Control method of diaphragm unwinding motor of z-type lamination machine and z-type lamination machine

Abstract

The application discloses a control method of a diaphragm unwinding motor of a Z-type laminating machine, which comprises the following steps: obtaining a change rule of a diaphragm length from tangent lines of two end transition rollers to edges of a pressed sheet clamping pressing part in one laminating cycle of the Z-type laminating machine; and controlling the diaphragm unwinding motor according to the change rule. The control method of the diaphragm unwinding motor of the Z-type laminating machine can control the diaphragm unwinding motor according to the change rule of the diaphragm length calculated in advance, and does not have a lag problem caused by a position sensor, so that the synchronism of unwinding and laminating is improved. In addition, the application further provides the Z-type laminating machine.

Description

Technical Field

[0001] This invention relates to a method for controlling an electric motor, and more particularly to a method for controlling the unwinding motor of a diaphragm in a Z-type stacking machine. This invention also relates to a Z-type stacking machine. Background Technology

[0002] In the operation of Z-type stacking machines for lithium batteries, the separator undergoes intermittent reciprocating motion. Existing separator unwinding mechanisms primarily rely on position sensors to detect the movement of the buffer arm during stacking, thus passively unwinding the separator. However, during high-speed stacking, the membrane length changes rapidly, and this control method is prone to lag, leading to asynchrony between unwinding and stacking, and causing malfunctions. Summary of the Invention

[0003] The purpose of this invention is to provide a control method for the diaphragm unwinding motor of a Z-type stacking machine, which helps to improve the synchronization of unwinding and stacking.

[0004] Another object of the present invention is to provide a Z-type stacking machine, which is beneficial to improving the synchronization of unwinding and stacking.

[0005] The present invention provides a control method for the unwinding motor of a diaphragm in a Z-type stacking machine, comprising: obtaining the variation law of the diaphragm length from the tangent of the two end transition rollers to the edge of the pressed portion of the diaphragm within one stacking cycle of the Z-type stacking machine; and controlling the unwinding motor of the diaphragm according to the variation law.

[0006] The control method of the diaphragm unwinding motor of this Z-type stacking machine can control the diaphragm unwinding motor according to the pre-calculated change law of the film length, and there is no lag problem caused by position sensor detection, which helps to improve the synchronization of unwinding and stacking.

[0007] In another illustrative embodiment of the control method for the diaphragm unwinding motor of a Z-type stacking machine, the steps of controlling the diaphragm unwinding motor according to the variation law include: mapping the variation law to a cam curve with a virtual spindle, differentiating the cam curve to obtain a speed curve, and controlling the diaphragm unwinding motor according to the speed curve. This helps to improve control efficiency.

[0008] In another illustrative embodiment of the control method for the diaphragm unwinding motor of a Z-type stacker, the stacking stage of the Z-type stacker is capable of reciprocating between a first position and a second position. The stacking cycle includes a first stage. In the first stage, the stacking stage moves from the first position a first distance to a transition position. The first distance is equal to the total range of motion of the stacking stage minus the width of the tablet clamp assembly along the direction of motion of the stacking stage. The step of obtaining this variation pattern includes setting the film length corresponding to the first stage in the variation pattern to be constant. This facilitates improved control efficiency.

[0009] In another illustrative embodiment of the control method for the diaphragm unwinding motor of the Z-type stacking machine, the stacking cycle includes a second stage. In the second stage, the stacking table moves from a transition position to a second position. The step of obtaining this variation pattern includes setting the film length corresponding to the second stage in the variation pattern to conform to the following formula (1):

[0010] d=(90°-θ)×r+(z–cosθ×r) / sinθ Formula (1)

[0011] Where d is the membrane length from the tangent of the two end transition rollers to the edge of the pressed portion of the diaphragm, r is the radius of the end transition rollers, θ is the angle between the movement direction of the diaphragm and the stacking table, and z is the distance along a vertical direction from the tangent of the two end transition rollers to the edge of the pressed portion of the diaphragm, perpendicular to the axis of the end transition rollers and the movement direction of the stacking table. This helps to improve control accuracy.

