Material transferring device, control method thereof and storage medium

Abstract

The invention provides a material transferring device, a control method thereof and a storage medium, and the method comprises the steps: controlling a transferring assembly to move upwards, grabbing a target material from the lower part when the transferring assembly moves to a sheet suction position, and continuing to move upwards to an upward walking position; when the transferring assembly reaches the sheet suction position or a preset position above the sheet suction position, the negative pressure assembly is started to enable the transferring assembly to suck the target material; the transferring assembly is controlled to move to the position above the wafer placing position; the transferring assembly is controlled to move downwards, the target materials are released when the transferring assembly moves to the sheet placing position, and the transferring assembly continues to move downwards to the downward walking position; and the transferring assembly is controlled to move to the position below the sheet suction position. According to the method, the material carrying speed is increased, meanwhile, the materials are sucked from the lower portion, due to the existence of the supporting face, the materials are more stable and not prone to shaking or inclining in the carrying process, the stability and accuracy in the carrying process are ensured, and the risk of material damage is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of battery cell processing, and in particular to a material transfer device and a control method and storage medium thereof. Background Art

[0002] In the production and processing of battery cells, accurately transporting the battery cells from the feeding conveyor belt to the printing table is a crucial operation. At present, the battery cell transport methods commonly used in the industry mainly include the conveyor belt method and the traditional robotic arm method.

[0003] The conveyor belt method usually relies on a precise synchronous control system to transfer the cells from the feeding station to the printing station through the movement of the conveyor belt. Although this method has achieved a certain degree of automation, when handling multiple cells, it is necessary to ensure the spacing and position accuracy between each cell to avoid collision or misalignment during transportation. In addition, when the conveyor belt is transporting cells, it may cause inaccurate positioning due to speed changes, belt slack or slight differences between cells.

[0004] The robot arm needs to overcome the weight and friction of the battery cell during the handling process, which may limit the handling speed. The complex structure and movement trajectory of the robot arm also increase the maintenance cost and failure rate of the equipment. More importantly, when the robot arm directly clamps the battery cell, it may damage the battery cell due to improper clamping force or inaccurate clamping position. Summary of the invention

[0005] One of the purposes of the present invention is to provide a control method for a material transfer device to solve the technical problems in the prior art that target materials are prone to shaking during the transfer process, the transfer time is long, and the energy consumption is high.

[0006] One of the purposes of the present invention is to provide a material transfer device.

[0007] One of the objects of the present invention is to provide a computer storage medium.

[0008] In order to achieve one of the above-mentioned invention purposes, the present invention provides a material transfer control method, including: controlling the transfer component to move upward, grabbing the target material from the bottom when the transfer component moves to the suction plate position and continuing to move upward to the upward walking position; when the transfer component reaches the suction plate position or a preset position above it, starting the negative pressure component to make the transfer component absorb the target material; controlling the transfer component to move above the sheet placement position; controlling the transfer component to move downward, releasing the target material when the transfer component moves to the sheet placement position and continuing to move downward to the downward walking position; controlling the transfer component to move below the suction plate position.

[0009] As a further improvement of an embodiment of the present invention, the method further includes: before the transfer component moves to the upward walking position or reaches the upward walking position, controlling the negative pressure component to reach a predetermined negative pressure value.

[0010] As a further improvement of one embodiment of the present invention, the method also includes: closing the negative pressure component when the transfer component moves downward to a distance from the film placement position that reaches a preset value; or, closing the negative pressure component when the transfer component moves downward to a distance from the film placement position that has a preset time left.

[0011] As a further improvement of one embodiment of the present invention, the method also includes: controlling the closing time and / or power of the negative pressure component so that when the transfer component moves to the sheet placement position, the actual pressure value in the negative pressure component reaches the standard atmospheric pressure value.

[0012] As a further improvement of an embodiment of the present invention, the negative pressure component is closed when the transfer component moves downward to the sheet placing position.

[0013] As a further improvement of one embodiment of the present invention, the method also includes: controlling the transfer component to move from the film suction position to the upward walking position, and from the upward walking position to the film placement position at a first speed; controlling the transfer component to move from the film placement position to the downward walking position, and from the downward walking position to the film suction position at a second speed; wherein the first speed is greater than the second speed.

