A multi-station automated electrode stacking system and stacking method

Abstract

This invention relates to a multi-station automated electrode stacking system and method, belonging to the field of new energy battery technology. It includes a positive electrode stacking assembly, a negative electrode stacking assembly, a stacking platform, a multi-degree-of-freedom micro-motion stage, an N+N visual positioning system, and a multi-moving linear motor module. The multi-degree-of-freedom micro-motion stage is installed at the bottom of the stacking platform, with the positive and negative electrode stacking assemblies closely arranged on both sides of the platform. Both the positive and negative electrode stacking assemblies include a correction stage and a large-stroke motion stage. The multi-moving linear motor module is positioned above the positive and negative electrode stacking assemblies. This application is applicable to the simultaneous stacking of multiple battery cells. The positive and negative electrode stacking assemblies enable rapid electrode handling and correction, while the multi-degree-of-freedom micro-motion stage and multi-moving linear electronic module achieve high-precision staggered stacking of the positive and negative electrodes, improving the efficiency, accuracy, and flatness of battery cell electrode stacking and ensuring battery quality.

Description

Technical Field

[0001] This invention belongs to the field of blade battery cell manufacturing technology, specifically relating to a multi-station automated electrode stacking system and stacking method. Background Technology

[0002] Currently, the demand for lithium batteries in the new energy market is increasing year by year. The current manufacturing process of blade battery cells involves stacking battery electrode sheets. This process involves alternating the positive and negative electrode sheets with the separator in a Z-shape and repeating this process multiple times to reach a certain number of layers to form a battery cell.

[0003] Existing blade battery stacking equipment mostly adopts a single-station method, where only one electrode can be moved and placed at a time via a transfer device. It cannot simultaneously place multiple electrodes onto the stacking table for simultaneous stacking. For example, the method proposed in patent CN116864823A can only produce one battery cell at a time, resulting in high production costs, slow speed, and difficulty in meeting market demands. Later, a multi-cell simultaneous stacking scheme was proposed, such as patent CN220189720U. However, its drawback is that simultaneously stacking multiple cells makes it difficult to guarantee the flatness of the multiple electrode layers, and it cannot simultaneously correct the alignment of multiple electrodes. These problems affect the production efficiency of battery cells; therefore, a solution is urgently needed. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-station automated electrode stacking system and stacking method.

[0005] To achieve the above objectives, the present invention adopts the following solution:

[0006] A multi-station automated electrode stacking system, the stacking system comprising: N sets of positive electrode stacking assemblies, N sets of negative electrode stacking assemblies, N sets of stacking stages, N sets of multi-degree-of-freedom micro-motion stages, N+N sets of vision positioning systems, and two sets of multi-motion sub-linear motor modules; wherein...

[0007] The multi-degree-of-freedom micro-motion stage is installed at the bottom of the stacking platform and is used to adjust the position and angle of the electrode plates on the stacking platform; positive electrode plate stacking assemblies and negative electrode plate stacking assemblies are closely arranged on both sides of the stacking platform, and both the positive electrode plate stacking assembly and the negative electrode plate stacking assembly include a correction stage and a large-stroke motion stage.

[0008] The alignment table is installed above the large-stroke motion table to align the positive and negative electrode sheets. The large-stroke motion table moves back and forth between the electrode sheet picking position and the electrode sheet alignment position to transport the positive and negative electrode sheets. The two sets of multi-moving linear motor modules are respectively arranged above the positive and negative electrode sheet stacking assemblies. N sets of vacuum suction cups are arranged below the multi-moving linear electronic modules to grip the electrode sheets. The vision positioning system is arranged on the side of the two sets of multi-moving linear motors near the stacking table to collect electrode sheet images and obtain the position and angle deviation of the electrode sheets.

[0009] Furthermore, a connecting mechanism is provided between the correction table and the large-stroke motion table. The connecting mechanism consists of bolts and a connecting plate. The connecting plate is fixed to the large-stroke motion table by bolt connection, and the correction table is fixed to the connecting plate by threaded connection.

[0010] Furthermore, a vacuum suction cup is installed at the bottom of the multi-moving linear motor module, with the installation position parallel to the plane of the correction table, for gripping and releasing the electrode plates.

