Online scrap removal and patching control method, device and stacking machine during pole piece conveying

Abstract

The present invention provides a method, device and stacking machine for controlling online kicking and patching of electrode sheets during electrode sheet transportation. The method comprises the following steps: initializing a negative electrode mover combination to return to a belt line and above a deviation correction platform, and initializing a positive electrode mover combination to return to a stacking platform and above a deviation correction platform; respectively coupling a first mover and a second mover in the negative electrode mover combination, and a third mover and a fourth mover in the positive electrode mover combination; establishing a cam correspondence table between a main virtual axis and the first mover and the third mover, coupling the first mover and the third mover with the main virtual axis, and controlling the coupled main virtual axis to operate in a speed mode to alternately stack negative electrode sheets and positive electrode sheets on the negative electrode side and the positive electrode side; when deviation correction fails during the stacking process, kicking and patching are performed, and when sheet drop occurs during the stacking process, patching is performed until the positive electrode sheets and the negative electrode sheets are stacked to a target number of layers, and the stacking efficiency is effectively improved by independently performing kicking and patching control on both the positive electrode side and the negative electrode side.

Description

Technical Field

[0001] The present invention relates to the field of lamination control technology, and in particular to an online control method and device for kicking out waste and replacing pole pieces during pole piece transportation, and a lamination machine. Background Art

[0002] Most of the stacking segments of lithium batteries are now stacked using a linear motor structure. The feeding belt is a complete belt, and multiple pole pieces are evenly placed on the feeding belt. The linear motor transports it to the correction table for UVW correction. When the pole piece exceeds the correction range or fails to adsorb and falls off, it needs to be patched. The existing stacking mechanism relies on a whole belt to transport the pole piece. On the positive and negative sides, there is a cache patch platform and a kick-out platform.

[0003] However, the stacking mechanism having a buffer patching platform and a kicking platform takes a long time to kick out the waste patching, resulting in relatively low stacking efficiency. Summary of the invention

[0004] The present invention provides a method and device for controlling online kicking and patching of pole pieces during pole piece transportation, and a laminating machine, so as to solve the defects in the prior art that the kicking and patching of pole pieces is time-consuming and leads to low laminating efficiency.

[0005] On the one hand, the present invention provides an online waste removal and patching control method during pole piece transportation, wherein a stacking table, a buffer table and a waste removal platform are provided on both the positive pole side and the negative pole side, and the method comprises:

[0006] Initialize the negative pole mover assembly to return to the upper part of the belt line and the deviation correction platform away from the ground, and the positive pole mover assembly to return to the upper part of the lamination table and the deviation correction platform away from the ground;

[0007] Respectively coupling the first mover and the second mover in the negative pole mover combination, and the third mover and the fourth mover in the positive pole mover combination;

[0008] Establishing a cam correspondence table between the main virtual axis and the first mover and the third mover, and coupling the first mover and the third mover with the main virtual axis based on the cam correspondence table;

[0009] Controlling the coupled main virtual axis to run in a speed mode to alternately stack negative electrode sheets and positive electrode sheets on the negative electrode side and the positive electrode side;

[0010] When the deviation correction fails during the stacking process, the waste is kicked out and the sheet is repaired. When the sheet falls off due to adsorption during the stacking process, the sheet is repaired until the positive electrode sheet and the negative electrode sheet are stacked to the target number of layers.

[0011] According to a method for controlling online scrap removal and patching during pole piece transportation provided by the present invention, the scrap removal operation and patching include:

[0012] Determine the workstation for scrapping and the electrodes to be scrapped;

[0013] Control the waste kicking platforms on both sides of the workstation to move to below the electrode to be kicked out close to the ground;

[0014] The electrode piece to be kicked out is blown down to the kicking out platform by breaking the vacuum and blowing, and the kicking out platform is controlled to reset.

[0015] According to a method for controlling online waste removal and patching in pole piece transportation provided by the present invention, after controlling the waste removal platform to reset, the method further includes:

[0016] Count the number of pole pieces on the scrap platform;

[0017] When the number of the pole pieces reaches a preset threshold, the pole pieces on the scrapping platform are recycled.

[0018] According to a method for controlling online scrap removal and patching during pole piece transportation provided by the present invention, the patching operation includes:

[0019] Determine the amount of remaining material on the buffer table, the amount of material shortage on the loading robot, and the location of the dropped pieces;

[0020] Based on the amount of remaining material on the buffer table and the amount of material shortage on the feeding robot, the feeding robot is patched;

[0021] According to the different positions of the adsorbed dropped sheets, the feeding robot is repaired by a decoupling or non-decoupling method.

[0022] According to a method for controlling online scrap removal and patching in pole piece conveying provided by the present invention, patching is performed on a feeding robot based on the amount of residual material on the buffer table, comprising:

[0023] When the feeding robot is short of a piece of material and there is excess material on the buffer table, the feeding robot is replenished with material through the buffer table. After the replenishment is completed, if there is no material on the buffer table, the two front pieces of material on the next round of feeding belt are taken and replenished to the buffer table;

[0024] When the feeding robot is short of two sheets of material, the buffer table is replenished, and then the buffer table after the replenishment is used to replenish the feeding robot;

[0025] When the feeding robot is short of three sheets of material, the buffer station will be used to replenish the material for the feeding robot, and then the buffer station will be replenished;

[0026] When the feeding robot is short of four sheets of material, four sheets of material are taken from the feeding belt to replenish the feeding robot, and when the feeding robot is short of four sheets of material for two consecutive times, it is shut down for maintenance.