[0012] In another illustrative embodiment of the control method for the diaphragm unwinding motor of the Z-type stacking machine, the stacking cycle includes a third stage. In the third stage, the stack moves vertically from contacting the diaphragm to being fully stacked on the stacking table located in the second position. The steps to obtain this variation law include: inputting the initial value and the final value of the membrane length in the third stage into the computer-aided design module built into the S7-1500T, and obtaining the variation curve of the membrane length corresponding to the third stage in the variation law through a fifth-order polynomial, wherein the initial value of the membrane length is calculated according to formula (1), and the final value of the membrane length is calculated according to the following formula (2).

[0013] D=(90°-β)×r+(z–cosβ×r) / sinβ+w Formula (2)

[0014] Where D is the membrane length termination value, r is the radius of the end transition roller, β is the angle between the un-stacked portion of the diaphragm and the direction of movement of the stacking table, z is the vertical distance from the tangents of the two end transition rollers to the edge of the pressed portion of the diaphragm, and w is the width of the stack along the direction of movement of the stacking table. This helps to improve control accuracy.

[0015] The present invention also provides a Z-type stacking machine, which includes an unwinding mechanism, a stacking table, a clamping assembly, a feeding mechanism, and a control mechanism. The unwinding mechanism includes an unwinding shaft, a diaphragm unwinding motor, and two end transition rollers. The unwinding shaft is used to mount the diaphragm roll. The diaphragm unwinding motor is used to drive the unwinding shaft to rotate. The two end transition rollers are arranged tangentially along a first direction. The diaphragm passes through the tangents of the two end transition rollers. The stacking table is capable of reciprocating along the first direction and in the opposite direction. The clamping assembly includes two clamps arranged along the first direction. Each clamp is disposed on the stacking table and is capable of clamping and pressing the material stacked on the stacking table. The feeding mechanism is capable of stacking the diaphragm onto the stacking table. The control mechanism is capable of obtaining the variation pattern of the diaphragm length from the tangents of the two end transition rollers to the edge of the portion pressed by the clamps within one stacking cycle of the Z-type stacking machine, and is capable of controlling the diaphragm unwinding motor according to this variation pattern. This Z-type stacking machine can control the diaphragm unwinding motor according to the pre-calculated change pattern of the film length, eliminating the lag problem caused by position sensor detection and improving the synchronization of unwinding and stacking.

[0016] In another illustrative embodiment of the Z-type stacking machine, the control mechanism can map the variation law to a cam curve with the virtual spindle, differentiate the cam curve to obtain a speed curve, and control the diaphragm unwinding motor according to the speed curve. This helps to improve control efficiency.

[0017] In another illustrative embodiment of the Z-type stacker, the stacking stage of the Z-type stacker is capable of reciprocating between a first position and a second position. The stacking cycle includes a first stage. In the first stage, the stacking stage moves from the first position a first distance to a transition position. The first distance is equal to the total range of motion of the stacking stage minus the width of the tablet clamp assembly along the direction of motion of the stacking stage. The control mechanism can set the film length corresponding to the first stage in this variation to be constant. This facilitates improved control efficiency.

[0018] In another illustrative embodiment of the Z-type stacker, the stacking cycle includes a second stage. In the second stage, the stacking stage moves from a transition position to a second position. The control mechanism can set the film length corresponding to the second stage in this variation to conform to the following formula (1):

[0019] d=(90°-θ)×r+(z–cosθ×r) / sinθ Formula (1)

[0020] Where d is the length of the diaphragm from the tangent of the two end transition rollers to the edge of the pressed portion of the diaphragm, r is the radius of the end transition rollers, θ is the angle between the movement direction of the diaphragm and the stacking table, and z is the distance from the tangent of the two end transition rollers to the edge of the pressed portion of the diaphragm along a vertical direction, which is perpendicular to the axis of the end transition rollers and the first direction. This helps to improve control accuracy.