[0011] Furthermore, the visual positioning system is installed on the side of the two sets of multi-movement linear motor modules near the stacking table, and the main light of the camera is perpendicular to the vacuum suction cup gripping plane.

[0012] This application also provides an automated stacking method for multi-station electrode sheets, including the automated stacking system for multi-station electrode sheets as described above, wherein the stacking method comprises the following steps:

[0013] S1: N sets of negative electrode stacking assemblies are arranged closely together. In the previous process, the device at the negative electrode taking position simultaneously places N negative electrode sheets on the correction table of the corresponding negative electrode stacking assembly.

[0014] S2: The N-group large-stroke motion stage drives the correction stage above it to support the negative electrode sheet and move it to the negative electrode sheet correction position.

[0015] S3: The visual positioning system acquires images of each negative electrode, calculates the directional offset of each electrode, and feeds it back to the correction stage. The correction stage corrects the direction and angle of the negative electrode it supports.

[0016] S4: The vacuum suction cup adsorbs and fixes the electrode, and the multi-actuator linear motor module drives it to move to the electrode stacking position. The vision positioning system collects images of the electrode above the stacking table to obtain the position and orientation deviation of the electrode.

[0017] S5: The visual positioning system feeds back the deviation value to the corresponding multi-degree-of-freedom micro-motion stage. The multi-degree-of-freedom micro-motion stage performs position calibration and attitude adjustment on the electrode it supports, and the vacuum chuck releases the stacked negative electrode.

[0018] S6: N groups of positive electrode stacking assemblies are arranged closely together. The previous process device places N positive electrode sheets on the correction table of the corresponding positive electrode stacking assembly at the positive electrode sheet taking position.

[0019] S7: The N-group large-stroke motion platform drives the correction platform above it to support the positive electrode sheet and move it to the positive electrode sheet correction position.

[0020] S8: The visual positioning system acquires images of each electrode, calculates the directional offset of each positive electrode, and feeds it back to the correction stage. The correction stage corrects the orientation and angle of the positive electrode it supports.

[0021] S9: The vacuum suction cup adsorbs and fixes the electrode sheet, and the multi-actuator linear motor module drives it to move to the electrode sheet stacking position. The vision positioning system collects images of the electrode sheets above the stacking platform to obtain the position and orientation deviation of the electrode sheets.

[0022] S10: The visual positioning system feeds back the deviation value to the corresponding multi-degree-of-freedom micro-motion stage. The multi-degree-of-freedom micro-motion stage performs position calibration and attitude adjustment on the electrode it supports, and the vacuum chuck releases the stacked positive electrode.

[0023] Furthermore, steps between S1 and S5 are performed alternately and simultaneously with steps between S6 and S10 to satisfy the alternating high-speed stacking of positive and negative electrode sheets.

[0024] Furthermore, the movement of the large-stroke motion stage and the multi-degree-of-freedom micro-motion stage is controlled in a coordinated manner, with the position of the initial negative electrode plate at the bottom of the battery cell as the positioning reference.

[0025] The beneficial effects of this invention are as follows: The multi-station automated electrode stacking system and method provided by this invention are suitable for stacking multiple battery cells simultaneously. The positive electrode stacking assembly and the negative electrode stacking assembly realize rapid electrode handling and correction. Furthermore, a visual positioning system is used to acquire images of each electrode to obtain position and angle errors. Thus, a high-precision staggered stacking of positive and negative electrodes is achieved by using a multi-degree-of-freedom micro-motion stage and a multi-motion linear electronic module, which significantly improves the efficiency, accuracy, and flatness of battery cell electrode stacking. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the multi-station automated electrode stacking system of the present invention;

[0027] Figure 2 This is a schematic diagram of the stacking assembly in the multi-station automated electrode stacking system of the present invention;

[0028] Figure 3 This is a schematic diagram of the collaborative control strategy in the multi-station electrode automated stacking system of the present invention;

[0029] Figure label:

[0030] 1. Negative electrode multi-actuator linear motor module; 2. Negative electrode vision positioning system; 3. Negative electrode sheet stacking assembly; 4. Stacking table; 5. Positive electrode sheet stacking assembly; 6. Positive electrode vision positioning system; 7. Positive electrode multi-actuator linear motor module; 8. Multi-degree-of-freedom micro-motion stage; 201. Correction table; 202. Large stroke motion table; Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Example 1:

[0034] like Figure 1 As shown, this embodiment provides a multi-station automated electrode stacking system, including: N sets of positive electrode stacking assemblies, N sets of negative electrode stacking assemblies, N sets of stacking stages, N sets of multi-degree-of-freedom micro-motion stages, N+N sets of vision positioning systems, and two sets of multi-motion sub-linear motor modules. Taking N as 8, that is, 8 sets of positive electrode stacking assemblies 5, 8 sets of negative electrode stacking assemblies 3, 8 sets of stacking stages 4, 8 sets of multi-degree-of-freedom micro-motion stages 8, 8 sets of negative electrode vision positioning systems 2, 8 sets of positive electrode vision positioning systems 6, negative electrode multi-motion sub-linear motor module 1, and positive electrode multi-motion sub-linear motor module 7.

[0035] Any set of electrode stacking components includes: a correction table 201 and a long-stroke motion table 202, with the correction table 201 installed above the long-stroke motion table 202.

[0036] The negative electrode multi-actuator linear motor module 1 and the positive electrode multi-actuator linear motor module 7 are arranged above the negative electrode stacking assembly 3 and the positive electrode stacking assembly 5.

[0037] Each set of multi-movement linear motors is equipped with 8 sets of vacuum suction cups, which are used to grab the electrode sheets supported above the corresponding stacking assembly correction table.

[0038] The negative pole visual positioning system 2 is installed on the right side of the negative pole multi-moving linear motor module 1, and the positive pole visual positioning system 6 is installed on the left side of the positive pole multi-moving linear motor module 7.

[0039] A connecting mechanism is provided between the alignment table and the large-stroke motion table. The connecting mechanism consists of bolts and a connecting plate. The connecting plate is fixed to the large-stroke motion table by bolt connection, and the alignment table is fixed to the connecting plate by thread connection.

[0040] Furthermore, a vacuum suction cup is installed at the bottom of the multi-moving linear motor module, with the installation position parallel to the plane of the correction table, for gripping and releasing the electrode plates.

[0041] Furthermore, the visual positioning system is installed on the side of the two sets of multi-movement linear motor modules near the stacking table, and the main light of the camera is perpendicular to the vacuum suction cup gripping plane.

[0042] Example 2:

[0043] A stacking method for a multi-station automated electrode stacking system, applicable to the aforementioned multi-station automated electrode stacking system, includes the following steps:

[0044] S1: N sets of negative electrode stacking assemblies 3 are arranged closely together. In the previous process, the device placed N negative electrode sheets at the negative electrode sheet picking position on the correction table 201 of the corresponding negative electrode stacking assembly 3.

[0045] S2: The N-group large-stroke motion table 202 drives the correction table 201 above it to support the negative electrode sheet and move it to the negative electrode sheet correction position.

[0046] S3: The negative electrode visual positioning system 2 acquires images of each electrode, calculates the directional offset of each electrode, and feeds it back to the correction stage 201. The correction stage 201 corrects the direction and angle of the negative electrode it supports.

[0047] S4: The vacuum suction cup adsorbs and fixes the electrode sheet, and the negative electrode multi-actuator linear motor module 1 drives it to move to the electrode sheet stacking position. The negative electrode vision positioning system 2 collects images of the electrode sheets above the stacking platform to obtain the position and posture deviation of the electrode sheets.

[0048] S5: The negative electrode visual positioning system 2 feeds back the deviation value to the corresponding multi-degree-of-freedom micro-motion stage 8. The multi-degree-of-freedom micro-motion stage 8 performs position calibration and attitude adjustment on the electrode sheet it supports, and the vacuum suction cup releases the stacked negative electrode sheet.

[0049] S6: N groups of positive electrode stacking assemblies 5 are arranged closely together. In the previous process, the device placed N positive electrode sheets at the positive electrode sheet picking position on the correction table 201 of the corresponding positive electrode stacking assembly 5.

[0050] S7: The N-group large-stroke motion platform 202 drives the correction platform 201 above it to support the positive electrode sheet and move it to the positive electrode sheet correction position.