[0027] According to a method for controlling online scrap removal and patching in pole piece transportation provided by the present invention, the feeding robot is patched in a decoupled or non-decoupled manner according to the different positions of the adsorbed dropped pole pieces, including:

[0028] If the location of the film being sucked off is during the process from the feeding belt to the deviation correction platform, after stacking on the negative side, determine whether the positive side needs to be patched;

[0029] If the positive side needs patching, the positive side is patched through the buffer station after controlling the positive side and the negative side to be decoupled;

[0030] If the positive electrode side does not need a patch, the buffering table is controlled to move to the sheet dropping position, the missing sheet is adsorbed by the buffering table, the longitudinal axis of the deflection correction table is controlled not to descend, and the positive electrode side is controlled to stack one round of vacant film;

[0031] After one round of empty stacking on the positive side, the missing sheets are stacked on the deflection correction table, and the longitudinal axis of the stacking table is controlled not to descend. After one round of empty stacking, it is determined whether sheet filling is needed. If necessary, the sheet filling operation is performed through the buffer table. Otherwise, the positive side sheets and the negative side sheets are stacked alternately.

[0032] According to the present invention, a method for controlling online waste removal and replacement of pole pieces during pole piece transportation further includes:

[0033] If the location of the film being adsorbed is during the process from the deviation correction platform to the lamination platform, it is determined whether the positive electrode side needs to be patched;

[0034] If the positive side needs a patch, the positive side is patched through the cache after the positive side and the negative side are decoupled; if the positive side does not need a patch, the negative side is controlled to be empty, and then it is determined whether the cache has enough patches;

[0035] If the buffer station has enough patching quantity, the positive side and the negative side are controlled to be decoupled, and the position where the adsorbed dropped film is patched is patched through the buffer station; if the buffer station does not have enough patching quantity, the deviation correction platform is controlled to adsorb the missing film, and after the missing film is patched through the buffer station, the positive side is controlled to be emptied for one round;

[0036] After a round of empty stacking on the positive side, it is determined whether it is necessary to discard the patch sheet. If necessary, the patching operation is performed through the buffer station. Otherwise, the positive side sheets and the negative side sheets are alternately stacked.

[0037] According to a method for controlling online scrap removal and patching in the process of electrode sheet transportation provided by the present invention, the process of performing scrap removal and patching also includes:

[0038] Control the decoupling of the positive and negative sides;

[0039] When the positive side and the negative side approach the interference area at the same time, the negative side is controlled to process the action in the interference area first, and send an admission signal after completion;

[0040] After receiving the admission signal, controlling the positive electrode side to process the action in the interference area;

[0041] After the negative electrode side and the positive electrode side have completed their actions, the positive electrode side and the negative electrode side are controlled to reset, and the positive electrode side and the negative electrode side are controlled to recouple.

[0042] On the other hand, the present invention also provides an online control device for kicking out waste and patching during pole piece transportation, comprising:

[0043] An initialization module is used to initialize the negative pole mover assembly to return to the belt line and the deviation correction platform above the ground, and the positive pole mover assembly to return to the lamination table and the deviation correction platform above the ground;

[0044] A coupling module, used for respectively coupling the first mover and the second mover in the negative pole mover combination, and the third mover and the fourth mover in the positive pole mover combination;

[0045] A writing module, used for establishing a cam correspondence table between the main virtual axis and the first mover and the third mover, and coupling the first mover and the third mover with the main virtual axis based on the cam correspondence table;

[0046] A stacking module, used for controlling the coupled main virtual axis to run in a speed mode, so as to alternately stack negative electrode sheets and positive electrode sheets on the negative electrode side and the positive electrode side;

[0047] The module for kicking out waste and patching sheets is used to kick out waste and patch sheets when correction fails during the stacking process, and to patch sheets when sheets fall off due to adsorption during the stacking process until the positive and negative sheets are stacked to the target number of layers.

[0048] On the other hand, the present invention also provides a laminating machine for executing the online control method for kicking out waste and replacing plates during pole piece transportation as described in any one of the above items.

[0049] On the other hand, the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, an online control method for removing waste and replacing electrode pieces during electrode piece transportation as described in any one of the above-mentioned methods is implemented.

[0050] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-mentioned methods for controlling online waste removal and replacement of pole pieces during pole piece transportation.

[0051] On the other hand, the present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned methods for controlling online waste removal and replacement of pole pieces during pole piece transportation.

[0052] The present invention provides a method, device and stacking machine for controlling online kicking and patching of electrode sheets during electrode sheet transportation. The method comprises the following steps: initializing a negative electrode mover assembly to return to a position above a belt line and a deviation correction platform away from the ground, and initializing a positive electrode mover assembly to return to a position above a stacking platform and a deviation correction platform away from the ground; coupling the first mover and the second mover in the negative electrode mover assembly, and the third mover and the fourth mover in the positive electrode mover assembly respectively; establishing a cam correspondence table between the main virtual axis and the first mover and the third mover, and coupling the first mover and the third mover with the main virtual axis based on the cam correspondence table; controlling the coupled main virtual axis to operate in a speed mode to alternately stack negative electrode sheets and positive electrode sheets on the negative electrode side and the positive electrode side; when deviation correction fails during the stacking process, kicking and patching are performed, and when sheet drop occurs during the stacking process, patching is performed until the positive electrode sheets and the negative electrode sheets are stacked to the target number of layers, and kicking and patching are controlled independently on both the positive electrode side and the negative electrode side, so that the kicking and patching time can be effectively shortened, thereby improving the stacking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 It is a flow chart of a method for controlling online waste removal and replacement of pole pieces during pole piece transportation provided by an embodiment of the present invention;

[0055] Figure 2 is a schematic diagram of a single-side layout of a stacked segment provided in an embodiment of the present invention;

[0056] Figure 3 It is a structural schematic diagram of an online waste removal and patching control device in pole piece transportation provided by an embodiment of the present invention;

[0057] Figure 4 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] Combine the following Figure 1-Figure 4 The invention describes a method, device and laminating machine for controlling online scrap removal and replacement of pole pieces during pole piece transportation.

[0060] Figure 1 It is a flow chart of an on-line waste removal and replacement control method during pole piece transportation provided by an embodiment of the present invention.

