Webbing conveying control method, webbing conveying system, and readable storage medium

Abstract

The application provides a material belt conveying control method, a material belt conveying system and a readable storage medium, and relates to the technical field of battery assembly. The application obtains a real-time swing angle of a tension swing rod from a servo motor, controls the servo motor to adjust the motor output torque according to the real-time swing angle and a preset correlation relation related to the expected tension, drives the tension swing rod to stably apply the expected tension to the conveyed material belt, simultaneously obtains a conveying line speed of a driving roller and a real-time rotation angle of a unwinding shaft, calculates an actual material belt winding diameter of the unwinding shaft when the driving roller conveys the material belt with a preset length each time according to the real-time rotation angle and the real-time swing angle, and then adjusts the unwinding line speed of the unwinding shaft based on a PID control algorithm according to the actual material belt winding diameter, the conveying line speed, the real-time swing angle and the expected swing angle of the tension swing rod, so as to reduce the actual tension fluctuation on the conveyed material belt as much as possible and effectively improve the battery manufacturing precision and the battery manufacturing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery assembly, in particular to a material belt conveying control method, a material belt conveying system and a readable storage medium. BACKGROUND

[0002] At present, in the process of manufacturing batteries, it is usually necessary to separate the positive and negative electrode sheets of the battery by using a separator and to composite the positive and negative electrode sheets onto the separator by using a thermal compounding system to avoid the short circuit phenomenon caused by the direct contact of the positive and negative electrode sheets of the corresponding battery. Therefore, it is usually necessary to release the wound electrode sheet material belt or separator material belt by using a material belt conveying system and to convey the released electrode sheet material belt or separator material belt to the thermal compounding system for thermal compounding treatment by the material belt conveying system. In this process, it is worth noting that the speed matching condition between the unwinding line speed and the conveying line speed of the electrode sheet material belt or separator material belt and the stability of the tension applied to the electrode sheet material belt or separator material belt will affect the actual tension fluctuation on the conveyed material belt (i.e. the electrode sheet material belt or separator material belt) during the material belt conveying process, which is likely to cause the corresponding material belt to be unable to be smoothly conveyed to the thermal compounding system under the influence of strong tension fluctuation, thereby seriously affecting the battery manufacturing precision and the battery manufacturing efficiency. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a material belt conveying control method, a material belt conveying system and a readable storage medium, which can utilize the fast response characteristics of a servo motor to quickly and accurately maintain the applied tension on the conveyed material belt at a desired tension state and simultaneously ensure the speed consistency between the unwinding line speed and the conveying line speed during the material belt conveying process, so as to minimize the actual tension fluctuation on the conveyed material belt, improve the conveying smoothness of the conveyed material belt, and effectively improve the battery manufacturing precision and the battery manufacturing efficiency.

[0004] In order to achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0005] In a first aspect, the present application provides a material belt conveying control method applied to a material belt conveying system, the material belt conveying system comprising an unwinding shaft, a tension swing lever, a driving roller and a servo motor, wherein the driving roller is used to tractionally convey the material belt on the unwinding shaft, the tension swing lever is arranged between the unwinding shaft and the driving roller and abuts against the material belt, and the servo motor is used to stably apply tension to the conveyed material belt by driving the tension swing lever; the method comprises:

[0006] acquire a real-time swing angle of the tension swing rod from the servo motor, and control the servo motor to adjust a motor output torque according to a preset correlation and the real-time swing angle, wherein the preset correlation is a data correlation between a swing rod swing angle of the tension swing rod when an expected tension is applied externally and a preset motor torque of the servo motor;

[0007] acquire a real-time rotation angle of the unwinding shaft, and calculate an actual material belt winding diameter of the unwinding shaft when the driving roller has conveyed a preset length of material belt each time according to the real-time rotation angle and the real-time swing angle;

[0008] adjust an unwinding line speed of the unwinding shaft according to the actual material belt winding diameter, the conveying line speed, the real-time swing angle, and an expected swing angle of the tension swing rod based on a PID control algorithm, so that an actual tension on the conveyed material belt is consistent with the expected tension.

[0009] In an optional implementation, the step of controlling the servo motor to adjust the motor output torque according to the preset correlation and the real-time swing angle comprises:

[0010] acquire a motion compensation mapping relationship between the tension swing rod and the servo motor, wherein the motion compensation mapping relationship is a mapping relationship between a swing rod swing angle of the tension swing rod in a self-learning motion and a motor output torque of the servo motor, and the self-learning motion is that the tension swing rod hangs the material belt and swings uniformly from a first limit swing angle to a second limit swing angle when the unwinding shaft and the driving roller are both stopped, wherein the first limit swing angle is a limit swing angle corresponding to a position of the swing rod close to the driving roller, and the second limit swing angle is a limit swing angle corresponding to a position of the swing rod close to the unwinding shaft;

[0011] determine a target motor torque matched with the real-time swing angle according to the motion compensation mapping relationship, and determine a target preset motor torque matched with the real-time swing angle according to the preset correlation;

[0012] superimpose the target motor torque and the target preset motor torque to obtain an expected motor torque corresponding to the real-time swing angle;

[0013] adjust the motor output torque of the servo motor according to the expected motor torque.

[0014] In an optional implementation, the step of calculating the actual material belt winding diameter of the unwinding shaft when the driving roller has conveyed a preset length of material belt each time according to the real-time rotation angle and the real-time swing angle comprises:

[0015] obtaining a surplus material conveying correlation between the tension swing lever and the driving roller, wherein the surplus material conveying correlation is a mapping relationship between a swing lever swing angle of the tension swing lever in a surplus material conveying movement and a material belt conveying length of the driving roller, the surplus material conveying movement is that the driving roller drags the tension swing lever to swing from a first limit swing angle to a second limit swing angle when the pay-off shaft stops running and the driving roller pulls the material belt straight, wherein the first limit swing angle is a limit swing angle corresponding to a swing lever position close to the driving roller, and the second limit swing angle is a limit swing angle corresponding to a swing lever position close to the pay-off shaft;

[0016] determining a first rotation angle of the pay-off shaft when the driving roller starts to convey the preset length of the material belt each time according to the real-time rotation angle, and a second rotation angle of the pay-off shaft when the driving roller finishes conveying the preset length of the material belt;

[0017] determining a first swing angle of the tension swing lever when the driving roller starts to convey the preset length of the material belt each time according to the real-time swing angle, and a second swing angle of the tension swing lever when the driving roller finishes conveying the preset length of the material belt;

[0018] calculating an additional released material belt length of the pay-off shaft when the driving roller finishes conveying the preset length according to the second swing angle, the first swing angle and the surplus material conveying correlation;

[0019] calculating an actual material belt roll diameter of the pay-off shaft when the driving roller finishes conveying the preset length of the material belt according to the additional released material belt length, the second rotation angle, the first rotation angle and the preset length.