[0014] As a further improvement of one embodiment of the present invention, the control of the transfer component to move above the sheet placing position includes: controlling the transfer component to move horizontally to a position above the sheet placing position; and / or, controlling the transfer component to move below the sheet suction position includes: controlling the transfer component to move horizontally to a position below the sheet suction position; and / or, controlling the transfer component to move upward, grabbing the target material from below when the transfer component moves to the sheet suction position and continuing to move upward to the ascending walking position, including: controlling the transfer component to move vertically upward, grabbing the target material from below when the transfer component moves to the sheet suction position and continuing to move vertically upward to the ascending walking position; and / or, controlling the transfer component to move downward, releasing the target material when the transfer component moves to the sheet placing position and continuing to move downward to the descending walking position, including: controlling the transfer component to move vertically downward, releasing the target material when the transfer component moves to the sheet placing position and continuing to move vertically downward to the descending walking position.

[0015] As a further improvement of one embodiment of the present invention, before starting the negative pressure component to make the transfer component adsorb the target material, the method also includes: starting and controlling the pressure output of the negative pressure component to determine whether the actual pressure value in the corresponding transfer component meets the preset vacuum degree; if so, determining that the transfer component successfully adsorbs the target material; if not, generating a prompt message to prompt the user that the current target material is abnormal.

[0016] To achieve one of the above-mentioned purposes of the invention, the present invention also provides a material transferring device, which includes a transferring component, and the material transferring device also includes: a first control module, used to control the transferring component to move upward, grab the target material from the bottom when the transferring component moves to the suction plate position and continue to move upward to the upward walking position; used to start the negative pressure component to make the transferring component absorb the target material when the transferring component reaches the suction plate position or a preset position above it; used to control the transferring component to move above the sheet release position; a second control module, used to control the transferring component to move downward, release the target material when the transferring component moves to the sheet release position and continue to move downward to the downward walking position; used to control the transferring component to move below the suction plate position.

[0017] To achieve one of the above-mentioned purposes of the invention, the present invention also provides a computer storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the material transfer control method described in any of the above-mentioned technical solutions are performed.

[0018] Compared with the prior art, the embodiments of the present invention have at least one of the following beneficial effects:

[0019] The present invention adopts a material transfer device control method, which controls the transfer component to move upward, grabs the target material from below in a lifting manner when the transfer component moves to the suction piece position, and continues to move upward to the upward walking position. When the transfer component reaches the suction piece position or a preset position above it, the negative pressure component is started to make the transfer component absorb the target material, so that the transfer component uses the suction force generated by the negative pressure component and the support surface below the material to jointly support the material, reducing the energy consumption of overcoming gravity, thereby increasing the speed of transporting materials. At the same time, in the process of grabbing the target material from bottom to top, because there is a support surface below, the material is more stable during the transportation process, and is not easy to shake or tilt, ensuring the stability and accuracy of the transportation process and reducing the risk of material damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the steps of a material transfer control method in one embodiment of the present invention.

[0021] Figure 2 It is a schematic structural diagram of a transfer assembly in one embodiment of the present invention.

[0022] Figure 3 It is a structural schematic diagram of a loading station in one embodiment of the present invention.

[0023] FIG. 4( a ) is a schematic diagram of the transport of a transfer assembly in a specific embodiment of an embodiment of the present invention.

[0024] FIG. 4( b ) is a schematic diagram of the transport of the transfer assembly in another specific embodiment of one embodiment of the present invention.

[0025] Figure 5 It is a schematic diagram of steps before step S2 in one embodiment of the present invention.

[0026] Figure 6 It is a schematic diagram of the process of transporting materials by a transfer component in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0027] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0028] It should be noted that the term "comprises" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In addition, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0029] like Figure 1 As shown, one embodiment of the present invention provides a material transfer control method.

[0030] The material transfer control method can be applied to a material transfer device.

[0031] In one embodiment, the material transfer device can be configured as described below, and the corresponding technical solution is set to be referenced in the generation method provided by the present invention. Of course, the material transfer device used in the material transfer control method provided by the present invention is not limited to this configuration structure.