[0051] S8: The positive electrode visual positioning system 6 acquires images of each electrode, calculates the directional offset of each electrode, and feeds it back to the correction stage 201. The correction stage 201 corrects the direction and angle of the positive electrode it supports.

[0052] S9: The vacuum suction cup adsorbs and fixes the electrode sheet, and the positive electrode multi-movement linear motor module 7 drives it to move to the electrode sheet stacking position. The positive electrode vision positioning system 6 collects images of the electrode sheets above the stacking platform 4 to obtain the position and posture deviation of the electrode sheets.

[0053] S10: The positive electrode visual positioning system 6 feeds back the deviation value to the corresponding multi-degree-of-freedom micro-motion stage 8. The multi-degree-of-freedom micro-motion stage 8 performs position calibration and attitude adjustment on the electrode sheet it supports, and the vacuum chuck releases the stacked positive electrode sheet.

[0054] In some specific embodiments, such as Figure 3 As shown, the motion of the electrode large-stroke motion stage and the multi-degree-of-freedom micro-motion stage is controlled in a coordinated manner. First, the position of the initial negative electrode at the bottom of the cell is used as the positioning reference. The large-stroke motion stage realizes the large-stroke transport of the positive and negative electrode sheets. By controlling two rows of multi-movement linear motor modules, in conjunction with precision vacuum chucks, the positive and negative electrode sheets are transported at high speed and with high precision. At the same time, the camera matrix at the same station, in conjunction with the correction stage and the multi-degree-of-freedom micro-motion stage, performs calibration and attitude adjustment of the electrode sheet position, realizing micron-level high-precision motion control, thereby enabling the high-speed and high-precision stacking of the positive and negative electrode sheets at 8 stations in one go.

[0055] In other more specific embodiments, a connecting mechanism is provided between the correction stage 201 and the large-stroke motion stage 202. This connecting mechanism consists of bolts and a connecting plate. The connecting plate is fixed to the large-stroke motion stage 202 by bolts, and the correction stage 201 is fixed to the connecting plate by threads. Vacuum suction cups are installed at the bottom of the multi-actuator linear motor modules 1 and 7, with their installation positions parallel to the plane of the correction stage 201, for gripping and releasing electrode sheets. The negative electrode visual positioning system 2 is installed on the right side of the negative electrode multi-actuator linear motor module 1, and the positive electrode visual positioning system 6 is installed on the left side of the positive electrode multi-actuator linear motor module 7. The main rays of the cameras are perpendicular to the gripping plane of the vacuum suction cups. Steps S1 to S5 and steps S6 to S10 are performed alternately and simultaneously to meet the requirements of alternating high-speed stacking of positive and negative electrode sheets.

[0056] In summary, the multi-station automated electrode stacking system provided by this invention is suitable for simultaneously stacking multiple battery cells. It achieves rapid electrode handling and alignment through positive electrode stacking components and negative electrode stacking components, and utilizes a multi-degree-of-freedom micro-motion stage and a multi-motion linear electronic module to achieve high-precision staggered stacking of positive and negative electrodes. This significantly improves the efficiency, accuracy, and flatness of battery cell electrode stacking, ensuring battery quality.

[0057] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples. Various improvements or modifications can be made to these embodiments without departing from the principles and essence of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention. All components not explicitly stated in this invention can be implemented using existing technology.

Claims

1. A multi-station automated electrode stacking system, characterized in that, The stacking system includes: N sets of positive electrode stacking assemblies, N sets of negative electrode stacking assemblies, N sets of stacking stages, N sets of multi-degree-of-freedom micro-motion stages, N+N sets of vision positioning systems, and two sets of multi-motion sub-linear motor modules; wherein... The multi-degree-of-freedom micro-motion stage is installed at the bottom of the stacking platform and is used to adjust the position and angle of the electrode plates on the stacking platform; positive electrode plate stacking assemblies and negative electrode plate stacking assemblies are closely arranged on both sides of the stacking platform, and both the positive electrode plate stacking assembly and the negative electrode plate stacking assembly include a correction stage and a large-stroke motion stage. The alignment table is installed above the large-stroke motion table to align the positive and negative electrode sheets. The large-stroke motion table moves back and forth between the electrode sheet picking position and the electrode sheet alignment position to transport the positive and negative electrode sheets. The two sets of multi-moving linear motor modules are respectively arranged above the positive and negative electrode sheet stacking assemblies. N sets of vacuum suction cups are arranged below the multi-moving linear electronic modules to grip the electrode sheets. The vision positioning system is arranged on the side of the two sets of multi-moving linear motors near the stacking table to collect electrode sheet images and obtain the position and angle deviation of the electrode sheets.