[0061] like Figure 1 As shown, an embodiment of the present invention provides an online scrap removal and patching control method in pole piece conveying, the execution subject can be a programmable logic controller, and a stacking table, a buffer table and a scrap removal platform are provided on both the positive and negative sides. The gantry control principle is adopted to better ensure the synchronization of the movers on both sides. The method mainly includes the following steps:

[0062] 101. Initialize the negative pole mover assembly to return to the upper part of the belt line and the deviation correction platform away from the ground, and the positive pole mover assembly to return to the upper part of the lamination table and the deviation correction platform away from the ground.

[0063] In a specific implementation process, the lamination mechanism is first optimized and improved, such as Figure 2 As shown, the schematic diagram of the layout after one side is enlarged for optimization of the stacking segment. The feeding belt is divided into three sections, and four pole pieces are placed on each section of the belt. The middle section of the belt is not transported, but only used as a buffer and reserved for maintenance. A camera is set up above the correction platform to take pictures of the pole pieces, and then the correction value is returned. There are three axes under the correction platform that are offset in the horizontal, vertical and rotational directions, and then the linear motor takes the piece. After it is placed on the stacking table, the press knife will press it down and the stacking table will drop the thickness of a pole piece. The positive and negative poles are stacked alternately in turn.

[0064] After the stacking mechanism is optimized and improved, the electronic cam mode is adopted, and the first mover in the mover combination responsible for conveying the belt line to the correction platform on the negative side can be set to PNP1, the second mover in the mover combination responsible for conveying the correction platform to the stacking platform on the negative side can be set to PNP2, the third mover in the mover combination responsible for conveying the belt line to the correction platform on the positive side can be set to PNP3, and the fourth mover in the mover combination responsible for conveying the correction platform to the stacking platform on the positive side can be set to PNP4. PNP1 can be set as the main axis, PNP2 can be set as the slave axis to follow PNP1, and the negative mover combination PNP1 and PNP2 can be initialized to return to the belt line and the correction platform above the ground away from the ground. PNP3 can be set as the main axis, and PNP4 can be set as the slave axis to follow PNP3, and the positive mover combination PNP3 and PNP4 can be initialized to return to the stacking platform and the correction platform above the ground away from the ground. The vertical axis lifting action adopts the position mode.

[0065] 102. Respectively couple the first mover and the second mover in the negative pole mover combination, and the third mover and the fourth mover in the positive pole mover combination.

[0066] After the initialization is completed, the first mover PNP1 is coupled with the second mover PNP2, and the third mover PNP3 is coupled with the fourth mover PNP4. The main function of the coupling is to enable PNP2 to follow PNP1 and PNP4 to follow PNP3.

[0067] 103. Establish a cam correspondence table between the main virtual axis and the first mover and the third mover, and couple the first mover and the third mover with the main virtual axis based on the cam correspondence table.

[0068] After the main virtual axis is established, a cam correspondence table is established between the main virtual axis and the first and third movers. After the cam correspondence table is generated, the first and third movers are coupled to the main virtual axis. Thus, the position correspondence between the main axis and the slave axis is established, and the positions of the main axis and the slave axis are written into the cam correspondence table. A cam table is established between each slave axis and the main axis. Its main function is to locate the first mover PNP1, the second mover PNP2, the third mover PNP3 and the fourth mover PNP4, establish a connection with the main virtual axis, and thus better realize the handling control of the pole piece.

[0069] 104. The main virtual axis after the control coupling is operated in a speed mode to alternately stack the negative electrode sheets and the positive electrode sheets on the negative electrode side and the positive electrode side.

[0070] The coupled main virtual axis runs in speed mode, which can be specifically controlled to advance the feeding belt to twelve pole piece positions, and then the first and second pole pieces, as well as the eleventh and twelfth pole pieces are taken to the buffer table through the mover combination. Then the feeding belt is controlled to advance four pole piece positions to fill the twelve pole piece positions, and the mover moves the pole piece from the feeding belt to the safe position, and at the same time moves the pole piece after deviation correction to the safe position. Then the camera takes pictures and performs deviation correction. After the deviation correction is successful, the normal handling and stacking process of the positive and negative pole pieces can be carried out.

[0071] Specifically, the alternating stacking of negative and positive electrode sheets on the negative and positive sides can be performed by controlling the negative electrode side to adsorb the negative electrode sheet, and the longitudinal axis of the positive electrode side does not drop; then stacking the negative electrode sheet, and controlling the positive electrode side to move to the upper material position to adsorb the positive electrode sheet, so that the number of negative electrode layers increases by one layer, and judging whether the negative electrode meets the number of layers requirement, if the number of layers requirement is met, then stop waiting for the stacking table to move, and if the negative electrode does not meet the number of layers requirement, then stacking the positive electrode sheet, and controlling the negative electrode side to move to the upper material position to adsorb the negative electrode sheet, so that the number of positive electrode layers increases by one layer. Then judge whether the number of positive electrode layers meets the number of layers requirement, if the requirement is met, then stop waiting for the stacking table to move, and if the requirement is not met, then continue to stack the negative electrode sheet, and cyclically stack the negative and positive electrode sheets until the alternating stacking of the negative and positive electrode sheets is finally completed.

[0072] At the same time, since PNP1 and PNP2 are coupled, and PNP3 and PNP4 are coupled after the initialization process is completed, there is no need to decouple the two because their relative positions remain unchanged without changing the model, which makes stacking control simpler and more efficient.

[0073] 105. When the deviation correction fails during the stacking process, the scrap is kicked out and the sheet is replaced. When the sheet falls off due to adsorption during the stacking process, the sheet is replaced until the positive and negative sheets are stacked to the target number of layers.

[0074] During the normal alternating stacking of negative and positive electrodes, if the deviation correction fails, it is necessary to kick out the scrapped sheets and replace the sheets. Before the kicking out operation, decoupling can be performed to achieve individual control of the actuator to improve the efficiency of the kicking out operation.

