Unwinding method, unwinding device and battery cell production system
By using a swing mechanism and a controller in the unwinding device to adjust the unwinding speed according to the swing parameters, the problem of inaccurate unwinding speed under different operating conditions is solved, and the quality of the coil material and battery cells is improved.
Patent Information
- Application Number
- CN202410711005.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-03
- Publication Date
- 2025-04-04
AI Technical Summary
The existing unwinding device has insufficient unwinding speed under different operating conditions, resulting in a decrease in the quality of the coil.
By introducing a swing mechanism and a controller into the unwinding device, the unwinding speed of the unwinding mechanism is adjusted according to the swing parameters of the swinging member to ensure that the unwinding speed matches the actual needs.
Improves the accuracy of unwinding speed, ensuring that the coil remains in the best condition during tensioning and stretching, thereby improving the quality of the coil and battery cells.
Smart Images
Figure CN119750271A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of mechanical technology, and in particular to an unwinding method, an unwinding device and a battery cell production system. Background Art
[0002] At present, unwinding devices are widely used in the production processes of plastics, rubber, textiles, wires and cables, metallurgy, tablet presses and other related processing industries. However, the existing unwinding method of unwinding devices usually controls the controlled axis according to the control logic of the preset speed through a programmable controller to control the unwinding speed. If the speed of the controlled axis of the unwinding devices in different operating states is controlled based on the same fixed speed control logic, there will be an error between the preset speed of the control logic of the unwinding device under different state characteristics and the unwinding speed required for actual operation, resulting in the unwinding speed of the unwinding device being not accurate enough and reducing the quality of the unwound coil. Summary of the invention
[0003] The embodiments of the present application provide an unwinding method, an unwinding device, and a battery cell production system, which can solve at least part of the above-mentioned technical problems.
[0004] In a first aspect, the present application provides an unwinding method, which is applied to an unwinding device, wherein the unwinding device includes an unwinding mechanism, a swinging mechanism and a traction mechanism, wherein the swinging mechanism is located between the unwinding mechanism and the traction mechanism, and the swinging mechanism includes a swinging member. The unwinding method includes:
[0005] The unwinding speed of the unwinding mechanism is adjusted according to the swing parameter of the swing member.
[0006] In a second aspect, the present application provides an unwinding device, comprising:
[0007] Unwinding mechanism;
[0008] Traction mechanism;
[0009] A swing mechanism, the swing mechanism is located between the unwinding mechanism and the traction mechanism, and the swing mechanism includes a swing member;
[0010] A controller is used to adjust the unwinding speed of the unwinding mechanism according to the swing parameter of the swing member.
[0011] In a third aspect, the present application provides a battery cell production system, comprising:
[0012] The unwinding device mentioned above is used for unwinding the coiled material;
[0013] A laminating device is provided adjacent to the unwinding device and is used for processing the unwinding coil to form a battery core.
[0014] In a fourth aspect, the present application provides a controller, comprising: a processor and a memory, wherein the memory is connected to the processor, the memory stores a computer program, and the processor runs the computer program to execute the above-mentioned unwinding method.
[0015] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is invoked by a processor to execute the above-mentioned unwinding method.
[0016] The present application provides an unwinding method, an unwinding device and a battery cell production system. The unwinding method is applied to an unwinding device, the unwinding device includes an unwinding mechanism, a swinging mechanism and a traction mechanism, the swinging mechanism is located between the unwinding mechanism and the traction mechanism, the swinging mechanism includes a swinging member, and the unwinding method includes adjusting the unwinding speed of the unwinding mechanism according to the swinging parameter of the swinging member. The unwinding device includes an unwinding mechanism, a traction mechanism, a swinging mechanism and a controller, and the controller adjusts the unwinding speed of the unwinding mechanism according to the swinging parameter of the swinging member. The battery cell production system includes an unwinding device and a laminating device, the unwinding device is used to unwind a coil, the laminating device is arranged adjacent to the unwinding device, and the laminating device is used to process the unwinded coil to form a battery cell. The present application can adjust the unwinding speed of the unwinding mechanism according to the swinging parameter of the swinging member, so that the unwinding speed of the unwinding device under different operating conditions matches the actual demand, improves the accuracy of the unwinding speed of the unwinding mechanism, and better tensions and stretches the coil, thereby improving the quality of the unwinded coil. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0018] Figure 1 Schematic diagram of a battery cell production system in an embodiment of the present application.
[0019] Figure 2 It is an overall schematic diagram of the unwinding device in the embodiment of the present application.
[0020] Figure 3 for Figure 2 Schematic diagram of the positive deflection of the swing member in.
[0021] Figure 4 for Figure 2 Schematic diagram of the reverse deflection of the swing member in.
[0022] Figure 5 Flow chart of the unwinding method in an embodiment of the present application.
[0023] Figure 6 The flowchart is a specific method for adjusting the unwinding speed according to the swing parameter in one embodiment of the present application.
[0024] Figure 7 This is a flow chart of a specific method for adjusting the unwinding speed according to the swing parameter in another embodiment of the present application.
[0025] Figure 8 This is a flow chart for determining the pre-rolling status in an embodiment of the present application.
[0026] Fig. 9 Schematic diagram of a controller in an embodiment of the present application.
[0027] Figure Number:
[0028] Battery cell production system-100;
[0029] Unwinding device-1; unwinding mechanism-11; unwinding shaft-111; unwinding deviation correction sensor-112; state detection sensor-113; roll diameter measurement sensor-114; reversing member-12; swinging mechanism-13; fixing member-131; swinging member-132; box-133; detector-134; cache mechanism-14; cache shaft-141; steering member-15; traction mechanism-16; traction shaft-161; traction deviation correction component-162; traction deviation correction sensor-163; unwinding direction-17; swing angle-18; controller-19;
[0030] Lamination device-2;
[0031] Coil-3;
[0032] Processor-41; Memory-42. DETAILED DESCRIPTION
[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0034] In the description of the embodiments of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings. The term "connection" in this application, unless otherwise specified, mainly refers to a physical structural connection, and may also include meanings such as direct connection or indirect connection when specified. The terms "first" and "second" in the specification and claims of this application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "includes" and any variations thereof are intended to cover non-exclusive inclusions.
