Soft package lithium battery top side sealing and air tightness detection all-in-one machine

Abstract

The invention relates to the technical field of soft package lithium battery production, and particularly discloses a soft package lithium battery top side sealing and air tightness detection all-in-one machine, which comprises a detection box, which is internally provided with a fluorination liquid; the lifting mechanism is arranged in the middle of the rear side of the detection box; the fixing mechanism is arranged at the output end of the lifting mechanism; the top side sealing mechanism is arranged at the upper part of the lifting mechanism; wherein the fixing mechanism comprises a supporting seat which is fixedly connected to the front part of the output end of the lifting mechanism; the base is fixedly connected to the upper part of the supporting seat; the fixing groove is formed in the upper front side of the base; the cavity is formed in the lower part of the front side of the base and is communicated with the fixing groove; the elastic block is slidably connected into the cavity; the spring is arranged between the inner top wall of the elastic block and the inner bottom wall of the cavity; the pressing assembly is arranged on the upper portion of the rear side of the base. According to the invention, the automatic and standardized detection process can be realized, the production efficiency is improved, the personal error is reduced, and the detection precision is improved.

Description

Technical Field

[0001] The invention relates to the technical field of soft-pack lithium battery production, and in particular to an integrated machine for top and side sealing and air tightness detection of soft-pack lithium batteries. Background Art

[0002] With the rapid development of new energy technologies, soft-pack lithium-ion batteries have been widely used in electric vehicles, portable electronic devices and other fields due to their advantages such as high energy density, light weight and customizability. However, the sealing of soft-pack lithium batteries is crucial to their performance and safety. Poor battery sealing may lead to electrolyte leakage, moisture and air infiltration, which in turn may cause battery performance degradation, internal short circuits and even safety accidents. Therefore, it is particularly important to conduct strict sealing tests on soft-pack lithium batteries during the battery production process.

[0003] At present, the sealing test of soft-pack lithium batteries mainly adopts the step-down method. For example, the patent application with application number CN202311673189.6 discloses a soft-pack lithium battery sealing detection device and its detection method. This method creates a negative pressure environment in a closed container and observes whether the battery swells to judge its sealing. However, this method has obvious limitations: first, it can only detect batteries with more serious leaks, and the detection effect is not good for batteries with smaller leaks. Secondly, the operation process is more complicated and requires professional equipment and operators, which increases production costs and detection time. In addition, the step-down method may not be able to accurately locate the leakage point, which is not conducive to subsequent quality improvement.

[0004] In addition, the top and side seals of soft-pack lithium batteries are the key parts of battery sealing, and their quality directly affects the overall sealing of the battery. However, existing testing methods often separate the top and side seal testing from the overall airtightness testing, which not only increases the testing time and cost, but may also cause some potential problems to be overlooked.

[0005] Therefore, there is an urgent need for an integrated device that can simultaneously perform top and side seal detection and overall airtightness detection of soft-pack lithium batteries, which can overcome the problems of low detection accuracy and poor efficiency in the existing technology, and can also realize automated and standardized detection processes, improve production efficiency, and reduce human errors. Summary of the invention

[0006] The main purpose of the present invention is to provide an all-in-one machine for top and side sealing and airtightness detection of soft-pack lithium batteries in view of the shortcomings of the prior art, which can overcome the problems of low detection accuracy and poor efficiency in the prior art, and can also realize automated and standardized detection processes, improve production efficiency and reduce human errors.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A soft-pack lithium battery top and side sealing and air tightness detection integrated machine, comprising:

[0009] A detection box, wherein a fluorinated liquid is arranged inside the detection box;

[0010] A lifting mechanism is arranged in the middle of the rear side of the detection box;

[0011] A fixing mechanism, arranged at the output end of the lifting mechanism;

[0012] A top and side sealing mechanism, arranged on the upper part of the lifting mechanism;

[0013] Wherein, the fixing mechanism comprises:

[0014] A support seat, fixedly connected to the front of the output end of the lifting mechanism;

[0015] A base, fixedly connected to the upper part of the support seat;

[0016] A fixing groove is provided on the front side of the upper part of the base;

[0017] The cavity is provided at the lower front part of the base and is connected with the fixing groove;

[0018] A bullet block is slidably connected inside the cavity;

[0019] A spring is arranged between the top wall of the bullet block and the bottom wall of the cavity;

[0020] The pressing component is arranged at the upper rear part of the base.

