Carrying equipment and pole piece deviation rectifying method and lamination system thereof

Abstract

The invention discloses carrying equipment and a pole piece deviation rectifying method and a lamination system thereof, and relates to the technical field of batteries. The carrying equipment can adjust the material taking position according to the historical offset of the incoming material position of the first pole piece so as to grab the second pole piece, then the carrying equipment can determine the target offset of the target placing position of the second pole piece relative to the standard placing position according to the historical offset, and the material placing position of the carrying equipment is adjusted according to the target offset. And the discharging position is compensated. Therefore, the position of the second pole piece can be corrected, so that the second pole piece can be accurately placed at the standard placement position, the pole pieces can be stacked in order, and the yield of batteries is improved.

Description

Technical Field

[0001] The present application relates to the field of battery technology, and in particular to a handling device and a pole piece correction method and a lamination system. Background Art

[0002] The automated production process of batteries includes: stacking battery pole pieces (hereinafter referred to as pole pieces). The pole piece stacking process may include: a handling device transports the loaded pole pieces to a stacking device, and the stacking device stacks the pole pieces. However, if the position of the loaded pole pieces is greatly offset, the pole pieces on the stacking device may not be stacked evenly, resulting in a low yield rate of the battery. Summary of the invention

[0003] The present application provides a handling device and a pole piece correction method and a lamination system, which can solve the problem of low yield rate of batteries. The technical solution is as follows:

[0004] On the one hand, a pole piece deviation correction method is provided, which is applied to a handling device in a lamination system; the method comprises:

[0005] Acquire a historical offset of the incoming material position of the first pole piece, and adjust the material picking position of the handling device based on the historical offset to grab the second pole piece;

[0006] Determine, according to the historical offset, a target offset of a target placement position of the second pole piece relative to a standard placement position, wherein the target placement position is a placement position of the second pole piece when the handling device is located at a calibrated discharge position;

[0007] The unloading position of the handling equipment is adjusted according to the target offset to place the second pole piece at the standard placement position.

[0008] In another aspect, a handling device is provided, the handling device comprising: a processor; the processor is configured to:

[0009] Acquire a historical offset of the incoming material position of the first pole piece, and adjust the material picking position of the handling device based on the historical offset to grab the second pole piece;

[0010] Determine, according to the historical offset, a target offset of a target placement position of the second pole piece relative to a standard placement position, wherein the target placement position is a placement position of the second pole piece when the handling device is located at a calibrated discharge position;

[0011] The unloading position of the handling equipment is adjusted according to the target offset to place the second pole piece at the standard placement position.

[0012] On the other hand, a handling device is provided, which comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the pole piece correction method as described in the above aspects when executing the computer program.

[0013] On the other hand, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the pole piece correction method as described in the above aspects is implemented.

[0014] On the other hand, a lamination system is provided, comprising: the handling device as described in the above aspect.

[0015] The beneficial effects of the technical solution provided by this application include at least:

[0016] The present application provides a handling device and a pole piece correction method and a stacking system. The handling device can adjust the material picking position according to the historical offset of the incoming material position of the first pole piece to grab the second pole piece, and then the handling device can determine the target offset of the target placement position of the second pole piece relative to the standard placement position according to the historical offset, and adjust the material placement position of the handling device according to the target offset to compensate for the material placement position. In this way, the position of the second pole piece can be corrected to ensure that the second pole piece is accurately placed in the standard placement position, so that the pole pieces can be stacked neatly, and the yield rate of the battery is improved.

[0017] Furthermore, since the handling equipment can first adjust the material picking position according to the historical offset of the incoming material position of the first pole piece and then grab the second pole piece, it can ensure that when grabbing the second pole piece, the position deviation between the handling equipment and the second pole piece is small, thereby ensuring that the handling equipment is more stable when handling the pole piece, avoiding the problem of pole piece falling to a large extent, and improving the utilization rate of the pole piece.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of a pole piece correction method provided in an embodiment of the present application;

[0020] Figure 2 is a flow chart of another pole piece correction method provided in an embodiment of the present application;

[0021] Figure 3 It is a structural schematic diagram of a handling device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0023] The embodiment of the present application provides a lamination system, which includes: a transport device, a handling device and a lamination device. The transport device can convey the electrode material. The handling device can grab the electrode material from the transport device and transport it to the lamination device. The lamination device can stack the electrode and the diaphragm to obtain a cell, thereby obtaining a battery.