[0075] During the stacking process, if the film falls off due to adsorption, the loading robot is controlled to perform patching. After patching is completed, the positive and negative electrodes are stacked normally until the positive and negative electrodes are stacked to the target number of layers. Different decoupling and non-decoupling methods are used for discarding and patching in response to different film-falling processes, which can effectively shorten the time for discarding and patching, reduce the number of empty stacks, and thus ensure the efficiency of alternating stacking of negative and positive electrodes.

[0076] By designing the feeding belt into multiple sections and reserving maintenance space for kicking and patching, the flexibility of kicking and patching is improved, the control logic of kicking and patching is simplified as much as possible, and the kicking and patching time is shortened. After the handling robot is replaced with gantry control, it is developed in the underlying driver to ensure that the synchronization of the movers on both sides is improved, the internal control logic can compensate by itself, and the control logic on the programmable logic controller side is reduced. Stacking tables, cache platforms and kicking platforms are set up on the left and right sides of the positive side and the left and right sides of the negative side. Both sides can be controlled independently, further improving the efficiency of handling abnormal actions and improving the flexibility of program logic.

[0077] Furthermore, on the basis of the above-mentioned embodiments, the present embodiment performs the scrapping operation and fills the electrode sheets, including: determining the workstation for the scrapping operation and the electrode sheets to be scrapped; controlling the scrapping platforms on both sides of the workstation to move to below the electrode sheets to be scrapped close to the ground; utilizing vacuum blowing to blow the electrode sheets to be scrapped onto the scrapping platform, controlling the scrapping platform to reset, and counting the number of electrode sheets on the scrapping platform; when the number of electrode sheets reaches a preset threshold, the electrode sheets on the scrapping platform are recycled.

[0078] Specifically, the scrapping is mainly judged based on the camera shooting data after the correction of the correction platform is completed. If the error is within the allowable range, the stacking will be carried out normally. If the error is outside the allowable range, it needs to be kicked out. Therefore, after receiving the scrapping signal, it is necessary to first determine which station on the left / right side needs to carry out the scrapping process. After determining the station for the scrapping operation and the electrode to be kicked out, control the scrapping platforms on both sides to move to the bottom of the electrode to be kicked out. After it is in place, break the vacuum and blow the electrode to the scrapping platform. After all the electrode to be kicked out that needs to be kicked out are collected, the scrapping platform will be controlled to return to its original position. And through the electrode counting function of the scrapping platform, the number of electrodes is counted, and the electrode is recycled when it is about to be full. It can be recycled manually or automatically.

[0079] After the scrap kicking platform returns to its original position, i.e., the safe position, it is determined whether there is material on the buffer table. If there is material, the material replenishing table is controlled to move to the corresponding pole piece position for replenishing material. If there is no material, the buffer table is replenished first and then the buffer table is controlled to replenish the material at the position where the suction cup is short of material.

[0080] By providing two non-interfering waste kicking platforms on both sides of the positive and negative electrodes, the waste kicking program can be controlled independently of each other, thereby effectively improving the waste kicking efficiency, shortening the waste kicking time, and improving the efficiency of electrode stacking.

[0081] Furthermore, on the basis of the above-mentioned embodiments, the patching operation in this embodiment includes: determining the amount of remaining material in the buffer table, the amount of material shortage in the loading robot and the position of dropped sheets being adsorbed; patching the loading robot based on the amount of remaining material in the buffer table and the amount of material shortage in the loading robot; and patching the loading robot in a decoupled or non-decoupled manner according to the different positions of dropped sheets being adsorbed.

[0082] Specifically, the patching process can be roughly divided into patching the buffer table and patching the feeding robot through the buffer table. Therefore, it is necessary to perform corresponding patching operations according to the amount of remaining material on the buffer table, the amount of material shortage of the feeding robot, and the amount of adsorbed dropped pieces. Taking the left section of the belt as an example, two pieces of material can be buffered on the buffer table. Before each patching process, the remaining material on the buffer table needs to be determined. When there is material on the buffer table, no material needs to be refilled.

[0083] Among them, the main patching principle is that when the feeding robot needs to be patched, first check the amount of residual material on the buffer table, and then use the residual material on the buffer table to patch the feeding robot. When the feeding robot cannot complete the patching directly through the buffer table, first fill the buffer table, and then use the buffer table to fill the feeding robot. The patching method of the feeding robot is also different according to the amount of residual material on the buffer table and the different positions of the adsorbed dropped sheets. Therefore, using different patching methods according to different situations can effectively improve the efficiency of patching.

[0084] Furthermore, in this embodiment, the feeding robot is refilled based on the amount of remaining material on the buffer table, which may include: when the feeding robot is short of a piece of material and there is remaining material on the buffer table, it indicates that the buffer table at this time can completely complete the refilling of the feeding robot, so the feeding robot can be refilled through the buffer table. After the refilling is completed, if the buffer table is out of material, the two front pieces of material of the next round of feeding belt are taken out by pulling the belt forward and replenished to the buffer table, thereby ensuring that the buffer table is in a full state. When the feeding robot needs to be refilled, the refilling can also be completed quickly using the buffer table.

[0085] When the loading robot is short of two pieces of material, in order to ensure that the buffer table can be used to complete the replenishment, it is necessary to first replenish the buffer table, and then use the buffer table after the replenishment is completed to replenish the material for the loading robot.

[0086] When the loading robot is short of three sheets of material, since the buffer table can only store two sheets of material, it is impossible to complete the replenishment through the buffer table at one time. In this case, after the buffer table completes the replenishment of the loading robot, the buffer table will be replenished. For example, when there is one sheet of material left on the buffer table, the one sheet of material is first used to replenish the loading robot, and then the buffer table is replenished, and then the replenished buffer table is used to replenish two sheets of material for the loading robot. When there are two sheets of material on the buffer table, the buffer table is directly used to replenish the loading robot with two sheets of material, and then the buffer table is replenished. After the buffer table is replenished, the buffer table is used to replenish one sheet of material for the loading robot. In this way, the loading robot can be replenished.