2. The multi-station automated electrode stacking system according to claim 1, characterized in that, A connecting mechanism is provided between the correction table and the large-stroke motion table. The connecting mechanism consists of bolts and a connecting plate. The connecting plate is fixed to the large-stroke motion table by bolt connection, and the correction table is fixed to the connecting plate by thread connection.

3. The multi-station automated electrode stacking system according to claim 1, characterized in that, The bottom of the multi-actuator linear motor module is equipped with a vacuum suction cup, which is installed parallel to the plane of the correction table and is used to grip and release the electrode plates.

4. The multi-station automated electrode stacking system according to claim 1, characterized in that, The visual positioning system is installed on the side of the two sets of multi-actuator linear motor modules near the stacking table, and the main light of the camera is perpendicular to the vacuum suction cup gripping plane.

5. A method for automated stacking of multi-station electrode sheets, characterized in that, Including the multi-station automated electrode stacking system as described in any one of claims 1 to 4, the stacking method comprises the following steps: S1: N sets of negative electrode stacking assemblies are arranged closely together. In the previous process, the device at the negative electrode taking position simultaneously places N negative electrode sheets on the correction table of the corresponding negative electrode stacking assembly. S2: The N-group large-stroke motion stage drives the correction stage above it to support the negative electrode sheet and move it to the negative electrode sheet correction position. S3: The visual positioning system acquires images of each negative electrode, calculates the directional offset of each electrode, and feeds it back to the correction stage. The correction stage corrects the direction and angle of the negative electrode it supports. S4: The vacuum suction cup adsorbs and fixes the electrode, and the multi-actuator linear motor module drives it to move to the electrode stacking position. The vision positioning system collects images of the electrode above the stacking table to obtain the position and orientation deviation of the electrode. S5: The visual positioning system feeds back the deviation value to the corresponding multi-degree-of-freedom micro-motion stage. The multi-degree-of-freedom micro-motion stage performs position calibration and attitude adjustment on the electrode it supports, and the vacuum chuck releases the stacked negative electrode. S6: N groups of positive electrode stacking assemblies are arranged closely together. The previous process device places N positive electrode sheets on the correction table of the corresponding positive electrode stacking assembly at the positive electrode sheet taking position. S7: The N-group large-stroke motion platform drives the correction platform above it to support the positive electrode sheet and move it to the positive electrode sheet correction position. S8: The visual positioning system acquires images of each electrode, calculates the directional offset of each positive electrode, and feeds it back to the correction stage. The correction stage corrects the orientation and angle of the positive electrode it supports. S9: The vacuum suction cup adsorbs and fixes the electrode sheet, and the multi-actuator linear motor module drives it to move to the electrode sheet stacking position. The vision positioning system collects images of the electrode sheets above the stacking platform to obtain the position and orientation deviation of the electrode sheets. S10: The visual positioning system feeds back the deviation value to the corresponding multi-degree-of-freedom micro-motion stage. The multi-degree-of-freedom micro-motion stage performs position calibration and attitude adjustment on the electrode it supports, and the vacuum chuck releases the stacked positive electrode.

6. The automated stacking method for multi-station electrode sheets according to claim 5, characterized in that, Steps between S1 and S5 are performed alternately and simultaneously with steps between S6 and S10 to satisfy the high-speed alternating stacking of positive and negative electrode sheets.

7. The automated stacking method for multi-station electrode sheets according to claim 5, characterized in that, The movement of the large-stroke motion stage and the multi-degree-of-freedom micro-motion stage is controlled in a coordinated manner, with the position of the initial negative electrode plate at the bottom of the battery cell as the positioning reference.

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