[0032] like Figure 1 As shown, a material transfer control method provided in one embodiment of the present invention includes the following steps.

[0033] Step S1, controlling the transfer assembly to move upward, grabbing the target material from below when the transfer assembly moves to the suction plate position and continuing to move upward to the upward walking position;

[0034] Step S2, when the transfer component reaches the sheet suction position or a preset position above it, the negative pressure component is activated to make the transfer component suck the target material list;

[0035] Step S3, controlling the transfer assembly to move above the film placement position;

[0036] Step S4, controlling the transfer assembly to move downward, releasing the target material when the transfer assembly moves to the sheet placing position and continuing to move downward to the downward walking position;

[0037] Step S5, controlling the transfer assembly to move below the suction piece position.

[0038] In this way, by controlling the transfer component to move upward, when the transfer component moves to the suction piece position, the target material is grabbed from the bottom in a lifting manner, and continues to move upward to the upward walking position. When the transfer component reaches the suction piece position or a preset position above it, the negative pressure component is started to make the transfer component absorb the target material, so that the transfer component uses the suction force generated by the negative pressure component and the support surface below the material to jointly support the material, reducing the energy consumption of overcoming gravity, thereby increasing the speed of transporting materials. At the same time, in the process of grabbing the target material from bottom to top, because there is a support surface below, the material is not only more stable during the transportation process, but also less likely to shake or tilt, ensuring the stability and accuracy of the transportation process, reducing the risk of material damage, but also can be moved while grabbing, increasing the transportation speed.

[0039] In step S1, the transfer component is a device or tool used in an automated production line to absorb and move materials through negative pressure or vacuum. The transfer component consists of a suction cup component that can generate negative pressure and a mechanical structure that can move the suction cup component, such as Figure 2 shown.

[0040] In one embodiment, the transfer assembly is used to grab the target battery cell from the loading station and transport it to the printing station.

[0041] Continue to refer to Figure 2 As shown, the transfer component 100 includes four suction cup components, and the four suction cup components respectively grab four battery cells (target materials) 11a, 11b, 11c and 11d, so that four target materials can be transported at one time. The four suction cup components 11a, 11b, 11c and 11d are evenly distributed at the four corners or edge positions of the transfer component 100, so that the space can be maximized and the four target materials can be ensured to remain balanced during the transportation process.

[0042] In addition, each suction cup assembly is equipped with four symmetrically distributed vacuum cups 11-1, 11-2, 11-3 and 11-4, which not only improves the adsorption force of the target material, but also enhances the control ability of the stability of the target material during the handling process. The transfer assembly 100 also includes four intermediate connecting rods 12 for supporting the reinforcing rods to prevent the frame from shaking. The intermediate connecting rods 12 are arranged directly above the vacuum cups and maintain a certain distance from the plane formed by the vacuum cups.

[0043] The transfer assembly can be mounted on a bracket with wheels so that the transfer assembly can move horizontally along the transverse axis, ensuring smooth and accurate movement during handling.

[0044] In a specific embodiment, the sheet placement position may refer to the table of the printing stage. The table of the printing stage is provided with grooves corresponding to the number of the suction cup assemblies, and when the transfer assembly places the target material at the sheet placement position of the printing stage, a "give way" space is provided for the suction cup assembly, ensuring that the suction cup assembly can smoothly place the target material on the table without interfering with the table.

[0045] In one embodiment, a plurality of battery cells are transferred to a plurality of corresponding waiting loading positions based on a feed conveyor belt, and the center of each battery cell is aligned with the center of the waiting loading position based on electrical logic control; the transfer component is controlled to move to the bottom of the feed conveyor belt, and the transfer component is controlled to move upward, so that the transfer component lifts a plurality of battery cells from the bottom to the top and separates them from the conveyor belt, and then the negative pressure component is started to make the transfer component adsorb the battery cells.