[0035] See also Figure 1 , Figure 1 Schematic diagram of a battery cell production system 100 in an embodiment of the present application. The battery cell production system 100 comprises an unwinding device 1 and a laminating device 2, wherein the unwinding device 1 is used to unwind a coil 3, and the laminating device 2 is arranged adjacent to the unwinding device 1, and the laminating device 2 is used to process the unwinded coil 3 to form a battery cell.
[0036] Thus, the unwinding device 1 unwinds and tensions the coil 3, so that the coil 3 enters the laminating device 2 in a sheet form to produce battery cells, thereby improving production efficiency and the quality of the produced battery cells.
[0037] See also Figure 2 , Figure 2 1 is an overall schematic diagram of an unwinding device 1 in an embodiment of the present application. The unwinding device 1 comprises an unwinding mechanism 11, a traction mechanism 16, a swing mechanism 13 and a controller 19, wherein the swing mechanism 13 is located between the unwinding mechanism 11 and the traction mechanism 16, the swing mechanism 13 comprises a swing member 132, and the controller 19 is used to adjust the unwinding speed of the unwinding mechanism 11 according to the swing parameters of the swing member 132.
[0038] Thus, when the unwinding mechanism 11 unwinds the coil 3 under different working conditions, the tensioning and stretching degree of the coil 3 will change accordingly. The coil 3 is wound on the swinging member 132, so the swinging member 132 will also swing due to the pulling force of the coil 3. The controller 19 controls the unwinding speed of the unwinding mechanism 11 based on the swinging parameters, so that the unwinding speed of the unwinding mechanism 11 under different conditions matches the unwinding speed actually required, thereby improving the accuracy of the unwinding speed, so as to better tension and stretch the coil 3 and improve the quality of the unwound coil 3.
[0039] In some embodiments, the swing mechanism 13 further includes a fixing member 131 and a box body 133 , wherein the fixing member 131 is connected to the swing member 132 inside the box body 133 , and the fixing member 131 serves as a fulcrum of the swing member 132 to fix one end of the swing member 132 to support the swing of the swing member 132 .
[0040] It can be understood that the fixing member 131 can be but not limited to an unpowered roller, which is not limited here; the coil 3 can be but not limited to a diaphragm, and the swinging member 132 can be but not limited to a pendulum, as long as the swinging member 132 can be pulled by the coil 3 to swing, which is not limited here.
[0041] In some embodiments, the controller 19 is a PLC (Programmable Logic Controller).
[0042] Please also read Figure 3 and Figure 4 , Figure 3 for Figure 2 Schematic diagram of the swing member 132 in the positive displacement, Figure 4 for Figure 2 In some embodiments, the swing mechanism 13 further includes a detector 134, and the detector 134 is used to detect the swing parameters of the swing member 132, and the swing parameters include a swing angle 18 and a deviation direction. The controller 19 adjusts the unwinding speed of the unwinding mechanism 11 according to the swing angle 18 and the deviation direction of the swing member 132.
[0043] Thus, the detector 134 detects the swing parameters of the swing member 132 and transmits the swing parameters to the controller 19. The controller 19 controls the unwinding speed of the unwinding mechanism 11 based on the swing parameters, so that the unwinding speed of the unwinding mechanism 11 in different states matches the unwinding speed actually required, thereby improving the accuracy of the unwinding speed, thereby better tensioning and stretching the coil 3, and improving the quality of the unwinding coil 3.
[0044] In some embodiments, the detector 134 is an encoder.
[0045] In some other embodiments, the detector 134 may also be a sensor, and the type of the detector 134 may be selected according to actual needs, as long as the detector 134 can detect the swing parameters of the swing member 132, and no limitation is made here.
[0046] In some embodiments, when the swing angle 18 exceeds the precise range, the controller 19 calculates a first correction value based on the swing angle 18 and the offset direction, and adjusts the unwinding speed of the unwinding mechanism 11 according to the first correction value.
[0047] Thus, the controller 19 adjusts the unwinding speed according to the calculated first correction value, so that the coil 3 always maintains a certain tensioned stretching state, thereby improving the quality of the coil 3 and the quality of the produced battery cells.
[0048] In some embodiments, the controller 19 presets a virtual axis of the swing member, which is a virtual set rotation axis of the swing member 132. When the swing angle 18 exceeds the precise range, the controller 19 calculates a first correction value based on the proportional coefficient of the virtual axis of the swing member, the swing angle 18 and the offset direction, and adjusts the unwinding speed of the unwinding mechanism 11 according to the first correction value.
[0049] Therefore, the virtual axis of the swing member is set to make the swing member 132 dynamic, so that it has a certain rotation speed to synchronize the unwinding speed of the unwinding mechanism 11, avoid the loss caused by the real axis, and improve the synchronization efficiency; and the controller 19 adjusts the unwinding speed according to the calculated first correction value, so that the coil 3 always maintains a certain tension state, improves the quality of the coil 3, and also improves the quality of the produced battery cells. Among them, the virtual axis of the swing member does not really exist, but is set by the program inside the controller 19.
[0050] In some embodiments, Figure 3 and Figure 4 As shown, the swing parameters include a swing angle 18 and an offset direction. When the swing angle 18 is within a set precise range, the controller 19 controls the unwinding speed of the unwinding mechanism 11 to remain unchanged. When the swing angle 18 exceeds the precise range, the controller 19 adjusts the unwinding speed of the unwinding mechanism 11 according to the first correction value. When the offset direction of the swing member 132 is positive, the controller 19 obtains an increased unwinding speed based on the first correction value and the unwinding speed. When the offset direction of the swing member 132 is reverse, the controller 19 obtains a reduced unwinding speed based on the first correction value and the unwinding speed.
[0051] Thus, the controller 19 adjusts the unwinding speed according to the first correction value to better tension and stretch the coil 3, thereby improving the quality of the coil 3 and the quality of the produced battery cells.
[0052] In some embodiments, the first correction value and the unwinding speed may be added to obtain an increased or decreased unwinding speed according to the positive or negative sign of the first correction value.