[0020] In an optional embodiment, the step of calculating the additional released material belt length of the pay-off shaft when the driving roller finishes conveying the preset length according to the second swing angle, the first swing angle and the surplus material conveying correlation comprises:

[0021] determining a first material belt conveying length corresponding to the first limit swing angle and a second material belt conveying length corresponding to the second limit swing angle according to the surplus material conveying correlation;

[0022] calculating a conveying length difference between the second material belt conveying length and the first material belt conveying length, and calculating a target swing angle difference between the second swing angle and the first swing angle, and a limit swing angle difference between the second limit swing angle and the first limit swing angle;

[0023] The angle difference ratio between the target swing angle difference and the limit swing angle difference is calculated, and the calculated angle difference ratio and the conveying length difference are multiplied to obtain the additional release length of the tape.

[0024] In an optional embodiment, the step of calculating the actual tape roll diameter of the unwinding shaft when the driving roller has conveyed the preset length of the tape according to the additional release length of the tape, the second rotation angle, the first rotation angle and the preset length comprises:

[0025] The preset length and the additional release length of the tape are added to obtain the actual unwinding length of the unwinding shaft;

[0026] The second rotation angle and the first rotation angle are subtracted to obtain the rotation angle change amount required by the unwinding shaft when the driving roller has conveyed the preset length of the tape;

[0027] The actual unwinding length and the rotation angle change amount are used to perform a diameter calculation to obtain the actual tape roll diameter.

[0028] In an optional embodiment, the step of adjusting the unwinding line speed of the unwinding shaft based on the PID control algorithm according to the actual tape roll diameter, the conveying line speed, the real-time swing angle and the expected swing angle of the tension swing rod comprises:

[0029] According to the real-time swing angle, the actual swing angle of the tension swing rod when the driving roller has conveyed a preset length of the tape each time is determined;

[0030] The actual angle difference between the expected swing angle and each actual swing angle is calculated;

[0031] The actual tape roll diameter, the conveying line speed and all the calculated actual angle differences are substituted into the PID control law equation for the unwinding angular velocity of the unwinding shaft to perform equation solving to obtain the expected angular velocity of the unwinding shaft;

[0032] The unwinding line speed of the unwinding shaft is adjusted according to the obtained expected angular velocity;

[0033] The PID control law equation is expressed as follows:

[0034]

[0035] ω k to represent the expected angular velocity of the unwinding shaft when the driving roller has conveyed a preset length of the tape for the kth time, R kv represents the actual tape roll diameter of the unwinding shaft when the driving roller has conveyed a preset length of the tape for the kth time, v represents the conveying linear speed of the driving roller, e k e represents the actual angle difference of the tension swing lever when the driving roller has conveyed a preset length of the tape for the kth time, i e represents the actual angle difference of the tension swing lever when the driving roller has conveyed a preset length of the tape for the ith time, k-1 e represents the actual angle difference of the tension swing lever when the driving roller has conveyed a preset length of the tape for the k-1th time, K P K represents the proportional control parameter, I K represents the integral control parameter, D K represents the differential control parameter.

[0036] In an optional embodiment, the method further comprises:

[0037] controlling the unwinding shaft and the driving roller to stop running, and controlling the servo motor to drive the tension swing lever to realize self-learning motion, to obtain a motion compensation mapping relationship between the tension swing lever and the servo motor, wherein the self-learning motion is that the tension swing lever with the tape mounted thereon swings uniformly from a first limit swing angle to a second limit swing angle;

[0038] controlling the unwinding shaft to stop running and controlling the servo motor to drive the tension swing lever to straighten the conveyed tape at the first limit swing angle, and then controlling the driving roller to cooperate with the tension swing lever to realize excess tape conveying motion, to obtain an excess tape conveying correlation between the tension swing lever and the driving roller, wherein the excess tape conveying motion is that the driving roller drags the tension swing lever to swing from the first limit swing angle to the second limit swing angle.

[0039] In an optional embodiment, the tape conveying system further comprises an ultrasonic sensor, and the method further comprises:

[0040] controlling the driving roller to stop running, and controlling the servo motor to drive the tension swing lever to straighten the conveyed tape at the first limit swing angle, and then controlling the unwinding shaft to perform winding action to drag the tension swing lever to swing from a first preset swing angle to a second preset swing angle;

[0041] obtaining a third rotation angle of the unwinding shaft when the tension swing lever swings to the first preset swing angle, and obtaining a fourth rotation angle of the unwinding shaft when the tension swing lever swings to the second preset swing angle;

[0042] According to the excess material conveying correlation relationship, a first target conveying length corresponding to the first preset swing angle and a second target conveying length corresponding to the second preset swing angle are determined;

[0043] An actual rotation angle difference between the fourth rotation angle and the third rotation angle and an actual length difference between the second target conveying length and the first target conveying length are calculated;

[0044] Based on the actual length difference and the actual rotation angle difference, a diameter calculation is performed to obtain a first initial roll diameter of the unwinding shaft before the release of the material belt starts;

[0045] The ultrasonic sensor is controlled to detect the roll diameter of the unwinding shaft before the release of the material belt starts, to obtain a second initial roll diameter of the unwinding shaft;

[0046] The first initial roll diameter and the second initial roll diameter are subjected to a weighted summation operation to obtain an actual initial roll diameter of the unwinding shaft before the release of the material belt starts.

[0047] In a second aspect, the application provides a material belt conveying system, which comprises a master control unit, an unwinding shaft, a tension swing lever, a driving roller, a servo motor and an ultrasonic sensor, wherein the ultrasonic sensor is used to detect the roll diameter of the unwinding shaft before the release of the material belt starts;

[0048] The driving roller is used to pull and convey the material belt on the unwinding shaft, the tension swing lever is arranged between the unwinding shaft and the driving roller and abuts against the material belt, and the servo motor is used to drive the tension swing lever to stably apply tension to the conveyed material belt.

[0049] The master control unit stores a computer program and can run the computer program to implement the material belt conveying control method of any one of the preceding embodiments.

[0050] In a third aspect, the application provides a readable storage medium having a computer program stored thereon, wherein the computer program is loaded and run by a material belt conveying system to implement the material belt conveying control method of any one of the preceding embodiments.

[0051] In this case, the beneficial effects of the embodiments of the application can include the following:

[0052] The application obtains the real-time swing angle of the tension swing rod from the servo motor, and controls the servo motor to adjust the motor output torque according to the real-time swing angle and the preset correlation relationship related to the expected tension, so as to drive the tension swing rod to stably apply the expected tension to the conveyed material belt. Meanwhile, the application also obtains the conveying line speed of the driving roller and the real-time rotation angle of the unwinding shaft, and calculates the actual material belt winding diameter of the unwinding shaft when the driving roller conveys the material belt of the preset length according to the real-time rotation angle and the real-time swing angle. Then, the unwinding line speed of the unwinding shaft is adjusted based on the PID control algorithm according to the actual material belt winding diameter, the conveying line speed, the real-time swing angle and the expected swing angle of the tension swing rod, so that the unwinding line speed of the unwinding shaft and the conveying line speed are kept consistent in speed. Therefore, the application utilizes the fast response characteristics of the servo motor to stably maintain the applied tension on the conveyed material belt at the expected tension state quickly and accurately, and synchronously ensures the speed consistency between the unwinding line speed and the conveying line speed, so that the actual tension on the conveyed material belt is consistent with the expected tension, the actual tension fluctuation on the conveyed material belt is reduced as much as possible, the conveying stability of the conveyed material belt is improved, and the battery manufacturing precision and efficiency are effectively improved.