[0021] In another illustrative embodiment of the Z-type stacking machine, the stacking cycle includes a third stage. In the third stage, the stack moves vertically from the contact diaphragm to being fully stacked on the stacking stage located in the second position. The control mechanism can input the initial and final values ​​of the membrane length in the third stage into the computer-aided design module built into the S7-1500T, and obtain the change curve of the membrane length corresponding to the third stage in the change law through a fifth-order polynomial, wherein the initial value of the membrane length is calculated according to formula (1), and the final value of the membrane length is calculated according to the following formula (2).

[0022] D=(90°-β)×r+(z–cosβ×r) / sinβ+w Formula (2)

[0023] Where D is the membrane length termination value, r is the radius of the end transition roller, β is the angle between the un-stacked portion of the diaphragm and the direction of movement of the stacking table, z is the vertical distance from the tangents of the two end transition rollers to the edge of the pressed portion of the diaphragm, and w is the width of the stack along the direction of movement of the stacking table. This helps to improve control accuracy. Attached Figure Description

[0024] The following figures are for illustrative purposes only and do not limit the scope of the invention.

[0025] Figure 1 This is a flowchart of the control method for the diaphragm unwinding motor of a Z-type stacking machine.

[0026] Figure 2 This is a schematic diagram of one embodiment of a Z-type stacking machine.

[0027] Figures 3 to 6 For explanation Figure 2 The diagram shows the changing states of the Z-type stacker.

[0028] Label Explanation

[0029] 10 Unwinding mechanism

[0030] 11. Unroll the scroll

[0031] 12 Diaphragm unwinding motor

[0032] 13 End transition rollers

[0033] 20 Stacking Tables

[0034] 30 Tablet clamping set

[0035] 31 Tablet clamp

[0036] 40 Feeding mechanism

[0037] 50 Control mechanism

[0038] 91 Diaphragm

[0039] 92 stacked pieces

[0040] D1 First Direction

[0041] D2 Vertical direction

[0042] T is the tangent of the two end transition rollers.

[0043] E. The edge of the tablet clamping part of the diaphragm. Detailed Implementation

[0044] To provide a clearer understanding of the technical features, objectives, and effects of the invention, specific embodiments of the invention are now described with reference to the accompanying drawings. In the drawings, the same reference numerals indicate components with the same or similar structures but the same function.

[0045] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0046] In this document, terms such as "first" and "second" do not indicate their importance or order, but are only used to distinguish them to facilitate the description of the document.

[0047] To keep the drawings simple, each drawing only schematically shows the parts related to the present invention, and they do not represent the actual structure of the product.

[0048] Figure 1 This is a flowchart illustrating the control method for the diaphragm unwinding motor of a Z-type stacking machine. Figure 2 As shown, a Z-type stacking machine includes, for example, an unwinding mechanism 10, a stacking table 20, a tablet clamping group 30, and a feeding mechanism 40. The unwinding mechanism 10 includes, for example, an unwinding shaft 11, a diaphragm unwinding motor 12, and two end transition rollers 13.

[0049] The unwinding shaft 11 is used to mount the diaphragm roll. The diaphragm unwinding motor 12 is used to drive the unwinding shaft 11 to rotate and release the diaphragm 91. The two end transition rollers 13 have the same radius and are arranged tangentially along a first direction D1. The diaphragm 91 released from the unwinding shaft 11 passes through the tangent T of the two end transition rollers 13. The stacking table 20 is capable of being in a first position along the first direction D1 and in the opposite direction of the first direction D1 ( Figure 2 The stacking platform 20, drawn with a solid line on the right, is located in the first position and a second position. Figure 2 The stacking platform 20, drawn with a dashed line on the left, reciprocates between the two positions. The tablet clamping assembly 30 includes two tablet clamps 31 arranged along a first direction D1. Each tablet clamp 31 is disposed on the stacking platform 20 and is capable of clamping the material (including diaphragm 91 and tablets 92) stacked on the stacking platform 20. The center of the two tablet clamps 31 on the stacking platform 20 in the first position along the first direction D1 and the center of the two tablet clamps 31 on the stacking platform 20 in the second position along the first direction D1 are equidistant from the tangent T of the two end transition rollers 13 along the first direction D1. The feeding mechanism 40 is capable of pressing the tablets 92 onto the stacking platform 20 along a vertical direction D2 when the stacking platform 20 is in the first and second positions. The vertical direction D2 is perpendicular to the axis of the end transition rollers 13 and the direction of movement of the stacking platform 20. The width of the stacked tablets 92 pressed onto the stacking table 20 along the first direction D1 is approximately equal to the width of the tablet clamping assembly 30 along the first direction D1, and the stacked tablets 92 pressed onto the stacking table 20 and the tablet clamping assembly 30 are aligned with each other along the first direction D1.