[0046] like Figure 3 As shown, before the transfer component grabs the target material (such as battery cells), the target material can be sent to the transfer position 13 through the feed conveyor belt 12 for correction (such as adjusting at least one of the position, direction and angle of the battery cells); the corrected battery cells are transferred to the loading stations 14a, 14b, 14c and 14d; the transfer component is controlled to transport four battery cells at a time from the loading stations 14a, 14b, 14c and 14d to the printing station.

[0047] In step S2, the negative pressure assembly is a device or system that generates negative pressure, which enables the transfer assembly to suck the target material. Negative pressure, also known as vacuum or suction, refers to a state where the gas pressure at a certain location is lower than the atmospheric pressure. Negative pressure can be achieved by creating an area below the atmospheric pressure, so that the atmospheric pressure will push the target material toward the suction cup assembly, thereby fixing it.

[0048] In one embodiment, a plurality of negative pressure components are controlled and the suction output of the corresponding suction cup components is adjusted respectively, so that the suction of each suction cup can be independently controlled.

[0049] In one embodiment, when several suction cup assemblies are at the same height, several negative pressure assemblies corresponding to several transfer assemblies are controlled to open simultaneously, and each negative pressure assembly is controlled to contact the target material under the same conditions (such as the same suction force) to achieve simultaneous adsorption.

[0050] In one embodiment, when several suction cup assemblies are at different heights, the suction output of the corresponding negative pressure assembly is adjusted according to the distance between the suction cup assembly and the target material to achieve simultaneous adsorption.

[0051] Specifically, if the distance between the suction cup assembly and the target material increases, in order to overcome the additional air resistance and gravity caused by the increase in distance, the negative pressure assembly needs to output a greater suction force to ensure that the suction cup can firmly adsorb the target material; conversely, if the distance between the suction cup assembly and the target material decreases, the corresponding required suction force will also decrease accordingly.

[0052] The preset position in step S2 refers to the distance between the transfer assembly and the suction piece position. In a specific embodiment, the distance is 5 mm.

[0053] The suction plate position in step S1 refers to the position where the transfer component starts to absorb the target material. Since the transfer component moves from bottom to top, it means that the transfer component is holding up the target material from below. At this time, on the one hand, the negative pressure component can be immediately controlled to open, so that suction can be quickly generated to firmly absorb the target material on the suction cup component, ensuring the stability of the material during the transfer process and reducing the time required for adjustment due to material shaking or displacement.

[0054] On the other hand, after the transfer component completely lifts the target material, the negative pressure component can be controlled to open, so that suction can be performed while moving, thereby reducing the extra time generated by waiting for the material to be stably adsorbed.

[0055] The sheet placement position in step S3 refers to the position where the transfer component releases the target material. At this position, the transfer component stops adsorbing the target material and places it at a predetermined position. The upward walking position and the downward walking position refer to specific positions that the transfer component passes through during the transportation process. The upward walking position can be located above the sheet suction position, which is the position to which the transfer component moves upward after adsorbing the target material, and the downward walking position can be located below the sheet placement position, which is a safe position (such as the maximum safe distance between the middle connecting rod and the platform surface) where the transfer component needs to continue to move downward after completing the placement of the target material in order to avoid interference with the printing stage. These two positions are set to help optimize the transportation path and avoid collisions with other equipment or materials.

[0056] In one embodiment, before the transfer assembly moves to the upward travel position or reaches the upward travel position, the negative pressure assembly is controlled to reach a predetermined negative pressure value.

[0057] In this way, by controlling the negative pressure component to reach a predetermined negative pressure value, it can be ensured that when the transfer component reaches the specified position, the target material has been firmly adsorbed on the suction cup component, without spending extra time waiting for the material to be stably adsorbed, thereby improving the overall handling efficiency.

[0058] In a specific embodiment, the predetermined negative pressure value is -0.45 bar.

[0059] In one embodiment, the negative pressure component is closed when the transfer component moves downward to a distance from the sheet placement position that reaches a preset value.

[0060] In another embodiment, when the transfer component moves downward to a preset time remaining from the sheet placement position, the negative pressure component is closed.

[0061] In this way, by closing in advance when the material approaches the sheet placement position, the suction force is helped to gradually drop to 0 or close to 0 when the material falls to the sheet placement position, thereby speeding up the sheet placement speed.