[0053] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0055] Figure 1 One of the composition schematic diagrams of the material belt conveying system provided by the embodiments of the application;

[0056] Figure 2 The second composition schematic diagram of the material belt conveying system provided by the embodiments of the application;

[0057] Figure 3 One of the flow schematic diagrams of the material belt conveying control method provided by the embodiments of the application;

[0058] Figure 4 The force application schematic diagram of the tension swing rod provided by the embodiments of the application;

[0059] Figure 5 The flow schematic diagram of the sub-steps included in step S210 in Figure 3 ​

[0060] Figure 6 For Figure 3 The flowchart of the sub-steps included in step S220 in

[0061] Figure 7 For Figure 3 The flowchart of the sub-steps included in step S230 in

[0062] Figure 8 The flowchart of the sub-steps included in step S230 in

[0063] Figure 9 The flowchart of the sub-steps included in step S230 in

[0064] Icon: 10 - tape conveying system; 11 - unwinding shaft; 12 - tension swing lever; 13 - driving roller; 14 - servo motor; 15 - ultrasonic sensor; 16 - main control unit. DETAILED DESCRIPTION

[0065] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0066] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0067] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0068] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly understood by those skilled in the art, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0069] In the description of the application, it is also necessary to explain that, unless otherwise explicitly specified and limited, the terms "set", "install", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0070] In addition, in the description of the application, it can be understood that the relationship terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment. Without more limitation, the element defined by the sentence "including a…" does not exclude the existence of other same elements in the process, method, article or equipment including the element. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0071] Applicants found through painstaking research that the existing material tape conveying system is to ensure that the corresponding tension swing rod can output constant tension to the conveyed material tape by feeding the swing angle of the tension swing rod through the potentiometer feedback and outputting the tension of the tension swing rod through the proportional valve. It is worth noting that because the potentiometer belongs to an analog output device, the swing angle feedback by the potentiometer will have large fluctuations and be easily disturbed by the field environment, and the tension output by the proportional valve is not stable enough, and cannot quickly adjust the tension according to the swing angle feedback by the potentiometer. When the material tape conveying system is high-speed started and stopped, the actual output tension of the tension swing rod cannot be adjusted in time, which is prone to cause strong tension fluctuation, and is prone to cause the conveyed material tape to be unable to be smoothly conveyed to the hot compounding system for hot compounding treatment, seriously affecting the battery manufacturing precision and battery manufacturing efficiency.

[0072] In this case, to solve the above problems, the embodiments of the present application provide a kind of material belt conveying control method, material belt conveying system and readable storage medium, to utilize the quick response characteristic of servo motor in the material belt conveying process, quickly and accurately, the tension applied to the material belt on the conveying process is stably maintained in the desired tension state, and the speed consistency between the unwinding line speed and the conveying line speed is ensured simultaneously, to minimize the actual tension fluctuation generated on the material belt being conveyed, improve the conveying stability of the material belt, and effectively improve the battery manufacturing precision and battery manufacturing efficiency.

[0073] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following examples and features in the examples can be combined with each other without conflict.

[0074] Please refer to Figure 1 and Figure 2 , wherein Figure 1 is one of the composition schematic diagrams of the material belt conveying system 10 provided by the embodiments of the present application, Figure 2 is the second composition schematic diagram of the material belt conveying system 10 provided by the embodiments of the present application. In the embodiments of the present application, the material belt conveying system 10 can include an unwinding shaft 11, a tension swing lever 12, a driving roller 13, a servo motor 14, an ultrasonic sensor 15 and a main control unit 16.

[0075] In the embodiments, the unwinding shaft 11 is used to install the reel-shaped material to be conveyed, and the material belt is released by the rotating action of the unwinding shaft 11. The unwinding shaft 11 can be installed with a rotating motor, and the unwinding shaft 11 is driven to rotate by the rotating motor; the material to be conveyed can be a pole piece material belt or a diaphragm material belt.

[0076] In the embodiments, the driving roller 13 is used to pull and convey the material belt released by the unwinding shaft 11, and transmit the pulled and conveyed material belt to the hot compounding system for hot compounding treatment. A plurality of transmission rollers are arranged between the unwinding shaft 11 and the driving roller 13, so that the material belt released by the unwinding shaft 11 is transmitted to the driving roller 13 through the arranged transmission rollers; the driving roller 13 can be installed with a driving motor, and the driving roller 13 is driven to rotate by the driving motor, so as to ensure that the driving roller 13 can realize the function of pulling and conveying the material belt through the rotating action.

[0077] In the embodiments, the tension swing lever 12 is arranged between the unwinding shaft 11 and the driving roller 13, and abuts against the material belt to be conveyed from the unwinding shaft 11 to the driving roller 13, for straightening the material belt being conveyed by swing lever swing operation, and stably applying tension to the material belt being conveyed.

[0078] In the embodiment, the motor rotor of the servo motor 14 is fixedly connected with the tension swing rod 12, for driving the tension swing rod 12 to swing, so as to drive the tension swing rod 12 to stably apply tension to the feeding belt. Wherein, when the tension swing rod 12 shows different values of swing rod swing angle (i.e. the angle between the swing rod position of the tension swing rod 12 and the vertical direction), the motor output torque of the servo motor 14 is adjusted, so that the tension swing rod 12 stably applies stable tension to the feeding belt.

[0079] In an implementation of the embodiment, when the swing rod position of the corresponding tension swing rod 12 is close to the driving roller 13 relative to the vertical direction (i.e. the corresponding swing rod position is deflected to the right relative to the vertical direction), the positive and negative properties of the swing rod swing angle of the corresponding swing rod position of the tension swing rod 12 are set to positive, and when the swing rod position of the corresponding tension swing rod 12 is close to the unwinding shaft 11 relative to the vertical direction (i.e. the corresponding swing rod position is deflected to the left relative to the vertical direction), the positive and negative properties of the swing rod swing angle of the corresponding swing rod position of the tension swing rod 12 are set to negative, and the swing rod swing angle of the corresponding swing rod position of the tension swing rod 12 is set to 0 when the corresponding swing rod position coincides with the vertical direction.

[0080] In the embodiment, the ultrasonic sensor 15 can be arranged near the unwinding shaft 11 and send ultrasonic waves to the unwinding shaft 11, for directly and preliminarily detecting the specific winding diameter of the reel-shaped feeding belt before the unwinding shaft 11 starts to release the feeding belt by using acoustic wave detection technology, so as to improve the winding diameter detection efficiency when the feeding belt is installed at the unwinding shaft 11.

[0081] In the embodiment, the main control unit 16 can be simultaneously communicatively connected with the unwinding shaft 11, the servo motor 14, the driving roller 13 and the ultrasonic sensor 15, for controlling the respective operating conditions of the unwinding shaft 11, the servo motor 14, the driving roller 13 and the ultrasonic sensor 15, so as to drive the unwinding shaft 11, the servo motor 14, the driving roller 13 and the ultrasonic sensor 15 to work cooperatively.