[0053] In some embodiments, the first correction value is a gear ratio, and the difference between the swing angle 18 and the initial angle of the swing member 132 is multiplied by the proportional coefficient of the virtual axis of the swing member, and then multiplied by the offset direction coefficient to obtain the gear ratio. Based on the gear ratio and the unwinding speed of the unwinding drive, an increased or decreased unwinding speed is obtained to change the unwinding speed of the unwinding drive.
[0054] Among them, the proportional coefficient of the virtual axis of the swing member is set by the operator according to the mechanical structure, the offset direction coefficient is +1 or -1, the unwinding direction 17 is set as the positive offset direction, and the opposite direction of the unwinding direction 17 is the reverse offset direction. Since the cache speed is greater than the unwinding speed, the coil 3 is in an over-tensioned state, causing the swing member 132 to deflect forward, and the offset coefficient is +1. Since the cache speed is less than the unwinding speed, the coil 3 is in a relaxed state, the swing member 132 deflects in the reverse direction, and the offset coefficient is -1.
[0055] In other embodiments, the swing parameters include tension and offset direction, the first correction value is the tension ratio, the detector 134 respectively detects the initial tension value during normal unwinding, the offset tension value when the swing member 132 is offset, and the offset direction, the controller 19 calculates the ratio of the current offset tension value to the initial tension value, and then multiplies it by the offset direction coefficient to obtain the tension ratio, and the controller 19 adjusts the unwinding speed based on the ratio of the tension ratio and the unwinding speed of the unwinding mechanism 11.
[0056] It can be understood that the first correction value only needs to be able to adjust the unwinding speed of the unwinding mechanism 11 according to the swing parameter, and no limitation is made here.
[0057] In some embodiments, the unwinding mechanism 11 includes an unwinding drive and an unwinding shaft 111, the unwinding shaft 111 is connected to the unwinding drive, the unwinding shaft 111 is used to place the coil 3 to fix the coil 3, and the unwinding drive is used to drive the unwinding shaft 111 to rotate.
[0058] Thus, the unwinding shaft 111 is driven by the unwinding driving member to rotate to unwind the coil formed by the coil 3, and the coil is turned into a sheet by unwinding to enter the lamination device 2 to produce battery cells, thereby improving work efficiency.
[0059] In some embodiments, the unwinding shaft 111 is an inflatable shaft, which protrudes after being inflated with high pressure to expand and fix the coiled material 3, and can also be deflated and retracted after unwinding.
[0060] In some other embodiments, the unwinding shaft 111 may also be a slip shaft, etc. The type of the unwinding shaft 111 may be selected according to actual needs and is not limited here.
[0061] It can be understood that the unwinding driving component can be but is not limited to a motor, and the unwinding driving component can also be a magnetic powder brake, which is not limited here.
[0062] In some embodiments, the unwinding device 1 also includes an unwinding correction sensor 112, which is arranged adjacent to the unwinding mechanism 11. The unwinding correction sensor 112 is used to detect the position deviation of the coil 3 to send the position information of the coil 3 to the controller 19. The controller 19 is also used to control the unwinding mechanism 11 to correct the coil 3 according to the position information of the coil 3.
[0063] Thus, the unwinding correction sensor 112 can detect the side position of the coil 3 so that the unwinding drive can correct the position of the coil 3, align the sides of the coil and keep the unwound coil 3 on the same unwinding path, ensure that the coil 3 does not contact other mechanisms during the unwinding process, avoid the coil 3 from being torn and scratched, improve the quality of the unwound coil 3, and also improve the quality of the produced battery cells.
[0064] In some embodiments, when the unwinding deviation correction sensor 112 detects that the edge of the coil 3 is offset, the unwinding mechanism 11 moves the position of the coil 3 to locate it in the correct unwinding path.
[0065] In some embodiments, a deviation correcting member is provided on the unwinding drive member, and the unwinding drive member drives the deviation correcting member under the control of the controller 19 to correct the position of the coil 3 and the edge of the coil to align them.
[0066] In other embodiments, the unwinding mechanism 11 also includes an unwinding correction component, which is arranged adjacent to the unwinding drive component, and the unwinding correction component includes an unwinding correction drive component and a correction component, and the unwinding correction drive component is connected to the correction component to drive the correction component to correct the unwinding position of the coil 3.
[0067] In some embodiments, the unwinding and deflection correction drive component is a servo motor.
[0068] In some other embodiments, the unwinding and deflection correction drive element may also be a stepping motor, which is not limited here.
[0069] It is understandable that the deviation-correcting member may be, but is not limited to, a screw rod, as long as the deviation-correcting member can move under the drive of the unwinding deviation-correcting driving member to correct the unwinding path of the coil 3 .
[0070] In some embodiments, the unwinding correction sensor 112 is a position sensor.
[0071] In some other embodiments, the unwinding deflection correction sensor 112 may also be a photoelectric sensor. The type of the unwinding deflection correction sensor 112 may be selected according to actual needs and is not limited here.
[0072] In some embodiments, Figure 2 As shown, the traction mechanism 16 is used to pull the output coil 3. The unwound coil 3 is pulled by the traction mechanism 16 onto the lamination device 2 to produce battery cells, thereby improving production efficiency. Furthermore, the traction mechanism 16 also tensions and stretches the coil 3 to improve the quality of the coil 3 and the quality of the produced battery cells.
[0073] In some embodiments, the traction mechanism 16 includes a traction shaft 161 and a traction drive, wherein the traction drive is connected to the traction shaft 161, and the traction drive drives the traction shaft 161 to move to pull the coil 3, so that the traction mechanism 16 drives the coil 3 to move to pull the coil 3 onto the stacking device 2.
[0074] It can be understood that the traction drive component can be but is not limited to a motor, and the unwinding drive component can also be a magnetic powder brake, which is not limited here.
[0075] In some embodiments, the unwinding device 1 further includes a traction correction sensor 163, which is disposed adjacent to the traction mechanism 16. When the traction correction sensor 163 detects a positional deviation at the edge of the coil 3, the traction drive member moves in position to locate the coil 3 in the correct unwinding path.
[0076] In some embodiments, a traction correction member is provided on the traction driving member, and the traction driving member drives the traction correction member to correct the position of the coil 3 under the control of the controller 19 .