[0062] In a specific embodiment, the preset value is 15 mm, that is, when the transfer assembly moves downward to a distance of 15 mm from the sheet placement position, the negative pressure assembly is closed.

[0063] In a specific embodiment, the preset time is 20 ms, that is, when the transfer component moves downward to a distance of 20 ms from the sheet placement position, the negative pressure component is closed.

[0064] In a specific embodiment, the closing time and / or power of the negative pressure component is controlled so that when the transfer component moves to the sheet placement position, the actual pressure value in the negative pressure component reaches the standard atmospheric pressure value.

[0065] In this way, by closing in advance when the material approaches the sheet placement position, the suction force is helped to gradually drop to 0 or close to 0 when the material falls to the sheet placement position, thereby speeding up the sheet placement speed.

[0066] In one embodiment, the negative pressure component is closed when the transfer component moves downward to the sheet placement position.

[0067] In this way, the negative pressure component is closed at the moment the transfer component reaches the sheet placement position, ensuring that the material is still firmly adsorbed by the negative pressure at the sheet placement position, making the material more stable at the sheet placement position and less susceptible to interference from external factors.

[0068] In one embodiment, the transfer assembly is controlled to move from the film suction position to the upward walking position, and from the upward walking position to the film placement position at a first speed; the transfer assembly is controlled to move from the film placement position to the downward walking position, and from the downward walking position to the film suction position at a second speed; wherein the first speed is greater than the second speed.

[0069] In this way, by adopting different moving speeds in different moving stages, when the transfer component moves from the suction film position to the upward walking position, due to carrying the target material, the use of a lowered first speed can effectively reduce the shaking caused by rapid movement, ensure the stability and accuracy of the target material during the movement, and avoid material damage or positioning deviation caused by shaking; and in the no-load state (i.e. moving from the film placement position to the downward walking position, and from the downward walking position to the suction film position), increasing the moving speed of the transfer component can effectively shorten the time of no-load transfer and improve the overall production efficiency.

[0070] It should be noted that after the transfer component grabs the target material, the movement trajectory from the sheet suction position to the sheet placement position is not unique, and it can move along the horizontal and / or vertical direction, or along the shortest distance between two points.

[0071] In one embodiment, step S2 may specifically include: controlling the transfer component to move vertically upward, grabbing the target material from below when the transfer component moves to the suction plate position and continuing to move vertically upward to the upward walking position.

[0072] In one embodiment, step S3 may specifically include: controlling the transfer assembly to move horizontally to a position above the sheet placement position.

[0073] In one embodiment, step S4 may specifically include: controlling the transfer component to move vertically downward, releasing the target material when the transfer component moves to the sheet placing position and continuing to move vertically downward to the downward walking position.

[0074] In one embodiment, step S5 may specifically include: controlling the transfer assembly to move horizontally to a position below the suction piece position.

[0075] In a specific embodiment, the transfer component is controlled to move horizontally to a position below the suction sheet position; the transfer component is controlled to move vertically upward, and when the transfer component moves to the suction sheet position, it grabs the target material from below and continues to move vertically upward to the upward walking position; the transfer component is controlled to move horizontally to a position above the sheet placement position; the transfer component is controlled to move vertically downward, and when the transfer component moves to the sheet placement position, the target material is released and continues to move vertically downward to the downward walking position.

[0076] For example, as shown in FIG4(a), assuming that the film suction position is P, the film placement position is Q, the position below the film suction position is A, the upward travel position is B, the position above the film placement position is C, and the downward travel position is D. The transfer component is controlled to move vertically upward from position A to the film suction position P, and continues to move vertically upward to the upward travel position B. At position B, the transfer component is controlled to move rightward in the horizontal direction to the position above the film placement position C. At position C, the transfer component is controlled to move downward in the vertical direction to the film placement position Q, and continues to move vertically downward to the downward travel position D. Finally, at position D, the transfer component is controlled to move leftward in the horizontal direction to the position below the film suction position A to perform the next round of handling operations, forming a "rectangular U-shaped" handling trajectory, which can cyclically realize multiple handling operations of multiple groups of target materials. After placing the film, it is only necessary to move the transfer assembly downward to a safe position without touching the carrier. Therefore, the distance from the film placing position Q to the downward travel position D (return) is shorter than the distance between C and Q, which can speed up the handling process.