[0024] The handling device includes: a manipulator and a suction plate connected to the manipulator. The suction plate can suck the loaded pole piece from the transport device to achieve the effect of grabbing the pole piece.

[0025] The present application embodiment provides a pole piece deviation correction method, which is applied to a handling device in a lamination system. Figure 1 , the method may include:

[0026] Step 101: Obtain a historical offset of the incoming material position of the first pole piece, and adjust a material picking position of a handling device based on the historical offset to grab a second pole piece.

[0027] In the embodiment of the present application, after the handling device obtains the historical offset of the incoming material position of the first pole piece, the actual material picking position of the handling device can be determined based on the historical offset and the calibrated material picking position. Afterwards, the handling device can move to the actual material picking position and grab the second pole piece.

[0028] The calibrated material picking position is the reference material picking position defined in the calibration process. The material picking position of the handling device refers to the position of the connection point between the manipulator of the handling device and the suction plate (also referred to as the rotation center of the handling device).

[0029] In an optional implementation, the first pole piece is the previous pole piece of the second pole piece. And the first pole piece and the second pole piece are transported by the same transmission device. At this time, the historical offset of the incoming position of the first pole piece refers to: the offset of the incoming position of the first pole piece after the transportation device moves to the discharge station. The offset refers to: the offset of the incoming position of the first pole piece relative to the calibrated position of the pole piece at the discharge station.

[0030] The electrode piece at the discharge station is used for being grabbed by the handling device, that is, after the moving device moves to the discharge station, the handling device can grab the electrode piece from the discharge station.

[0031] In another optional implementation, the first pole piece and the second pole piece are the same pole piece. In this case, the historical offset of the incoming position of the first pole piece refers to the offset of the incoming position of the first pole piece when the transport device moves to the previous station of the unloading station.

[0032] It can be seen that the handling device provided in the embodiment of the present application can adjust the material picking position according to the historical offset of the first pole piece to pre-correct the deviation of the second pole piece. In this way, the handling stability of the handling device is improved, so that the handling device can stably grab the second pole piece, thereby improving the utilization rate of the pole piece.

[0033] Moreover, since the offset of the previous electrode sheet at the unloading station is relatively close to the offset of this electrode sheet at the unloading station, and the offset of the electrode sheet at the previous station of the unloading station is also relatively close to the offset of the electrode sheet at the unloading station, the previous electrode sheet of the second electrode sheet is used as the first electrode sheet, or the offset of the second electrode sheet at the previous station is used as the historical offset mentioned above, which can effectively ensure the high handling stability of the handling equipment.

[0034] Step 102: Determine a target offset of a target placement position of the second pole piece relative to a standard placement position based on the historical offset.

[0035] The target placement position refers to the placement position of the second pole piece when the handling device is in the calibrated discharge position. The placement position may refer to: the placement position of a certain characteristic point (such as the center point) of the second pole piece. The calibrated discharge position may be determined by the calibrated material picking position and the calibrated displacement of the handling device. The calibrated displacement may be a reference displacement defined during the calibration process from the reference material picking position to the position where the pole piece is placed.

[0036] In a first optional implementation, the handling device can obtain the incoming material position of the second pole piece, and determine the relative position of the second pole piece relative to the calibrated discharge position of the handling device based on the incoming material position and the historical offset of the incoming material position of the first pole piece. Afterwards, the handling device determines the target offset of the target placement position of the second pole piece relative to the standard placement position based on the relative position and the standard placement position.

[0037] In a second optional implementation, the handling device may determine the updated calibrated material picking position based on the historical offset of the incoming material position of the first pole piece, and determine the reference offset of the updated calibrated material picking position back to the calibrated material picking position before the update. Then, the handling device may determine the difference obtained by subtracting the reference offset from the offset of the incoming material position of the second pole piece obtained as the target offset of the target placement position of the second pole piece relative to the standard placement position.

[0038] The offset of the incoming position of the second pole piece refers to the offset of the incoming position of the transported second pole piece when the transport equipment moves to the unloading station.

[0039] Step 103: adjust the material placement position according to the target offset to place the second pole piece at the standard placement position.