[0077] In some embodiments, Figure 2 As shown, the traction mechanism 16 also includes a traction correction component 162, and the traction correction component 162 is arranged between the traction drive and the lamination device 2. The traction correction component 162 includes a traction correction drive and a correction component. The traction correction drive is connected to the traction correction component to drive the traction correction component to correct the unwinding position of the coil 3.
[0078] In some embodiments, the traction and deviation-correcting drive component is a servo motor.
[0079] In some other embodiments, the traction and deviation correction drive component may also be a stepping motor, which is not limited here.
[0080] It is understandable that the traction correction member may be, but is not limited to, a screw rod, as long as the traction correction member can be driven by the traction correction driving member to move to correct the traction position of the coil 3 .
[0081] In some embodiments, the traction correction sensor 163 is a position sensor.
[0082] In some other embodiments, the traction correction sensor 163 may also be a photoelectric sensor. The type of the traction correction sensor 163 may be selected according to actual needs and is not limited here.
[0083] In some embodiments, the unwinding device also includes a cache mechanism 14, which is arranged between the unwinding mechanism 11 and the traction mechanism 16, and the cache mechanism 14 is used to cache and tension the coil 3. The controller 19 synchronizes the speeds of the unwinding mechanism 11, the traction mechanism 16 and the cache mechanism 14, wherein the coil 3 is wound on the swinging member 132.
[0084] Thus, the cache mechanism 14 plays a transition buffer role, and can re-tension and stretch the coil 3 before pulling the coil 3, thereby avoiding the influence of the internal tension change of the coil 3 during the unwinding process on the quality of the coil 3, thereby improving the unwinding quality of the coil 3 and the quality of the produced battery cells; and, the controller 19 controls the coordinated movement of the unwinding mechanism 11, the cache mechanism 14 and the pulling mechanism 16, thereby matching the speeds of the mechanisms in the unwinding device 1 to achieve the optimal unwinding state of the coil 3, thereby improving the unwinding quality of the coil 3 and the quality of the produced battery cells.
[0085] In some embodiments, the cache mechanism 14 includes a cache driving member and a cache shaft 141 . The cache shaft 141 is installed on the cache driving member. The cache shaft 141 is driven by the cache driving member to perform lifting motion to cache and tension the coil 3 .
[0086] Thus, the lifting and lowering movement of the cache shaft 141 under driving can tension and stretch the coil 3 again, thereby improving the unwinding quality of the coil 3 and the quality of the produced battery cells; and, the cache shaft 141 can also cache the coil 3 so that the coil 3 is temporarily stored in the cache mechanism 14, thereby extending the residence time of the coil 3 in the unwinding device 1 and reducing interruptions of the coil 3 during the unwinding process.
[0087] It is understandable that the cache driving component may be, but is not limited to, a motor, which is not limited here.
[0088] In some embodiments, Figure 2 As shown, the unwinding device 1 also includes a reversing member 12, and the multiple reversing members 12 are fixed on the unwinding path according to preset distances and preset positions respectively. The reversing member 12 is used to carry the coil 3 during the unwinding process to tension and stretch the coil 3, and the reversing member 12 can also change the unwinding direction 17 and the unwinding path of the coil 3 by setting different positions.
[0089] In some embodiments, the unwinding device 1 also includes a status detection sensor 113, which is arranged adjacent to the unwinding mechanism 11. The status detection sensor 113 is used to detect status information of the unwinding mechanism 11 and send the status information to the controller 19. The controller 19 is also used to determine the unwinding state of the coil 3 according to the position information of the unwinding mechanism 11, and control the movement state of the unwinding mechanism 11, the cache mechanism 14 and the traction mechanism 16.
[0090] Thus, the controller 19 controls the unwinding of the unwinding device 1 according to the unwinding state of the unwinding mechanism 11, so that each mechanism of the unwinding device 1 can automatically cooperate with the movement of the unwinding mechanism 11, so as to realize automation and improve work efficiency.
[0091] Since the unwinding device 1 undergoes the steps of tensioning the coil 3, unwinding the deflection-correcting coil 3, adjusting the tension of the coil 3, pulling the coil 3, pulling the deflection-correcting coil 3 and the like during the process of unwinding the coil 3, in each operating state in the above-mentioned unwinding main process, the actually required unwinding speed varies according to the characteristics of each operating state. Therefore, the controller 19 is required to determine the unwinding state of the coil 3 according to information such as the state of the unwinding mechanism 11 and the swing parameters of the swing member 132, so as to adjust the unwinding speed as needed and improve the quality of the coil 3.
[0092] In some embodiments, the status information includes position information, the unwinding status includes a pre-unwinding status, and the controller 19 is also used to determine the unwinding status of the coil 3 according to the position information of the unwinding mechanism 11. If the controller 19 determines that the unwinding status of the coil 3 is the pre-unwinding status, the controller 19 sends a safety signal to the unwinding mechanism 11, the cache mechanism 14 and the traction mechanism 16 to control the unwinding mechanism 11 to unwind the coil 3, the cache mechanism 14 to cache the coil 3, and control the traction mechanism 16 to traction and output the coil 3.
[0093] Thus, the controller 19 controls the unwinding of the unwinding device 1 according to the pre-unwinding state of the unwinding mechanism 11, so that each mechanism of the unwinding device 1 can automatically cooperate with the movement of the unwinding mechanism 11, so as to realize automation and improve work efficiency.
[0094] In some embodiments, the status detection sensor 113 detects the status information of the unwinding shaft 111 and the initial position information of the unwinding drive, and sends the status information and the position information to the controller 19. The controller 19 determines whether the unwinding device 1 is in the pre-unwinding state according to whether the unwinding shaft 111 is expanded and the initial position information to issue a safety signal.
[0095] In some embodiments, the unwinding device 1 also includes a roll diameter measuring sensor 114, which is used to detect the real-time radius of the coil. The controller 19 calculates a second correction value based on the real-time radius of the coil and adjusts the unwinding speed of the unwinding mechanism 11 based on the second correction value.