[0077] In a specific embodiment, the transfer assembly is controlled to move horizontally to a position below the suction sheet position; the transfer assembly is controlled to move vertically upward, and when the transfer assembly moves to the suction sheet position, it grabs the target material from below and continues to move vertically upward to the upward walking position; the transfer assembly is controlled to move horizontally to a position above the sheet placement position; and the transfer assembly is controlled to move from the upper position to a position below the suction sheet position.

[0078] For example, as shown in Figure 4(b), the transfer component is controlled to move vertically upward from position A to the film suction position P, and then continues to move vertically upward to the upward walking position B. At position B, the transfer component is controlled to move horizontally to the right to the position C above the film placement position. At position C, the transfer component is controlled to move vertically downward to the film placement position Q. After the film is placed, the transfer component needs to be moved downward to a safe position D that does not touch the carrier. At position Q, the transfer component is controlled to move along the straight line DP to the film suction position P, forming a "trapezoidal U-shaped" transport trajectory. This cycle can realize multiple groups of target material transport operations. This transport method can shorten the transport time of the entire transport process.

[0079] Of course, the above two embodiments can also be used in combination. For example, a "rectangular U-shaped" transport method can be used in some transport stages, and a "trapezoidal U-shaped" transport method can be used in other transport stages. There is no specific limitation on this.

[0080] like Figure 5 As shown, in one embodiment, before starting the negative pressure component to make the transfer component adsorb the target material in step S2, the method further includes the following steps.

[0081] Step P21, starting and controlling the pressure output of the negative pressure component;

[0082] Step P22, determining whether the actual pressure value in the corresponding transfer assembly meets the preset vacuum degree;

[0083] If yes, then jump to step P22A to determine that the transfer assembly successfully adsorbs the target material;

[0084] If not, jump to step P22B to generate a prompt message for prompting the user that the current target material is abnormal.

[0085] In this way, by monitoring the actual pressure value in the transfer component and comparing it with the preset vacuum level, it is possible to accurately determine whether the adsorption is successful. If the adsorption fails, it may be due to problems with the material itself or other interference factors in the adsorption process. The system therefore generates a prompt message so that the user can check and solve the problem in time. This automated monitoring and judgment mechanism improves the accuracy and reliability of material handling and reduces the need for manual intervention.

[0086] During the process of the transfer component adsorbing the target material, the actual pressure value reflects the pressure state inside the transfer component (or between the adsorption surface and the target material). The actual pressure value can be detected by a pressure sensor. The preset vacuum degree is a pre-set pressure threshold used to determine whether the transfer component successfully adsorbs the target material.

[0087] In one embodiment, the preset vacuum degree is -0.35 bar.

[0088] In one embodiment, the target material abnormality includes target material fragmentation.

[0089] The above-mentioned various implementation modes, embodiments or specific examples provided by the present invention can be combined with each other to finally form multiple better implementation modes.

[0090] Figure 6 In a preferred embodiment, the transfer assembly adopts a "rectangular U-shaped" transfer method to transfer the battery cells on the loading station to the printing stage. Figure 5 The content shown summarizes the interaction process between the loading station and the printing stage.

[0091] In response to a single-chip transfer request, the transfer component is controlled to move upward to the film suction position, and the negative pressure component is activated to generate adsorption force. Detect and determine whether the negative pressure component successfully adsorbs the battery cell (for example, detect and determine whether the actual pressure value in the negative pressure component is greater than the preset vacuum degree); if adsorption fails, detect whether the battery cell is broken; if there is breakage, trigger an alarm signal, clean up the fragments from the transfer component, and reset the alarm signal; if adsorption is successful, control the transfer component to move upward from the film suction position to the upward walking position, in preparation for moving the battery cell to the placement position.