[0021] Furthermore, the fluorinated liquid used in the present invention has the inert characteristics of being insulating and not damaging the outer shell of the soft-pack battery. Specifically, the fluorinated liquid may be 3M's Novec series or DuPont's Vertrel series.

[0022] Furthermore, a conveyor belt is provided inside the detection box, thereby realizing automatic conveyance of batteries, further improving production efficiency and reducing manual operations.

[0023] Furthermore, the pressing component comprises:

[0024] A swivel seat, fixedly connected to the middle of the rear side of the base;

[0025] The shaft is rotatably connected to the upper part of the rotating seat through a torsion spring;

[0026] A connecting rod, one end of which is fixedly connected to both ends of the shaft rod, and the other end of which is fixedly connected to the upper end of the pressing block;

[0027] A lever, the upper end of which is fixedly connected to the outer periphery of the middle part of the shaft;

[0028] An iron block, fixedly connected to the lower end of the lever;

[0029] Electromagnet, installed in front of the rotating seat.

[0030] Among them, the precise positioning and fixation of the battery is achieved through the cooperation of components such as the rotating seat, shaft rod, connecting rod, etc.; the application of electromagnets makes the pressing process controllable, improving the flexibility and accuracy of the operation.

[0031] Furthermore, the top and side sealing mechanism comprises:

[0032] The top side sealing box is installed on the upper part of the lifting mechanism;

[0033] Electric push rod, installed in the middle of the upper side of the top sealing box;

[0034] A connecting block is fixedly connected to the output end at the lower side of the electric linear actuator;

[0035] Two heat sealing strips, one of which is detachably mounted on the lower part of the connecting block, and the other is detachably mounted on the upper part of the base.

[0036] Among them, the detachable heat sealing strip design facilitates maintenance and replacement, improving the maintainability and service life of the equipment; the application of electric push rods ensures precise control of the packaging process.

[0037] Furthermore, the top and side sealing mechanism also includes:

[0038] Vacuum machine, installed on the top sealing side;

[0039] A connecting pipe, one end of which is connected to the input end of the vacuum machine, and the other end is installed on the top sealing side;

[0040] The pressure sensor is arranged inside the top sealed box and is used to monitor the pressure changes inside the box in real time.

[0041] Among them, the combined use of the vacuum machine and pressure sensor can not only effectively extract the air inside the battery, but also monitor the pressure changes in the box in real time to ensure the packaging quality.

[0042] Furthermore, the lifting mechanism comprises:

[0043] Fixed seat;

[0044] The threaded rod has upper and lower ends that are rotatably connected to the middle of the fixed seat;

[0045] A movable plate, threadedly connected to the outer periphery of the threaded rod;

[0046] The limit rod has upper and lower ends fixedly connected to the left and right sides of the two fixing seats;

[0047] The servo motor is installed on the upper side of the upper fixing seat, and the output end is fixedly connected to the upper end of the threaded rod;

[0048] Position sensor, mounted on the moving plate, is used to precisely control the lifting position.

[0049] Among them, the application of servo motors and position sensors realizes precise lifting and lowering control and improves operating accuracy.

[0050] Furthermore, the upper fixing seat is installed on the rear side of the top sealing box, and the lower fixing seat is installed on the inner wall of the rear side of the detection box.

[0051] Furthermore, the left and right sides of the movable plate are slidably connected to the outer periphery of the limit rod, and the surface of the movable plate is coated with self-lubricating material to reduce friction and extend the service life of the equipment.

[0052] Furthermore, after the fixing mechanism moves to the lower part of the top side sealing box and seals the lower part of the top side sealing box, the vacuum machine extracts air from the batteries inside the top side sealing box through the connecting pipe; wherein the exhaust rate of the vacuum machine can be adjusted in real time according to the feedback from the pressure sensor to optimize the exhaust process.