[0082] The main control unit 16 can store a computer program and run the computer program to control the unwinding shaft 11, the servo motor 14 and the drive roller 13 to work together in a coordinated manner. During the conveying process of the material belt, the fast response characteristics of the servo motor are used to quickly and accurately maintain the applied tension on the conveyed material belt at the desired tension state, and simultaneously ensure the speed consistency between the unwinding line speed and the conveying line speed. This ensures that the actual tension on the conveyed material belt is consistent with the desired tension, thereby minimizing the actual tension fluctuations on the conveyed material belt, improving the conveying smoothness of the material belt, and thus effectively improving the battery manufacturing precision and battery manufacturing efficiency.

[0083] Optionally, in this embodiment, the material conveying system 10 may further include a force measuring roller, which is disposed between the tension swing arm 12 and the drive roller 13 and abuts against the conveyed material belt being transported from the tension swing arm 12 to the drive roller 13 to detect the actual tension on the conveyed material belt. Simultaneously, the main control unit 16 can communicate with the force measuring roller to determine, based on the actual tension detected by the force measuring roller, whether the conveyed material belt being transported from the unwinding shaft 11 to the drive roller 13 has been effectively straightened. If the conveyed material belt has not been effectively straightened, the main control unit 16 promptly notifies battery production personnel to perform system debugging on the material conveying system 10, thereby ensuring the final battery manufacturing quality.

[0084] Understandable, Figure 1 and Figure 2 The block diagram shown is only a schematic diagram of one composition of the belt conveyor system 10. The belt conveyor system 10 may also include a... Figure 1 and Figure 2 The more or fewer components shown, or having the same Figure 1 and Figure 2 The different configurations shown.

[0085] In this application, to ensure that the material conveying system 10 can quickly and accurately maintain the applied tension on the conveyed material belt at the desired tension state during the material conveying process by utilizing the rapid response characteristics of the servo motor, and simultaneously ensure the speed consistency between the unwinding line speed and the conveying line speed, so as to minimize the actual tension fluctuations on the conveyed material belt, improve the conveying smoothness of the conveyed material belt, and thus effectively improve the battery manufacturing precision and battery manufacturing efficiency, this application provides a material conveying control method applied to the material conveying system 10 to achieve the aforementioned objectives. The material conveying control method provided in this application will be described in detail below.

[0086] Please refer to Figure 3 , Figure 3Fig. 1 is one of flow diagrams of the tape conveying control method provided by the embodiments of the present application. In the embodiments of the present application, the tape conveying control method can include steps S210-S230.

[0087] In step S210, the real-time swing angle of the tension swing lever is acquired from the servo motor, and the servo motor is controlled to adjust the motor output torque according to the preset correlation and the real-time swing angle.

[0088] In the embodiments, the preset correlation is a data correlation between the swing lever swing angle of the tension swing lever 12 when exerting the desired tension and the preset motor torque of the servo motor 14, which essentially records the specific torque size required by the servo motor 14 when the tension swing lever 12 exerts the desired tension with different swing lever swing angles.

[0089] As for the principle of the tension exertion of the tension swing lever 12, please refer to Figure 4 , the motor rotor of the servo motor 14 is fixedly connected with the rotation end point of the tension swing lever 12, and the swing arm end point roller of the tension swing lever 12 abuts against the conveyed tape, wherein when the swing arm length of the tension swing lever 12 is L and the motor output torque of the servo motor 14 is T, the swing lever swing angle of the tension swing lever 12 is the angle a in Figure 4 , at this time, the output force F1 of the servo motor 14 at the swing arm end point roller is T / L, and the tension F2 exerted by the tension swing lever 12 on the conveyed tape is F1*cosθ, wherein since the servo motor 14 is directly connected with the rotation end point of the tension swing lever 12, the angle a is equal to the angle θ, and thus the tension F2 exerted by the tension swing lever 12 on the conveyed tape is T / L*cosα.

[0090] The master control unit 16 will determine the real-time swing angle of the tension swing lever 12 in the tape conveying process by reading the real-time data of the motor encoder of the servo motor 14, and then determine the desired motor torque of the servo motor 14 which ensures that the actual tension on the conveyed tape tends to the desired tension according to the preset correlation and the real-time swing angle, and then adjust the actual motor output torque of the servo motor 14 according to the desired motor torque, so that the actual tension on the conveyed tape can be as close as possible to the desired tension when the tension swing lever 12 maintains the real-time swing angle.

[0091] Optionally, please refer to Figure 5 , Figure 5 is Figure 3A flowchart of the sub-steps included in step S210. In this embodiment, the step "controlling the servo motor 14 to adjust the motor output torque according to the preset correlation and the real-time swing angle" in step S210 can include sub-step S211 to sub-step S214 to ensure that the actual tension on the material belt is as close as possible to the desired tension.

[0092] Sub-step S211, obtaining the motion compensation mapping relationship between the tension swing rod and the servo motor, wherein the motion compensation mapping relationship is the mapping relationship between the swing rod swing angle of the tension swing rod in the self-learning motion and the motor output torque of the servo motor.

[0093] The self-learning motion is that the tension swing rod 12 swings at a constant speed from a first limit swing angle to a second limit swing angle when the unwinding shaft 11 and the drive roller 13 are both stopped.

[0094] Because the tension swing rod 12 has gravity and rotational friction, and the material belt has friction with the swing arm end point roller of the tension swing rod 12 when being conveyed by the tension swing rod 12, the tension applied by the tension swing rod 12 to the outside cannot fully act on the conveyed material belt, and usually results in a certain deviation between the actual tension on the conveyed material belt and the tension applied by the tension swing rod 12 to the outside. Therefore, the motion compensation mapping relationship can eliminate the influence of gravity and friction on the actual tension on the conveyed material belt, so as to ensure that the actual tension on the conveyed material belt is as close as possible to the desired tension.

[0095] Sub-step S212, determining the target motor torque matched with the real-time swing angle according to the motion compensation mapping relationship, and determining the target preset motor torque matched with the real-time swing angle according to the preset correlation.

[0096] Sub-step S213, torque superposition is performed on the target motor torque and the target preset motor torque to obtain the desired motor torque corresponding to the real-time swing angle.

[0097] Sub-step S214, adjusting the motor output torque of the servo motor according to the desired motor torque.

[0098] Therefore, the application can eliminate the influence of gravity and friction on the actual tension on the material belt during the process of the tension swing lever 12 outputting the tension to the outside, so as to quickly and accurately maintain the applied tension on the material belt at the desired tension state by using the fast response characteristics of the servo motor during the material belt conveying process, and ensure that the actual tension on the material belt can be as close as possible to the desired tension.

[0099] In step S220, the conveying line speed of the driving roller and the real-time rotation angle of the unwinding shaft are obtained, and the actual material belt roll diameter of the unwinding shaft when the driving roller conveys a preset length of the material belt each time is calculated according to the real-time rotation angle and the real-time swing angle.

[0100] In the embodiment, the main control unit 16 detects the actual material belt roll diameter of the unwinding shaft 11 at the corresponding time point (i.e., the time point when the driving roller 13 conveys a preset length of the material belt each time) to dynamically adjust the unwinding line speed of the unwinding shaft 11 based on the detected actual material belt roll diameter, so that the actual unwinding line speed of the unwinding shaft 11 at the corresponding time point can be substantially matched with the conveying line speed of the driving roller 13, thereby ensuring the speed consistency between the unwinding line speed and the conveying line speed of the material belt even if the high-speed start-stop condition occurs.

