Lithium battery cell L-shaped double-station lamination stacking machine

Abstract

The invention discloses a lithium battery cell L-shaped double-station lamination machine which comprises a lamination machine table, a left deviation rectifying system, a cell hot-pressing system and a right deviation rectifying system, the left deviation rectifying system, the cell hot-pressing system and the right deviation rectifying system are sequentially arranged on the lamination machine table, and the left deviation rectifying system and the right deviation rectifying system are arranged on the two sides of the lamination machine table respectively. Wherein the battery cell hot-pressing system is arranged between the left deviation rectifying system and the right deviation rectifying system. According to the double-station lamination machine, multi-station sharing is realized, the equipment size is reduced, one-person multi-machine operation is realized, the labor cost is reduced, the production efficiency is improved, size data required by L-shaped battery core lamination production is met, and the time for taking a single-sided coating piece by a pole piece moving platform and the length of a lead screw are reduced. The lamination time is shortened, the production efficiency is improved, the cost can be greatly reduced by adopting an air cylinder rack rotating mechanism, a spring is additionally arranged on a preheating platform for self-resetting to prevent delamination, and the yield is improved.

Description

Technical Field

[0001] The invention relates to the technical field of lithium battery production equipment, and in particular to an L-shaped double-station stacking machine for lithium battery cells. Background Art

[0002] With the rapid development of economy and the irrational use of resources, environmental issues have become one of the key issues that all countries are concerned about. In order to reduce environmental pollution, all countries are actively developing low-pollution green energy. New energy lithium battery is a new energy storage power source with the advantages of small space, high energy storage, high efficiency and wide operating temperature range. With the decreasing oil resources, new energy lithium battery has been valued by all countries as a new and stable energy source. The first step of the battery process is to form the battery with the battery cell, that is, the stacking technology.

[0003] The positive correction table of the traditional stacking machine is fixed, and the positive and negative material bins and the upper coating and lower coating single-sided sheet bins are arranged vertically. The material taking of the first and last stacking sheets of each battery cell is twice as long as the normal stacking material taking, the material taking time is long, the lead screw is unstable, and the battery cell pre-pressure rotating platform is driven by the battery cell to rotate the dividing wheel. The pre-pressure platform will move the stacking sheets in the battery cell, and the robot will take the battery cell, causing the battery cell to delaminate and produce defective products. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art solutions, the present invention provides an L-shaped double-station stacking machine for lithium battery cells, which can effectively solve the problems raised by the background technology.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A lithium battery cell L-shaped double-station stacking machine, comprising a stacking machine platform, a left correction system, a cell hot pressing system and a right correction system sequentially arranged on the stacking machine platform, wherein the left correction system and the right correction system are respectively arranged on both sides of the stacking machine platform, wherein the cell hot pressing system is arranged between the left correction system and the right correction system, the stacking machine platform comprises an automatic lifting loading bin, a positive electrode bin, a negative electrode bin, a positive electrode stacking station, a negative electrode stacking station, a diaphragm scraping mechanism, a material taking mechanism, a diaphragm cutting mechanism and an automatic lifting stacking unloading mechanism, wherein the automatic lifting loading bin is used to place an upper coated electrode sheet, a lower coated electrode sheet, a positive electrode sheet and a negative electrode sheet, the positive electrode bin and the negative electrode bin are arranged transversely with the automatic lifting loading bin, and the material taking mechanism comprises a positive electrode taking and discharging manipulator, a negative electrode sheet taking and discharging manipulator and a vacuum adsorption module;

[0007] The left deviation correction system includes a left negative electrode sheet correction platform, a left positive electrode sheet mobile correction platform, a left single-sided coated electrode sheet transfer robot, a left stacking mechanism and a left reverse diaphragm mechanism, the left negative electrode sheet correction platform is connected to the left positive electrode sheet mobile correction platform, the right deviation correction system includes a right positive electrode sheet mobile correction platform, a right negative electrode sheet correction platform, a right single-sided coated electrode sheet transfer robot, a right stacking mechanism and a right reverse diaphragm mechanism, the right positive electrode sheet mobile correction platform is connected to the right negative electrode sheet correction platform, the left deviation correction system and the right deviation correction system also include a correction station, wherein the upper coated electrode sheet is placed in the correction station from the automatic lifting loading bin by the positive electrode material taking and discharging robot for stacking correction;