[0087] When the feeding robot lacks four sheets, it takes four sheets from the feeding belt to replenish the feeding robot. If the feeding robot lacks four sheets twice in a row, it will be shut down for inspection. When the feeding robot lacks four sheets, it means that none of them has been successfully grabbed. If it happens twice in a row, it is very likely that there is a device failure. Therefore, it is necessary to shut down for inspection to see if there is a fault in the camera communication or the correction table.

[0088] By analyzing the amount of material shortage of the loading robot according to different situations and adopting different feeding methods for different situations, the feeding efficiency can be effectively guaranteed, and then the stacking efficiency can be effectively guaranteed.

[0089] Furthermore, in the present embodiment, in response to the different positions of dropped sheets being adsorbed, a decoupling or non-decoupling method is used to patch the loading robot, including: if the position of dropped sheets being adsorbed is during the process from the loading belt to the deflection correction platform, firstly, the negative side is controlled to be stacked normally, and after the stacking of the negative side is completed, it is determined whether the positive side needs to be patched; if it is determined that the positive side needs to be patched, the positive side is patched through the buffer table after the positive and negative sides are decoupled; if the positive side does not need to be patched, the buffer table is controlled to move to the sheet dropping position, the missing sheets are adsorbed through the buffer table, the longitudinal axis of the deflection correction table is controlled not to descend, and one round of empty stacking is performed on the positive side; the missing sheets are stacked on the deflection correction table, and after one round of empty stacking is controlled not to descend, it is determined whether patching is needed, and if necessary, the patching operation is performed through the buffer table, otherwise the positive side sheets and the negative side sheets are alternately stacked.

[0090] If the position where the film is adsorbed and dropped is during the process from the deviation correction platform to the stacking table, determine whether the positive side needs to be patched; if the positive side needs to be patched, control the positive side and the negative side to be decoupled, and then patch the positive side through the buffer table; if the positive side does not need to be patched, control the negative side to be empty and stacked, and then determine whether the buffer table has enough patching quantity; if the buffer table has enough patching quantity, control the positive side and the negative side to be decoupled, and then patch the adsorbed film position through the buffer table; if the buffer table does not have enough patching quantity, control the deviation correction platform to adsorb the missing film, and after patching through the buffer table, control the positive side to be empty and stacked for one round; after a round of empty stacking on the positive side, determine whether the patching needs to be kicked out, and if necessary, perform patching through the buffer table, otherwise, alternately stack the positive side films and the negative side films.

[0091] When only film falling occurs, the positive side and the negative side do not need to be decoupled, and the film can be patched through empty stacking, patching mechanism and controlling the vertical axis to descend. However, under this method, there is little difference between non-decoupling and decoupling in terms of the time required to kick out the waste film and patch it. In special cases such as kicking out the waste and patching the buffer table, there is no need to decouple PNP1 and PNP2 as well as PNP3 and PNP4. After the positive side and the negative side are decoupled, they can independently follow the control logic to follow the position mode to complete their own action logic. This can effectively improve the efficiency of kicking out the waste film and patching, and thus effectively improve the stacking efficiency.

[0092] Furthermore, on the basis of the above-mentioned embodiment, the process of performing the waste kicking operation and patching in this embodiment also includes: controlling the positive side and the negative side to decouple, and sending a restriction signal when the positive side and the negative side are located in the interference area above the stacking table to avoid collision; when the positive side and the negative side are close to the interference area at the same time, the negative side is controlled to prioritize the actions in the interference area, and send an access signal after completion; after receiving the access signal, the positive side is controlled to process the actions in the interference area; when the negative side and the positive side have completed the actions, the positive side and the negative side are controlled to reset, and the positive side and the negative side are controlled to recouple. After recoupling, the first stacking needs to be memorized according to the number of layers to determine whether a round of empty stacking of the negative pole is required. Returning to the initial position for coupling can effectively avoid the risk of flying caused by a sudden change in speed due to different positions.

[0093] The control method for online kicking and patching during pole piece transportation provided by the present invention reduces the time waste when kicking and patching from many aspects, including reducing the number of cycles of patches for the buffer station when there are multiple kicking and patching, reducing the downtime during manual operation, shortening the travel when there are multiple kicking and patching to reduce time waste, optimizing the kicking and patching process in many aspects, and reducing time waste. As shown in Table 1, it is the comparison result between the kicking and patching method of the present invention and the original kicking and patching method.

[0094] Table 1

[0095] As shown in Table 1, the present invention is provided with two waste kicking platforms, which can kick waste from both sides, shorten the kicking stroke and save the time of kicking waste, and the new patch control logic can further save the patch time and reduce the downtime. At the same time, the new stacking mechanism reserves maintenance space, and manual operation is faster and easier.

[0096] Based on the same general inventive concept, the present invention also protects an on-line control device for kicking out waste patches during pole piece conveying. The on-line control device for kicking out waste patches during pole piece conveying provided by the present invention is described below. The on-line control device for kicking out waste patches during pole piece conveying described below and the on-line control method for kicking out waste patches during pole piece conveying described above can be referenced to each other.

[0097] Figure 3 It is a structural schematic diagram of an online waste plate removal and patching control device during pole plate transportation provided by an embodiment of the present invention.

[0098] like Figure 3 As shown, an embodiment of the present invention provides an online waste removal and patching control device during pole piece transportation, comprising:

[0099] Initialization module 301, used to initialize the negative pole mover assembly to return to the belt line and the correction platform above the ground, and the positive pole mover assembly to return to the lamination table and the correction platform above the ground;

[0100] A coupling module 302, used to couple the first mover and the second mover in the negative pole mover combination, and the third mover and the fourth mover in the positive pole mover combination;

[0101] A writing module 303 is used to establish a cam correspondence table between the main virtual axis and the first mover and the third mover, and based on the cam correspondence table, couple the first mover and the third mover with the main virtual axis;

[0102] The stacking module 304 is used to control the coupled main virtual axis to run in a speed mode to alternately stack negative electrode sheets and positive electrode sheets on the negative electrode side and the positive electrode side;

[0103] The module 305 for kicking out and patching waste sheets is used to kick out waste sheets and patch sheets when deviation correction fails during the stacking process, and to patch sheets when sheets fall off due to adsorption during the stacking process until the positive and negative sheets are stacked to the target number of layers.