[0040] After the handling device determines the target offset of the second pole piece, it can determine the actual discharge position based on the target offset, and move to the actual discharge position to place the second pole piece. In this way, the second pole piece is placed in the standard placement position.

[0041] In summary, the embodiment of the present application provides a method for correcting the deviation of a pole piece, wherein the handling device can adjust the material picking position according to the historical offset of the incoming material position of the first pole piece to grab the second pole piece, and then the handling device can determine the target offset of the target placement position of the second pole piece relative to the standard placement position according to the historical offset, and adjust the material placement position of the handling device according to the target offset to compensate for the material placement position. In this way, the deviation correction of the position of the second pole piece can be achieved to ensure that the second pole piece is accurately placed in the standard placement position, so that the pole pieces can be stacked neatly, thereby improving the yield rate of the battery.

[0042] Furthermore, since the handling equipment can first adjust the material picking position according to the historical offset of the incoming material position of the first pole piece and then grab the second pole piece, it can ensure that when grabbing the second pole piece, the position deviation between the handling equipment and the second pole piece is small, thereby ensuring that the handling equipment is more stable when handling the pole piece, avoiding the problem of pole piece falling to a large extent, and improving the utilization rate of the pole piece.

[0043] The present application embodiment takes the case where the handling equipment adopts the first optional implementation method described above to determine the target offset as an example to exemplarily illustrate the pole piece deviation correction method provided in the present application embodiment. Figure 2 , the method may include:

[0044] Step 201 : obtaining a historical offset of the incoming material position of the first pole piece, and adjusting a material picking position of a handling device based on the historical offset to grab a second pole piece.

[0045] In the embodiment of the present application, after the handling device obtains the historical offset of the incoming material position of the first pole piece, the actual material picking position of the handling device can be determined based on the historical offset and the calibrated material picking position. Afterwards, the handling device can move to the actual material picking position and grab the second pole piece. It can be seen that before grabbing the second pole piece, the handling device can first adjust its own material picking position based on the historical offset.

[0046] The incoming material position of the first pole piece refers to the position of a certain characteristic point of the first pole piece. The characteristic point can be the center point of the first pole piece, or the center point of a certain side. The calibrated material picking position is the reference material picking position defined during the calibration process. The material picking position of the handling equipment refers to: the position of the connection point between the manipulator of the handling equipment and the suction plate.

[0047] In a first optional implementation, the first electrode piece is the previous electrode piece of the second electrode piece. And the first electrode piece and the second electrode piece are transported by the same transmission device. At this time, the historical offset of the incoming position of the first electrode piece refers to: the offset of the incoming position of the first electrode piece after the transportation device moves to the discharge station. The offset refers to: the offset of the incoming position of the first electrode piece relative to the calibrated position of the electrode piece at the discharge station.

[0048] The electrode piece at the discharge station is used for being grabbed by the handling device, that is, after the moving device moves to the discharge station, the handling device can grab the electrode piece from the discharge station.

[0049] In an embodiment of the present application, the lamination system may at least include: a first photographing device, which is located above or below the transmission device. After the transport device moves to the unloading station, the first pole piece transported by the transport device can be located within the field of view of the first photographing device. Afterwards, the first photographing device can take a picture of the first pole piece to obtain the offset of the incoming position of the first pole piece at this time, and the offset can be sent to the handling device. Accordingly, the handling device can obtain the offset.

[0050] Optionally, the first photographing device can photograph the pole piece before the handling device grabs the pole piece, or can photograph the pole piece during the process of the handling device grabbing the pole piece, or can photograph the pole piece after the handling device grabs the pole piece, so as to obtain the offset of the incoming position of the pole piece.

[0051] For example, the first photographing device can photograph the pole piece after the transport device grabs the pole piece. Since the transport device and the pole piece are relatively fixed after the transport device grabs the pole piece, photographing the pole piece at this time can ensure that the accuracy of the determined offset is high.