[0008] The battery cell hot pressing system includes a preheating platform, a battery cell main pressing mechanism, a battery cell pre-pressing mechanism, a first battery cell transfer manipulator and a second battery cell transfer manipulator. The battery cell main pressing mechanism is connected to the battery cell pre-pressing mechanism. The first battery cell transfer manipulator is used for battery cell main pressing and pre-pressing transfer. The second battery cell transfer manipulator is used for left and right transfer of batteries. The preheating platform is also provided with a battery cell hot pressing manipulator and a spring reset structure.

[0009] As a further description of the above technical solution, the stacking machine is also provided with a control screen, which is respectively controlled and connected with the diaphragm scraping mechanism, the positive electrode taking and discharging robot, the negative electrode sheet taking and discharging robot and the vacuum adsorption module, the diaphragm cutting mechanism and the automatic lifting and stacking unloading mechanism, wherein the diaphragm cutting mechanism includes a diaphragm scraper and a hot cutting knife, the diaphragm scraper attaches the diaphragm to the upper coated electrode sheet, and the negative electrode sheet is placed on the diaphragm by the negative electrode sheet taking and discharging robot and stacked with the upper coated electrode sheet.

[0010] As a further description of the above technical solution, the vacuum adsorption module includes a vacuum suction cup, which is arranged on the positive electrode picking and placing robot and the negative electrode sheet picking and placing robot. The positive electrode picking and placing robot and the negative electrode sheet picking and placing robot sequentially place the upper coated electrode sheet, the lower coated electrode sheet, the positive electrode sheet and the negative electrode sheet on the correction station on the preheating platform for pressing.

[0011] As a further description of the above technical solution, the left reverse diaphragm mechanism and the right reverse diaphragm mechanism both include a stepper motor, and the stepper motor is connected to the diaphragm cutting mechanism. The left reverse diaphragm mechanism reversely stretches the diaphragm in a translational manner through the stepper motor, and the right reverse diaphragm mechanism reversely stretches the diaphragm in a translational manner through the stepper motor.

[0012] As a further description of the above technical solution, the preheating platform is also provided with a battery cell hot pressing station, a battery cell station and a battery cell clamping robot, the battery cell clamping robot places the battery cells that have completed stacking in the battery cell station in a flipped manner, wherein the battery cell hot pressing robot clamps the battery cells in the battery cell station for battery cell hot pressing, the automatic lifting stacking and unloading mechanism is connected to the battery cell hot pressing robot, the automatic lifting stacking and unloading mechanism includes an automatic lifting stacking and unloading station, and the automatic lifting stacking and unloading station is also provided with a sensor.

[0013] As a further description of the above technical solution, the left reverse diaphragm mechanism and the right reverse diaphragm mechanism also include a cylinder and a rotating rod, and the rotation angle of the rotating rod is 90°.

[0014] As a further description of the above technical solution, the upper coated electrode piece and the lower coated electrode piece are both positive electrodes.

[0015] As a further description of the above technical solution, the left single-sided coated pole piece transferring robot and the right single-sided coated pole piece transferring robot are both connected with a walking module, and the left single-sided coated pole piece transferring robot and the right single-sided coated pole piece transferring robot can move along the Z-axis, Y-axis and X-axis directions of the stacking machine through the walking module.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The L-shaped double-station stacking machine for lithium battery cells of the present invention has at least one of the following beneficial effects during use:

[0018] This double-station stacking machine realizes multi-station sharing, reduces the size of the equipment, realizes one person operating multiple machines, reduces labor costs, improves production efficiency, and meets the dimensional data required for L-type battery cell stacking production. The robot first takes the coated single-sided sheet and waits for the correction table to move. After the first and last pieces of the battery cell are corrected and moved to the position where the robot takes the coated single-sided sheet, the robot puts the coated single-sided sheet on the correction table and the correction table returns to zero. Reduce the time for the pole piece moving platform to take the coated single-sided sheet and the length of the lead screw. Improve the stacking time and improve production efficiency. The use of a cylinder rack rotating mechanism can greatly reduce costs. The preheating platform is equipped with a spring self-reset to prevent delamination and improve the quality of products. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of an L-shaped double-station stacking machine for lithium battery cells of the present invention;