[0053] Furthermore, the integrated machine also includes a PLC controller for coordinating the actions of various mechanisms and automatically adjusting working parameters according to feedback information from pressure sensors and position sensors to achieve automated operation. By setting up a PLC controller for control, intelligent control of the entire device is achieved, and parameters are automatically adjusted according to sensor feedback, further improving production efficiency and product quality.

[0054] Compared with the prior art, the beneficial effect of the present invention is that when in use, the present invention places the assembled batteries on the fixing mechanism, drives the servo motor, and makes the movable plate drive the fixing mechanism to move up and down. When the fixing mechanism moves to the lower part of the top sealing box and blocks the lower part of the top sealing box, the vacuum machine is driven to extract the air inside the top sealing box through the connecting pipe, so as to reduce the air in the packaged battery and improve the sealing performance. Then the electric push rod is driven to move the connecting block downward, and the battery is packaged by the heat sealing strip. After the packaging is completed, the fixing mechanism is driven to move downward by the movable plate. When the fixing mechanism is about to contact the fluoride liquid, the fixing mechanism ejects the battery so that the battery enters the fluoride liquid. By observing whether bubbles are generated, the sealing performance can be judged. The operation is very simple and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a three-dimensional structural schematic diagram of a soft-pack lithium battery top and side sealing and airtightness detection integrated machine of the present invention;

[0056] Figure 2 This is a schematic diagram of the internal structure of a soft-pack lithium battery top and side sealing and airtightness detection integrated machine of the present invention;

[0057] Figure 3It is a schematic diagram of the lifting mechanism structure of a soft-pack lithium battery top and side sealing and airtightness detection integrated machine of the present invention;

[0058] Figure 4 It is a schematic diagram of the fixing mechanism structure of a soft-pack lithium battery top and side sealing and airtightness detection integrated machine of the present invention;

[0059] Figure 5 The present invention is a schematic diagram of the pressing component structure of a soft-pack lithium battery top and side sealing and airtightness detection integrated machine.

[0060] In the figure: 1. detection box; 2. conveyor belt; 3. lifting mechanism; 301. fixed seat; 302. threaded rod; 303. moving plate; 304. limit rod; 305. servo motor; 4. fixing mechanism; 401. support seat; 402. base; 403. fixing groove; 404. cavity; 405. spring block; 406. spring; 407. pressing assembly; 4071. rotating seat; 4072. connecting rod; 4073. shaft rod; 4074. pressing block; 4075. lever; 4076. iron block; 4077. electromagnet; 5. top and side sealing mechanism; 501. top and side sealing box; 502. electric push rod; 503. connecting block; 504. connecting pipe; 505. vacuum machine; 506. heat sealing strip. DETAILED DESCRIPTION

[0061] 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.

[0062] like Figures 1 to 5 As shown, a soft-pack lithium battery top and side sealing and airtightness testing machine of the present application comprises a testing box 1, a lifting mechanism 3 is arranged in the middle of the rear side of the testing box 1, a fixing mechanism 4 is arranged at the output end of the lifting mechanism 3, a top and side sealing mechanism 5 is arranged on the upper part of the lifting mechanism 3, and a fluorinated liquid is arranged inside the testing box 1. Preferably, the testing box 1 is made of transparent material to facilitate observation of bubble generation.

[0063] In this embodiment, the top side sealing mechanism 5 includes a top side sealing box 501, an electric push rod 502, a connecting block 503 and two heat sealing strips 506. The rear side of the top side sealing box 501 is installed on the upper part of the lifting mechanism 3, the middle part of the electric push rod 502 is installed on the upper middle part of the top side sealing box 501, and the lower output end of the electric push rod 502 passes through the upper side wall shell of the top side sealing box 501 and is fixedly connected to the upper middle part of the connecting block 503. One of the heat sealing strips 506 is detachably installed on the lower part of the connecting block 503, and the other heat sealing strip 506 is detachably installed on the upper part of the base 402. A vacuum machine 505 is installed on one side of the top side sealing box 501, and a connecting pipe 504 is installed on the input end of the vacuum machine 505. The end of the connecting pipe 504 away from the vacuum machine 505 is installed on one side of the top side sealing box 501; a pressure sensor is arranged inside the top side sealing box 501 for real-time monitoring of the pressure changes in the box.