[0052] It can be seen that in the first optional implementation, the handling device can dynamically adjust the material picking position by the offset of the previous pole piece to realize the pre-correction of the current second pole piece. In this way, on the one hand, the problem of unstable adsorption caused by the large position offset between the handling device and the second pole piece can be reduced without adding hardware, thereby improving the handling stability of the handling device and largely avoiding the problem of vacuum alarm of the handling device due to the large position deviation between the suction plate and the pole piece; on the other hand, the problem of pole piece damage caused by pole piece falling can be largely avoided, and the utilization rate of the pole piece can be improved; on the other hand, the requirements for the accuracy of the incoming material position can be reduced; on the other hand, the correction amount (i.e., the target offset) of the material discharging position of the handling device can be reduced, thereby avoiding the problem of interference between the suction plate of the handling device and the pressure claw of the stacking device caused by the large correction amount, and avoiding the suction plate from the photographing field of the third photographing device configured for detecting the neatness of the pole piece of the stacking device.

[0053] In a second optional implementation, the first pole piece and the second pole piece are the same pole piece. The historical offset of the incoming position of the first pole piece refers to the offset of the incoming position of the first pole piece when the transport equipment moves to the previous station of the unloading station. The offset refers to the offset of the incoming position of the first pole piece relative to the calibrated position of the pole piece at the previous station.

[0054] In the embodiment of the present application, the lamination system may further include: a second photographing device. When the transport device moves to the station before the unloading station, the pole piece loaded by the transport device may be located within the field of view of the second photographing device. Afterwards, the second photographing device may take a picture of the pole piece on the transport device to obtain the offset of the incoming position of the pole piece at this time, and may send the offset to the handling device. Accordingly, the handling device may obtain the offset.

[0055] Since the offset of the second pole piece at the previous station is closer to the offset at the discharge station, by adding a second camera to determine the offset of the second pole piece at the previous station and using the offset as the historical offset, it can ensure that the pre-correction of the second pole piece is more accurate.

[0056] It can be understood that, in the case where the second pole piece is the first pole piece transported by the transport equipment, and the first pole piece is the previous pole piece of the second pole piece, the historical offset of the incoming position of the first pole piece obtained by the transport equipment is 0.

[0057] Step 202: Obtain the incoming material position of the second pole piece.

[0058] The incoming position of the second pole piece refers to the incoming position of the second pole piece transported when the transport equipment moves to the unloading station.

[0059] In the embodiment of the present application, after the transport device moves to the unloading station, the second pole piece transported by the transport device can be located within the field of view of the photographing device (such as the first photographing device). Afterwards, the first photographing device can take a picture of the first pole piece to obtain the incoming position of the second pole piece at this time, and can send the incoming position to the handling device. Accordingly, the handling device can obtain the incoming position.

[0060] Step 203: Based on the incoming material position and the historical offset of the second pole piece, determine the relative position of the second pole piece relative to the calibrated discharge position of the handling equipment.

[0061] The calibrated discharge position is equal to the sum of the calibrated material picking position and the calibrated displacement of the handling equipment. The calibrated displacement is a fixed reference displacement defined during the calibration process. It can be seen that the calibrated discharge position can also be considered as the reference discharge position defined during the calibration of the lamination system.

[0062] Because the handling equipment has adjusted the material picking position according to the historical offset of the incoming position of the first pole piece before grabbing the second pole piece, the material picking position is not the calibrated material picking position. Therefore, if the target offset is determined directly according to the incoming position of the second pole piece, the error of the determined target offset will be large.

[0063] Therefore, the handling device can determine the relative position of the second pole piece relative to the calibrated material picking position of the handling device based on the incoming material position and the historical offset of the second pole piece, and then determine the target offset of the second pole piece based on the relative position. In this way, the influence of the operation of adjusting the material picking position before grabbing the second pole piece on the calculated target offset can be eliminated, thereby ensuring that the calculated target offset has a high accuracy.

[0064] Assuming that the incoming material position of the second pole piece is (x2, y2, θ2) and the historical offset is (Δx2, Δy2, Δθ2), the relative position of the second pole piece relative to the calibrated labeling position of the handling equipment (x1, y1, θ1) can satisfy:

[0065]

[0066] In formula (1), (x1, y1) is the relative coordinate in the relative position, which refers to the coordinate of the second pole piece relative to the calibrated discharge position of the handling equipment. θ1 is the relative offset angle in the relative position, which refers to the relative offset angle of the second pole piece relative to the reference direction.