[0050] like Figure 1 As shown, the control method of the diaphragm unwinding motor of the Z-type stacking machine includes the following steps S10 and S20.

[0051] S10: Obtain the variation pattern of the membrane length of the diaphragm 91 from the tangent T of the two end transition rollers 13 to the edge E of the pressed portion of the tablet clamp 31 within one stacking cycle of the Z-type stacking machine. One stacking cycle is, for example, the stacking table 20 moving from a first position to a second position and the feeding mechanism 40 pressing the tablet 92 onto the stacking table 20 located in the second position, or, for example, the stacking table 20 moving from a second position to a first position and the feeding mechanism 40 pressing the tablet 92 onto the stacking table 20 located in the first position.

[0052] Specifically, in the illustrative embodiment, the stacking cycle includes a first stage. For example... Figure 3 As shown, in the first stage, the stacking stage 20 is moved from the first position ( Figure 3 The stacking platform 20, drawn with a solid line on the right, is in the first position. It moves a first distance A1 to a transition position. Figure 3The stacking platform 20, drawn with a dashed line on the left, is located in the transition position. The first distance A1 is equal to the total movement distance of the stacking platform 20 (i.e., the total distance from the first position to the second position) minus the width of the tablet clamp assembly 30 along the movement direction of the stacking platform 20. The steps to obtain this variation law include setting the film length corresponding to the first stage in the variation law to be constant. When the stacking platform 20 is in the first position and the transition position, the film length of the diaphragm 91 from the tangent T of the two end transition rollers 13 to the edge E of the portion pressed by the tablet clamp 31 is equal, and no increase in film length is required during the movement of the stacking platform 20 from the first position to the transition position. Therefore, setting the film length corresponding to the first stage in the variation law to be constant is beneficial to improving control efficiency.

[0053] Specifically, in the illustrative embodiment, the stacking cycle includes a second stage. For example... Figure 4 As shown, in the second stage, the stacking stage 20 transitions from a transition position ( Figure 4 The stacking platform 20, drawn with a solid line on the right, is located at the transition position. It moves a second distance A2 to reach the second position. Figure 4 The stacking platform 20, drawn with a dashed line on the left, is located in the second position. The second distance A2 is equal to the width of the tablet clamping assembly 30 along the movement direction of the stacking platform 20. The steps to obtain this variation law include setting the film length corresponding to the second stage in the variation law to conform to the following formula (1):

[0054] d=(90°-θ)×r+(z–cosθ×r) / sinθ formula (1)

[0055] Wherein, d is the length of the diaphragm 91 from the tangent T of the two end transition rollers 13 to the edge E of the pressed portion of the tablet clamp 31, r is the radius of the end transition roller 13, θ is the angle between the movement direction of the diaphragm 91 and the stacking table 20, and z is the distance from the tangent T of the two end transition rollers 13 to the edge E of the pressed portion of the diaphragm 91 along a vertical direction D2, the vertical direction D2 being perpendicular to the axis of the end transition roller 13 and the movement direction of the stacking table 20.

[0056] like Figure 4 As shown, in the second stage, the membrane length of the diaphragm 91 from the tangent T of the two end transition rollers 13 to the edge E of the pressed portion of the tablet clamp 31 includes two parts, L1 and L2 (L1 and L2 are separated by dashed lines in the figure), d = L1 + L2, which can be calculated using formula (1). It can be understood that the membrane length in the first stage can also be calculated using formula (1). This method can more accurately calculate the variation law of the membrane length in the second stage, which is beneficial to improving the control accuracy.