[0092] The transfer component is controlled to move horizontally to above the placement position, and move downward to a preset distance from the placement position (for example, 5 mm) and set a placement waiting signal. At this time, it will detect whether the target workstation (such as a printing table) has issued a placement request. If a placement request is received, the transfer component is controlled to place the battery cell on the printing table, and the negative pressure component is closed when approaching, and the negative pressure component on the printing table is started at the same time to ensure that the battery cell is stably and accurately placed on the printing table.

[0093] After placing the cells, the transfer assembly is controlled to continue to descend to the downward walking position, and then moves horizontally back to the position below the cell suction position to prepare for the next round of cell handling operations. The entire process realizes the automated processing of cells from suction to placement through precise mechanical movement and electrical control, improving production efficiency and accuracy.

[0094] One embodiment of the present invention provides a material transfer device.

[0095] The material transfer device is an automated device that can grab materials and move them accurately from one location to another.

[0096] In one embodiment, the material transfer device includes a plurality of transfer components, and the transfer components can move according to a preset path and speed to achieve operations such as grabbing, transporting and placing the material.

[0097] In one embodiment, a material transfer device moves a plurality of target battery cells from a loading station to a printing station according to a material transfer control method to implement a cyclic transfer operation, thereby improving the transfer efficiency and material stability.

[0098] In a specific embodiment, the material transfer control method can be implemented by referring to any of the technical solutions provided above.

[0099] The material transfer device includes a first control module.

[0100] In one embodiment, the first control module is used to control the transfer component to move upward, and when the transfer component moves to the suction plate position, it grabs the target material from below and continues to move upward to the upward walking position.

[0101] In one embodiment, the first control module is used to start the negative pressure component to make the transfer component absorb the target material when the transfer component reaches the film suction position or a preset position above it; and is used to control the transfer component to move above the film placement position.

[0102] The material transfer device includes a second control module.

[0103] In one embodiment, the second control module is used to control the transfer component to move downward, release the target material when the transfer component moves to the sheet placing position, and continue to move downward to the downward walking position.

[0104] In one embodiment, the second control module is used to control the transfer assembly to move below the suction plate position.

[0105] It should be noted that the material transfer device may also include two transfer components, namely a first transfer component and a second transfer component. The first transfer component is used to realize the material transfer operation between the loading station and the printing station; the second transfer component is used to realize the material transfer operation between the printing station and the unloading station. The transfer process of the first transfer component and the second transfer component can form a "rectangular U-shaped" transfer path, or a "trapezoidal U-shaped" transfer path.

[0106] Specifically, when it is detected that materials (such as battery cells) are ready at the loading station, a transport instruction is issued to the first transfer component; the first transfer component is controlled to move the target material on the loading station to the printing station according to a preset first path and a first speed to perform subsequent printing operations. After completing the transport task, the first transfer component returns to the starting position (the position below the suction position) according to the preset path, and waits for the next transport instruction.

[0107] Similarly, when it is detected that the material on the printing station has been printed and is ready, a transport instruction is issued to the second transfer component; the second transfer component is controlled to move the target material on the printing station to the unloading station according to the preset second path and second speed. After completing the transport task, the second transfer component returns to the starting position (the position below the film placement position of the printing station) according to the preset path, and waits for the next transport instruction.

[0108] One embodiment of the present invention provides a computer-readable storage medium.

[0109] In one embodiment, a computer readable storage medium stores a computer program executed by the processor mentioned above, or a material transfer control method in any of the technical solutions mentioned above.

[0110] When the processor executes the computer program, it can execute the description of the material transfer control method in any of the above technical solutions, so it will not be repeated here. In addition, the description of the beneficial effects of the same method will not be repeated.

[0111] The computer-readable storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0112] In summary, the material transfer device and its control method and storage medium provided by the present invention are as follows. By controlling the transfer component to move upward, when the transfer component moves to the suction plate position, the target material is grabbed from below in a lifting manner, and continues to move upward to the upward walking position. When the transfer component reaches the suction plate position or a preset position above it, the negative pressure component is started to make the transfer component adsorb the target material, so that the transfer component uses the suction force generated by the negative pressure component and the support surface below the material to jointly support the material, reducing the energy consumption of overcoming gravity, thereby increasing the speed of transporting materials. At the same time, in the process of grabbing the target material from bottom to top, because there is a support surface below, the material is not only more stable during the transportation process, but also less likely to shake or tilt, ensuring the stability and accuracy of the transportation process, reducing the risk of material damage, but also can achieve grabbing while moving, thereby increasing the transportation speed.