[0067] (x2, y2) is the incoming material coordinates in the incoming material position of the second pole piece, which refers to the coordinates of the second pole piece after the second pole piece is located at the discharge station. θ2 is the incoming material offset angle in the incoming material position of the second pole piece, which refers to the offset angle of the second pole piece relative to the reference direction after the second pole piece is located at the discharge station. Δθ2 is the historical angle offset in the historical offset. (Δx2, Δy2) is the historical coordinate translation in the historical offset.

[0068] (a1, b1) is the reference unloading position of the handling equipment. The reference unloading position is determined based on the calibrated unloading position and the historical offset. For example, the reference unloading position (a1, b1) satisfies:

[0069]

[0070] In formula (2), (a0, b0) is the calibrated discharge position of the handling equipment.

[0071] Step 204 : Based on the relative position of the second pole piece relative to the calibrated discharge position of the handling device and the standard placement position, determine a target offset of the target placement position of the second pole piece relative to the standard placement position.

[0072] The target placement position of the second pole piece refers to the placement position of the second pole piece when the handling device is located at the calibrated discharge position. The standard placement position includes the standard coordinates and standard offset angle of the pole piece. The standard coordinates refer to the coordinates of the pole piece when it is located at the standard placement position, and the standard offset angle refers to the offset angle of the pole piece relative to the reference direction when it is located at the standard placement position.

[0073] In the embodiment of the present application, the handling device can determine the difference between the standard offset angle and the relative offset angle in the relative position as the target angle offset in the target offset. In addition, the handling device can also determine the target coordinate translation in the target offset based on the standard coordinates, the relative coordinates in the relative position and the target angle offset.

[0074] For example, the target offset (Δx1, Δy1, Δθ1) may satisfy:

[0075]

[0076] In formula (3), θ0 is the standard offset angle, and (x0, y0) is the standard placement coordinate of the pole piece.

[0077] Step 205: adjust the material placement position according to the target offset to place the second pole piece at the standard placement position.

[0078] After the handling device obtains the target offset, it can determine the actual discharge position based on the target offset and the calibrated discharge position. After that, the handling device can move to the actual discharge position to place the second pole piece. In this way, the second pole piece can be placed in the standard placement position.

[0079] The actual discharge position may be the sum of the calibrated discharge position and the target offset.

[0080] It is understandable that the position of the pole piece in the embodiment of the present application, such as the incoming material position of the pole piece, the target placement position, and the standard placement position can all be positions in the visual coordinate system where the first camera device is located. The position of the handling equipment, such as the calibrated material collection position, the calibrated material discharge position, and the actual material discharge position, can all be positions in the mechanical coordinate system where the handling equipment is located. And before the handling equipment executes the method provided in the embodiment of the present application, the staff has completed the calibration of the visual coordinate system and the mechanical coordinate system.

[0081] Optionally, the first camera device can directly obtain the offset of the incoming material position of the second electrode piece and send it to the handling device. The handling device can then directly compensate the material picking position according to the offset to grab the second electrode piece. After that, the handling device can move to the calibrated material picking position, and then move the calibrated material picking position to the calibrated material discharge position, that is, move to the calibrated material discharge position, so as to place the second electrode piece in the standard placement position.

[0082] It is understandable that the order of the steps of the pole piece correction method provided in the embodiment of the present application can be appropriately adjusted, and the steps can be increased or decreased accordingly according to the situation. Any technician familiar with the technical field can easily think of a change within the technical scope disclosed in this application, and it should be included in the protection scope of this application, so it will not be repeated.

[0083] In summary, the embodiment of the present application provides a method for correcting the deviation of a pole piece, wherein the handling device can adjust the material picking position according to the historical offset of the incoming material position of the first pole piece to grab the second pole piece, and then the handling device can determine the target offset of the target placement position of the second pole piece relative to the standard placement position according to the historical offset, and adjust the material placement position of the handling device according to the target offset to compensate for the material placement position. In this way, the deviation correction of the position of the second pole piece can be achieved to ensure that the second pole piece is accurately placed in the standard placement position, so that the pole pieces can be stacked neatly, thereby improving the yield rate of the battery.

[0084] Furthermore, since the handling equipment can first adjust the material picking position according to the historical offset of the incoming material position of the first pole piece and then grab the second pole piece, it can ensure that when grabbing the second pole piece, the position deviation between the handling equipment and the second pole piece is small, thereby ensuring that the handling equipment is more stable when handling the pole piece, avoiding the problem of pole piece falling to a large extent, and improving the utilization rate of the pole piece.