[0096] Thus, the coil 3 always maintains a tensioned and spread state during the unwinding and pulling-out process, so that the tension of the coil 3 always remains unchanged, avoiding the situation where the tension of the coil 3 constantly changes due to the mismatch between the unwinding speed and the cache speed caused by the reduction in the real-time radius of the coil, thereby improving the quality of the coil 3 and facilitating the traction mechanism 16 to pull out the coil 3, thereby improving production efficiency.
[0097] In some embodiments, the roll diameter measurement sensor 114 is used to detect the inner radius, outer radius of the roll and the thickness of the roll 3, and the controller 19 can calculate the real-time radius according to the values of the inner radius, outer radius of the roll and the thickness of the roll 3.
[0098] In some embodiments, the second correction value is a gear ratio obtained by dividing a constant coefficient of the mechanical mechanism by the real-time radius of the coil and multiplying it by a positive polarity number 1, and then multiplying it by the constant coefficient of the mechanical mechanism of the traction mechanism 16. Based on the gear ratio and the gear speed of the unwinding drive, an increased or decreased gear speed of the unwinding drive is obtained to change the unwinding speed of the unwinding drive.
[0099] Among them, the constant coefficient of the mechanical mechanism is a value set by the operator according to the mechanical structure. The positive polarity number is 1 because the real-time radius of the coil decreases with unwinding, and the buffer mechanism 14 causes the coil 3 to be over-tensioned, resulting in the positive deviation of the swing member 132, so the positive polarity number is +1.
[0100] In other embodiments, the second correction value may also be the pulse frequency emitted by the controller 19, that is, the unwinding speed of the unwinding drive. When the unwinding shaft 111 rotates one circle driven by the unwinding drive, the number of pulses emitted by the controller 19 is multiplied by the cache speed of the cache mechanism 14, and then divided by the product of 2π and the real-time radius to obtain the pulse frequency. The controller 19 can control the unwinding speed of the unwinding mechanism 11 by controlling the pulse frequency.
[0101] It can be understood that the second correction value only needs to be able to adjust the unwinding speed of the unwinding mechanism 11 according to the real-time radius, and is not limited here.
[0102] In some embodiments, Figure 2 As shown, the unwinding device 1 also includes a steering member 15, which is arranged between the buffer mechanism 14 and the traction mechanism 16. The steering member 15 can fine-tune the unwinding movement trajectory of the coil 3 and transition the process of the coil 3 from the buffer mechanism 14 to the traction mechanism 16, making the process smoother.
[0103] In some embodiments, the unwinding device 1 further includes an input unit, which is connected to the controller 19 and is used to receive and display information sent by the controller 19 .
[0104] Therefore, the status of each mechanism can also be displayed through the input unit, so that the operator can view the working condition of the unwinding device 1, so that the unwinding device 1 can be visualized.
[0105] In some embodiments, the input unit is further used to send a command signal to the controller 19 so that the controller 19 controls the movement states of the unwinding mechanism 11 , the buffer mechanism 14 , and the traction mechanism 16 according to the command signal.
[0106] Thus, the operator can control the working state of each mechanism in the unwinding device 1 through the input unit, making the operator's operation more convenient and improving production efficiency.
[0107] In some embodiments, the input unit is a display screen and a button, the display screen is used to display the motion state of each mechanism, and the button is used to control the motion state of each mechanism.
[0108] In some other embodiments, the input unit is a touch screen, and the setting of the input unit can be selected according to actual needs and is not limited here.
[0109] The embodiment of the present application provides an unwinding method, which is applied to an unwinding device 1, wherein the unwinding device 1 includes an unwinding mechanism 11, a swinging mechanism 13 and a traction mechanism 16, wherein the swinging mechanism 13 is located between the unwinding mechanism 11 and the traction mechanism 16, and the swinging mechanism 13 includes a swinging member 132. The unwinding method includes:
[0110] The unwinding speed of the unwinding mechanism is adjusted according to the swing parameter of the swing member.
[0111] Specifically, the unwinding mechanism 11 and the traction mechanism 16 are controlled to move so as to unwind and traction the coil 3. The coil 3 is wound on the swinging member 132. The detector 134 can detect the swinging parameters of the swinging member 132 that appear when the coil 3 is pulled when the coil 3 is over-tensioned and stretched. The detector 134 sends the swinging parameters to the controller 19. The controller 19 adjusts the unwinding speed according to the swinging parameters so that the coil 3 is appropriately tensioned and stretched.
[0112] See also Figure 5 , Figure 5 Flow chart of the unwinding method in the embodiment of the present application. As mentioned above, the above control method can be described in detail as follows:
[0113] S41: Control the unwinding mechanism to unwind the coiled material at a preset unwinding speed, and control the traction mechanism to traction the coiled material, wherein the coiled material is wound on the swinging member.
[0114] S42: Detecting the swing parameters of the swing member by the detector.
[0115] S43: adjusting the unwinding speed of the unwinding mechanism according to the swinging parameter of the swinging member detected by the detector.
[0116] Thus, the configuration of the swinging member 132, the detector 134 and the controller 19 enables the coil 3 to have appropriate tension, thereby improving the quality of the coil 3 and the quality of the produced battery cells.
[0117] Wherein, the swing parameters include a swing angle 18 and an offset direction, and adjusting the unwinding speed of the unwinding mechanism according to the swing parameters includes:
[0118] The unwinding speed of the unwinding mechanism is adjusted according to the swing angle and the offset direction of the swing member.
[0119] Thus, the detector 134 detects the swing parameters of the swing member 132 and transmits the swing parameters to the controller 19. The controller 19 controls the unwinding speed of the unwinding mechanism 11 based on the swing parameters, so that the unwinding speed of the unwinding mechanism 11 in different states matches the unwinding speed actually required, thereby improving the accuracy of the unwinding speed, thereby better tensioning and stretching the coil 3, and improving the quality of the unwinding coil 3.
[0120] Please also read Figure 6 , Figure 6 The flowchart of a specific method for adjusting the unwinding speed according to the swing parameter in one embodiment of the present application. The method for adjusting the unwinding speed of the unwinding mechanism according to the swing angle and offset direction of the swing member includes:
[0121] S431: Determine whether the swing angle of the swing member is within a set precise range.
[0122] S432: If the swing angle is within the precise range, the unwinding speed of the unwinding mechanism remains unchanged.