[0064] In this embodiment, the lifting mechanism 3 includes a fixed seat 301, a threaded rod 302, a movable plate 303, a limit rod 304 and a servo motor 305. The upper and lower ends of the limit rod 304 are fixedly connected to the left and right sides of the two fixed seats 301, the upper and lower ends of the threaded rod 302 are rotatably connected to the middle of the fixed seat 301, the servo motor 305 is installed on the upper side of the upper fixed seat 301, the lower output end of the servo motor 305 passes through the upper fixed seat 301 and is fixedly connected to the upper end of the threaded rod 302, the upper fixed seat 301 is installed on the rear side of the top sealing box 501, and the lower fixed seat 301 is installed on the rear inner wall of the detection box 1, the left and right sides of the movable plate 303 are slidably connected to the outer periphery of the limit rod 304, and the middle part of the movable plate 303 is threadedly connected to the outer periphery of the threaded rod 302; a position sensor is installed on the movable plate 303 for accurately controlling the lifting position; and the surface of the movable plate 303 is coated with self-lubricating material to reduce friction.

[0065] Specifically, the assembled batteries are placed on the fixing mechanism 4, the movable plate 303 is limited by the limit rod 304, and the servo motor 305 is driven to rotate the threaded rod 302, so that the movable plate 303 drives the fixing mechanism 4 to move up and down. When the fixing mechanism 4 moves to the lower part of the top sealing box 501 and blocks the lower part of the top sealing box 501, the vacuum machine 505 is driven to extract the air inside the top sealing box 501 through the connecting pipe 504, so as to reduce the air in the packaged battery and improve the sealing performance. The air extraction rate of the vacuum machine 505 can be adjusted in real time according to the feedback of the pressure sensor; then the electric push rod 502 is driven to move the connecting block 503 downward, and the battery is packaged by the heat sealing strip 506. After the packaging is completed, the fixing mechanism 4 is driven to move downward by the movable plate 303. When the fixing mechanism 4 is about to contact the fluoride liquid, the fixing mechanism 4 ejects the battery so that the battery enters the fluoride liquid. By observing whether bubbles are generated, its sealing performance can be judged. The operation is very simple and convenient.

[0066] The fluorinated liquid used in the present invention has the inert characteristics of being insulating and not damaging the outer shell of the soft-pack battery. The fluorinated liquid may specifically be 3M's Novec series or DuPont's Vertrel series.

[0067] Among them, immediately after the test is completed, the battery surface is purged with clean compressed air or nitrogen to remove residual fluoride liquid; and the battery is dried for a short time at low temperature (usually not exceeding 40°C) to ensure that all residual liquid has evaporated.

[0068] In this embodiment, the fixing mechanism 4 includes a support seat 401, a base 402, a fixing groove 403, a cavity 404, a spring block 405, a spring 406 and a pressing assembly 407. The rear side of the support seat 401 is fixedly connected to the front of the output end of the lifting mechanism 3, the lower part of the base 402 is fixedly connected to the upper part of the support seat 401, the fixing groove 403 is arranged on the front side of the upper part of the base 402, the cavity 404 is arranged on the lower front part of the base 402, the fixing groove 403 and the cavity 404 are connected, the outer periphery of the spring block 405 is slidably connected to the inside of the cavity 404, a plurality of springs 406 are arranged between the inner top wall of the spring block 405 and the inner bottom wall of the cavity 404, the pressing assembly 407 is arranged on the upper rear part of the base 402, and a conveyor belt is arranged inside the detection box 1. 2. The pressing assembly 407 includes a rotating seat 4071, a connecting rod 4072, an axle 4073, a pressing block 4074, a lever 4075, an iron block 4076 and an electromagnet 4077. The outer peripheries of the left and right sides of the axle 4073 are rotatably connected to the upper part of the rotating seat 4071 through a torsion spring. The lower part of the rotating seat 4071 is fixedly connected to the middle part of the rear side of the base 402. One end of the connecting rod 4072 is fixedly connected to the left and right ends of the axle 4073, and the other end of the connecting rod 4072 is fixedly connected to the upper end of the pressing block 4074. The upper end of the lever 4075 is fixedly connected to the outer periphery of the middle part of the axle 4073. One side of the iron block 4076 is fixedly connected to the lower end of the lever 4075. The left and right sides of the electromagnet 4077 are installed at the front part of the rotating seat 4071.