[0085] The present application embodiment provides a handling device, which can execute the pole piece deviation correction method provided by the above method embodiment. Figure 3 The handling device 100 includes a processor 110, and the processor 110 is used to:

[0086] Obtaining a historical offset of the incoming material position of the first pole piece, and adjusting a material picking position of a handling device based on the historical offset to grab the second pole piece;

[0087] Determine, based on the historical offset, a target offset of a target placement position of the second pole piece relative to a standard placement position, wherein the target placement position is a placement position of the second pole piece when the handling device is located at a calibrated discharge position;

[0088] The unloading position of the handling equipment is adjusted according to the target offset to place the second pole piece at the standard placement position.

[0089] Optionally, the processor 110 may be configured to:

[0090] Obtaining the incoming material position of the second pole piece;

[0091] Based on the incoming material position and the historical offset of the second pole piece, determining the relative position of the second pole piece relative to the calibrated discharge position;

[0092] Based on the relative position and the standard placement position, the target offset is determined.

[0093] Optionally, the relative position includes: the relative coordinates of the second pole piece relative to the calibrated discharge position, and the relative offset angle of the second pole piece relative to the reference direction. The processor 110 can be used to:

[0094] The difference between the standard offset angle and the relative offset angle in the standard placement position is determined as the target angle offset in the target offset;

[0095] Determining a target coordinate translation in a target offset based on the standard coordinates in the standard placement position, the relative coordinates, and the target angle offset;

[0096] Among them, the standard offset angle is the offset angle relative to the reference direction when the pole piece is placed in the standard placement position, and the standard coordinate is the coordinate when the pole piece is placed in the standard placement position.

[0097] Optionally, the target offset (Δx1, Δy1, Δθ1) satisfies:

[0098]

[0099] Among them, (Δx1, Δy1) is the target coordinate translation in the target offset, (x1, y1) is the relative coordinate, (a0, b0) is the coordinate of the calibrated discharge position of the handling equipment, Δθ is the target angle offset in the target offset, (x0, y0) is the standard coordinate, θ0 is the standard offset angle, and θ1 is the relative offset angle.

[0100] Optionally, the relative position (x1, y1, θ1) satisfies:

[0101]

[0102] Among them, (x2, y2, θ2) is the incoming position of the second pole piece, (a1, b1) is the reference discharge position of the handling equipment, which is determined based on the calibrated discharge position and the historical offset, and (Δx2, Δy2, Δθ2) is the historical offset.

[0103] Optionally, the lamination system further includes: a camera. The processor 110 can be used for:

[0104] Receive the incoming position of the second pole piece sent by the photographing device.

[0105] Optionally, the lamination system further comprises: a transport device for transporting the pole pieces;

[0106] The first pole piece is the pole piece before the second pole piece, and the historical offset is the offset of the incoming position of the first pole piece after the transport equipment moves to the unloading station;

[0107] Alternatively, the first pole piece and the second pole piece are the same pole piece, and the historical offset is the offset of the incoming position of the first pole piece when the transport device moves to the station before the unloading station;

[0108] Among them, the pole piece located at the discharging station is used for grabbing by the handling equipment.

[0109] In summary, the embodiment of the present application provides a handling device, which can adjust the material picking position according to the historical offset of the incoming material position of the first electrode piece to grab the second electrode piece, and then the handling device can determine the target offset of the target placement position of the second electrode piece relative to the standard placement position according to the historical offset, and adjust the material placement position of the handling device according to the target offset to compensate for the material placement position. In this way, the deviation correction of the position of the second electrode piece can be achieved to ensure that the second electrode piece is accurately placed in the standard placement position, so that the electrode pieces can be stacked neatly, and the yield rate of the battery is improved.

[0110] Furthermore, since the handling equipment can first adjust the material picking position according to the historical offset of the incoming material position of the first pole piece and then grab the second pole piece, it can ensure that when grabbing the second pole piece, the position deviation between the handling equipment and the second pole piece is small, thereby ensuring that the handling equipment is more stable when handling the pole piece, avoiding the problem of pole piece falling to a large extent, and improving the utilization rate of the pole piece.