[0123] S433: If the swing angle exceeds the precise range, a first correction value is calculated according to the swing angle and the offset direction, and the unwinding speed of the unwinding mechanism is adjusted according to the first correction value.
[0124] Thus, the controller 19 adjusts the unwinding speed according to the calculated first correction value, so that the coil 3 always maintains a certain tensioned stretching state, thereby improving the quality of the coil 3 and the quality of the produced battery cells.
[0125] Please also read Figure 7 , Figure 7 This is a flowchart of a specific method for adjusting the unwinding speed according to the swing parameter in another embodiment of the present application. A swing member virtual axis is preset, and the swing member virtual axis is a virtual set rotation axis of the swing member 132. The first correction value calculated according to the swing angle and the offset direction includes:
[0126] S441: Determine whether the swing angle of the swing member is within a set precise range.
[0127] S442: If the swing angle is within the precise range, the unwinding speed of the unwinding mechanism remains unchanged.
[0128] S443: If the swing angle exceeds the precise range, a first correction value is calculated according to the proportional coefficient of the virtual axis of the swing member, the swing angle and the offset direction, and the unwinding speed of the unwinding mechanism is adjusted according to the first correction value.
[0129] Thus, the virtual axis of the swing member is set to make the swing member 132 dynamic, so that it has a certain rotation speed to synchronize the unwinding speed of the unwinding mechanism 11, avoid the loss caused by the real axis, and improve the synchronization efficiency; and the controller 19 adjusts the unwinding speed according to the calculated first correction value so that the coil 3 always maintains a certain tension and stretching state, thereby improving the quality of the coil 3 and the quality of the produced battery cells.
[0130] As described above, steps S441-S442 are the same as steps S431-S432.
[0131] Specifically, the operator predetermines the precise range, also called the dead zone, and after the detector 134 sends the detected swing angle 18 and the offset direction to the controller 19, the controller 19 compares the received swing angle 18 with the precise range. When the swing angle 18 is within the precise range, the current unwinding speed does not affect the quality of the unwound coil 3, and the controller 19 does not need to adjust the unwinding speed of the unwinding mechanism 11, and the unwinding speed of the unwinding mechanism 11 remains unchanged. When the swing angle 18 exceeds the precise range, the controller 19 calculates the first correction value and adjusts the unwinding speed of the unwinding mechanism 11.
[0132] The step of adjusting the unwinding speed of the unwinding mechanism according to the first correction value comprises:
[0133] When the offset direction of the swinging member is positive, the first correction value is a positive number, and an increased unwinding speed is obtained based on the first correction value and the unwinding speed;
[0134] When the offset direction of the swinging member is in the reverse direction, the first correction value is a negative number, and a reduced unwinding speed is obtained based on the first correction value and the unwinding speed.
[0135] Specifically, if the offset direction is positive, the first correction value is affected by the offset direction coefficient and is a positive value. At this time, the controller 19 will obtain an increased unwinding speed based on the first correction value and the unwinding speed. If the offset direction is reverse, the first correction value is affected by the offset direction coefficient and is a negative value. At this time, the controller 19 will obtain a reduced unwinding speed based on the first correction value and the unwinding speed.
[0136] Thus, the unwinding speed of the unwinding mechanism 11 can be appropriately adjusted according to the tensioning state of the coil 3, so that the coil 3 unwound by the unwinding device 1 has better tension, thereby improving the quality of the coil 3 and the quality of the produced battery cells.
[0137] The unwinding device 1 further includes a buffer mechanism 14, which is disposed between the unwinding mechanism 11 and the traction mechanism 16. Before adjusting the unwinding speed of the unwinding mechanism according to the swing parameter of the swing member, the unwinding method further includes:
[0138] The speeds of the unwinding mechanism, the traction mechanism and the cache mechanism are synchronized.
[0139] Specifically, the operator fixes the coil 3 on the unwinding shaft 111, and controls the unwinding mechanism 11 to perform preliminary unwinding to pull the coil 3 out and pass it through the unwinding mechanism 11, the reversing member 12, the traction mechanism 16 and the cache mechanism 14, and pre-sets the unwinding speed, the cache speed and the traction speed and makes each mechanism operate.
[0140] Therefore, the above operation facilitates the unwinding device 1 to enter the pre-unwinding state, and because the coil 3 is passed through each mechanism, the coil 3 is normally tensioned and stretched for the subsequent unwinding operation.
[0141] The unwinding method further comprises:
[0142] The unwinding state of the coil is determined according to the state information of the unwinding mechanism, and the movement states of the unwinding mechanism, the buffer mechanism and the traction mechanism are controlled.
[0143] Thus, the controller 19 can determine the state of the unwinding mechanism 11 to automatically control the operation of each mechanism, thereby realizing automated control and improving production efficiency and safety.
[0144] Since the unwinding device 1 undergoes the steps of tensioning the coil 3, unwinding the deflection-correcting coil 3, adjusting the tension of the coil 3, pulling the coil 3, pulling the deflection-correcting coil 3 and the like during the process of unwinding the coil 3, in each operating state in the above-mentioned unwinding main process, the actually required unwinding speed varies according to the characteristics of each operating state. Therefore, the controller 19 is required to determine the unwinding state of the coil 3 according to information such as the state of the unwinding mechanism 11 and the swing parameters of the swing member 132, so as to adjust the unwinding speed as needed and improve the quality of the coil 3.
[0145] Please also read Figure 8 , Figure 8This is a flow chart for determining the pre-unwinding state in an embodiment of the present application. The state information includes position information, the unwinding state includes the pre-unwinding state, and the unwinding state of the coil is determined according to the state information of the unwinding mechanism, and the motion state of the unwinding mechanism, the buffer mechanism and the traction mechanism is controlled, including:
[0146] S411: Determine the unwinding state of the coil according to the position information of the unwinding mechanism;
[0147] S412: If it is determined that the unwinding state of the coil is a pre-unwinding state, a safety signal is sent to the unwinding mechanism, the buffer mechanism and the traction mechanism to control the unwinding mechanism to unwind the coil, the buffer mechanism to buffer the coil and the traction mechanism to traction and output the coil.