[0020] Figure 2 This is a schematic diagram of the first part of the structure of an L-shaped double-station stacking machine for lithium battery cells of the present invention;

[0021] Figure 3It is a schematic diagram of the second part of the structure of an L-shaped double-station stacking machine for lithium battery cells of the present invention;

[0022] Figure 4 It is a schematic structural diagram of the third part of an L-shaped double-station stacking machine for lithium battery cells of the present invention.

[0023] Numbers in the figure:

[0024] 1. Stacking machine; 101. Control panel; 2. Left deviation correction system; 201. Left negative pole piece correction platform; 202. Left positive pole piece moving correction platform; 203. Left single-sided coated pole piece transfer robot; 204. Left stacking mechanism; 205. Left reverse diaphragm mechanism; 3. Right deviation correction system; 301. Right positive pole piece moving correction platform; 302. Right negative pole piece correction platform; 303. Right single-sided coated pole piece transfer robot; 304. Right stacking mechanism; 305. Right reverse diaphragm mechanism; 4. Battery cell hot pressing system; 401. Battery cell main pressing mechanism; 402. Battery cell pre-pressing mechanism; 403. First battery cell transfer robot; 404. Second battery cell transfer robot. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0026] like Figure 1-4 As shown, the present invention provides an L-shaped double-station stacking machine for lithium battery cells, comprising a stacking machine 1, a left correction system 2, a cell hot pressing system 4 and a right correction system 3 sequentially arranged on the stacking machine 1, the left correction system 2 and the right correction system 3 are respectively arranged on both sides of the stacking machine 1, wherein the cell hot pressing system 4 is arranged between the left correction system 2 and the right correction system 3, the stacking machine 1 comprises an automatic lifting loading bin, a positive electrode bin, a negative electrode bin, a positive electrode stacking station, a negative electrode stacking station, a diaphragm scraping mechanism, a material taking mechanism, a diaphragm cutting mechanism and an automatic lifting stacking unloading mechanism, wherein the automatic lifting loading bin is used to place an upper coated electrode sheet, a lower coated electrode sheet, a positive electrode sheet and a negative electrode sheet, the positive electrode bin and the negative electrode bin are arranged transversely with the automatic lifting loading bin, and the material taking mechanism comprises a positive electrode taking and discharging manipulator, a negative electrode sheet taking and discharging manipulator and a vacuum adsorption module.

[0027] During the use of this embodiment, the upper coated electrode sheet (positive electrode), the lower coated electrode sheet (positive electrode), the positive electrode sheet, and the negative electrode sheet are manually placed in the automatic lifting and loading bin of each electrode sheet, and after the electrode sheet spacer is installed, the workstation on the stacking machine 1 stops at the positive electrode stacking position to wait for loading, and the automatic operation is started by pressing the control screen 101. The (first) upper coated electrode sheet (positive electrode) is taken from the upper coated electrode sheet (positive electrode) lifting bin by the positive electrode taking and placing manipulator suction cup and placed on the stacking correction mechanism platform for stacking correction. After correction, the manipulator suction cup takes the material from the correction platform and places it on the workstation, and the stacking machine 1 vacuum is turned on to suck the (first) upper coated electrode sheet (positive electrode). The diaphragm cutting mechanism also includes a diaphragm scraping component, which includes a diaphragm scraper. Through this component, the diaphragm is scraped from right to left and attached to the coated electrode sheet (positive electrode) on the (first sheet). At the same time, the work station also moves from the positive electrode stacking position to the negative electrode stacking position to correct the diaphragm.