[0104] The present embodiment provides an on-line control device for kicking out scraps and patching during electrode sheet transportation, including initializing the negative electrode mover combination to return to the upper part of the belt line and the correction platform away from the ground, and the positive electrode mover combination to return to the upper part of the stacking table and the correction platform away from the ground; respectively coupling the first mover and the second mover in the negative electrode mover combination, and the third mover and the fourth mover in the positive electrode mover combination; establishing a cam correspondence table between the main virtual axis and the first mover and the third mover, and coupling the first mover and the third mover with the main virtual axis based on the cam correspondence table; controlling the coupled main virtual axis to operate in speed mode to alternately stack negative electrode sheets and positive electrode sheets on the negative electrode side and the positive electrode side; when correction fails during the stacking process, the scrap is kicked out and the sheet is patched; when the sheet is adsorbed and dropped during the stacking process, the patching operation is performed until the positive electrode sheets and the negative electrode sheets are stacked to the target number of layers, and by independently performing the kicking out and patching control on both the positive electrode side and the negative electrode side, the kicking out and patching time can be effectively shortened, thereby improving the stacking efficiency.

[0105] Furthermore, the discard patch module 305 in this embodiment is specifically used for:

[0106] Determine the workstation for scrapping and the electrodes to be scrapped;

[0107] Control the waste kicking platforms on both sides of the workstation to move to below the electrode to be kicked out close to the ground;

[0108] The electrode piece to be kicked out is blown down to the kicking out platform by breaking the vacuum and blowing, and the kicking out platform is controlled to reset.

[0109] Furthermore, the discard patch module 305 in this embodiment is specifically used for:

[0110] Count the number of pole pieces on the scrap platform;

[0111] When the number of the pole pieces reaches a preset threshold, the pole pieces on the scrapping platform are recycled.

[0112] Furthermore, the discard patch module 305 in this embodiment is specifically used for:

[0113] Determine the amount of remaining material on the buffer table, the amount of material shortage on the loading robot, and the location of the dropped pieces;

[0114] Based on the amount of remaining material on the buffer table and the amount of material shortage on the feeding robot, the feeding robot is patched;

[0115] According to the different positions of the adsorbed dropped sheets, the feeding robot is repaired by a decoupling or non-decoupling method.

[0116] Furthermore, the discard patch module 305 in this embodiment is specifically used for:

[0117] When the feeding robot is short of a piece of material and there is excess material on the buffer table, the feeding robot is replenished with material through the buffer table. After the replenishment is completed, if there is no material on the buffer table, the two front pieces of material on the next round of feeding belt are taken and replenished to the buffer table;

[0118] When the feeding robot is short of two sheets of material, the buffer table is replenished, and then the buffer table after the replenishment is used to replenish the feeding robot;

[0119] When the feeding robot is short of three sheets of material, the buffer station will be used to replenish the material for the feeding robot, and then the buffer station will be replenished;

[0120] When the feeding robot is short of four sheets of material, four sheets of material are taken from the feeding belt to replenish the feeding robot, and when the feeding robot is short of four sheets of material for two consecutive times, it is shut down for maintenance.

[0121] Furthermore, the discard patch module 305 in this embodiment is specifically used for:

[0122] If the location of the film drop is during the process from the feeding belt to the deviation correction platform, after the negative electrode is stacked, it is determined whether the positive electrode needs to be patched;

[0123] If the positive electrode needs patching, the positive electrode and the negative electrode are decoupled and then patched through the buffer station;

[0124] If the positive electrode does not need a patch, the buffering table is controlled to move to the sheet dropping position, the missing sheet is adsorbed by the buffering table, the longitudinal axis of the deflection correction table is controlled not to descend, and the positive electrode is controlled to be emptied for one round;

[0125] After a round of empty stacking of the positive electrode, the missing sheets are stacked on the deflection correction table, and the longitudinal axis of the stacking table is controlled not to descend. After a round of empty stacking, it is determined whether sheet filling is required. If necessary, the sheet filling operation is performed through the buffer table, otherwise the positive electrode sheets and the negative electrode sheets are stacked alternately.

[0126] Furthermore, the discard patch module 305 in this embodiment is specifically used for:

[0127] If the location of the film being adsorbed is during the process from the deviation correction platform to the lamination platform, determining whether the positive electrode needs to be patched;

[0128] If the positive electrode needs a patch, the positive electrode and the negative electrode are controlled to be decoupled, and then the positive electrode is patched through the cache station; if the positive electrode does not need a patch, the negative electrode is controlled to be empty, and then it is determined whether the cache station has enough patches;

[0129] If the buffer station has enough patching quantity, the positive electrode and the negative electrode are controlled to be decoupled, and the position where the adsorbed dropped film is patched is patched through the buffer station; if the buffer station does not have enough patching quantity, the deviation correction platform is controlled to adsorb the missing film, and after the film is patched through the buffer station, the positive electrode is controlled to be emptied for one round;

[0130] After a round of positive electrode empty stacking, it is determined whether it is necessary to discard the patch sheet. If necessary, the patching operation is performed through the buffer station. Otherwise, the positive electrode sheets and the negative electrode sheets are alternately stacked.