[0057] Specifically, in the illustrative embodiment, the stacking cycle includes a third stage. For example... Figure 5 and Figure 6As shown, in the third stage, the stacked wafers 92, under the action of the feeding mechanism 40, move vertically D2 from contacting the diaphragm 91 (i.e., Figure 5 The device moves to the position shown in the diagram until it is fully stacked on the stacking stage 20 located in the second position (i.e., ...). Figure 6 (See indicated location). The steps to obtain this variation law include: inputting the initial and final values ​​of the membrane length in the third stage into the computer-aided design module built into the S7-1500T, and using a fifth-order polynomial to obtain the variation curve of the membrane length corresponding to the third stage in this variation law. The initial value of the membrane length is... Figure 5 The membrane length of the diaphragm 91 in the state, from the tangent T of the two end transition rollers 13 to the edge E of the pressed portion of the tablet clamp 31, can be calculated according to formula (1); the membrane length termination value is Figure 6 The length of the diaphragm 91 from the tangent T of the two end transition rollers 13 to the edge E of the pressed portion of the tablet clamp 31 under the condition can be calculated according to the following formula (2).

[0058] D=(90°-β)×r+(z–cosβ×r) / sinβ+wFormula (2)

[0059] Where D is the membrane length termination value, r is the radius of the end transition roller 13, β is the angle between the part of the diaphragm 91 not pressed by the stacked sheets 92 and the direction of movement of the stacking table 20, z is the distance along the vertical direction D2 from the tangent T of the two end transition rollers 13 to the edge E of the pressed part of the diaphragm 91 by the pressing clamp 31, and w is the width of the stacked sheets 92 along the direction of movement of the stacking table 20.

[0060] like Figure 6 As shown, in the third stage, the membrane length of the diaphragm 91 from the tangent T of the two end transition rollers 13 to the edge E of the pressed portion of the clamp 31 comprises three parts: L3, L4, and L5. L3 and L4 are the portions of the diaphragm 91 not pressed by the stacked sheets 92 and are separated by dashed lines in the figure. L5 is the portion of the diaphragm 91 pressed by the stacked sheets 92. This method allows for a more accurate calculation of the membrane length variation in the third stage, improving control precision.

[0061] In other illustrative embodiments, the membrane length variation curves corresponding to the second and third stages in this variation pattern can also be obtained in other ways.

[0062] S20: Control the diaphragm unwinding motor 12 according to this change pattern.

[0063] Specifically, in the illustrative embodiment, step S20 includes:

[0064] S21: Map this variation pattern to the virtual spindle as a cam curve.

[0065] S22: Differentiate the cam curve to obtain the velocity curve, and

[0066] S23: Control the diaphragm unwinding motor 12 according to the speed curve.

[0067] The control method of the diaphragm unwinding motor of this Z-type stacking machine can control the diaphragm unwinding motor according to the pre-calculated change law of the film length, and there is no lag problem caused by position sensor detection, which helps to improve the synchronization of unwinding and stacking.

[0068] This invention also provides a Z-type stacking machine. Figure 2 This is a schematic diagram illustrating one embodiment of a Z-type stacking machine, such as... Figure 2 As shown, the Z-type stacking machine includes an unwinding mechanism 10, a stacking table 20, a tablet clamping group 30, a feeding mechanism 40, and a control mechanism 50. The unwinding mechanism 10 includes an unwinding shaft 11, a diaphragm unwinding motor 12, and two end transition rollers 13.