[0148] Specifically, when the controller 19 controls the operation of each mechanism, the status detection sensor 113 detects the status information of the unwinding mechanism 11. When the unwinding drive is in the set initial position, the controller 19 determines that the unwinding mechanism 11 and the coil 3 are in the pre-unwinding state, indicating that the unwinding device 1 is ready for unwinding. At this time, the controller 19 sends a safety signal to the traction mechanism 16. The traction mechanism 16 receives the safety signal to pull out the coil 3. If the unwinding mechanism 11 and the coil 3 are not in the pre-unwinding state, the unwinding device 1 will not unwind the coil 3.
[0149] Thus, the controller 19 can determine the state of the unwinding mechanism 11 to automatically control the operation of each mechanism, thereby realizing automated control and improving production efficiency and safety.
[0150] In some embodiments, the status signal includes position information of the unwinding drive component and status information of the unwinding shaft 111 .
[0151] The unwinding method further comprises:
[0152] The unwinding mechanism is controlled according to the position information of the coil to correct the coil.
[0153] Specifically, the unwinding correction sensor 112 detects the position of the coil 3 during the unwinding process of the coil 3, and the unwinding correction sensor 112 sends the detected position information to the controller 19. The controller 19 confirms the need to perform a correction operation on the position of the coil 3 based on the position information, and the unwinding drive moves to correct the coil 3.
[0154] Thus, the deviation correction operation places the coil 3 in a correct unwinding position, avoiding contact with other mechanisms that would damage the coil 3 , thereby improving the quality of the coil 3 .
[0155] The unwinding method comprises:
[0156] A second correction value is calculated according to the real-time radius of the coiled material roll, and the unwinding speed of the unwinding mechanism is adjusted according to the second correction value.
[0157] Specifically, the roll diameter measurement sensor 114 detects the real-time radius of the roll of material 3 during the unwinding process of the roll of material 3, and sends the information to the controller 19. The controller 19 calculates a second correction value according to the real-time radius, and the controller 19 adjusts the unwinding speed in real time based on the second correction value.
[0158] Therefore, the coiled material 3 can always have a certain tension, thereby improving the quality of the coiled material 3.
[0159] The unwinding method further comprises:
[0160] The traction mechanism is controlled according to the position information of the coil to correct the coil.
[0161] Specifically, the traction mechanism 16 traction-correcting sensor 163 detects the position information of the traction-pulled coil 3, and sends the position information to the controller 19. The controller 19 processes the position information to obtain the correction amount. The controller 19 compares the correction amount with a predetermined range. When the correction amount exceeds the predetermined range, the controller 19 controls the traction-correcting component 162 not to correct the position of the coil 3. At the same time, the controller 19 sends a waste discharge signal to control the hot cutter to cut off the coil 3. When the correction amount is within the predetermined range, the controller 19 controls the traction-correcting component 162 to drive the traction mechanism 16 to move through position movement to correct the traction position of the coil 3.
[0162] Among them, the operator controls the hot cutter on the traction mechanism 16 to cut the coil 3 as needed, the traction mechanism 16 is disconnected from the coupling state with the cache mechanism 14, and the traction mechanism 16 is disconnected from the coil 3 to move alone. At this time, the cache mechanism 14 and the unwinding mechanism 11 continue to be linked to cache and unwind the coil 3, and the traction mechanism 16 enters the next cycle action to wait for the control instruction of the controller 19. The operator can issue a control instruction according to production needs to control the traction mechanism 16 to couple with the cache mechanism 14 to continue to pull and output the coil 3.
[0163] See also Fig. 9 , Fig. 9Schematic block diagram of the controller 19 in the embodiment of the present application. The controller 19 includes a processor 41 and a memory 42, the memory 42 is connected to the processor 41, the memory 42 stores a computer program, and the processor 41 runs the computer program to perform the unwinding method as described above.
[0164] Thus, the controller 19 executes the above unwinding method to make the coil 3 have appropriate tension, thereby improving the quality of the coil 3 and the quality of the produced battery cells.
[0165] The embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. The computer program is called by the processor 41 to execute the unwinding method as described above.
[0166] Therefore, the computer-readable storage medium executes the unwinding method to make the coil 3 have appropriate tension, thereby improving the quality of the coil 3 and the quality of the produced battery cells.
[0167] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk, etc.
[0168] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application; in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.
Claims
1. A reeling method, applied to an reeling device, the reeling device comprising a reeling mechanism, a swinging mechanism and a traction mechanism, the swinging mechanism being located between the reeling mechanism and the traction mechanism, the swinging mechanism comprising a swinging member, characterized in that: The unwinding method comprises: The unwinding speed of the unwinding mechanism is adjusted according to the swing parameter of the swing member.
2. The unwinding method according to claim 1, characterized in that: The swing parameters include a swing angle and an offset direction, and adjusting the unwinding speed of the unwinding mechanism according to the swing parameters includes: The unwinding speed of the unwinding mechanism is adjusted according to the swing angle and the offset direction of the swing member.
3. The unwinding method according to claim 2, characterized in that: The step of adjusting the unwinding speed of the unwinding mechanism according to the swing angle and the offset direction of the swinging member comprises: If the swing angle exceeds the precise range, a first correction value is calculated according to the swing angle and the offset direction, and the unwinding speed of the unwinding mechanism is adjusted according to the first correction value.
4. The unwinding method according to claim 3, characterized in that: A virtual axis of a swinging member is preset, and the virtual axis of the swinging member is a virtual set rotation axis of the swinging member. The first correction value is calculated according to the swinging angle and the offset direction, and includes: If the swing angle exceeds the precise range, a first correction value is calculated according to the proportional coefficient of the virtual axis of the swing member, the swing angle and the offset direction, and the unwinding speed of the unwinding mechanism is adjusted according to the first correction value.
5. The unwinding method according to claim 3 or 4, characterized in that: The step of adjusting the unwinding speed of the unwinding mechanism according to the first correction value comprises: When the offset direction of the swinging member is positive, the first correction value is a positive number, and an increased unwinding speed is obtained based on the first correction value and the unwinding speed; When the offset direction of the swinging member is in the reverse direction, the first correction value is a negative number, and a reduced unwinding speed is obtained based on the first correction value and the unwinding speed.