[0069] Specifically, the electromagnet 4077 is energized so that the electromagnet 4077 attracts the iron block 4076, so that the lever 4075 drives the shaft 4073 to rotate, so that the connecting rod 4072 drives the pressing block 4074 to lift up, and then the battery is placed into the fixing groove 403. At the same time, the electromagnet 4077 is powered off, and the connecting rod 4072 drives the pressing block 4074 to press on the battery through the torsion spring, so as to fix the battery. After the packaging is completed, the fixing mechanism 4 is driven downward by the moving plate 303. When the fixing mechanism 4 is about to contact the fluoride liquid, the electromagnet 4077 is energized so that the pressing block 4074 is lifted, and at the same time, the spring 406 will bounce the spring block 405, so that the battery is lifted from the inside of the fixing groove 403, and then slides into the fluoride liquid.

[0070] In this embodiment, the integrated machine also includes a PLC controller for coordinating the actions of various mechanisms and automatically adjusting the working parameters according to the feedback information of the pressure sensor and the position sensor to achieve automated operation. Among them, by setting up a PLC controller for control, intelligent control of the entire device is achieved, and parameters are automatically adjusted according to sensor feedback, further improving production efficiency and product quality. Preferably, the PLC controller adopts Siemens S7-1500.

[0071] Among them, the working principle and working process of the present invention are as follows:

[0072] The assembled batteries are placed on the fixing mechanism 4, and the movable plate 303 is limited by the limit rod 304. The servo motor 305 is driven to rotate the threaded rod 302, so that the movable plate 303 drives the fixing mechanism 4 to move up and down. When the fixing mechanism 4 moves to the lower part of the top sealing box 501 and blocks the lower part of the top sealing box 501, the vacuum machine 505 is driven to extract the air inside the top sealing box 501 through the connecting pipe 504, so as to reduce the air in the packaged battery and improve the sealing performance. Then the electric push rod 502 is driven to move the connecting block 503 downward, and the battery is packaged by the heat sealing strip 506. After the packaging is completed, the fixing mechanism 4 is driven to move downward by the movable plate 303. When the fixing mechanism 4 is about to contact the fluoride liquid, the fixing mechanism 4 ejects the battery so that the battery enters the fluoride liquid. The sealing performance can be judged by observing whether bubbles are generated. The operation is very simple and convenient.

[0073] In summary, the integrated machine for top and side sealing and airtightness detection of soft-pack lithium batteries of the present invention realizes the integrated operation of top and side packaging and airtightness detection by integrating the detection box, the lifting mechanism, the fixing mechanism and the top and side sealing mechanism. This structural design brings the following main advantages:

[0074] a) Improve detection accuracy: The battery is precisely positioned by the fixing mechanism, combined with the precise control of the lifting mechanism, to ensure the consistency and accuracy of the top-side packaging and airtightness detection process.

[0075] b) Improve production efficiency: The integrated design reduces the transfer time of batteries between different processes and significantly improves production efficiency.

[0076] c) Automated operation: The entire process is completed by the coordinated mechanical structure and control system, which reduces human intervention, reduces human errors, and improves the consistency of product quality.

[0077] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A soft-pack lithium battery top and side sealing and airtightness detection integrated machine, characterized in that: include: A detection box (1), wherein a fluorinated liquid is arranged inside the detection box (1); A lifting mechanism (3) is arranged in the middle of the rear side of the detection box (1); A fixing mechanism (4) is arranged at the output end of the lifting mechanism (3); A top and side sealing mechanism (5) is arranged on the upper part of the lifting mechanism (3); Wherein, the fixing mechanism (4) comprises: A support seat (401) is fixedly connected to the front of the output end of the lifting mechanism (3); A base (402) is fixedly connected to the upper portion of the support base (401); A fixing groove (403) is provided on the upper front side of the base (402); The cavity (404) is provided at the lower front portion of the base (402) and is connected to the fixing groove (403); A bullet (405) is slidably connected inside the cavity (404); A spring (406) is arranged between the inner top wall of the spring block (405) and the inner bottom wall of the cavity (404); The pressing assembly (407) is arranged at the upper rear portion of the base (402).