[0069] The unwinding shaft 11 is used to mount the diaphragm roll. The diaphragm unwinding motor 12 is used to drive the unwinding shaft 11 to rotate and release the diaphragm 91. The two end transition rollers 13 have the same radius and are arranged tangentially along a first direction D1. The diaphragm 91 released from the unwinding shaft 11 passes through the tangent T of the two end transition rollers 13. The stacking table 20 is capable of being in a first position along the first direction D1 and in the opposite direction of the first direction D1 ( Figure 2 The stacking platform 20, drawn with a solid line on the right, is located in the first position and a second position. Figure 2 The stacking platform 20, drawn with a dashed line on the left, reciprocates between the two positions. The tablet clamping assembly 30 includes two tablet clamps 31 arranged along a first direction D1. Each tablet clamp 31 is disposed on the stacking platform 20 and is capable of clamping the material (including diaphragm 91 and tablets 92) stacked on the stacking platform 20. The center of the two tablet clamps 31 on the stacking platform 20 in the first position along the first direction D1 and the center of the two tablet clamps 31 on the stacking platform 20 in the second position along the first direction D1 are equidistant from the tangent T of the two end transition rollers 13 along the first direction D1. The feeding mechanism 40 is capable of pressing the tablets 92 onto the stacking platform 20 along a vertical direction D2 when the stacking platform 20 is in the first and second positions. The vertical direction D2 is perpendicular to the axis of the end transition rollers 13 and the direction of movement of the stacking platform 20. The width of the stacked tablets 92 pressed onto the stacking table 20 along the first direction D1 is approximately equal to the width of the tablet clamping assembly 30 along the first direction D1, and the stacked tablets 92 pressed onto the stacking table 20 and the tablet clamping assembly 30 are aligned with each other along the first direction D1.

[0070] The control mechanism 50 can obtain the variation pattern of the membrane length of the diaphragm 91 from the tangent of the two end transition rollers 13 to the edge of the pressed portion of the tablet clamp 31 within one stacking cycle of the Z-type stacking machine, and can control the diaphragm unwinding motor 12 according to the variation pattern. Specifically, the control mechanism 50 is configured to execute the control method of the diaphragm unwinding motor of the Z-type stacking machine described above, which will not be repeated here.

[0071] This Z-type stacking machine can control the diaphragm unwinding motor according to the pre-calculated change pattern of the film length, eliminating the lag problem caused by position sensor detection and improving the synchronization of unwinding and stacking.

[0072] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0073] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent implementation schemes or modifications made without departing from the spirit of the present invention, such as combinations, divisions or repetitions of features, should be included within the scope of protection of the present invention.

Claims

1. A control method for the diaphragm unwinding motor of a Z-type stacking machine, characterized in that, include: The variation of the membrane length from the tangent of the two end transition rollers to the edge of the pressed portion of the tablet clamp within one stacking cycle of the Z-type stacker; and The diaphragm unwinding motor is controlled according to the aforementioned variation pattern; wherein... The stacking stage of the Z-type stacking machine can reciprocate between a first position and a second position. The stacking cycle includes a first stage in which the stacking stage moves from the first position a first distance to a transition position. The first distance is equal to the total movement of the stacking stage minus the width of the tablet clamp group along the movement direction of the stacking stage. The step of obtaining the variation law includes setting the film length corresponding to the first stage in the variation law to be constant. The stacking cycle includes a second stage in which the stacking stage moves from the transition position to the second position. The step of obtaining the variation pattern includes setting the film length corresponding to the second stage in the variation pattern to conform to the following formula (1): d=(90°-θ)*r+(z-cosθ*r) / sinθ Formula (1) in, d is the length of the diaphragm from the tangent between the two end transition rollers to the edge of the portion pressed by the tablet clamp. r is the radius of the end transition roller. θ is the angle between the direction of motion of the diaphragm and the stacking stage. z is the distance from the tangent of the two end transition rollers to the edge of the pressed portion of the diaphragm along a vertical direction, which is perpendicular to the axis of the end transition rollers and the direction of movement of the stacking table. The stacking cycle includes a third stage in which the stack moves along the vertical direction from the contact diaphragm to being fully stacked on the stacking stage located at the second position. The step of obtaining the variation law includes: inputting the initial value and the final value of the membrane length in the third stage into the computer-aided design module built into the S7-1500T, and obtaining the variation curve of the membrane length corresponding to the third stage in the variation law through a fifth-order polynomial, wherein the initial value of the membrane length is calculated according to the formula (1), and the final value of the membrane length is calculated according to the following formula (2). D=(90°-β)*r+(z-cosβ*r) / sinβ+w Formula (2) in, D is the membrane length termination value. r is the radius of the end transition roller. β is the angle between the un-laminated portion of the diaphragm and the direction of movement of the lamination stage. z is the distance along the vertical direction from the tangent of the two end transition rollers to the edge of the pressed portion of the diaphragm. w is the width of the stack along the direction of movement of the stacking table.