[0028] The (second) negative electrode sheet picking and placing robot puts the (second) negative electrode sheet on the work station, and the work station presses the electrode sheet and the diaphragm. The work station moves to the positive electrode stacking position with the electrode sheet and the diaphragm. The positive electrode picking robot puts the (third) positive electrode sheet on the work station, and the work station presses the electrode sheet and the diaphragm. The action is repeated until the number of electrode sheets required for the stacking is reached. Then, the (last) lower coating machine sheet is placed on the work station by the robot for sheet pressing and diaphragm cutting. The stepper motor moves and pulls back the diaphragm, and then the clamping robot takes the battery cell from the work station, flips the stacked battery cell, and sends it to the battery cell hot pressing picking robot picking station. The battery cell hot pressing robot takes the material and puts it into the battery cell hot pressing station for battery cell hot pressing (the maximum pressure of the gas-liquid booster cylinder is 3 tons). After the battery cell is hot pressed, the unloading machine takes the battery cell from the hot pressing station and puts it into the automatic lifting and stacking unloading station. When the stacking height reaches the upper limit, the material is collected manually. This double-station stacking machine realizes multi-station sharing, reduces the size of the equipment, enables one person to operate multiple machines, reduces labor costs, improves production efficiency, and meets the dimensional data required for L-type battery cell stacking production.

[0029] The left correction system 2 includes a left negative electrode sheet correction platform 201, a left positive electrode sheet mobile correction platform 202, a left single-sided coated electrode sheet transfer robot 203, a left stacking mechanism 204 and a left reverse diaphragm mechanism 205, the left negative electrode sheet correction platform 201 is connected to the left positive electrode sheet mobile correction platform 202, the right correction system 3 includes a right positive electrode sheet mobile correction platform 301, a right negative electrode sheet correction platform 302, a right single-sided coated electrode sheet transfer robot 303, a right stacking mechanism 304 and a right reverse diaphragm mechanism 305, the right positive electrode sheet mobile correction platform 301 is connected to the right negative electrode sheet correction platform 302, the left correction system 2 and the right correction system 3 also include a correction station, wherein the upper coated electrode sheet is placed in the correction station from the automatic lifting loading bin by the positive electrode material taking and discharging robot for stacking correction.

[0030] The traditional positive electrode correction table is fixed, and the positive and negative material bins are arranged vertically with the upper and lower coating single-sided sheet bins. The material extraction of the first and last sheet of the battery cell each time is twice as long as the normal stacking material extraction, the material extraction time is long, and the lead screw is unstable. The positive electrode sheet correction table of this embodiment arranges the positive and negative material bins horizontally with the upper and lower coating single-sided sheet bins. The robot first takes the coated single-sided sheet and waits for the correction table to move. After the first and last sheets of the battery cell are corrected and moved to the position where the robot takes the coated single-sided sheet, the robot puts the coated single-sided sheet on the correction table and the correction table returns to zero. Reduce the time for the electrode moving platform to take the coated single-sided sheet and the length of the lead screw. Improve the stacking time and improve production efficiency. After the anti-diaphragm mechanism stacks the battery cells, it uses a hot cutting knife to cut the diaphragm, and then the transfer robot clamps the battery cells from the stacking table. The anti-diaphragm mechanism is driven by a cylinder to rotate the rotating rod 90 degrees, and the stepper motor drives the anti-diaphragm to pull the membrane back to the stacking table, correct the diaphragm, and start stacking.

[0031] The battery cell hot pressing system 4 includes a preheating platform, a battery cell main pressing mechanism 401, a battery cell pre-pressing mechanism 402, a first battery cell transfer manipulator 403 and a second battery cell transfer manipulator 404. The battery cell main pressing mechanism 401 is connected to the battery cell pre-pressing mechanism 402. The first battery cell transfer manipulator 403 is used for battery cell main pressing and pre-pressing transfer. The second battery cell transfer manipulator 404 is used for left and right transfer of batteries. The preheating platform is also provided with a battery cell hot pressing manipulator and a spring reset structure.

[0032] The traditional battery cell pre-stressing rotating platform is driven by the battery cell to drive the indexing wheel rotating mechanism, which is costly. The pre-stressing platform will move the stacked sheets in the battery cell, and the robot will take the battery cell, causing the battery cell to delaminate, resulting in defective products. The cylinder rack rotating mechanism used in this embodiment can greatly reduce costs, and the preheating platform in this embodiment is equipped with a spring for self-reset to prevent delamination and improve the quality of products.