2. The integrated machine for top and side sealing and air tightness detection of soft-pack lithium battery according to claim 1, characterized in that: A conveyor belt (2) is arranged inside the detection box (1).

3. The integrated machine for top and side sealing and air tightness detection of soft-pack lithium battery according to claim 1, characterized in that: The pressing assembly (407) comprises: A rotating seat (4071) is fixedly connected to the middle portion of the rear side of the base (402); The shaft (4073) is rotatably connected to the upper part of the rotating seat (4071) through a torsion spring; A connecting rod (4072), one end of which is fixedly connected to both ends of the shaft rod (4073), and the other end of which is fixedly connected to the upper end of the pressing block (4074); A lever (4075) whose upper end is fixedly connected to the outer periphery of the middle part of the shaft (4073); An iron block (4076) is fixedly connected to the lower end of the lever (4075); The electromagnet (4077) is mounted on the front of the rotating seat (4071).

4. The integrated machine for top and side sealing and air tightness detection of soft-pack lithium battery according to claim 1, characterized in that: The top and side sealing mechanism (5) comprises: The top side sealing box (501) is installed on the upper part of the lifting mechanism (3); An electric push rod (502) is installed in the middle of the upper side of the top sealing box (501); A connecting block (503) is fixedly connected to the output end at the lower side of the electric push rod (502); Two heat sealing strips (506), one of which is detachably mounted on the lower part of the connecting block (503), and the other of which is detachably mounted on the upper part of the base (402).

5. The integrated machine for top and side sealing and air tightness detection of soft-pack lithium battery according to claim 4, characterized in that: Also includes: A vacuum machine (505) is installed on one side of the top sealing box (501); A connecting pipe (504), one end of which is connected to the input end of the vacuum machine (505), and the other end of which is installed on one side of the top sealing box (501); The pressure sensor is arranged inside the top sealing box (501) and is used to monitor the pressure change inside the box in real time.

6. The integrated machine for top and side sealing and air tightness detection of soft-pack lithium battery according to claim 5, characterized in that: The lifting mechanism (3) comprises: Fixed seat (301); The threaded rod (302) is rotatably connected to the middle of the fixing seat (301) at its upper and lower ends; A movable plate (303) is threadedly connected to the outer periphery of the threaded rod (302); The limiting rod (304) has upper and lower ends fixedly connected to the left and right sides of the two fixing seats (301); A servo motor (305) is mounted on the upper side of the upper fixing seat (301), and an output end is fixedly connected to the upper end of the threaded rod (302); A position sensor is mounted on the moving plate (303) and is used to accurately control the lifting position.

7. The integrated machine for top and side sealing and air tightness detection of soft-pack lithium battery according to claim 6, characterized in that: The upper fixing seat (301) is installed on the rear side of the top sealing box (501), and the lower fixing seat (301) is installed on the inner wall of the rear side of the detection box (1).

8. The integrated machine for top and side sealing and air tightness detection of soft-pack lithium battery according to claim 6, characterized in that: The left and right sides of the movable plate (303) are slidably connected to the outer periphery of the limiting rod (304), and the surface of the movable plate (303) is coated with a self-lubricating material.

9. The integrated machine for top and side sealing and air tightness detection of soft-pack lithium battery according to claim 6, characterized in that: After the fixing mechanism (4) moves to the lower part of the top sealing box (501) and seals the lower part of the top sealing box (501), the vacuum machine (505) extracts the air in the battery inside the top sealing box (501) through the connecting pipe (504); wherein the air extraction rate of the vacuum machine (505) can be adjusted in real time according to the feedback of the pressure sensor.

10. The integrated machine for top and side sealing and air tightness detection of soft-pack lithium battery according to claim 6, characterized in that: It also includes a PLC controller for coordinating the actions of various mechanisms and automatically adjusting working parameters according to feedback information from pressure sensors and position sensors to achieve automated operation.

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