[0101] Optionally, referring to Figure 6 , Figure 6 is Figure 3 the flowchart of the sub-steps included in step S220. In the embodiment, the step "calculating the actual material belt roll diameter of the unwinding shaft 11 when the driving roller 13 conveys a preset length of the material belt each time according to the real-time rotation angle and the real-time swing angle" in step S220 can include sub-steps S221-S225 to accurately detect the actual material belt roll diameter of the unwinding shaft 11 when the driving roller 13 conveys a preset length of the material belt each time.

[0102] In sub-step S221, the excess material conveying association relationship between the tension swing lever and the driving roller is obtained, wherein the excess material conveying association relationship is the mapping relationship between the swing angle of the swing lever in the process of realizing the excess material conveying movement and the material belt conveying length of the driving roller.

[0103] The excess material conveying motion is that the driving roller 13 drags the tension swing rod 12 to swing from a first limit swing angle to a second limit swing angle when the unwinding shaft 11 stops running and is pulled straight by the material belt. The excess material conveying correlation is used to describe the change corresponding relationship between the material belt excess amount buffered by the tension swing rod 12 and the swing rod swing angle of the tension swing rod 12.

[0104] In sub-step S222, the first rotation angle of the unwinding shaft when the driving roller starts to convey the preset length of the material belt each time and the second rotation angle of the unwinding shaft when the driving roller finishes conveying the preset length of the material belt are determined according to the real-time rotation angle.

[0105] In sub-step S223, the first swing angle of the tension swing rod when the driving roller starts to convey the preset length of the material belt each time and the second swing angle of the tension swing rod when the driving roller finishes conveying the preset length of the material belt are determined according to the real-time swing angle.

[0106] In sub-step S224, the additional released material belt length of the unwinding shaft when the driving roller finishes conveying the preset length is calculated according to the second swing angle, the first swing angle and the excess material conveying correlation.

[0107] In the embodiment, the step of calculating the additional released material belt length of the unwinding shaft 11 when the driving roller 13 finishes conveying the preset length according to the second swing angle, the first swing angle and the excess material conveying correlation can include:

[0108] According to the excess material conveying correlation, a first material belt conveying length corresponding to the first limit swing angle and a second material belt conveying length corresponding to the second limit swing angle are determined;

[0109] A conveying length difference between the second material belt conveying length and the first material belt conveying length is calculated, and a target swing angle difference between the second swing angle and the first swing angle and a limit swing angle difference between the second limit swing angle and the first limit swing angle are calculated;

[0110] An angle difference ratio between the target swing angle difference and the limit swing angle difference is calculated, and the calculated angle difference ratio and the conveying length difference are multiplied to obtain the additional released material belt length.

[0111] For each preset length of material belt conveying operation performed by the driving roller 13, the additional released material belt length of the unwinding shaft 11 when the material belt conveying operation is completed can be calculated by the following formula:

[0112]

[0113] Among them, l s α2 represents the additional release length of the conveyor belt when the unwinding shaft 11 completes the conveyor belt operation; α1 represents the second limit swing angle; l2 represents the second conveyor belt length corresponding to the second limit swing angle at the residual material conveying correlation point; l1 represents the first conveyor belt length corresponding to the first limit swing angle at the residual material conveying correlation point; α s α is used to indicate the first swing angle of the tension swing arm 12 before the belt conveying operation is performed. e This is used to indicate the second swing angle of the tension lever 12 when the conveyor belt operation is completed.

[0114] Sub-step S225: Calculate the actual roll diameter of the unwinding shaft when the drive roller has conveyed the preset length of the roll, based on the additional release length of the roll, the second rotation angle, the first rotation angle, and the preset length.

[0115] In this embodiment, the step of calculating the actual roll diameter of the unwinding shaft 11 when the drive roller 13 has conveyed the preset length of the roll based on the additional release strip length, the second rotation angle, the first rotation angle, and the preset length may include:

[0116] The actual unwinding length of the unwinding shaft is obtained by adding the preset length and the additional release strip length.

[0117] Subtracting the second rotation angle from the first rotation angle yields the required change in rotation angle of the unwinding shaft when the drive roller conveys the material strip of the preset length.

[0118] The actual material roll diameter is obtained by calculating the diameter based on the actual feeding length and the change in the rotation angle.

[0119] Specifically, for each preset length of belt conveying operation performed by the drive roller 13, the actual belt diameter of the unwinding shaft 11 at the completion of the belt conveying operation can be calculated using the following formula:

[0120]

[0121] Among them, l s R is used to indicate the additional length of belt released by the unwinding shaft 11 when the belt conveying operation is completed. s The unwinding shaft 11 is used to indicate the actual tape roll diameter when the tape conveying operation is completed; s is used to indicate the preset length; β is used to indicate the actual tape roll diameter when the unwinding shaft 11 is used to indicate the actual tape roll diameter when the tape conveying operation is completed. s β is used to indicate the first rotation angle of the unwinding shaft 11 before the belt conveying operation is performed. eis a second rotation angle of the unwinding shaft 11 when the tape conveying operation is completed.

[0122] Thus, the present application can accurately detect the actual tape roll diameter of the unwinding shaft 11 when the driving roller 13 conveys a preset length of the tape each time by executing the above-mentioned sub-steps S221-S225.

[0123] In step S230, the unwinding line speed of the unwinding shaft is adjusted based on the PID control algorithm according to the actual tape roll diameter, the conveying line speed, the real-time swing angle, and the expected swing angle of the tension swing rod, so that the actual tension on the conveyed tape is consistent with the expected tension.

[0124] In the present embodiment, after the main control unit 16 determines the actual tape roll diameter of the unwinding shaft 11 when the driving roller 13 conveys a preset length of the tape each time, the unwinding line speed of the unwinding shaft 11 is adjusted based on the PID (Proportional-Integral-Differential) control algorithm, so that the actual unwinding line speed of the unwinding shaft 11 at the corresponding time point can substantially match the conveying line speed of the driving roller 13, to ensure the speed consistency between the unwinding line speed and the conveying line speed of the conveyed tape even if the high-speed start-stop condition occurs in the tape conveying system 10, so that the actual tension on the conveyed tape can be stabilized at the expected tension state during the tape conveying process through the coordinated operation among the tension swing rod 12, the unwinding shaft 11, and the driving roller 13, to minimize the actual tension fluctuation on the conveyed tape, improve the conveying stability of the conveyed tape, and effectively improve the battery manufacturing precision and the battery manufacturing efficiency.

[0125] Optionally, please refer to Figure 7 , Figure 7 is Figure 3 the flowchart of the sub-steps included in step S230. In the present embodiment, the step “adjusting the unwinding line speed of the unwinding shaft 11 based on the PID control algorithm according to the actual tape roll diameter, the conveying line speed, the real-time swing angle, and the expected swing angle of the tension swing rod 12” in step S230 can include sub-steps S231-S234, to ensure that the actual unwinding line speed of the unwinding shaft 11 when the driving roller 13 conveys a preset length of the tape each time substantially matches the conveying line speed of the driving roller 13, to ensure the speed consistency between the unwinding line speed and the conveying line speed of the conveyed tape.