[0113] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0114] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A material transfer control method, characterized in that: include: Control the transfer component to move upward, grab the target material from below when the transfer component moves to the suction plate position and continue to move upward to the upward walking position; when the transfer component reaches the suction plate position or a preset position above it, start the negative pressure component to make the transfer component absorb the target material; Control the transfer assembly to move above the film placement position; Control the transfer component to move downward, release the target material when the transfer component moves to the sheet placement position and continue to move downward to the downward travel position; Control the transfer assembly to move below the suction piece position.

2. The control method according to claim 1, characterized in that: The method further comprises: Before the transfer assembly moves to the upward travel position or reaches the upward travel position, the negative pressure assembly is controlled to reach a predetermined negative pressure value.

3. The control method according to claim 1, characterized in that: The method further comprises: When the transfer component moves downward to a distance from the sheet placement position that reaches a preset value, the negative pressure component is closed; Alternatively, when the transfer component moves downward to a preset time remaining from the sheet placement position, the negative pressure component is closed.

4. The control method according to claim 3, characterized in that: The method further comprises: The closing time and / or power of the negative pressure component is controlled so that when the transfer component moves to the sheet placement position, the actual pressure value in the negative pressure component reaches the standard atmospheric pressure value.

5. The control method according to claim 1, characterized in that: When the transfer assembly moves downward to the sheet placement position, the negative pressure assembly is closed.

6. The control method according to claim 1, characterized in that: The method further comprises: Controlling the transfer assembly to move from the film suction position to the upward travel position, and from the upward travel position to the film placement position at a first speed; Controlling the transfer assembly to move from the sheet placing position to the downward moving position, and from the downward moving position to the sheet sucking position at a second speed; The first speed is greater than the second speed.

7. The control method according to claim 1, characterized in that: The control of the transfer assembly to move above the sheet placement position includes: Control the transfer assembly to move horizontally to a position above the film placement position; And / or, the controlling the transfer assembly to move below the suction piece position comprises: Control the transfer assembly to move horizontally to a position below the suction piece position; And / or, the control of the transfer assembly to move upward, grabbing the target material from below when the transfer assembly moves to the suction sheet position and continuing to move upward to the upward walking position, includes: Control the transfer component to move vertically upwards, grab the target material from below when the transfer component moves to the suction plate position and continue to move vertically upwards to the upward walking position; And / or, controlling the transfer assembly to move downward, releasing the target material when the transfer assembly moves to the sheet placing position and continuing to move downward to the downward walking position, comprises: The transfer component is controlled to move vertically downward, and when the transfer component moves to the sheet placing position, the target material is released and the transfer component continues to move vertically downward to the downward travel position.

8. The control method according to claim 1, characterized in that: Before starting the negative pressure component to make the transfer component absorb the target material, the method further includes: Start and control the pressure output of the negative pressure component to determine whether the actual pressure value in the corresponding transfer component meets the preset vacuum degree; If yes, it is determined that the transfer component successfully adsorbs the target material; If not, a prompt message is generated to remind the user that the current target material is abnormal.

9. A material transfer device, characterized in that: The material transfer device comprises a transfer assembly, and the material transfer device further comprises: The first control module is used to control the transfer component to move upward, grab the target material from below when the transfer component moves to the suction position and continue to move upward to the upward walking position; when the transfer component reaches the suction position or a preset position above it, start the negative pressure component to make the transfer component absorb the target material; and control the transfer component to move above the sheet placement position; The second control module is used to control the transfer component to move downward, release the target material when the transfer component moves to the sheet placing position and continue to move downward to the downward walking position; and is used to control the transfer component to move below the sheet suction position.

10. A computer storage medium, wherein the computer readable storage medium stores a computer program, characterized in that: When the computer program is executed by a processor, the steps of the material transfer control method according to any one of claims 1 to 8 are performed.

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