6. The unwinding method according to claim 1, characterized in that: The unwinding device further includes a buffer mechanism, which is disposed between the unwinding mechanism and the traction mechanism. Before adjusting the unwinding speed of the unwinding mechanism according to the swing parameter of the swing member, the unwinding method further includes: The speeds of the unwinding mechanism, the traction mechanism and the cache mechanism are synchronized.
7. The unwinding method according to claim 6, characterized in that: The unwinding method further comprises: The unwinding state of the coil is determined according to the state information of the unwinding mechanism, and the movement states of the unwinding mechanism, the buffer mechanism and the traction mechanism are controlled.
8. The unwinding method according to claim 7, characterized in that: The state information includes position information, the unwinding state includes a pre-unwinding state, and the unwinding state of the coil is determined according to the state information of the unwinding mechanism, and the motion states of the unwinding mechanism, the buffer mechanism and the traction mechanism are controlled, including: Determining the unwinding state of the coil according to the position information of the unwinding mechanism; If it is determined that the unwinding state of the coil is the pre-unwinding state, a safety signal is sent to the unwinding mechanism, the buffer mechanism and the traction mechanism to control the unwinding mechanism to unwind the coil, the buffer mechanism to buffer the coil and the traction mechanism to traction and output the coil.
9. The unwinding method according to claim 1, characterized in that: The unwinding method further comprises: The unwinding mechanism is controlled according to the position information of the coil to correct the coil.
10. The unwinding method according to claim 1, characterized in that: The unwinding method comprises: A second correction value is calculated according to the real-time radius of the coiled material roll, and the unwinding speed of the unwinding mechanism is adjusted according to the second correction value.
11. A reeling device, characterized in that: include: Unwinding mechanism; Traction mechanism; A swing mechanism, the swing mechanism is located between the unwinding mechanism and the traction mechanism, and the swing mechanism includes a swing member; A controller is used to adjust the unwinding speed of the unwinding mechanism according to the swing parameter of the swing member.
12. The unwinding device according to claim 11, characterized in that: The swing mechanism also includes a detector, which is used to detect the swing parameters of the swing member, and the swing parameters include a swing angle and an offset direction. The controller adjusts the unwinding speed of the unwinding mechanism according to the swing angle and the offset direction of the swing member.
13. The unwinding device according to claim 12, characterized in that: When the swing angle exceeds the precise range, the controller calculates a first correction value based on the swing angle and the offset direction, and adjusts the unwinding speed of the unwinding mechanism according to the first correction value.
14. The unwinding device according to claim 13, characterized in that: The controller presets a virtual axis of the swing member, which is a virtual set rotation axis of the swing member. When the swing angle exceeds the precise range, the controller calculates a first correction value based on the proportional coefficient of the virtual axis of the swing member, the swing angle and the offset direction, and adjusts the unwinding speed of the unwinding mechanism according to the first correction value.
15. The unwinding device according to claim 11, characterized in that: The unwinding device also includes a cache mechanism, which is arranged between the unwinding mechanism and the traction mechanism, and is used to cache and tension the coil; the controller synchronizes the speeds of the unwinding mechanism, the traction mechanism and the cache mechanism, wherein the coil is wound on the swinging member.
16. The unwinding device according to claim 15, characterized in that: The cache mechanism comprises a cache driving member and a cache shaft, wherein the cache shaft is mounted on the cache driving member, and the cache shaft is driven by the cache driving member to perform lifting motion to cache and tension the coil.
17. The unwinding device according to claim 15, characterized in that: The unwinding device also includes a status detection sensor, which is arranged adjacent to the unwinding mechanism. The status detection sensor is used to detect status information of the unwinding mechanism and send the status information to the controller. The controller is also used to determine the unwinding state of the coil according to the position information of the unwinding mechanism, and control the movement state of the unwinding mechanism, the cache mechanism and the traction mechanism.
18. The unwinding device according to claim 17, characterized in that: The status information includes position information, and the unwinding status includes a pre-unwinding status. The controller is also used to determine the unwinding status of the coil according to the position information of the unwinding mechanism. If the controller determines that the unwinding status of the coil is a pre-unwinding status, the controller sends a safety signal to the unwinding mechanism, the cache mechanism and the traction mechanism to control the unwinding mechanism to unwind the coil, the cache mechanism to cache the coil and the traction mechanism to traction and output the coil.
19. The unwinding device according to claim 11, characterized in that: The unwinding device also includes an unwinding correction sensor, which is arranged adjacent to the unwinding mechanism. The unwinding correction sensor is used to detect the position deviation of the coil to send the position information of the coil to the controller. The controller is also used to control the unwinding mechanism to correct the coil according to the position information of the coil.
20. The unwinding device according to claim 11, characterized in that: The unwinding device also includes a coil diameter measuring sensor, which is used to detect the real-time radius of the coil. The controller calculates a second correction value based on the real-time radius of the coil and adjusts the unwinding speed of the unwinding mechanism based on the second correction value.
21. The unwinding device according to claim 11, characterized in that: The unwinding mechanism includes an unwinding drive and an unwinding shaft, wherein the unwinding shaft is connected to the unwinding drive, the unwinding shaft is used for placing the coil to fix the coil, and the unwinding drive is used for driving the unwinding shaft to perform rotational motion.
22. The unwinding device according to claim 15, characterized in that: The unwinding device further comprises an input unit, which is connected to the controller and is used to receive and display information sent by the controller.
23. The unwinding device according to claim 22, characterized in that: The input unit is further used to send a command signal to the controller so that the controller controls the movement states of the unwinding mechanism, the buffer mechanism and the traction mechanism according to the command signal.
24. A battery cell production system, characterized in that: include: The unwinding device according to any one of claims 11 to 23, wherein the unwinding device is used for unwinding a coil; A laminating device is provided adjacent to the unwinding device and is used for processing the unwinding coil to form a battery core.
25. A controller, characterized in that: include: A processor and a memory, wherein the memory is connected to the processor, the memory stores a computer program, and the processor runs the computer program to execute the unwinding method according to any one of claims 1 to 10.
26. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is called by a processor to execute the unwinding method according to any one of claims 1 to 10.