[0033] It is further explained that the stacking machine 1 is also provided with a control screen 101, which is respectively controlled and connected with a diaphragm scraping mechanism, a positive electrode taking and discharging robot, a negative electrode sheet taking and discharging robot and a vacuum adsorption module, a diaphragm cutting mechanism and an automatic lifting and stacking unloading mechanism, wherein the diaphragm cutting mechanism includes a diaphragm scraper and a hot cutting knife, and the diaphragm scraper attaches the diaphragm to the upper coated electrode sheet, and the negative electrode sheet is placed on the diaphragm by the negative electrode sheet taking and discharging robot and stacked with the upper coated electrode sheet.

[0034] It is further explained that the vacuum adsorption module includes a vacuum suction cup, which is arranged on the positive electrode picking and placing robot and the negative electrode sheet picking and placing robot. The positive electrode picking and placing robot and the negative electrode sheet picking and placing robot sequentially place the upper coated electrode sheet, the lower coated electrode sheet, the positive electrode sheet and the negative electrode sheet on the correction station on the preheating platform for pressing.

[0035] It is further explained that the left reverse diaphragm mechanism 205 and the right reverse diaphragm mechanism 305 both include a stepper motor, which is connected to the diaphragm cutting mechanism. The left reverse diaphragm mechanism 205 stretches the diaphragm in a translational manner through the stepper motor, and the right reverse diaphragm mechanism 305 stretches the diaphragm in a translational manner through the stepper motor.

[0036] It is further explained that the preheating platform is also provided with a battery cell hot pressing station, a battery cell station and a battery cell clamping robot, the battery cell clamping robot places the battery cells that have completed stacking in the battery cell station in a flipped manner, wherein the battery cell hot pressing robot clamps the battery cells in the battery cell station for battery cell hot pressing, the automatic lifting stacking and unloading mechanism is connected to the battery cell hot pressing robot, the automatic lifting stacking and unloading mechanism includes an automatic lifting stacking and unloading station, and the automatic lifting stacking and unloading station is also provided with a sensor.

[0037] It is further explained that the left reverse diaphragm mechanism 205 and the right reverse diaphragm mechanism 305 also include a cylinder and a rotating rod, and the rotating angle of the rotating rod is 90°.

[0038] It is further explained that both the upper coated electrode piece and the lower coated electrode piece are positive electrodes.

[0039] It is further explained that the left single-sided coated pole piece transfer robot 203 and the right single-sided coated pole piece transfer robot 303 are both connected with a walking module, and the left single-sided coated pole piece transfer robot 203 and the right single-sided coated pole piece transfer robot 303 can move along the Z-axis, Y-axis and X-axis directions of the stacking machine 1 through the walking module.

[0040] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A L-shaped double-station stacking machine for lithium battery cells, characterized in that: It includes a stacking machine, a left correction system, a battery cell hot pressing system and a right correction system which are sequentially arranged on the stacking machine, wherein the left correction system and the right correction system are respectively arranged on both sides of the stacking machine, wherein the battery cell hot pressing system is arranged between the left correction system and the right correction system, and the stacking machine includes an automatic lifting loading bin, a positive electrode bin, a negative electrode bin, a positive electrode stacking station, a negative electrode stacking station, a diaphragm scraping mechanism, a material taking mechanism, a diaphragm cutting mechanism and an automatic lifting stacking unloading mechanism, wherein the automatic lifting loading bin is used to place an upper coated electrode sheet, a lower coated electrode sheet, a positive electrode sheet and a negative electrode sheet, and the positive electrode bin and the negative electrode bin are arranged transversely with the automatic lifting loading bin, and the material taking mechanism includes a positive electrode taking and discharging manipulator, a negative electrode sheet taking and discharging manipulator and a vacuum adsorption module; The left deviation correction system includes a left negative electrode sheet correction platform, a left positive electrode sheet mobile correction platform, a left single-sided coated electrode sheet transfer robot, a left stacking mechanism and a left reverse diaphragm mechanism, the left negative electrode sheet correction platform is connected to the left positive electrode sheet mobile correction platform, the right deviation correction system includes a right positive electrode sheet mobile correction platform, a right negative electrode sheet correction platform, a right single-sided coated electrode sheet transfer robot, a right stacking mechanism and a right reverse diaphragm mechanism, the right positive electrode sheet mobile correction platform is connected to the right negative electrode sheet correction platform, the left deviation correction system and the right deviation correction system also include a correction station, wherein the upper coated electrode sheet is placed in the correction station from the automatic lifting loading bin by the positive electrode material taking and discharging robot for stacking correction; The battery cell hot pressing system includes a preheating platform, a battery cell main pressing mechanism, a battery cell pre-pressing mechanism, a first battery cell transfer manipulator and a second battery cell transfer manipulator. The battery cell main pressing mechanism is connected to the battery cell pre-pressing mechanism. The first battery cell transfer manipulator is used for battery cell main pressing and pre-pressing transfer. The second battery cell transfer manipulator is used for left and right transfer of batteries. The preheating platform is also provided with a battery cell hot pressing manipulator and a spring reset structure.

