the fork arm 132 so that the fork arm 132 forks and contacts the first pole roll to be replaced 500, and continues to raise it to the switching height so that the lower surface of the first pole roll to be replaced 500 is higher than the upper surface of the V-shaped docking block 220. At this time, the detection switch 230 is turned off, and the first pole roll to be replaced 500 is successfully detached from the pole roll docking equipment 200. The robot control module 150 determines whether the fork arm 132 has lifted the pole roll 500 based on information monitored by the torque sensor 147 and the received disengagement signal. In this way, the roll docking device transfers the first pole roll 500 to be replaced to the pole roll switching robot 100. The robot control module 150 then controls the pole roll switching robot 100 to retract to the front of the pole roll take-up and unwinding device 600, rotate 180° in place, and then proceed to prepare for the next step of sending the second pole roll 500 to be replaced. The pole roll switching robot 100 moves again towards the pole roll take-up and untake-up device 600 to the target position range. The lowering of the adjusting device 130 causes the second pole roll 500 to be replaced on the fork arm 132 to fall onto the V-shaped docking block 220. At this time, the detection switch 230 is triggered to confirm that the second pole roll 500 to be replaced has been received. This confirmation information is transmitted to the robot control module 150, which instructs the adjusting device 130 to continue to descend. In this way, the pole roll switching robot 100 hands over the second pole roll 500 to be replaced to the pole roll docking device 200. The robot control module 150 instructs the pole roll switching robot 100 to exit the pole roll docking device 200.The pole roll docking device 200 rises to the target height (at this point, the axis of the second pole roll to be replaced 500 coincides with the axis of the air expansion shaft 610), and transmits the start docking information to the pole roll take-up and unwinding device 600. The pole roll take-up and unwinding device 600 extends the air expansion shaft 610 and presses against both ends of the second pole roll to be replaced 500 (i.e., the air expansion shaft 610 is inserted into the central hole of the shaft of the second pole roll to be replaced 500). The pole roll docking device 200 descends, causing the V-shaped docking block 220 to disengage from the second pole roll to be replaced 500, completing the entire pole roll 500 switching task. At this time, both the pole roll docking device 200 and the pole roll switching robot 100 have been reset.

[0105] In some embodiments, the pole-roll switching robot 100 and the pole-roll docking device 200 exchange information via optical transmission or near-field communication.

[0106] In some embodiments, besides the production management system (built into the production workshop) automatically controlling the electrode switching robot 100 to perform the electrode 500 switching task, this control method also allows for manual activation of the electrode switching robot 100 for switching. The electrode 500 switching system can also be activated manually. See also Figure 10 The specific operation steps are as follows: Step S210: The polar roll switching robot 100 is in idle standby mode, and the production line operator discovers a switching requirement. Step S220: The operator manually selects and clicks the corresponding command on the human-machine interface of the polar roll switching robot 100. Step S230: The polar roll switching robot 100 sends the task request to the robot scheduling system, and the robot scheduling system provides feedback and confirms the task information. Step S240: The polar roll switching robot 100 executes the switching task according to the operation instructions. Specifically, when the automatic control malfunctions, manual operation can be achieved.

[0107] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A polarity switching system, characterized in that, include: Electrode-roll switching robot and electrode-roll docking equipment; The pole roll switching robot includes a frame, two sets of adjustment devices, a safety error-proofing device, and a robot control module. The frame moves in the horizontal planes along the X and Y directions and identifies obstacles. The two sets of adjustment devices are symmetrically arranged on the frame along the X direction. Each adjustment device includes a moving part and two fork arms for supporting the pole roll. The fork arms move relative to the frame in the X and Z directions under the drive of the moving part. The safety error-proofing device includes a first identification part for identifying the coordinate position range of the pole roll docking equipment. The frame, the adjustment devices, and the safety error-proofing device are electrically connected to the robot control module. The electrode roll docking device includes two docking components symmetrically arranged along the X direction, with the two docking components respectively fixed on both sides of the electrode roll take-up and unwinding device; each docking component includes a V-shaped docking block, a lifting part, and a docking device control part; the V-shaped docking block is connected to the lifting part, and the V-shaped docking block moves up and down under the drive of the lifting part; the line connecting the centers of the V-shaped docking blocks of the two docking components coincides with the projection of the axis of the air expansion shaft of the electrode roll take-up and unwinding device onto the horizontal plane; the lifting part is electrically connected to the docking device control part; The top of the fork arm is provided with two V-shaped support slots, which are arranged in the Y direction. The two V-shaped support slots are a first V-shaped support slot and a second V-shaped support slot. The first V-shaped support slot is used to support a first electrode roll to be replaced, and the second V-shaped support slot is used to support a second electrode roll to be replaced. The distance from the first V-shaped support slot to the center of the fork arm is greater than the distance from the second V-shaped support slot to the center of the fork arm. The first identification unit includes a camera element and a coordinate QR code. The camera element is disposed on two opposite sides in the Y direction of the polar roll switching robot, and the camera element is electrically connected to the robot control module. The coordinate QR code is disposed on the ground at the center position between the two docking components, and is arranged along the Y direction. The safety error prevention device further includes a second identification unit, which includes a first sensor switch, a second sensor switch, and a visual recognition and detection device; the first sensor switch is disposed on opposite sides in the Y direction of the fork arm; the second sensor switch is disposed on the top of the pole roll switching robot; the detection device is disposed around the pole roll switching robot; the first sensor switch, the second sensor switch, and the visual recognition and detection device are electrically connected to the robot control module. The docking equipment control unit is electrically connected to the robot control module; the first identification unit of the safety error prevention device transmits the coordinate position range of the docking equipment to the pole roll switching robot, the pole roll switching robot docks with the pole roll docking equipment to perform pole roll transfer; the pole roll docking equipment docks with the pole roll take-up and unwinding equipment to perform pole roll switching.