2. The control method for the diaphragm unwinding motor of the Z-type stacking machine as described in claim 1, characterized in that, The steps for controlling the diaphragm unwinding motor according to the aforementioned change pattern include: The aforementioned variation pattern is mapped to a cam curve along with the virtual spindle. The velocity curve is obtained by differentiating the cam curve. The diaphragm unwinding motor is controlled according to the speed curve.

3. A Z-type stacking machine, characterized in that, include: A winding unwinding mechanism (10) comprising: An unwinding spool (11) is used to mount the diaphragm roll. A diaphragm unwinding motor (12) is used to drive the unwinding shaft (11) to rotate, and Two end transition rollers (13) are arranged tangentially along a first direction (D1), and a diaphragm (91) passes through the tangent of the two end transition rollers (13). A stacking stage (20) is capable of reciprocating along the first direction (D1) and the opposite direction of the first direction (D1); A tablet clamp assembly (30) includes two tablet clamps (31) arranged along the first direction (D1), each of the tablet clamps (31) being disposed on the stacking table (20) and capable of clamping the material stacked on the stacking table (20); A set of feeding mechanisms (40) capable of stacking sheets (92) onto the stacking table (20); and A control mechanism (50) is capable of obtaining the variation pattern of the membrane length (91) from the tangent of the two end transition rollers (13) to the edge of the portion pressed by the tablet clamp (31) within one stacking cycle of the Z-type stacking machine, and is capable of controlling the membrane unwinding motor (12) according to the variation pattern; wherein, The stacking stage of the Z-type stacking machine can reciprocate between a first position and a second position. The stacking cycle includes a first stage in which the stacking stage moves from the first position a first distance to a transition position. The first distance is equal to the total movement of the stacking stage minus the width of the tablet clamp group along the movement direction of the stacking stage. The step of obtaining the variation law includes setting the film length corresponding to the first stage in the variation law to be constant. The stacking cycle includes a second stage in which the stacking stage moves from the transition position to the second position. The step of obtaining the variation pattern includes setting the film length corresponding to the second stage in the variation pattern to conform to the following formula (1): d=(90°-θ)*r+(z-cosθ*r) / sinθ Formula (1) in, d is the length of the diaphragm from the tangent between the two end transition rollers to the edge of the portion pressed by the tablet clamp. r is the radius of the end transition roller. θ is the angle between the direction of motion of the diaphragm and the stacking stage. z is the distance from the tangent of the two end transition rollers to the edge of the pressed portion of the diaphragm along a vertical direction, which is perpendicular to the axis of the end transition rollers and the direction of movement of the stacking table. The stacking cycle includes a third stage in which the stack moves along the vertical direction from the contact diaphragm to being fully stacked on the stacking stage located at the second position. The step of obtaining the variation law includes: inputting the initial value and the final value of the membrane length in the third stage into the computer-aided design module built into the S7-1500T, and obtaining the variation curve of the membrane length corresponding to the third stage in the variation law through a fifth-order polynomial, wherein the initial value of the membrane length is calculated according to the formula (1), and the final value of the membrane length is calculated according to the following formula (2). D=(90°-β)*r+(z-cosβ*r) / sinβ+w Formula (2) in, D is the membrane length termination value. r is the radius of the end transition roller. β is the angle between the un-laminated portion of the diaphragm and the direction of movement of the lamination stage. z is the distance along the vertical direction from the tangent of the two end transition rollers to the edge of the pressed portion of the diaphragm. w is the width of the stack along the direction of movement of the stacking table.

4. The Z-type stacking machine as described in claim 3, characterized in that, The control mechanism (50) can map the change law to a cam curve with the virtual spindle, and can differentiate the cam curve to obtain a speed curve. It can also control the diaphragm unwinding motor (12) according to the speed curve.

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