2. The L-shaped double-station stacking machine for lithium battery cells according to claim 1, characterized in that: The stacking machine is also provided with a control screen, which is respectively controlled and connected with the diaphragm scraping mechanism, the positive electrode taking and discharging robot, the negative electrode sheet taking and discharging robot and the vacuum adsorption module, the diaphragm cutting mechanism and the automatic lifting and stacking unloading mechanism, wherein the diaphragm cutting mechanism includes a diaphragm scraper and a hot cutting knife, the diaphragm scraper attaches the diaphragm to the upper coated electrode sheet, and the negative electrode sheet is placed on the diaphragm by the negative electrode sheet taking and discharging robot and stacked with the upper coated electrode sheet.

3. The L-shaped double-station stacking machine for lithium battery cells according to claim 1, characterized in that: The vacuum adsorption module includes a vacuum suction cup, which is arranged on the positive electrode picking and placing robot and the negative electrode sheet picking and placing robot. The positive electrode picking and placing robot and the negative electrode sheet picking and placing robot sequentially place the upper coated electrode sheet, the lower coated electrode sheet, the positive electrode sheet and the negative electrode sheet on the correction station on the preheating platform for sheet pressing.

4. The L-shaped double-station stacking machine for lithium battery cells according to claim 1, characterized in that: The left reverse diaphragm mechanism and the right reverse diaphragm mechanism both include a stepper motor, which is connected to the diaphragm cutting mechanism. The left reverse diaphragm mechanism stretches the diaphragm in a translational manner through the stepper motor, and the right reverse diaphragm mechanism stretches the diaphragm in a translational manner through the stepper motor.

5. The L-shaped double-station stacking machine for lithium battery cells according to claim 1, characterized in that: The preheating platform is also provided with a battery cell hot pressing station, a battery cell station and a battery cell clamping robot. The battery cell clamping robot places the battery cells that have completed stacking in the battery cell station in a flipped manner, wherein the battery cell hot pressing robot clamps the battery cells in the battery cell station for battery cell hot pressing, and the automatic lifting, stacking and unloading mechanism is connected to the battery cell hot pressing robot, and the automatic lifting, stacking and unloading mechanism includes an automatic lifting, stacking and unloading station, and the automatic lifting, stacking and unloading station is also provided with a sensor.

6. The L-shaped double-station stacking machine for lithium battery cells according to claim 4, characterized in that: The left reverse diaphragm mechanism and the right reverse diaphragm mechanism further include a cylinder and a rotating rod, and the rotating angle of the rotating rod is 90°.

7. The L-shaped double-station stacking machine for lithium battery cells according to claim 1, characterized in that: The upper coated electrode piece and the lower coated electrode piece are both positive electrodes.

8. The L-shaped double-station stacking machine for lithium battery cells according to claim 1, characterized in that: The left single-sided coated pole piece transfer robot and the right single-sided coated pole piece transfer robot are both connected to a walking module, and the left single-sided coated pole piece transfer robot and the right single-sided coated pole piece transfer robot can move along the Z-axis, Y-axis and X-axis directions of the stacking machine through the walking module.

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