[0126] In sub-step S231, the actual swing angle of the tension swing rod when the driving roller conveys a preset length of the tape each time is determined according to the real-time swing angle.

[0127] Sub-step S232, calculating the actual angle difference between the expected swing angle and each actual swing angle.

[0128] In this embodiment, the main control unit 16 will calculate the actual angle difference between the expected swing angle and each actual swing angle after obtaining the actual swing angle of the tension swing lever 12 when the driving roller 13 has conveyed a preset length of the material belt each time.

[0129] Sub-step S233, substituting the actual material belt roll diameter, the conveying line speed and all the calculated actual angle differences into the PID control law equation for the unwinding angular velocity of the unwinding shaft to solve the equation and obtain the expected angular velocity of the unwinding shaft.

[0130] The PID control law equation is expressed by the following formula:

[0131]

[0132] Wherein, ω k represents the expected angular velocity of the unwinding shaft 11 when the driving roller 13 has conveyed a preset length of the material belt the kth time, R k represents the actual material belt roll diameter of the unwinding shaft 11 when the driving roller 13 has conveyed a preset length of the material belt the kth time, v represents the conveying line speed of the driving roller 13, and e k represents the actual angle difference of the tension swing lever 12 when the driving roller 13 has conveyed a preset length of the material belt the kth time, e i represents the actual angle difference of the tension swing lever 12 when the driving roller 13 has conveyed a preset length of the material belt the ith time, e k-1 represents the actual angle difference of the tension swing lever 12 when the driving roller 13 has conveyed a preset length of the material belt the k-1th time, K P represents the proportional control parameter, K I represents the integral control parameter, K D represents the differential control parameter.

[0133] Thus, by executing the above sub-step S233, the expected angular velocity of the unwinding shaft 11 when the driving roller 13 has conveyed a preset length of the material belt each time can be directly determined, and at this time, the expected angular velocity can ensure that the actual swing angle of the tension swing lever 12 is maintained as close to the expected swing angle as possible.

[0134] Sub-step S234, adjusting the unwinding line speed of the unwinding shaft according to the obtained expected angular velocity.

[0135] Therefore, the application can ensure that the actual unwinding line speed of the unwinding shaft 11 matches the conveying line speed of the driving roller 13 when the driving roller 13 conveys a preset length of the material belt each time, to realize the speed consistency between the unwinding line speed and the conveying line speed of the conveyed material belt, and at the same time ensure that the actual swing angle of the tension swing rod 12 can be maintained as close to the expected swing angle as possible during the conveying of the material belt.

[0136] The application can execute the above steps S210-S230 to quickly and accurately maintain the applied tension on the conveyed material belt in the expected tension state during the conveying of the material belt by using the fast response characteristics of the servo motor, and at the same time ensure the speed consistency between the unwinding line speed and the conveying line speed, so that the actual tension on the conveyed material belt is consistent with the expected tension, and at the same time the actual swing angle of the tension swing rod 12 can be maintained as close to the expected swing angle as possible during the conveying of the material belt, to reduce the actual tension fluctuation on the conveyed material belt as much as possible, improve the conveying stability of the conveyed material belt, and effectively improve the battery manufacturing precision and the battery manufacturing efficiency.

[0137] Optionally, please refer to Figure 8 , Figure 8 is a flowchart of a material belt conveying control method provided by an embodiment of the application. In the embodiment of the application, compared with the material belt conveying control method shown in Figure 3 , the material belt conveying control method shown in Figure 8 may further include steps S310-S320 before step S210 is executed, to effectively detect the motion compensation mapping relationship and the excess material conveying correlation relationship corresponding to the material belt conveying system 10.

[0138] In step S310, the unwinding shaft and the driving roller are both controlled to stop running, and the servo motor is controlled to drive the tension swing rod to realize self-learning motion, to obtain the motion compensation mapping relationship between the tension swing rod and the servo motor.

[0139] The self-learning motion is that the tension swing rod 12 hangs the material belt and swings at a constant speed from a first limit swing angle to a second limit swing angle.

[0140] In step S320, the unwinding shaft is controlled to stop running, and the servo motor is controlled to drive the tension swing rod to straighten the conveyed material belt at the first limit swing angle, and then the driving roller is controlled to cooperate with the tension swing rod to realize excess material conveying motion, to obtain the excess material conveying correlation relationship between the tension swing rod and the driving roller.

[0141] The excess material conveying motion is that the driving roller 13 drags the tension swing rod 12 to swing from the first limit swing angle to the second limit swing angle.

[0142] Therefore, the application can effectively detect the motion compensation mapping relationship and the excess material conveying correlation corresponding to the material tape conveying system 10 by performing the above steps S310-S320.

[0143] Optionally, please refer to Figure 9 , Figure 9 is a flowchart of the material tape conveying control method provided by the embodiment of the application. In the embodiment of the application, compared with the material tape conveying control method shown in Figure 8 , the material tape conveying control method shown in Figure 9 may further include steps S330-S390 before step S210 is performed, so as to accurately detect the actual initial roll diameter of the roll-shaped material tape when the roll-shaped material tape is installed at the unwinding shaft 11, and effectively improve the roll diameter detection efficiency.

[0144] In step S330, the driving roller is controlled to stop running, the servo motor is controlled to drive the tension swing rod to straighten the material tape at the first limit swing angle, and then the unwinding shaft is controlled to perform the winding action to drive the tension swing rod to swing from the first preset swing angle to the second preset swing angle.

[0145] In step S340, the third rotation angle of the unwinding shaft when the tension swing rod swings to the first preset swing angle is obtained, and the fourth rotation angle of the unwinding shaft when the tension swing rod swings to the second preset swing angle is obtained.

[0146] In step S350, according to the excess material conveying correlation, the first target conveying length corresponding to the first preset swing angle and the second target conveying length corresponding to the second preset swing angle are determined.

[0147] In step S360, the actual rotation angle difference between the fourth rotation angle and the third rotation angle, and the actual length difference between the second target conveying length and the first target conveying length are calculated.

[0148] In step S370, the diameter operation is performed based on the actual length difference and the actual rotation angle difference, and the first initial roll diameter of the unwinding shaft before the material tape is released is obtained.

[0149] The first initial roll diameter of the roll-shaped material tape installed on the unwinding shaft 11 before the material tape is released can be directly calculated by the following formula:

[0150]

[0151] Wherein, R1 is used to represent the first initial roll diameter, β1 is used to represent the third rotation angle of the unwinding shaft 11 when the tension swing rod 12 swings to a first preset swing angle, β2 is used to represent the fourth rotation angle of the unwinding shaft 11 when the tension swing rod 12 swings to a second preset swing angle, l1' is used to represent a first target conveying length corresponding to the first preset swing angle at the excess material conveying correlation, and l2' is used to represent a second material belt conveying length corresponding to the second preset swing angle at the excess material conveying correlation.