[0111] Please continue to see Figure 3 The handling device 100 may further include a memory 120 . The processor 110 and the memory 120 are connected, for example, via a bus 130 .

[0112] The processor 110 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 110 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0113] The bus 130 may include a path to transmit information between the above components. The bus 130 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 130 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0114] The memory 120 is used to store a computer program corresponding to the pole piece deviation correction method of the above embodiment of the present application, and the computer program is controlled and executed by the processor 110. The processor 110 is used to execute the computer program stored in the memory 120 to implement the contents shown in the above method embodiment.

[0115] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0116] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0117] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0118] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0119] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0120] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A pole piece deviation correction method, characterized in that: A handling device used in a lamination system; the method comprises: Acquire a historical offset of the incoming material position of the first pole piece, and adjust the material picking position of the handling device based on the historical offset to grab the second pole piece; Determine, according to the historical offset, a target offset of a target placement position of the second pole piece relative to a standard placement position, wherein the target placement position is a placement position of the second pole piece when the handling device is located at a calibrated discharge position; The unloading position of the handling equipment is adjusted according to the target offset to place the second pole piece at the standard placement position.

2. The method according to claim 1, characterized in that Determining a target offset of a target placement position of the second pole piece relative to a standard placement position according to the historical offset includes: Obtaining the incoming material position of the second pole piece; Determining a relative position of the second pole piece relative to the calibrated discharge position based on the incoming position of the second pole piece and the historical offset; Based on the relative position and the standard placement position, the target offset is determined.

3. The method according to claim 2, characterized in that The relative position includes: the relative coordinates of the second pole piece relative to the calibrated discharge position, and the relative offset angle of the second pole piece relative to the reference direction; based on the relative position and the standard placement position, determining the target offset includes: Determine the difference between the standard offset angle in the standard placement position and the relative offset angle as the target angle offset in the target offset; Determining a target coordinate translation amount in the target offset based on the standard coordinates in the standard placement position, the relative coordinates and the target angle offset; The standard offset angle is the offset angle relative to the reference direction when the pole piece is placed in the standard placement position, and the standard coordinates are the coordinates when the pole piece is placed in the standard placement position.

4. The method according to claim 3, characterized in that: The target offset (Δx1, Δy1, Δθ1) satisfies: Among them, (Δx1, Δy1) is the target coordinate translation in the target offset, (x1, y1) is the relative coordinate, (a0, b0) is the coordinate of the calibrated discharge position of the handling equipment, Δθ is the target angle offset in the target offset, (x0, y0) is the standard coordinate, θ0 is the standard offset angle, and θ1 is the relative offset angle.

5. The method according to claim 4, characterized in that The relative position (x1, y1, θ1) satisfies: Among them, (x2, y2, θ2) is the incoming position of the second pole piece, (a1, b1) is the reference discharge position of the handling equipment, the reference discharge position is determined based on the calibrated discharge position and the historical offset, and (Δx2, Δy2, Δθ2) is the historical offset.

6. The method according to claim 2, characterized in that The lamination system further includes: a photographing device; the obtaining of the incoming position of the second pole piece includes: Receive the incoming position of the second pole piece sent by the photographing device.

7. The method according to any one of claims 1 to 6, characterized in that: The lamination system further comprises: a transport device for transporting the pole pieces; The first pole piece is the pole piece before the second pole piece, and the historical offset is the offset of the incoming position of the first pole piece after the transport device moves to the unloading station; Alternatively, the first pole piece and the second pole piece are the same pole piece, and the historical offset is the offset of the incoming position of the first pole piece when the transport device moves to the station before the unloading station; Among them, the pole piece located at the discharging station is used for being grasped by the handling equipment.

8. A handling device, characterized in that: The handling device comprises: a processor; the processor is used for: Acquire a historical offset of the incoming material position of the first pole piece, and adjust the material picking position of the handling device based on the historical offset to grab the second pole piece; Determine, according to the historical offset, a target offset of a target placement position of the second pole piece relative to a standard placement position, wherein the target placement position is a placement position of the second pole piece when the handling device is located at a calibrated discharge position; The unloading position of the handling equipment is adjusted according to the target offset to place the second pole piece at the standard placement position.

9. A handling device, characterized in that: The handling device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

11. A lamination system, characterized in that: The stacking system comprises: the handling equipment as described in claim 8 or 9.

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