2. The polarity switching system according to claim 1, characterized in that: The docking assembly is provided with a limiting block located outside the V-shaped docking block. The limiting block includes a horizontal plate connected to the outer wall of the V-shaped docking block and an inclined plate connected to the top of the horizontal plate. The inner surface of the inclined plate and the upper surface of the horizontal plate form an obtuse angle.

3. The polarity switching system according to claim 1, characterized in that: The lifting section includes a push rod, a reducer, and a push rod motor. The docking assembly also includes a lifting frame. The lifting section is disposed within the lifting frame. The bottom end of the push rod is connected to the lifting frame, and the top end is connected to the V-shaped docking block. The push rod is connected to the reducer, and the reducer is connected to the push rod motor. The push rod motor is electrically connected to the pole roll take-up and unwinding equipment.

4. The polarity switching system according to claim 1, characterized in that: The safety and error prevention device also includes a wire encoder for accurately monitoring the relative position of the two sets of adjustment devices in the X direction; the wire encoder is disposed between the two sets of adjustment devices and is electrically connected to the robot control module.

5. The polarity switching system according to claim 1, characterized in that: The moving part includes a translation module and a lifting module; The translation module includes a translation base, a translation screw, a screw nut, and a translation motor; the translation base is fixed on the vehicle frame, the two ends of the translation screw are rotatably connected to the translation base, one end of the translation screw is connected to the translation motor, and the translation screw and the screw nut form a threaded pair; The lifting module includes a lifting base, a lifting cylinder, and a lifting motor; the lifting base is fixedly connected to the lead screw nut, the lifting cylinder is fixed on the lifting base, the lifting motor is connected to the lifting cylinder, and the telescopic end of the lifting cylinder is connected to the fork arm.

6. The polarity switching system according to claim 1, characterized in that: The polar roll switching robot also includes a navigation and walking device located at the bottom of the frame. The navigation and walking device includes two navigation detection units, four auxiliary wheels, and two omnidirectional drive modules. The two navigation detection units are arranged diagonally at the bottom of the frame, and each navigation detection unit includes a positioning sensing element and a distance sensing element. The four auxiliary wheels are located at the four corners of the bottom of the vehicle frame; the two omnidirectional drive modules are diagonally arranged at the bottom of the vehicle frame, and the omnidirectional drive modules are located beside the navigation detection unit. The omnidirectional drive module includes a shock absorption module and a steering wheel, and the shock absorption module is arranged between the steering wheel and the vehicle frame.

7. The polarity switching system according to claim 1, characterized in that: The safety and error prevention device also includes a torque sensor for monitoring the lifting weight of the adjustment device. The torque sensor is disposed on the moving part of the adjustment device and is electrically connected to the robot control module.

8. The polarity switching system according to claim 1, characterized in that: The safety and error prevention device also includes two third inductive switches, which are respectively located at the center of the top of the two V-shaped support slots. The third inductive switches are electrically connected to the robot control module.

9. The polarity switching system according to claim 1, characterized in that: The safety error prevention device also includes a fourth inductive switch for detecting the synchronous lifting of the fork arm of the two adjustment devices. The fourth inductive switch is located on the inner side of the fork arm and is electrically connected to the robot control module.

10. A pole-roller switching control method, characterized in that, Using the pole roll switching robot and pole roll docking equipment in the pole roll switching system according to any one of claims 1 to 9; The electrode roll docking device is raised to the target height and positioned, and the electrode roll unwinding device releases the air shaft to hand over the first electrode roll to be replaced to the electrode roll docking device for carrying. The pole roll switching robot carries the second pole roll to be replaced and moves to the target location range, and the pole roll docking device hands over the first pole roll to be replaced to the pole roll switching robot; After the pole roll switching robot retreats, it rotates 180° and moves back to the target location range. The pole roll switching robot then hands over the second pole roll to be replaced to the pole roll docking device. The electrode roll docking device rises, and the electrode roll unwinding device extends its air shaft to press against both ends of the second electrode roll to be replaced; The pole roll docking device and the pole roll switching robot are reset.

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