[0152] Step S380, control the ultrasonic sensor to detect the roll diameter of the unwinding shaft before the unwinding shaft starts to release the material belt, and obtain a second initial roll diameter of the unwinding shaft.

[0153] Step S390, perform weighted sum operation on the first initial roll diameter and the second initial roll diameter to obtain an actual initial roll diameter of the unwinding shaft before starting to release the material belt.

[0154] Wherein, the main control unit 16 can configure a weight value for each of the first initial roll diameter and the second initial roll diameter, and then obtain the actual initial roll diameter size of the roll-shaped material belt to be conveyed when installed at the unwinding shaft 11 by performing weighted sum operation on the first initial roll diameter and the second initial roll diameter. The actual initial roll diameter size of the roll-shaped material belt to be conveyed when installed at the unwinding shaft 11 can be directly calculated by the following formula:

[0155] R0 = γ1*R1 + γ2*R2, where γ1 + γ2 = 1;

[0156] Wherein, R0 is used to represent the actual initial roll diameter size of the roll-shaped material belt to be conveyed when installed at the unwinding shaft 11, R1 is used to represent the first initial roll diameter of the roll-shaped material belt to be conveyed when installed at the unwinding shaft 11, R2 is used to represent the second initial roll diameter of the roll-shaped material belt to be conveyed when installed at the unwinding shaft 11, γ1 is used to represent the weight value matched with the first initial roll diameter, and γ2 is used to represent the weight value matched with the second initial roll diameter.

[0157] Therefore, by executing the above steps S330-S390, the actual initial roll diameter size of the roll-shaped material belt to be conveyed when installed at the unwinding shaft 11 can be accurately detected, and the roll diameter detection efficiency can be effectively improved.

[0158] In the present application, in order to ensure that the master unit 16 in the material tape conveying system 10 can call the unwinding shaft 11, the tension swing rod 12, the driving roller 13, the servo motor 14 and the ultrasonic sensor 15 to realize the above-mentioned material tape conveying control method, the present application can divide the computer program stored in the master unit 16 into functional modules, so that each process function involved in the above-mentioned material tape conveying control method can be divided into a separate functional module, or two or more step functions can be integrated into a functional module, and the specific functional module division mode of the foregoing computer program is not limited.

[0159] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only schematic. For example, the flowcharts and block diagrams in the drawings show possible implementation architectures, functions and operations of the devices, methods and computer program products according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those described in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0160] In addition, the functional modules in each of the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. If the functions are realized in the form of software functional modules and sold or used as independent products, they can be stored in a readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product, which is stored in a readable storage medium and includes a number of instructions for causing the above-mentioned material tape conveying system 10 to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing readable storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk and various program code storage media.

[0161] In summary, in the material belt conveying control method, the material belt conveying system and the readable storage medium provided by the embodiments of the present application, the real-time swing angle of the tension swing rod is obtained from the servo motor, and the preset correlation relationship related to the expected tension is obtained according to the real-time swing angle, and the servo motor is controlled to adjust the motor output torque to drive the tension swing rod to stably apply the expected tension to the conveyed material belt. At the same time, the conveying line speed of the driving roller and the real-time rotation angle of the unwinding shaft are obtained, and the actual material belt winding diameter of the unwinding shaft is calculated according to the real-time rotation angle and the real-time swing angle when the driving roller conveys the material belt of the preset length each time. Then, the unwinding line speed of the unwinding shaft is adjusted based on the PID control algorithm according to the actual material belt winding diameter, the conveying line speed, the real-time swing angle and the expected swing angle of the tension swing rod, so that the unwinding line speed and the conveying line speed of the conveyed material belt are kept consistent in speed. Thus, the quick response characteristic of the servo motor is utilized in the material belt conveying process to quickly and accurately stably maintain the applied tension on the conveyed material belt at the expected tension state, and the speed consistency between the unwinding line speed and the conveying line speed is ensured synchronously, so that the actual tension on the conveyed material belt is kept consistent with the expected tension, and the actual swing angle of the tension swing rod 12 can be maintained as close to the expected swing angle as possible during the material belt conveying process, so as to reduce the actual tension fluctuation generated on the conveyed material belt as much as possible, improve the conveying stability of the conveyed material belt, and effectively improve the battery manufacturing precision and the battery manufacturing efficiency.

[0162] The above is only various embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of controlling the conveyance of a tape, characterized by, The application is applied to a material belt conveying system, the material belt conveying system comprises a unwinding shaft, a tension swing lever, a driving roller and a servo motor, wherein the driving roller is used for traction conveying the material belt on the unwinding shaft, the tension swing lever is arranged between the unwinding shaft and the driving roller and abuts against the material belt, and the servo motor is used for driving the tension swing lever to stably apply tension to the conveyed material belt; the method comprises: obtaining the real swing angle of the tension swing lever from the servo motor, and controlling the servo motor to adjust the motor output torque according to the preset correlation and the real swing angle, wherein the preset correlation is the data correlation between the swing lever swing angle of the tension swing lever when applying the expected tension and the preset motor torque of the servo motor; obtaining the conveying linear speed of the driving roller and the real rotation angle of the unwinding shaft, and calculating the actual material belt winding diameter of the unwinding shaft when the driving roller conveys the preset length of material belt each time according to the real rotation angle and the real swing angle; adjusting the unwinding linear speed of the unwinding shaft based on the PID control algorithm according to the actual material belt winding diameter, the conveying linear speed, the real swing angle and the expected swing angle of the tension swing lever, so that the actual tension on the conveyed material belt is consistent with the expected tension; wherein the step of calculating the actual material belt winding diameter of the unwinding shaft when the driving roller conveys the preset length of material belt each time according to the real rotation angle and the real swing angle comprises: obtaining the excess material conveying correlation between the tension swing lever and the driving roller, wherein the excess material conveying correlation is the mapping relationship between the swing lever swing angle of the tension swing lever in the excess material conveying movement and the material belt conveying length of the driving roller, the excess material conveying movement is that the driving roller drags the tension swing lever from the first limit swing angle to the second limit swing angle when the unwinding shaft stops running and the conveyed material belt is straightened, wherein the first limit swing angle is the limit swing angle corresponding to the position of the swing lever close to the driving roller, and the second limit swing angle is the limit swing angle corresponding to the position of the swing lever close to the unwinding shaft; determining the first rotation angle of the unwinding shaft when the driving roller starts to convey the preset length of material belt each time and the second rotation angle of the unwinding shaft when the driving roller conveys the preset length of material belt according to the real rotation angle; determining the first swing angle of the tension swing lever when the driving roller starts to convey the preset length of material belt each time and the second swing angle of the tension swing lever when the driving roller conveys the preset length of material belt according to the real swing angle; calculating the additional released material belt length of the unwinding shaft when the driving roller conveys the preset length according to the second swing angle, the first swing angle and the excess material conveying correlation; According to the extra released length of the material belt, the second rotation angle, the first rotation angle and the preset length, an actual material belt roll diameter of the unwinding shaft when the driving roller has conveyed the material belt of the preset length is calculated.