[0131] Furthermore, this embodiment also includes an anti-collision module, which is used to:

[0132] Control the decoupling of the positive and negative sides;

[0133] When the positive side and the negative side approach the interference area at the same time, the negative side is controlled to process the action in the interference area first, and send an admission signal after completion;

[0134] After receiving the admission signal, controlling the positive electrode side to process the action in the interference area;

[0135] After the negative electrode side and the positive electrode side have completed their actions, the positive electrode side and the negative electrode side are controlled to reset, and the positive electrode side and the negative electrode side are controlled to recouple.

[0136] Based on the same general inventive concept, the present invention also protects a laminating machine for executing an online control method for kicking out waste and replacing pole pieces during pole piece transportation as in any of the above-mentioned embodiments.

[0137] Figure 4 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0138] like Figure 4As shown, the electronic device may include: a processor (processor) 410, a communication interface (Communications Interface) 420, a memory (memory) 430 and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call the logic instructions in the memory 430 to execute the online kicking and patching control method during the electrode sheet transportation. A stacking platform, a buffer platform and a kicking platform are set on both the positive side and the negative side. The method includes: initializing the negative electrode mover combination to return to the belt line and the correction platform away from the ground, and the positive electrode mover combination to return to the stacking platform and the correction platform away from the ground; respectively coupling the first mover and the second mover in the negative electrode mover combination, and the third mover and the fourth mover in the positive electrode mover combination; establishing a cam correspondence table between the main virtual axis and the first mover and the third mover, and based on the cam correspondence table, coupling the first mover and the third mover with the main virtual axis; controlling the coupled main virtual axis to run in speed mode to alternately stack negative and positive electrode sheets on the negative side and the positive side; when the correction fails during the stacking process, the kicking operation is performed and the sheet is patched, and when the sheet is adsorbed and dropped during the stacking process, the patching operation is performed until the positive and negative electrode sheets are stacked to the target number of layers.

[0139] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0140] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the online waste removal and patching control method provided by the above methods during the pole piece conveying. A stacking table, a buffer table and a waste removal platform are set on both the positive and negative sides. The method includes: initializing the negative pole mover combination to return to the belt line and the correction platform above the ground, and the positive pole mover combination to return to the stacking table and the correction platform above the ground; respectively coupling the negative pole mover combination to the positive pole mover combination to the positive pole mover combination to the positive pole mover combination to the negative pole mover combination; respectively coupling the negative ... The first mover and the second mover in the sub-combination, the third mover and the fourth mover in the positive mover combination; establish a cam correspondence table between the main virtual axis and the first mover and the third mover, and couple the first mover and the third mover with the main virtual axis based on the cam correspondence table; control the coupled main virtual axis to run in speed mode, and alternately stack the negative and positive electrodes on the negative and positive sides; when deviation correction fails during the stacking process, perform a scrapping operation and patch the electrodes; when the electrodes are adsorbed and dropped during the stacking process, perform a patching operation until the positive and negative electrodes are stacked to the target number of layers.

[0141] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by the processor to execute the online waste removal and patching control method provided by the above-mentioned methods during the pole piece conveying, wherein a stacking table, a buffer table and a waste removal platform are provided on both the positive side and the negative side, and the method comprises: initializing the negative pole mover combination to return to the upper part of the belt line and the deviation correction platform away from the ground, and the positive pole mover combination to return to the upper part of the stacking table and the deviation correction platform away from the ground; respectively coupling the first mover and the second mover in the negative pole mover combination, The third mover and the fourth mover in the positive pole mover combination; establish a cam correspondence table between the main virtual axis and the first mover and the third mover, and based on the cam correspondence table, couple the first mover and the third mover with the main virtual axis; control the coupled main virtual axis to run in speed mode to alternately stack negative pole sheets and positive pole sheets on the negative pole side and the positive pole side; when deviation correction fails during the stacking process, perform a scrapping operation and patch the sheets; when sheets are adsorbed and dropped during the stacking process, perform a patching operation until the positive pole sheets and the negative pole sheets are stacked to the target number of layers.

[0142] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0143] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the online removal of waste and patching during the transmission of pole pieces, characterized in that: Both the positive and negative sides are provided with a stacking table, a buffer table and a waste kicking platform, and the method includes: Initialize the negative pole mover assembly to return to the upper part of the belt line and the deviation correction platform away from the ground, and the positive pole mover assembly to return to the upper part of the lamination table and the deviation correction platform away from the ground; The first mover and the second mover in the negative pole mover combination, and the third mover and the fourth mover in the positive pole mover combination are coupled respectively; the first mover in the mover combination responsible for conveying from the belt line to the deviation correction platform on the negative pole side is set to PNP1, the second mover in the mover combination responsible for conveying from the deviation correction platform to the laminating platform on the negative pole side is set to PNP2, the third mover in the mover combination responsible for conveying from the belt line to the deviation correction platform on the positive pole side is set to PNP3, and the fourth mover in the mover combination responsible for conveying from the deviation correction platform to the laminating platform on the positive pole side is set to PNP4; Establishing a cam correspondence table between the main virtual axis and the first mover and the third mover, and coupling the first mover and the third mover with the main virtual axis based on the cam correspondence table; controlling the coupled main virtual axis to operate in a speed mode to alternately stack negative electrode sheets and positive electrode sheets on the negative electrode side and the positive electrode side; When the deviation correction fails during the stacking process, the waste is kicked out and the sheet is repaired. When the sheet falls off due to adsorption during the stacking process, the sheet is repaired until the positive electrode sheet and the negative electrode sheet are stacked to the target number of layers.

2. The method for controlling the online removal of waste and replacement of electrode pieces during electrode piece transportation according to claim 1 is characterized in that: The scrap removal operation and patching include: Determine the workstation for scrapping and the electrodes to be scrapped; Control the waste kicking platforms on both sides of the workstation to move to below the electrode to be kicked out close to the ground; The electrode piece to be kicked out is blown down to the kicking out platform by breaking the vacuum and blowing, and the kicking out platform is controlled to reset.