2. The method of claim 1, wherein, The step of controlling the servo motor to adjust the motor output torque according to the preset correlation and the real-time swing angle comprises: obtaining a motion compensation mapping relationship between the tension swing lever and the servo motor, wherein the motion compensation mapping relationship is a mapping relationship between a swing lever swing angle of the tension swing lever in a self-learning motion process and a motor output torque of the servo motor, the self-learning motion is that the tension swing lever hangs the material belt and swings uniformly from a first limit swing angle to a second limit swing angle when the unwinding shaft and the driving roller are both stopped, wherein the first limit swing angle is a limit swing angle corresponding to a position of the swing lever close to the driving roller, and the second limit swing angle is a limit swing angle corresponding to a position of the swing lever close to the unwinding shaft; determining a target motor torque matched with the real-time swing angle according to the motion compensation mapping relationship, and determining a target preset motor torque matched with the real-time swing angle according to the preset correlation; superimposing the target motor torque and the target preset motor torque to obtain an expected motor torque corresponding to the real-time swing angle; adjusting the motor output torque of the servo motor according to the expected motor torque.

3. The method of claim 1, wherein, The step of calculating the extra released length of the material belt according to the second swing angle, the first swing angle and the excess material conveying correlation comprises: determining a first material belt conveying length corresponding to the first limit swing angle and a second material belt conveying length corresponding to the second limit swing angle according to the excess material conveying correlation; calculating a conveying length difference between the second material belt conveying length and the first material belt conveying length, and calculating a target swing angle difference between the second swing angle and the first swing angle, and a limit swing angle difference between the second limit swing angle and the first limit swing angle; calculating an angle difference ratio between the target swing angle difference and the limit swing angle difference, and performing a multiplication operation on the calculated angle difference ratio and the conveying length difference to obtain the extra released length of the material belt.

4. The method of claim 1, wherein, The step of calculating the actual material belt roll diameter of the unwinding shaft when the driving roller has conveyed the material belt of the preset length according to the extra released length of the material belt, the second rotation angle, the first rotation angle and the preset length comprises: performing an addition operation on the preset length and the extra released length of the material belt to obtain an actual material releasing length of the unwinding shaft; performing a subtraction operation on the second rotation angle and the first rotation angle to obtain a rotation angle change amount required by the unwinding shaft when the driving roller conveys the material belt of the preset length; performing a diameter calculation operation based on the actual material releasing length and the rotation angle change amount to obtain the actual material belt roll diameter.

5. The method of claim 1, wherein, The step of adjusting the unwinding line speed of the unwinding shaft based on a PID control algorithm according to the actual roll diameter, the conveying line speed, the real-time swing angle, and the expected swing angle of the tension swing rod comprises: determining the actual swing angle of the tension swing rod when the driving roller conveys a preset length of the material belt each time according to the real-time swing angle; calculating the actual angle difference between the expected swing angle and each actual swing angle; substituting the actual roll diameter, the conveying line speed, and all the calculated actual angle differences into a PID control law equation for the unwinding angular speed of the unwinding shaft to solve the equation and obtain the expected angular speed of the unwinding shaft; adjusting the unwinding line speed of the unwinding shaft according to the obtained expected angular speed; The PID control law equation is expressed by the following formula: ； wherein, a desired angular velocity of the unwinding shaft at a time when a preset length of the material belt is delivered by the driving roller, a desired angular velocity of the unwinding shaft at a time when a preset length of the material belt is delivered by the driving roller, an actual material belt roll diameter of the unwinding shaft at a time when a preset length of the material belt is delivered by the driving roller, an actual material belt roll diameter of the unwinding shaft at a time when a preset length of the material belt is delivered by the driving roller, a delivery line speed of the driving roller, an actual angular difference of the tension swing lever at a time when a preset length of the material belt is delivered by the driving roller, an actual angular difference of the tension swing lever at a time when a preset length of the material belt is delivered by the driving roller, an actual angular difference of the tension swing lever at a time when a preset length of the material belt is delivered by the driving roller, an actual angular difference of the tension swing lever at a time when a preset length of the material belt is delivered by the driving roller, an actual angular difference of the tension swing lever at a time when a preset length of the material belt is delivered by the driving roller, an actual angular difference of the tension swing lever at a time when a preset length of the material belt is delivered by the driving roller, a proportional control parameter, an integral control parameter, a differential control parameter.

6. The method according to any one of claims 1 to 5, characterized in that, The method further comprises: controlling the unwinding shaft and the driving roller to stop running, and controlling the servo motor to drive the tension swing rod to realize self-learning motion to obtain the motion compensation mapping relationship between the tension swing rod and the servo motor, wherein the self-learning motion is that the tension swing rod with the material belt mounted thereon swings uniformly from a first limit swing angle to a second limit swing angle; controlling the unwinding shaft to stop running and controlling the servo motor to drive the tension swing rod to straighten the conveyed material belt at the first limit swing angle, and then controlling the driving roller to cooperate with the tension swing rod to realize excess material conveying motion to obtain the excess material conveying correlation between the tension swing rod and the driving roller, wherein the excess material conveying motion is that the driving roller drags the tension swing rod to swing from the first limit swing angle to the second limit swing angle.

7. The method of claim 6, wherein, The material belt conveying system further comprises an ultrasonic sensor, and the method further comprises: controlling the driving roller to stop running, and controlling the servo motor to drive the tension swing rod to straighten the conveyed material belt at the first limit swing angle, and then controlling the unwinding shaft to perform a winding action to drag the tension swing rod to swing from a first preset swing angle to a second preset swing angle; obtaining a third rotation angle of the unwinding shaft when the tension swing rod swings to the first preset swing angle, and obtaining a fourth rotation angle of the unwinding shaft when the tension swing rod swings to the second preset swing angle; determining a first target conveying length corresponding to the first preset swing angle and a second target conveying length corresponding to the second preset swing angle according to the excess material conveying correlation; calculating the actual rotation angle difference between the fourth rotation angle and the third rotation angle, and the actual length difference between the second target conveying length and the first target conveying length; performing diameter calculation based on the actual length difference and the actual rotation angle difference to obtain a first initial roll diameter of the unwinding shaft before starting to release the material belt; controlling the ultrasonic sensor to detect the roll diameter of the unwinding shaft before the unwinding shaft starts to release the material belt to obtain a second initial roll diameter of the unwinding shaft; The first initial roll diameter and the second initial roll diameter are subjected to a weighted sum operation to obtain an actual initial roll diameter of the unwinding shaft before the unwinding shaft starts to release the ribbon.

8. A tape transport system characterized by, The ribbon conveying system comprises a master control unit, an unwinding shaft, a tension swing lever, a driving roller, a servo motor and an ultrasonic sensor, wherein the ultrasonic sensor is used to detect the roll diameter of the unwinding shaft before the unwinding shaft starts to release the ribbon. The driving roller is used to pull and convey the ribbon on the unwinding shaft, the tension swing lever is arranged between the unwinding shaft and the driving roller and abuts against the ribbon, and the servo motor is used to drive the tension swing lever to stably apply tension to the conveyed ribbon. The master control unit stores a computer program and can run the computer program to realize the ribbon conveying control method in any one of claims 1-7.

9. A readable storage medium, having stored thereon a computer program, characterized in that, The computer program is loaded and run by the ribbon conveying system to realize the ribbon conveying control method in any one of claims 1-7.

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