3. The method for controlling the online removal of waste and replacement of electrode pieces during electrode piece transportation according to claim 2 is characterized in that: After the control of resetting the waste removal platform, the method further includes: Counting the number of pole pieces on the scrapping platform; When the number of the pole pieces reaches a preset threshold, the pole pieces on the scrapping platform are recycled.

4. The method for controlling the online removal of waste and replacement of electrode pieces during electrode piece transportation according to claim 1 is characterized in that: The patching operation comprises: Determine the amount of remaining material on the buffer table, the amount of material shortage on the loading robot, and the location of the dropped pieces; Based on the amount of remaining material on the buffer table and the amount of material shortage on the feeding robot, the feeding robot is patched; According to the different positions of the adsorbed dropped sheets, the feeding robot is repaired by a decoupling or non-decoupling method.

5. The method for controlling the online removal of waste and replacement of electrode pieces during electrode piece transportation according to claim 4 is characterized in that: The method of patching the feeding robot based on the amount of residual material on the buffer table includes: When the feeding robot is short of a piece of material and there is excess material on the buffer table, the feeding robot is replenished with material through the buffer table. After the replenishment is completed, if there is no material on the buffer table, the two front pieces of material on the next round of feeding belt are taken and replenished to the buffer table; When the feeding robot is short of two sheets of material, the buffer table is replenished, and then the buffer table after the replenishment is used to replenish the feeding robot; When the feeding robot is short of three sheets of material, the buffer station will be used to replenish the material for the feeding robot, and then the buffer station will be replenished; When the feeding robot is short of four sheets of material, four sheets of material are taken from the feeding belt to replenish the feeding robot, and when the feeding robot is short of four sheets of material for two consecutive times, it is shut down for maintenance.

6. The method for controlling the online removal of waste and replacement of electrode pieces during electrode piece transportation according to claim 4 is characterized in that: The method of using a decoupling or non-decoupling method to fill the sheet on the feeding robot according to the different positions of the adsorbed sheet, includes: If the location of the film being sucked off is during the process from the feeding belt to the deviation correction platform, after stacking on the negative side, determine whether the positive side needs to be patched; If the positive side needs patching, the positive side is patched through the buffer station after controlling the positive side and the negative side to be decoupled; If the positive electrode side does not need a patch, the buffer table is controlled to move to the sheet dropping position, the missing sheet is adsorbed by the buffer table, the longitudinal axis of the deviation correction platform is controlled not to descend, and the positive electrode side is controlled to stack one round of vacant film; After a round of empty stacking on the positive side, the missing sheets are stacked on the deviation correction platform, and the longitudinal axis of the stacking platform is controlled not to descend. After a round of empty stacking, it is determined whether sheet filling is needed. If necessary, the sheet filling operation is performed through the buffer table, otherwise the positive side sheets and the negative side sheets are stacked alternately.

7. The method for controlling the online removal of waste and replacement of electrode pieces during electrode piece transportation according to claim 6 is characterized in that: Also includes: If the location of the film being adsorbed is during the process from the deviation correction platform to the lamination platform, it is determined whether the positive electrode side needs to be patched; If the positive side needs a patch, the positive side is patched through the cache after the positive side and the negative side are decoupled; if the positive side does not need a patch, the negative side is controlled to be empty, and then it is determined whether the cache has enough patches; If the buffer station has enough patching quantity, the positive side and the negative side are controlled to be decoupled, and the position where the adsorbed dropped film is patched is patched through the buffer station; if the buffer station does not have enough patching quantity, the deviation correction platform is controlled to adsorb the missing film, and after the missing film is patched through the buffer station, the positive side is controlled to be emptied for one round; After the positive side is stacked for one round, it is determined whether it is necessary to discard the patch. If necessary, the patch operation is performed through the buffer station. Otherwise, the positive side sheets and the negative side sheets are alternately stacked.

8. The method for controlling the online removal of waste and replacement of electrode pieces during electrode piece transportation according to any one of claims 1 to 7, characterized in that: The process of kicking out the waste and patching the film also includes: Control the decoupling of the positive and negative sides; When the positive side and the negative side approach the interference area at the same time, the negative side is controlled to process the action in the interference area first, and send an admission signal after completion; After receiving the admission signal, controlling the positive electrode side to process the action in the interference area; After the negative electrode side and the positive electrode side have completed their actions, the positive electrode side and the negative electrode side are controlled to reset, and the positive electrode side and the negative electrode side are controlled to recouple.

9. A control device for removing waste and patching in the process of conveying pole pieces, characterized in that: include: An initialization module is used to initialize the negative pole mover assembly to return to the belt line and the deviation correction platform above the ground, and the positive pole mover assembly to return to the lamination table and the deviation correction platform above the ground; A coupling module is used to couple the first and second movers in the negative pole mover combination, and the third and fourth movers in the positive pole mover combination, respectively; the first mover in the mover combination responsible for conveying from the belt line to the deviation correction platform on the negative pole side is set to PNP1, the second mover in the mover combination responsible for conveying from the deviation correction platform to the laminating platform on the negative pole side is set to PNP2, the third mover in the mover combination responsible for conveying from the belt line to the deviation correction platform on the positive pole side is set to PNP3, and the fourth mover in the mover combination responsible for conveying from the deviation correction platform to the laminating platform on the positive pole side is set to PNP4; A writing module, used for establishing a cam correspondence table between the main virtual axis and the first mover and the third mover, and coupling the first mover and the third mover with the main virtual axis based on the cam correspondence table; A stacking module, used for controlling the coupled main virtual axis to run in a speed mode, so as to alternately stack negative electrode sheets and positive electrode sheets on the negative electrode side and the positive electrode side; The module for kicking out waste and patching sheets is used to kick out waste and patch sheets when correction fails during the stacking process, and to patch sheets when sheets fall off due to adsorption during the stacking process until the positive and negative sheets are stacked to the target number of layers.

10. A laminating machine, characterized in that: Used to execute the online waste removal and patch control method during pole piece transportation as described in any one of claims 1-8.

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